Method and device for calibrating torque of input shaft of gearbox and vehicle

Abstract

The embodiment of the invention relates to a gearbox input shaft torque calibration method and device and a vehicle, and the method comprises the steps that when an engine in the vehicle is started, the current control gear of the vehicle and the initial gearbox input shaft torque corresponding to the current control gear are determined; whether the current control gear is a preset gear or not is determined, and the initial gearbox input shaft torque corresponding to the preset gear is 0; when the current control gear is not the preset gear, a target torque error value corresponding to the vehicle is determined; and the initial gearbox input shaft torque corresponding to the current control gear is calibrated according to the target torque error value. According to the technical scheme, on the basis that the accuracy of gear shifting control by the torque of the input shaft of the gearbox is guaranteed, the calibration cost of the torque of the input shaft of the gearbox is reduced, and the driving comfort is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control technology, and in particular to a method and device for calibrating a gearbox input shaft torque, and a vehicle. Background Art

[0002] With economic development and advancement of manufacturing technology, it is becoming more and more common to change vehicles equipped with manual transmissions to vehicles equipped with automatic transmissions. For example, light trucks equipped with automatic transmissions can provide better driving comfort. Therefore, light truck manufacturers are more likely to choose to change manual transmissions to automatic transmissions based on existing models in order to quickly put them on the market for sales.

[0003] In the related art, after a vehicle equipped with a manual transmission is changed to an automatic transmission, the vehicle is directly put into use because of the high cost of calibrating the input shaft torque of the automatic transmission. The automatic transmission relies heavily on the high-precision input shaft torque of the automatic transmission for corresponding control. The input shaft torque accuracy of the automatic transmission when shifting gears is poor without calibration, which affects driving comfort. Summary of the invention

[0004] In order to solve the above technical problem or at least partially solve the above technical problem, the present disclosure provides a method, a device and a vehicle for calibrating the input shaft torque of a transmission.

[0005] An embodiment of the present disclosure provides a method for calibrating a transmission input shaft torque, the method comprising: when an engine in a vehicle is started, determining a current control gear of the vehicle and an initial transmission input shaft torque corresponding to the current control gear; determining whether the current control gear is a preset gear, wherein the initial transmission input shaft torque corresponding to the preset gear is 0; when the current control gear is not the preset gear, determining a target torque error value corresponding to the vehicle; and calibrating the initial transmission input shaft torque corresponding to the current control gear according to the target torque error value.

[0006] The disclosed embodiment also provides a calibration device for a transmission input shaft torque, the device comprising: a first determination module, for determining a current control gear of the vehicle and an initial transmission input shaft torque corresponding to the current control gear when an engine in the vehicle is started; a second determination module, for determining whether the current control gear is a preset gear, wherein the initial transmission input shaft torque corresponding to the preset gear is 0; a third determination module, for determining a target torque error value corresponding to the vehicle when the current control gear is not the preset gear; and a calibration module, for calibrating the initial transmission input shaft torque corresponding to the current control gear according to the target torque error value.

[0007] An embodiment of the present disclosure also provides a vehicle, comprising: a processor; a memory for storing executable instructions of the processor; the processor is used to read the executable instructions from the memory and execute the instructions to implement the calibration method of the transmission input shaft torque provided in the embodiment of the present disclosure.

[0008] The embodiment of the present disclosure further provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the calibration method of the gearbox input shaft torque provided in the embodiment of the present disclosure.

[0009] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages: The calibration scheme of the gearbox input shaft torque provided by the embodiment of the present disclosure determines the current control gear of the vehicle and the initial gearbox input shaft torque corresponding to the current control gear when the engine in the vehicle is started, and determines whether the current control gear is a preset gear, wherein the initial gearbox input shaft torque corresponding to the preset gear is 0, and then, when the current control gear is not the preset gear, determines the target torque error value corresponding to the vehicle, and calibrates the initial gearbox input shaft torque corresponding to the current control gear according to the target torque error value. In this technical scheme, on the basis of ensuring the accuracy of the gearbox input shaft torque on the shift control, the calibration cost of the gearbox input shaft torque is reduced, and the driving comfort is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0011] Figure 1 A schematic flow chart of a method for calibrating a transmission input shaft torque provided by an embodiment of the present disclosure; Figure 2 A schematic diagram of the structure of a gearbox input shaft torque calibration device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0012] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0013] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0014] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0015] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0016] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0017] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0018] Based on the above description, it can be seen that the current automatic transmission control relies heavily on the high-precision torque value sent by the engine for corresponding control. When the vehicle is equipped with an automatic transmission for matching, although the engine manufacturer can be required to optimize the torque accuracy at normal temperature during the development cycle, the engine manufacturer has no time and conditions to optimize the engine torque accuracy under plateau and high cold conditions, which will lead to unpredictable deviations in the torque accuracy of the engine torque at different temperatures and altitudes. The automatic transmission is based on the engine torque to accurately control the input shaft torque to meet the comfort requirements. When the engine torque is larger than the actual value, it will cause the control oil pressure to be too high during the gear shifting process of the gearbox, resulting in too fast speed regulation, poor gear shifting quality and affecting vehicle comfort. When the engine torque is smaller than the actual value, it will cause the control main oil pressure to be too low during the non-shifting process of the gearbox, which will cause the clutch to slip and damage the friction plate. Severe damage to the friction plate will cause the gearbox to fail. In addition, the control oil pressure is too low during the gear shifting process, resulting in the phenomenon of flying, which not only reduces the driver's comfort, but also seriously damages the friction plate and causes the gearbox to fail. Among them, the error of the engine torque will be reflected in the input shaft torque of the gearbox. Therefore, it is necessary to calibrate the input shaft torque of the gearbox.

