Vehicle control method, device and equipment and readable storage medium

Abstract

The embodiment of the invention provides a vehicle control method and device, equipment and a readable storage medium. The method comprises the following steps: acquiring operation data corresponding to a vehicle; under the condition that the operation data meet the pre-charging requirement, target pressure and target time corresponding to the situation that a clutch in the vehicle enters a pre-charging state are obtained, and the pre-charging state is used for indicating the state that oil in an oil pump control unit is charged into the clutch before the clutch conducts gear shifting operation; the oil liquid is conveyed to a clutch; and after the oil charging time of the clutch reaches the target time, the current value corresponding to an electromagnetic valve in the clutch is reduced to the target current value. The problem of pause caused by poor oil pressure following performance / insufficient oil charging pressure in the first gear shifting process of the vehicle is solved, the accuracy and smoothness of oil charging pressure control in the first gear shifting process of the vehicle are improved, and the driving experience of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and in particular to a vehicle control method, device, equipment and readable storage medium. Background Art

[0002] With the rapid development of new energy vehicle technologies, hybrid vehicles have become a new development trend.

[0003] In related technologies, hybrid vehicles connect the engine, generator and motor through a coupling structure to achieve the switching of multiple power output modes. The gearbox changes the output torque and speed through the meshing transmission group of gears with different numbers of teeth to achieve the combination and switching of vehicle gears.

[0004] However, during the first gear shift after a hybrid vehicle is powered on, the oil viscosity in the gearbox is high and the fluidity is poor at low temperatures. When the oil passes through the clutch piston chamber and enters the clutch, the oil circuit resistance force is large, resulting in obvious jerks during the first gear shift, affecting the driving experience of the vehicle. Summary of the invention

[0005] The embodiments of the present application provide a vehicle control method, device, equipment and readable storage medium, which improve the smoothness and driving experience of the vehicle during gear shifting to a certain extent. The technical solution is as follows:

[0006] In one aspect, a method for controlling a vehicle is provided, the method comprising:

[0007] Acquiring operating data corresponding to the vehicle, wherein the operating data is used to indicate the working status of each component in the vehicle;

[0008] When the operating data meets the pre-filling requirement, a target pressure and a target time corresponding to the clutch in the vehicle entering a pre-filling state are obtained, wherein the pre-filling state is used to indicate the state in which the oil in the oil pump control unit is filled into the clutch before the clutch performs a gear shifting operation, and the target pressure is used to indicate the pressure reached by the clutch after the oil is filled into the clutch;

[0009] delivering the oil to the clutch;

[0010] After the oil filling time of the clutch reaches the target time, the current value corresponding to the solenoid valve in the clutch is reduced to the target current value.

[0011] In another aspect, a vehicle control device is provided, the device comprising:

[0012] An acquisition module, used for acquiring operation data corresponding to the vehicle, wherein the operation data is used for indicating the working status corresponding to each component in the vehicle;

[0013] The acquisition module is further used to acquire a target pressure and a target time corresponding to the clutch in the vehicle entering a pre-filling state when the operating data meets the pre-filling requirements, the pre-filling state is used to indicate the state of the oil in the oil pump control unit being filled into the clutch before the clutch performs a gear shifting operation, and the target pressure is used to indicate the pressure reached by the clutch after the oil is filled into the clutch;

[0014] A delivery module, used for delivering the oil to the clutch;

[0015] The adjustment module is used to reduce the current value corresponding to the solenoid valve in the clutch to the target current value after the oil filling time of the clutch reaches the target time.

[0016] On the other hand, a computer-readable storage medium is provided, wherein at least one section of information is stored in the computer-readable storage medium, and the at least one section of information is loaded and executed by a processor to implement the vehicle control method as described above.

[0017] On the other hand, a computer program product or computer program is provided, which includes computer instructions stored in a computer-readable storage medium, a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes to implement the vehicle control method as described above.

[0018] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0019] Obtain the vehicle's operating data and determine whether the operating data meets the pre-filling requirements. If so, obtain the target pressure and target time required for the oil to soak the clutch when the clutch enters the pre-filling state (the pre-filling state at this time is actually the clutch filling process). Fill the clutch with oil according to the target pressure and target time. When the filling time reaches the target time, control the clutch to exit the filling state by reducing the current value of the solenoid valve. Pre-fill the clutch with oil before the vehicle shifts gears for the first time, so that the gap in the clutch oil channel is quickly covered with oil, so that the oil can be quickly filled during the subsequent vehicle shifting drive, solving the vehicle's setback problem caused by poor oil pressure follow-up / insufficient filling pressure during the first gear shift, improving the accuracy and smoothness of the vehicle's filling pressure control during the first gear shift, and improving the vehicle's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a flowchart of a method for implementing a vehicle control method provided in an embodiment of the present application;

[0022] Figure 2 is a flow chart of a vehicle control method provided by an exemplary embodiment of the present application;

[0023] Figure 3 is a flowchart corresponding to a vehicle control method provided by another exemplary embodiment of the present application;

[0024] Figure 4 is a flowchart of a vehicle control device provided by an exemplary embodiment of the present application;

[0025] Figure 5 is a flowchart of a control device for a vehicle provided by another exemplary embodiment of the present application;

[0026] Figure 6 It is a structural block diagram corresponding to a computer device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present application clearer, the implementation mode of the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0028] In this application, the terms "first", "second", etc. are used to distinguish identical or similar items with substantially the same effects and functions. It should be understood that there is no logical or temporal dependency between "first" and "second", nor is there any limitation on quantity and execution order.

[0029] It should be noted that the information, data (including but not limited to data for analysis, storage, display, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions. For example, the framework data involved in this application are all obtained with full authorization.

[0030] First, a computer system of a vehicle control method provided in the present application is introduced.

[0031] Figure 1 The structure block diagram of a computer system provided by an exemplary embodiment of the present application is shown. The computer system 100 can be implemented as a system architecture of a vehicle control method. The computer system includes: a vehicle 110.

[0032] The vehicle 110 includes at least one of a fuel vehicle, an electric vehicle, a hybrid vehicle, a fuel cell vehicle, a solar vehicle, etc., wherein a hybrid vehicle refers to a combination of a fuel vehicle and an electric vehicle. The present application does not limit the specific type of the vehicle. In the embodiment of the present application, the vehicle 110 is implemented as a hybrid vehicle as an example for description.

[0033] Among them, the vehicle 110 is equipped with a vibration component and a display component, and the number of vibration components / display components can be one or more, which is not limited in the embodiment of the present application. The vibration component is a device used for vibration in the vehicle, and the vibration component can be implemented as a vibration motor installed in the steering wheel, seat, etc.; the display component is a device used for displaying information in the vehicle, and the display component can be implemented as an instrument panel, a central control display screen, a HUD (Head-Up Display) screen, an indicator light, etc., which is not limited here.

[0034] In the embodiment of the present application, the vehicle 110 includes an oil pump control unit 120 and a clutch 130 .

[0035] An oil channel is established between the oil pump control unit 120 and the clutch 130 , and the oil pump control unit 120 controls its own rotation speed to achieve the purpose of pumping oil, thereby transporting the oil in the oil pump control unit 120 to the clutch 130 through the oil channel.

[0036] Schematically, the oil pump control unit 120 is implemented as an oil pump, and the clutch 130 includes a piston chamber. The oil pump rotates to provide pressure to the oil channel, and the oil in the oil channel is filled into the clutch piston chamber. Schematically again, the oil pump control unit 120 is implemented as an oil pump, and the clutch 130 includes a piston chamber. There is a main oil channel and an auxiliary oil channel between the oil pump and the clutch. The oil pump rotates to provide pressure to the main oil channel, and the oil in the main channel is filled into the clutch piston chamber. Among them, this pressure is the same as the target pressure of the volume below.

[0037] The clutch 130 is located between the engine and the gearbox of the vehicle 110 and is responsible for connecting or disconnecting the power transmission between the two. Schematically, when the vehicle 110 starts, the clutch 130 allows the engine to run without load to avoid stalling, and promotes the gearbox and the engine to gradually combine, so as to achieve the purpose of smooth starting of the vehicle 110.

[0038] The oil pump control unit 120 controls the clutch 130 to be separated and engaged in the hybrid transmission of the vehicle 110, and lubricates and cools the gearbox and other mechanical components. Schematically, the oil pump control unit 120 is implemented as an electronic oil pump.

[0039] In another optional embodiment, the oil pump control unit 120 extracts the oil in the gearbox and delivers it to the clutch 130 , which is not limited in the present application.

[0040] In the embodiment of the present application, the motor control unit in the vehicle 110 obtains the operation data of the vehicle 110, and the operation data indicates the working state of each component in the vehicle 110. The working state includes but is not limited to whether the component is in the on state / off state, the working operation data of the component, etc.

[0041] Under the condition that the operation data indicates that the clutch 130 meets the pre-filling requirement, the target pressure and target time corresponding to the clutch 130 entering the pre-filling state are obtained. The pre-filling state indicates the state in which the oil in the oil pump control unit 120 is filled into the clutch before the clutch 130 performs a gear shifting operation.

[0042] The motor control unit delivers oil to the clutch 130, and after the oil filling time of the clutch 130 reaches the target time, the current value corresponding to the electromagnetic valve in the clutch is reduced. When the current value is reduced to the target current value, it is determined that the inner cavity wall of the clutch 130 has been infiltrated by the oil and the oil filling is completed.

[0043] In another optional embodiment, when the current value decreases to the target current value, the clutch 130 is controlled to exit the pre-charging state.

[0044] In summary, the vehicle control method provided in the embodiment of the present application fills the clutch with oil before the vehicle shifts gears for the first time, so that the oil channel between the clutch and the oil pump control unit and the inner cavity wall of the clutch are soaked with oil, so that the clutch can be quickly filled with oil when the vehicle shifts gears subsequently, and the oil pressure demand of the control oil can be accurately responded to, which to a certain extent solves the problem of frustration caused by poor oil pressure tracking and insufficient oil filling pressure during the first gear shift of the vehicle, improves the accuracy of the vehicle clutch oil filling pressure control during the first gear shift and the smoothness of the vehicle's first gear shift, and improves the driving experience to a certain extent.

[0045] Next, the process of the vehicle control method provided in the embodiment of the present application is described.

[0046] Combined with the above introduction, Figure 2 is a flow chart of a vehicle control method provided by an embodiment of the present application, and the scheme is applied to Figure 1Taking the vehicle 110 shown as an example, the scheme is as follows: step 200 to step 230.

[0047] Step 200, obtaining the operating data corresponding to the vehicle.

[0048] Optionally, the operating data includes at least one of vehicle status data, environmental perception data, driving behavior data, etc.

[0049] Among them, the vehicle status data includes mechanical system data and electrical system data.

[0050] Mechanical system data is used to reflect the operating status of mechanical components in the vehicle, thereby ensuring vehicle performance and safety. Mechanical system data includes data corresponding to the power controller, throttle position, brake usage, data corresponding to the gearbox, vehicle gear position, etc.

[0051] Electronic system data includes various data generated by the vehicle's electronic control unit, including but not limited to vehicle stability data, vehicle motion data, etc., which are used to monitor the vehicle's electronic system and fault diagnosis, etc.

[0052] In the embodiment of the present application, the mechanical system data includes data corresponding to the gearbox oil temperature, the oil filling state of the clutch, the gear setting of the vehicle, the speed of the oil pump control unit, etc. The electronic system data includes the movement data of the vehicle.

[0053] The oil filling state of the clutch includes a first state and a second state. The oil filling state refers to the oil filling state of the clutch before the gear shift. The first state refers to the state where the oil filling speed of the clutch before the gear shift is greater than the preset speed. Schematically, the clutch is in a fast oil filling state. The second state refers to the state where the oil filling speed of the clutch before the gear shift is less than or equal to the preset speed. Schematically, the clutch is in a slow oil filling state.

[0054] The gear setting of the vehicle is determined based on the different gear ratios in the transmission of the vehicle. The gear setting information is determined according to the type of vehicle.

[0055] When the type of the vehicle is the first type, the vehicle gears include parking gear, reverse gear, neutral gear and forward gear. Schematically, the first type is implemented as a manual transmission vehicle.

[0056] When the type of the vehicle is the second type, the vehicle gears include parking, reverse, neutral, drive, sport, low speed and other special gears. Schematically, the second type is an automatic transmission vehicle.

[0057] Indicatively, the operating data of the vehicle is obtained, and the operating data includes that the transmission oil temperature is 35° C., the clutch is in the first state, the vehicle is in a stationary state, the gear position of the vehicle is in the reverse gear, etc.

[0058] Step 210 , when the operating data meets the pre-charging requirements, the target pressure and target time corresponding to the clutch in the vehicle entering the pre-charging state are obtained.

[0059] Optionally, the pre-fill requirement is used to indicate that the clutch meets the oil filling condition, and the pre-fill state can be entered at any time to fill the clutch with oil. In the embodiment of the present application, the target pressure and target time can be understood as the corresponding pressure generated and the time experienced when the clutch is actually in the oil filling process.

[0060] In an embodiment of the present application, the operating data includes at least one of the transmission oil temperature, the oil filling status of the clutch, the movement status of the vehicle, the gear setting status of the vehicle, the speed of the generator, and the power-on status of the vehicle.

[0061] In schematic form, the transmission oil temperature, the clutch oil filling status, the vehicle's motion status, the vehicle's gear setting status, the generator speed, and the vehicle's power-on status are obtained through the vehicle's motor control unit.

[0062] Among them, the gearbox oil temperature is collected by the temperature sensor installed at the gearbox, the clutch oil filling and the clutch oil filling status are collected by the pressure sensor installed at the oil channel, the vehicle's operating status is collected by the motion sensor installed in the vehicle, and the vehicle's gear setting is collected by the position sensor installed at the gear lever.

[0063] In the embodiment of the present application, the following conditions are met at the same time to determine that the operating data meets the pre-charge requirements:

[0064] 1) The temperature sensor collects the oil temperature in the gearbox. If the oil temperature is lower than the target temperature value, the clutch is allowed to enter the pre-charge state. Schematically, the target temperature value is -25°C.

[0065] 2) Obtaining the oil filling state of the vehicle through the vehicle controller, the oil filling state includes a first state and a second state. Schematically, the first state refers to the clutch in the vehicle being in a fast oil filling process, and the second state refers to the clutch in the vehicle being in a slow oil filling process. When the clutch is in the first state, it is determined that the clutch is allowed to enter the pre-filling state.

[0066] 3) The motion sensor collects the speed of the vehicle. If the speed is equal to the target speed value, it is determined that the clutch is allowed to enter the pre-charge state. Schematically, the target speed value is 0. In another optional embodiment, the motion sensor collects the acceleration of the vehicle. If the acceleration is equal to the target acceleration, it is determined that the clutch is allowed to enter the pre-charge state.

[0067] 4) The position sensor detects the actual position of the gear lever. The vehicle type is obtained. Different vehicle types correspond to different gear standards. According to the vehicle type, the gear position corresponding to the actual position of the gear lever is determined. If the vehicle gear is in the parking gear or neutral gear, it is determined that the clutch is allowed to enter the pre-charge state.

[0068] 5) Obtaining the power-on status of the vehicle. If the power-on status of the vehicle is not in a driving-ready state, determining that the clutch is allowed to enter a pre-charge state.

[0069] 6) Obtaining the gear shifting status of the vehicle. If the position sensor monitors the actual position of the gear lever and there is no position change within a preset period, it is determined that the clutch is allowed to enter the pre-charge state.

[0070] When the above conditions are met, the clutch is controlled to enter the pre-charge state, and the target pressure and target time corresponding to the clutch entering the pre-charge state are obtained.

[0071] Schematically, the pre-filling state refers to a state in which the oil in the oil pump control unit is filled into the clutch before the clutch performs a gear shifting operation.

[0072] In another optional embodiment, the clutch further includes an oil piston, which is disposed in the oil channel of the clutch, and an oil piston cavity exists corresponding to the oil piston. During the actual oil filling process of the clutch, the oil is transported to the oil piston cavity in the clutch.

[0073] In an embodiment of the present application, when the clutch enters the pre-fill state for oil filling, the clutch being in the first state is used as a reference, that is, the oil filling condition (environment) of the clutch in the first state is determined as the oil filling condition (environment) for the clutch to enter the pre-fill state.

[0074] The target pressure is used to indicate the pressure reached by the clutch after the oil is filled into the clutch. In other words, the target pressure refers to the pressure established (reached) by the clutch after the oil is completely filled into the clutch and the clutch stops the oil filling process.

[0075] The process of determining the target pressure is: obtaining a first pressure when the clutch is in a first state, and determining the first pressure as the target pressure.

[0076] Schematically, a comparison table of oil filling pressures of clutches in different states is pre-stored in the vehicle, as shown in Table 1.

[0077] Table 1

[0078] Clutch status First State Second State Filling oil pressure First pressure Second pressure

[0079] In schematic form, an oil filling pressure comparison table is obtained to determine a first pressure when the clutch is in a first state, and the first pressure is determined as a target pressure.

[0080] The process of determining the target time is as follows: obtaining the oil inlet capacity of the clutch, wherein the oil inlet capacity refers to the total amount of oil required to enter the inner cavity wall of the clutch, and determining the target time according to the oil inlet capacity.

[0081] In another optional embodiment, the oil inlet capacity also indicates the total amount of oil required when the pressure in the clutch is increased to the target pressure. The pressure in the clutch is detected by a pressure sensor, or by other electronic components, which is not limited in the present application.

[0082] In an optional embodiment, the model data of the clutch is obtained, and the model data is used to indicate the size, capacity and total area of ​​the inner cavity wall of the clutch.

[0083] The oil inlet capacity of the clutch is determined according to the model data of the clutch. Schematically, the oil inlet capacity of the clutch is determined according to the total area of ​​the clutch inner cavity wall.

[0084] In another optional embodiment, the size of the clutch oil inlet is obtained, and the time required for the oil to infiltrate the inner cavity wall is determined with a preset oil inlet speed, and this time is determined as the target time.

[0085] In the embodiment of the present application, the oil temperature corresponding to the oil is obtained. Schematically, the oil temperature of the oil is monitored by a temperature sensor.

[0086] The first pressure is adjusted according to the oil temperature, and the adjusted first pressure is determined as the target pressure.

[0087] Schematically, the oil temperature is divided into at least one oil temperature interval, different oil temperature intervals correspond to different oil temperature adjustment coefficients, and the first pressure is adjusted based on the oil temperature adjustment coefficient to obtain the target pressure.

[0088] The target time is determined based on the oil temperature and the oil inlet capacity. In schematic form, the higher the oil temperature, the faster the oil flow rate, the faster the clutch is wetted, and the shorter the target time.

[0089] Referring to the above, different oil temperature ranges correspond to different time adjustment coefficients. The target time is determined based on the time adjustment coefficient and the oil inlet capacity. For example, the target time is determined as a before the oil temperature is considered. At this time, the time adjustment coefficient corresponding to the oil temperature range obtained by monitoring is b. The target time is obtained based on the product of a and b.

[0090] Step 220 , delivering oil to the clutch.

[0091] In the embodiment of the present application, the clutch oil filling process involves components such as the electro-hydraulic proportional valve, the pressure reducing valve, the clutch, and the solenoid valve in the clutch. After the solenoid valve inputs the control signal corresponding to the oil filling, the pressure control oil of the electro-hydraulic proportional valve acts on the cavity of the pressure reducing valve, pushing the valve core in the pressure reducing valve to move in the specified direction, so that the oil discharge port of the pressure reducing valve is gradually closed, the oil inlet port is gradually opened, and the clutch begins to fill with oil.

[0092] In an optional embodiment, a target pressure is applied to the oil to push the oil from the inlet oil into the clutch. Schematically, according to the target pressure, the opening corresponding to the solenoid valve in the clutch is determined, and the opening is used to indicate the opening degree of the solenoid valve, wherein the opening is positively correlated with the flow rate of the oil through the solenoid valve, that is, the larger the opening, the greater the flow rate of the oil through the solenoid valve. The oil is delivered to the clutch.

[0093] Step 230 , after the oil filling time of the clutch reaches the target time, the current value corresponding to the solenoid valve in the clutch is reduced to the target current value.

[0094] Optionally, the oil filling time of the clutch is monitored, and when the oil filling time reaches the target time, the current value corresponding to the solenoid valve in the clutch is reduced to the target current value. That is, when the current value corresponding to the solenoid valve is reduced to the target current value, the clutch stops the oil filling operation. Indicatively, the target current value is 0.

[0095] In an embodiment of the present application, the operating data of the vehicle is obtained and it is determined whether the operating data meets the pre-filling requirements. If it meets the requirements, the target pressure and target time required for the oil to infiltrate the clutch when the clutch enters the pre-filling state (the pre-filling state at this time is actually the clutch oil filling process) are obtained. The clutch is filled with oil according to the target pressure and target time. When the oil filling time reaches the target time, the clutch is controlled to exit the oil filling state by reducing the current value of the solenoid valve. The clutch is pre-filled with oil before the vehicle shifts gears for the first time, so that the gap in the clutch oil channel is quickly covered with oil, so that the oil can be quickly filled during the subsequent vehicle shifting drive, so as to solve the vehicle's setbacks caused by poor oil pressure follow-up / insufficient oil filling pressure during the first gear shift, improve the accuracy and smoothness of the vehicle's oil filling pressure control during the first gear shift, and improve the driving experience of the vehicle.

[0096] In another optional embodiment of the present application, the vehicle includes three clutches, namely a first clutch, a second clutch and a third clutch. Figure 3 , Figure 3 A flowchart corresponding to another vehicle control method provided in an embodiment of the present application is shown.

[0097] Step 300, obtaining first operating data of the vehicle.

[0098] In the embodiment of the present application, the first operating data includes a transmission oil temperature of 35° C., a clutch in a first state, a vehicle in a stationary state, a vehicle in a reverse gear, etc.

[0099] In another optional embodiment, the first operation data includes the oil filling state of the vehicle, and the oil filling state is used to indicate the oil inlet state of the clutch in the vehicle. The oil filling state includes the waiting oil filling state, the oil filling state, and the no oil filling state.

[0100] For details about the first operation data, please refer to the above step 200, which will not be elaborated here.

[0101] In an optional embodiment, the vehicle includes at least one clutch, and when the first operating data meets the pre-charging requirements, at least one clutch is sequentially controlled to enter the pre-charging state. Schematically, the vehicle includes a first clutch, a second clutch, and a third clutch. When the operating data meets the pre-charging requirements, the first clutch, the second clutch, and the third clutch are sequentially controlled to enter the pre-charging state.

[0102] Step 310, determining whether the first operating data of the vehicle meets the pre-charging requirement.

[0103] Optionally, the pre-fill requirement is used to indicate that the clutch meets the oil filling conditions, and the pre-fill state can be entered at any time to fill the clutch with oil.

[0104] First operating data of the vehicle is acquired, and when the first operating data meets the pre-filling requirement, an oil filling operation of the first clutch is performed.

[0105] In this embodiment, the first operation data needs to satisfy at least one of the following conditions:

[0106] 1) The temperature sensor collects the oil temperature in the gearbox. If the oil temperature is lower than the target temperature value, the clutch is allowed to enter the pre-charge state. Schematically, the target temperature value is -25°C.

[0107] 2) Obtaining the oil filling state of the vehicle through the vehicle controller, the oil filling state includes a first state and a second state. Schematically, the first state refers to the clutch in the vehicle being in a fast oil filling process, and the second state refers to the clutch in the vehicle being in a slow oil filling process. When the clutch is in the first state, it is determined that the clutch is allowed to enter the pre-filling state.

[0108] 3) The motion sensor collects the speed of the vehicle. If the speed is equal to the target speed value, it is determined that the clutch is allowed to enter the pre-charge state. Schematically, the target speed value is 0. In another optional embodiment, the motion sensor collects the acceleration of the vehicle. If the acceleration is equal to the target acceleration, it is determined that the clutch is allowed to enter the pre-charge state.

[0109] 4) The position sensor detects the actual position of the gear lever. The vehicle type is obtained. Different vehicle types correspond to different gear standards. According to the vehicle type, the gear position corresponding to the actual position of the gear lever is determined. If the vehicle gear is in the parking gear or neutral gear, it is determined that the clutch is allowed to enter the pre-charge state.

[0110] 5) Obtaining the power-on status of the vehicle. If the power-on status of the vehicle is not in a driving-ready state, determining that the clutch is allowed to enter a pre-charge state.

[0111] 6) Obtaining the gear shifting status of the vehicle. If the position sensor monitors the actual position of the gear lever and there is no position change within a preset period, it is determined that the clutch is allowed to enter the pre-charge state.

[0112] 7) Obtaining the oil filling state of the vehicle. When the oil filling state of the vehicle is in the waiting state for oil filling, it is determined that the clutch is allowed to enter the pre-filling state.

[0113] In the case that the first operating data meets the pre-charge requirement, the following step 320 is executed; if the pre-charge requirement is not met, step 310 is repeatedly executed until the operating data meets the pre-charge requirement to execute step 320.

[0114] Step 320, controlling the first clutch to fill with oil.

[0115] Optionally, a first pressure and a first time corresponding to the first clutch entering a pre-filling state are obtained; oil is delivered to the first clutch; after the oil filling time of the first clutch reaches the first time, a first current value corresponding to the first solenoid valve in the first clutch is reduced to a target current value.

[0116] The specific oil filling process of the first clutch can refer to the above steps 210 to 230, which will not be repeated here.

[0117] Illustratively, when the first current value decreases to the target current value, the first clutch is controlled to exit the pre-filling state and the oil filling operation is completed.

[0118] After the first clutch completes the oil filling operation, the second operation data of the vehicle at the current moment is obtained. The relevant content of the second operation data can be found in the above step 200, which will not be repeated here.

[0119] Step 330, determining whether the second operating data of the vehicle meets the pre-charging requirement.

[0120] Second operating data of the vehicle is acquired, and when the second operating data meets the pre-filling requirement, an oil filling operation of the second clutch is performed.

[0121] In this embodiment, the second operation data needs to satisfy at least one of the following conditions:

[0122] 1) The temperature sensor collects the oil temperature in the gearbox. If the oil temperature is lower than the target temperature value, the clutch is allowed to enter the pre-charge state. Schematically, the target temperature value is -25°C.

[0123] 2) Obtaining the oil filling state of the vehicle through the vehicle controller, the oil filling state includes a first state and a second state. Schematically, the first state refers to the clutch in the vehicle being in a fast oil filling process, and the second state refers to the clutch in the vehicle being in a slow oil filling process. When the clutch is in the first state, it is determined that the clutch is allowed to enter the pre-filling state.

[0124] 3) The motion sensor collects the speed of the vehicle. If the speed is equal to the target speed value, it is determined that the clutch is allowed to enter the pre-charge state. Schematically, the target speed value is 0. In another optional embodiment, the motion sensor collects the acceleration of the vehicle. If the acceleration is equal to the target acceleration, it is determined that the clutch is allowed to enter the pre-charge state.

[0125] 4) The position sensor detects the actual position of the gear lever. The vehicle type is obtained. Different vehicle types correspond to different gear standards. According to the vehicle type, the gear position corresponding to the actual position of the gear lever is determined. If the vehicle gear is in the parking gear or neutral gear, it is determined that the clutch is allowed to enter the pre-charge state.

[0126] 5) Obtaining the power-on status of the vehicle. If the power-on status of the vehicle is not in a driving-ready state, determining that the clutch is allowed to enter a pre-charge state.

[0127] 6) Obtaining the gear shifting status of the vehicle. If the position sensor monitors the actual position of the gear lever and there is no position change within a preset period, it is determined that the clutch is allowed to enter the pre-charge state.

[0128] 7) Obtaining the oil filling state of the vehicle. When the oil filling state of the vehicle is in the waiting state for oil filling, it is determined that the clutch is allowed to enter the pre-filling state.

[0129] In the case that the second operating data meets the pre-charge requirement, the following step 340 is executed; if the pre-charge requirement is not met, the step of determining whether the second operating data meets the pre-charge requirement is repeated until the second operating data meets the pre-charge requirement.

[0130] Step 340, controlling the second clutch to fill with oil.

[0131] Optionally, a second pressure and a second time corresponding to the second clutch entering a pre-filling state are obtained; oil is delivered to the second clutch; after the oil filling time of the second clutch reaches the second time, a second current value corresponding to the second solenoid valve in the second clutch is reduced to a target current value.

[0132] The specific oil filling process of the second clutch can refer to the above steps 210 to 230, which will not be repeated here.

[0133] Illustratively, when the second current value decreases to the target current value, the second clutch is controlled to exit the pre-filling state and the oil filling operation is completed.

[0134] After the second clutch completes the oil filling operation, the third operation data of the vehicle at the current moment is obtained. The relevant content of the second operation data can be found in the above step 200, which will not be repeated here.

[0135] Step 350, determining whether the third operating data of the vehicle meets the pre-charging requirement.

[0136] The third operation data of the vehicle is acquired, and when the third operation data meets the pre-filling requirement, the oil filling operation of the third clutch is performed.

[0137] In this embodiment, the third operation data needs to satisfy at least one of the following conditions:

[0138] 1) The temperature sensor collects the oil temperature in the gearbox. If the oil temperature is lower than the target temperature value, the clutch is allowed to enter the pre-charge state. Schematically, the target temperature value is -25°C.

[0139] 2) Obtaining the oil filling state of the vehicle through the vehicle controller, the oil filling state includes a first state and a second state. Schematically, the first state refers to the clutch in the vehicle being in a fast oil filling process, and the second state refers to the clutch in the vehicle being in a slow oil filling process. When the clutch is in the first state, it is determined that the clutch is allowed to enter the pre-filling state.

[0140] 3) The motion sensor collects the speed of the vehicle. If the speed is equal to the target speed value, it is determined that the clutch is allowed to enter the pre-charge state. Schematically, the target speed value is 0. In another optional embodiment, the motion sensor collects the acceleration of the vehicle. If the acceleration is equal to the target acceleration, it is determined that the clutch is allowed to enter the pre-charge state.

[0141] 4) The position sensor detects the actual position of the gear lever. The vehicle type is obtained. Different vehicle types correspond to different gear standards. According to the vehicle type, the gear position corresponding to the actual position of the gear lever is determined. If the vehicle gear is in the parking gear or neutral gear, it is determined that the clutch is allowed to enter the pre-charge state.

[0142] 5) Obtaining the power-on status of the vehicle. If the power-on status of the vehicle is not in a driving-ready state, determining that the clutch is allowed to enter a pre-charge state.

[0143] 6) Obtaining the gear shifting status of the vehicle. If the position sensor monitors the actual position of the gear lever and there is no position change within a preset period, it is determined that the clutch is allowed to enter the pre-charge state.

[0144] 7) Obtaining the oil filling state of the vehicle. When the oil filling state of the vehicle is in the waiting state for oil filling, it is determined that the clutch is allowed to enter the pre-filling state.

[0145] When the third operating data meets the pre-charge requirement, the following step 360 is executed; if the pre-charge requirement is not met, the step of determining whether the third operating data meets the pre-charge requirement is repeated until the third operating data meets the pre-charge requirement.

[0146] Step 360, controlling the third clutch to fill with oil.

[0147] Optionally, obtain a third pressure and a third time corresponding to the third clutch entering a pre-filling state; deliver oil to the third clutch; after the oil filling time of the third clutch reaches the third time, reduce a third current value corresponding to a third solenoid valve in the third clutch to a target current value.

[0148] The specific oil filling process of the third clutch can refer to the above steps 210 to 230, which will not be repeated here.

[0149] Illustratively, when the third current value decreases to the target current value, the third clutch is controlled to exit the pre-filling state and the oil filling operation is completed.

[0150] It should be noted that the first pressure, the second pressure and the third pressure refer to the pressures reached by the clutch after the oil is filled into the corresponding clutch. Schematically, the first pressure refers to the pressure reached by the first clutch after the oil is filled into the first clutch.

[0151] In an embodiment of the present application, the operating data of the vehicle is obtained and it is determined whether the operating data meets the pre-filling requirements. If it meets the requirements, the target pressure and target time required for the oil to infiltrate the clutch when the clutch enters the pre-filling state (the pre-filling state at this time is actually the clutch oil filling process) are obtained. The clutch is filled with oil according to the target pressure and target time. When the oil filling time reaches the target time, the clutch is controlled to exit the oil filling state by reducing the current value of the solenoid valve. The clutch is pre-filled with oil before the vehicle shifts gears for the first time, so that the gap in the oil channel in the clutch is quickly covered with oil, so that the oil can be quickly filled during the subsequent vehicle shifting drive, so as to solve the vehicle's setback problem caused by poor oil pressure follow-up / insufficient oil filling pressure during the first gear shift, improve the accuracy and smoothness of the vehicle's oil filling pressure control during the first gear shift, and improve the driving experience of the vehicle.

[0152] In combination with the above embodiments, another embodiment provided by the present application for stopping the oil delivery to the clutch is described in detail, and the specific contents are as follows.

[0153] The first one stops the oil flow to the clutch based on the information collected by the piezoelectric sensor.

[0154] When the oil is delivered to the clutch, the echo signal of the oil being delivered to the clutch is obtained through the piezoelectric sensor.

[0155] The echo signal is used to characterize the distance from the first end of the clutch inner cavity wall to the oil being delivered to the clutch. It should be noted that the end of the clutch inner cavity away from the oil inlet is regarded as the first end, and the end of the clutch inner cavity close to the oil inlet is regarded as the second end. In other words, the echo signal is used to characterize whether the oil contacts the farthest end of the clutch inner cavity away from the oil inlet.

[0156] In response to the echo signal meeting the preset requirement, the oil is stopped from being delivered to the clutch, and the clutch oil filling operation is completed. The preset requirement refers to the distance between the oil inlet and the farthest end of the clutch cavity, and the preset requirement is pre-set by relevant personnel.

[0157] The second method stops the oil delivery to the clutch based on the magnetic field distribution of the oil.

[0158] In this embodiment, a marker is provided in the oil, and the marker is used to mark the position of the oil in the clutch inner cavity. It should be noted that the oil includes at least two markers, and the at least two markers are used to characterize the coverage of the oil in the clutch (inner cavity).

[0159] During the process of oil being delivered to the clutch, the oil position of the marker in the clutch (inner cavity) is collected, and the oil coverage in the clutch is determined based on the oil position.

[0160] In an optional embodiment, the model data of the clutch is obtained, and the model data includes data such as the size, capacity, and total area of ​​the inner cavity wall of the clutch, etc. The internal structure of the clutch is determined according to the model data, and a three-dimensional network model of the clutch is constructed based on the internal structure.

[0161] During the oil filling process of the clutch, the oil position of the marker in the clutch is collected. The oil position is used to indicate the position of the oil corresponding to the marker in the clutch cavity. The oil position is added to the 3D network model, and the area of ​​the oil position in the 3D network model is highlighted. As the oil is continuously replenished, the oil positions corresponding to the collected markers also increase. The positions of multiple collected markers are added to the 3D network model to simulate the process of oil entering the clutch cavity.

[0162] Based on the area of ​​the highlighted region in the three-dimensional network model, the oil coverage corresponding to the oil is determined.

[0163] In response to the oil coverage being greater than a preset value, delivery of oil to the clutch is stopped.

[0164] In an embodiment of the present application, the operating data of the vehicle is obtained and it is determined whether the operating data meets the pre-filling requirements. If it meets the requirements, the target pressure and target time required for the oil to infiltrate the clutch when the clutch enters the pre-filling state (the pre-filling state at this time is actually the clutch oil filling process) are obtained. The clutch is filled with oil according to the target pressure and target time. When the oil filling time reaches the target time, the clutch is controlled to exit the oil filling state by reducing the current value of the solenoid valve. The clutch is pre-filled with oil before the vehicle shifts gears for the first time, so that the gap in the clutch oil channel is quickly covered with oil, so that the oil can be quickly filled during the subsequent vehicle shifting drive, so as to solve the vehicle's setbacks caused by poor oil pressure follow-up / insufficient oil filling pressure during the first gear shift, improve the accuracy and smoothness of the vehicle's oil filling pressure control during the first gear shift, and improve the driving experience of the vehicle.

[0165] See also Figure 4 , which shows a structural block diagram of a vehicle control device provided by an exemplary embodiment of the present application. The device includes the following contents.

[0166] An acquisition module 400 is used to acquire operation data corresponding to the vehicle, wherein the operation data is used to indicate the working status of each component in the vehicle;

[0167] The acquisition module 400 is further used to acquire a target pressure and a target time corresponding to the clutch in the vehicle entering a pre-filling state when the operating data meets the pre-filling requirement, wherein the pre-filling state is used to indicate the state in which the oil in the oil pump control unit is filled into the clutch before the clutch performs a gear shifting operation, and the target pressure is used to indicate the pressure reached by the clutch after the oil is filled into the clutch;

[0168] A delivery module 410, used for delivering the oil to the clutch;

[0169] The adjustment module 420 is used to reduce the current value corresponding to the solenoid valve in the clutch to the target current value after the oil filling time of the clutch reaches the target time.

[0170] In an optional embodiment, the acquisition module 400 is further used to acquire a first pressure when the clutch is in a first state, and determine the first pressure as the target pressure, wherein the first state refers to a state in which the oil filling speed of the clutch is greater than a preset speed;

[0171] The acquisition module 400 is further used to acquire the oil inlet capacity of the clutch and determine the target time according to the oil inlet capacity. The oil inlet capacity refers to the total amount of the oil required to wet the inner cavity wall of the clutch.

[0172] In an optional embodiment, if Figure 5 As shown, the acquisition module 400 is also used to acquire the oil temperature corresponding to the oil;

[0173] A determination module 430, configured to adjust the first pressure according to the oil temperature, and determine the adjusted first pressure as the target pressure;

[0174] The determination module 430 is further configured to determine the target time according to the oil temperature and the oil intake capacity.

[0175] In an optional embodiment, if Figure 5 As shown, the determination module 430 is further used to determine the opening corresponding to the solenoid valve based on the target pressure, and the opening is used to indicate the opening degree of the solenoid valve when the oil is charged into the clutch, and the opening is in a positive correlation with the flow rate of the oil passing through the solenoid valve;

[0176] The delivery module 410 is further configured to deliver the oil to the clutch at the target pressure and the opening.

[0177] In an optional embodiment, if Figure 5 As shown, the clutch includes a first clutch, a second clutch and a third clutch;

[0178] The control module 440 is used to control the first clutch, the second clutch and the third clutch to enter the pre-charging state in sequence when the operating data meets the pre-charging requirement.

[0179] In an optional embodiment, if Figure 5 As shown, the acquisition module 400 is further used to acquire first operating data corresponding to the vehicle, and when the first operating data meets the pre-filling requirement, acquire a first pressure and a first time corresponding to the first clutch entering the pre-filling state; deliver the oil to the first clutch; after the oil filling time of the first clutch reaches the first time, reduce a first current value corresponding to the first solenoid valve in the first clutch to a target current value;

[0180] The control module 440 is further configured to control the first clutch to exit the pre-charge state and obtain second operation data corresponding to the vehicle;

[0181] The acquisition module 400 is further configured to, when the second operating data meets the pre-filling requirement, acquire a second pressure and a second time corresponding to the second clutch entering the pre-filling state; deliver the oil to the second clutch; and reduce a second current value corresponding to the second solenoid valve in the second clutch to the target current value after the oil filling time of the second clutch reaches the second time;

[0182] The control module 440 is further used to control the second clutch to exit the pre-charge state and obtain third operating data corresponding to the vehicle;

[0183] The acquisition module 400 is also used to obtain the third pressure and third time corresponding to the third clutch entering the pre-filling state when the third operating data meets the pre-filling requirement; deliver the oil to the third clutch; and reduce the third current value corresponding to the third solenoid valve in the third clutch to the target current value after the oil filling time of the third clutch reaches the third time.

[0184] In an optional embodiment, if Figure 5 As shown, a piezoelectric sensor is provided in the clutch;

[0185] The acquisition module 400 is further used to acquire, through the piezoelectric sensor, an echo signal of the oil being delivered to the clutch during the process of the oil being delivered to the clutch at the target pressure, wherein the echo signal is used to represent a distance from the first end of the clutch inner cavity wall when the oil is delivered to the clutch;

[0186] The delivery module 410 is further configured to stop delivering the oil to the clutch in response to the echo signal meeting a preset requirement.

[0187] In an optional embodiment, if Figure 5 As shown, the oil is provided with a marker, and the marker is used to indicate the coverage of the oil in the clutch;

[0188] The acquisition module 400 is further configured to acquire the oil position of the marker in the clutch during the process of the oil being delivered to the clutch at the target pressure, and determine the oil coverage rate in the clutch based on the oil position;

[0189] The delivery module 410 is further configured to stop delivering the oil to the clutch in response to the oil coverage being greater than a preset value.

[0190] In the device provided in the embodiment of the present application, the operating data of the vehicle is obtained and it is determined whether the operating data meets the pre-filling requirements. If it meets the requirements, the target pressure and target time required for the oil to infiltrate the clutch when the clutch enters the pre-filling state (the pre-filling state at this time is actually the clutch oil filling process) are obtained. The clutch is filled with oil according to the target pressure and target time. When the oil filling time reaches the target time, the clutch is controlled to exit the oil filling state by reducing the current value of the solenoid valve. The clutch is pre-filled with oil before the vehicle shifts gears for the first time, so that the gap in the clutch oil channel is quickly covered with oil, so that the oil can be quickly filled during the subsequent vehicle shifting drive, so as to solve the vehicle's setback problem caused by poor oil pressure follow-up / insufficient oil filling pressure during the first gear shift, improve the accuracy and smoothness of the vehicle's oil filling pressure control during the first gear shift, and improve the driving experience of the vehicle.

[0191] It should be noted that the vehicle control device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle control device provided in the above embodiment and the vehicle control method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0192] Figure 6 The block diagram of the structure of a computer device 600 provided by an exemplary embodiment of the present application is shown. The computer device 600 may be a portable mobile terminal, such as a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III), an MP4 player (Moving Picture Experts Group Audio Layer IV), a laptop computer or a desktop computer. The computer device 600 may also be referred to as a user device, a portable terminal, a laptop terminal, a desktop terminal or other names. Optionally, the computer device 600 may also be implemented as a movable device, such as a movable intelligent terminal such as a vehicle-mounted terminal.

[0193] Typically, the computer device 600 includes a processor 601 and a memory 602 .

[0194] The processor 601 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 601 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 601 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 601 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 601 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0195] The memory 602 may include one or more computer-readable storage media, which may be non-transitory. The memory 602 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 602 is used to store at least one instruction, which is used to be executed by the processor 601 to implement the model training method or behavior coding method provided in the method embodiment of the present application.

[0196] In some embodiments, the computer device 600 may also optionally include: a peripheral device interface 603 and at least one peripheral device. The processor 601, the memory 602 and the peripheral device interface 603 may be connected via a bus or a signal line. Each peripheral device may be connected to the peripheral device interface 603 via a bus, a signal line or a circuit board. For example, the peripheral device may include: at least one of a radio frequency circuit 604, a display screen 605, a camera assembly 606, an audio circuit 607, a positioning assembly 615 and a power supply 608.

[0197] The peripheral device interface 603 may be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 601 and the memory 602. In some embodiments, the processor 601, the memory 602, and the peripheral device interface 603 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 601, the memory 602, and the peripheral device interface 603 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

[0198] The radio frequency circuit 604 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 604 communicates with the communication network and other communication devices through electromagnetic signals. The radio frequency circuit 604 converts the electrical signal into an electromagnetic signal for transmission, or converts the received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 604 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The radio frequency circuit 604 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes but is not limited to: the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network and / or a WiFi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 604 may also include circuits related to NFC (Near Field Communication), which is not limited in this application.

[0199] The display screen 605 is used to display the UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen 605 is a touch display screen, the display screen 605 also has the ability to collect touch signals on the surface or above the surface of the display screen 605. The touch signal can be input to the processor 601 as a control signal for processing. At this time, the display screen 605 can also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, the display screen 605 can be one, set on the front panel of the computer device 600; in other embodiments, the display screen 605 can be at least two, respectively set on different surfaces of the computer device 600 or in a folding design; in other embodiments, the display screen 605 can be a flexible display screen, set on the curved surface or folding surface of the computer device 600. Even, the display screen 605 can also be set to a non-rectangular irregular shape, that is, a special-shaped screen. The display screen 605 can be made of materials such as LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode, organic light-emitting diode).

[0200] The camera assembly 606 is used to capture images or videos. Optionally, the camera assembly 606 includes a front camera and a rear camera. Typically, the front camera is arranged on the front panel of the terminal, and the rear camera is arranged on the back of the terminal. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth of field camera, a wide-angle camera, and a telephoto camera, so as to realize the fusion of the main camera and the depth of field camera to realize the background blur function, the fusion of the main camera and the wide-angle camera to realize the panoramic shooting and VR (Virtual Reality) shooting function or other fusion shooting functions. In some embodiments, the camera assembly 606 may also include a flash. The flash can be a monochrome temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0201] The audio circuit 607 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals and input them into the processor 601 for processing, or input them into the radio frequency circuit 604 to achieve voice communication. For the purpose of stereo acquisition or noise reduction, there may be multiple microphones, which are respectively arranged at different parts of the computer device 600. The microphone may also be an array microphone or an omnidirectional acquisition microphone. The speaker is used to convert the electrical signal from the processor 601 or the radio frequency circuit 604 into sound waves. The speaker may be a traditional film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into sound waves audible to humans, but also convert the electrical signal into sound waves inaudible to humans for purposes such as ranging. In some embodiments, the audio circuit 607 may also include a headphone jack.

[0202] The positioning component 615 is used to locate the current geographical location of the computing and device 600 to implement navigation or LBS (Location Based Service). The positioning component 615 can be a positioning component based on the GPS (Global Positioning System) of the United States or the Beidou system of China.

[0203] The power supply 608 is used to power various components in the computer device 600. The power supply 608 can be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power supply 608 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged through a wired line, and a wireless rechargeable battery is a battery that is charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0204] In some embodiments, the computer device 600 further includes one or more sensors 609 , including but not limited to: an acceleration sensor 610 , a gyroscope sensor 611 , a pressure sensor 612 , an optical sensor 613 , and a proximity sensor 614 .

[0205] The acceleration sensor 610 can detect the magnitude of acceleration on the three coordinate axes of the coordinate system established by the computer device 600. For example, the acceleration sensor 610 can be used to detect the components of gravity acceleration on the three coordinate axes. The processor 601 can control the display screen 605 to display the user interface in a horizontal view or a vertical view according to the gravity acceleration signal collected by the acceleration sensor 610. The acceleration sensor 610 can also be used to collect game or user motion data.

[0206] The gyro sensor 611 can detect the body direction and rotation angle of the computer device 600, and the gyro sensor 611 can cooperate with the acceleration sensor 610 to collect the user's 3D actions on the computer device 600. The processor 601 can implement the following functions based on the data collected by the gyro sensor 611: motion sensing (such as changing the UI according to the user's tilt operation), image stabilization during shooting, game control, and inertial navigation.

[0207] The pressure sensor 612 can be set on the side frame of the computer device 600 and / or the lower layer of the display screen 605. When the pressure sensor 612 is set on the side frame of the computer device 600, it can detect the user's grip signal of the computer device 600, and the processor 601 performs left and right hand recognition or shortcut operations according to the grip signal collected by the pressure sensor 612. When the pressure sensor 612 is set on the lower layer of the display screen 605, the processor 601 controls the operability controls on the UI interface according to the user's pressure operation on the display screen 605. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0208] The optical sensor 613 is used to collect the ambient light intensity. In one embodiment, the processor 601 can control the display brightness of the display screen 605 according to the ambient light intensity collected by the optical sensor 613. For example, when the ambient light intensity is high, the display brightness of the display screen 605 is increased; when the ambient light intensity is low, the display brightness of the display screen 605 is reduced. In another embodiment, the processor 601 can also dynamically adjust the shooting parameters of the camera assembly 606 according to the ambient light intensity collected by the optical sensor 613.

[0209] The proximity sensor 614, also called a distance sensor, is usually disposed on the front panel of the computer device 600. The proximity sensor 614 is used to collect the distance between the user and the front of the computer device 600. In one embodiment, when the proximity sensor 614 detects that the distance between the user and the front of the computer device 600 is gradually decreasing, the processor 601 controls the display screen 605 to switch from the screen-on state to the screen-off state; when the proximity sensor 614 detects that the distance between the user and the front of the computer device 600 is gradually increasing, the processor 601 controls the display screen 605 to switch from the screen-off state to the screen-on state.

[0210] Those skilled in the art will understand that Figure 6 The structure shown in the figure does not constitute a limitation on the computer device 600, and the computer device 600 may include more or less components than those shown in the figure, or combine some components, or adopt a different arrangement of components.

[0211] The present application also provides a computer-readable storage medium, in which at least one instruction, at least one program, a code set or an instruction set is stored. The at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the vehicle control method provided by the above method embodiment.

[0212] The present application provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the vehicle control method provided by the above method embodiment.

[0213] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0214] The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: Acquiring operating data corresponding to the vehicle, wherein the operating data is used to indicate the working status of each component in the vehicle; When the operating data meets the pre-filling requirement, a target pressure and a target time corresponding to the clutch in the vehicle entering a pre-filling state are obtained, wherein the pre-filling state is used to indicate the state in which the oil in the oil pump control unit is filled into the clutch before the clutch performs a gear shifting operation, and the target pressure is used to indicate the pressure reached by the clutch after the oil is filled into the clutch; delivering the oil to the clutch; After the oil filling time of the clutch reaches the target time, the current value corresponding to the solenoid valve in the clutch is reduced to the target current value.

2. The method according to claim 1, characterized in that The step of obtaining the target pressure and target time corresponding to the clutch in the vehicle entering the pre-charge state comprises: Acquiring a first pressure when the clutch is in a first state, and determining the first pressure as the target pressure, wherein the first state refers to a state in which an oil filling speed of the clutch is greater than a preset speed; The oil inlet capacity of the clutch is obtained, and the target time is determined according to the oil inlet capacity, wherein the oil inlet capacity refers to the total amount of the oil required to wet the inner cavity wall of the clutch.

3. The method according to claim 2, characterized in that The method further comprises: Obtaining the oil temperature corresponding to the oil; The obtaining of a first pressure when the clutch is in a first state and determining the first pressure as the target pressure includes: adjusting the first pressure according to the oil temperature, and determining the adjusted first pressure as the target pressure; The obtaining of the oil inlet capacity of the clutch and determining the target time according to the oil inlet capacity comprises: The target time is determined according to the oil temperature and the oil intake capacity.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: Based on the target pressure, the opening corresponding to the solenoid valve is determined, and the opening is used to indicate the degree of opening of the solenoid valve when the oil is filled into the clutch. The opening is positively correlated with the flow rate of the oil through the solenoid valve.

5. The method according to any one of claims 1 to 3, characterized in that: The clutch comprises a first clutch, a second clutch and a third clutch; The method further comprises: When the operating data meets the pre-charging requirement, the first clutch, the second clutch and the third clutch are controlled in sequence to enter the pre-charging state.

6. The method according to claim 5, characterized in that When the operating data meets the pre-charging requirement, controlling the first clutch, the second clutch, and the third clutch to enter the pre-charging state includes: Acquire first operating data corresponding to the vehicle, and if the first operating data meets the pre-filling requirement, acquire a first pressure and a first time corresponding to the first clutch entering the pre-filling state; deliver the oil to the first clutch; after the oil filling time of the first clutch reaches the first time, reduce a first current value corresponding to a first solenoid valve in the first clutch to a target current value; controlling the first clutch to exit the pre-charge state, and acquiring second operating data corresponding to the vehicle; When the second operating data meets the pre-filling requirement, obtaining a second pressure and a second time corresponding to the second clutch entering the pre-filling state; delivering the oil to the second clutch; and reducing a second current value corresponding to a second solenoid valve in the second clutch to the target current value after the oil filling time of the second clutch reaches the second time; controlling the second clutch to exit the pre-charge state, and acquiring third operating data corresponding to the vehicle; When the third operating data meets the pre-filling requirement, the third pressure and third time corresponding to the third clutch entering the pre-filling state are obtained; the oil is delivered to the third clutch; after the oil filling time of the third clutch reaches the third time, the third current value corresponding to the third solenoid valve in the third clutch is reduced to the target current value.

7. The method according to any one of claims 1 to 3, characterized in that: A piezoelectric sensor is provided in the clutch; The method further comprises: In the process of delivering the oil to the clutch at the target pressure, an echo signal of the oil being delivered to the clutch is obtained by the piezoelectric sensor, wherein the echo signal is used to represent the distance of the oil being delivered to the clutch from the first end of the clutch inner cavity wall; In response to the echo signal meeting a preset requirement, supplying the oil to the clutch is stopped.

8. The method according to any one of claims 1 to 3, characterized in that: The oil is provided with a marker, and the marker is used to indicate the coverage of the oil in the clutch; The method further comprises: In the process of delivering the oil to the clutch at the target pressure, collecting the oil position of the marker in the clutch, and determining the oil coverage rate in the clutch based on the oil position; In response to the oil coverage being greater than a preset value, supplying the oil to the clutch is stopped.

9. A vehicle control device, characterized in that: The device also includes: An acquisition module, used for acquiring operation data corresponding to the vehicle, wherein the operation data is used for indicating the working status corresponding to each component in the vehicle; The acquisition module is further used to acquire a target pressure and a target time corresponding to the clutch in the vehicle entering a pre-filling state when the operating data meets the pre-filling requirements, the pre-filling state is used to indicate the state of the oil in the oil pump control unit being filled into the clutch before the clutch performs a gear shifting operation, and the target pressure is used to indicate the pressure reached by the clutch after the oil is filled into the clutch; A delivery module, used for delivering the oil to the clutch; The adjustment module is used to reduce the current value corresponding to the solenoid valve in the clutch to the target current value after the oil filling time of the clutch reaches the target time.

10. A computer device, characterized in that: The computer device includes a processor and a memory, wherein the memory stores at least one program, and the at least one program is loaded and executed by the processor to implement the vehicle control method as described in any one of claims 1 to 8.

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