[0019] In order to solve the above problems, an embodiment of the present disclosure provides a method for calibrating the torque of a transmission input shaft, which is introduced below in conjunction with a specific embodiment.

[0020] Figure 1 The present invention provides a flow chart of a method for calibrating the input shaft torque of a transmission provided by an embodiment of the present invention. The method can be performed by a calibration device for the input shaft torque of a transmission, wherein the device can be implemented by software and / or hardware and can generally be integrated in a vehicle. Figure 1 As shown, the method includes: Step 101, when the engine in the vehicle is started, determine the current control gear of the vehicle and the initial transmission input shaft torque corresponding to the current control gear.

[0021] In the embodiment of the present disclosure, the vehicle may be any driving vehicle put into production. In the embodiment of the present disclosure, the gearbox input shaft torque is calibrated at the granularity of a single vehicle, which takes into account the individual differences between vehicles and improves the calibration accuracy and availability of the input shaft torque.

[0022] In an embodiment of the present disclosure, when the engine in a vehicle is started, the current control gear of the vehicle and the initial transmission input shaft torque corresponding to the current control gear are determined, wherein the initial transmission input shaft torque can be understood as a theoretical torque value of the torque output by the engine transmitted to the input shaft of the automatic transmission through a clutch or a torque converter, and this theoretical torque value is the theoretical torque value transmitted to the automatic transmission by the vehicle CAN bus after controlling the engine in order to control the vehicle in the current control gear.

[0023] Step 102 , determining whether the current control gear is a preset gear, wherein the initial transmission input shaft torque corresponding to the preset gear is 0.

[0024] Among them, the initial transmission input shaft torque corresponding to the preset gear is 0, that is, the theoretical value of the initial transmission input shaft torque corresponding to the preset gear should be 0, wherein the preset gear may include P gear, N gear, etc.

[0025] Step 103: When the current control gear is not the preset gear, determine a target torque error value corresponding to the vehicle.

[0026] In one embodiment of the present disclosure, when the current control gear is not a preset gear, a target torque error value corresponding to the vehicle is determined.

[0027] In different application scenarios, the target torque error value corresponding to the vehicle is determined in different ways, as shown in the following examples: In some possible embodiments, when the current control gear is the preset gear, the actual gearbox input shaft torque corresponding to the current control gear is obtained, that is, it can be understood that there is an error between the initial gearbox input shaft torque and the actual gearbox input shaft torque. For example, the torque converter can amplify the torque in some cases (especially in the starting stage), but it also has a certain efficiency loss. When the torque converter is not locked, the internal fluid flow will generate additional energy loss, which may cause an error between the initial gearbox input shaft torque and the actual gearbox input shaft torque. In other words, under the preset gear, the actual gearbox input shaft torque may not be 0.

[0028] In this embodiment, the current driving environment parameters of the vehicle are obtained, wherein the current driving environment parameters may include one or more of the following: engine water temperature, altitude, ambient temperature, etc., wherein, since the theoretical transmission input shaft torque corresponding to the actual transmission input shaft torque is 0, the actual transmission input shaft torque minus 0 (the subtraction result is the actual transmission input shaft torque) is the torque error value under the current driving environment parameters. Therefore, in the embodiment of the present disclosure, the correspondence between the actual transmission input shaft torque and the current driving environment parameters of the vehicle is constructed and stored.

[0029] It should be understood that in the embodiments of the present disclosure, when the current control gear is the preset gear, that is, a correspondence between the actual transmission input shaft torque and the current driving environment parameters of the vehicle is established, and real-time maintenance and updating of the torque error value can be achieved, and the torque error value obtained is based on the vehicle, therefore, the accuracy of the torque error value is guaranteed, thereby improving the calibration accuracy of the transmission input shaft torque, and there is no need for the manufacturer to drive the vehicle separately to different driving environment parameters during development, thereby reducing the calibration cost of the transmission input shaft torque.

[0030] Based on the above, it can be known that in this embodiment, when the current control gear is not the preset gear, the current driving environment parameters of the vehicle can be obtained, and the pre-stored corresponding relationship can be queried according to the current driving environment parameters, and the target torque error value corresponding to the vehicle can be determined according to the query results.

[0031] In some possible embodiments, when the query result is a pre-stored correspondence relationship including a torque error value corresponding to the current driving environment parameter, the queried torque error value is determined to be a target torque error value.

[0032] In some other possible embodiments, when the query result is that the pre-stored correspondence does not contain the torque error value corresponding to the current driving environment parameter, the reference driving environment parameter with the smallest difference between the environmental parameter of the pre-stored correspondence and the current driving environment parameter is determined. That is, in the pre-stored correspondence, the reference driving environment parameter closest to the current driving environment parameter is determined.

[0033] Among them, when the driving environment parameters include multiple types of driving environment parameters, the environmental parameter difference between the current driving environment parameters and each type of driving environment parameters in the pre-stored corresponding relationship can be calculated respectively, and after the environmental parameter difference corresponding to each type of driving environment parameters is normalized, the mean of all normalized values ​​is calculated as the environmental parameter difference between the current driving environment parameters and each driving environment parameter in the pre-stored corresponding relationship.

[0034] In this embodiment, after determining the reference driving environment parameters, the above-mentioned corresponding relationship is queried to obtain the reference torque error value corresponding to the reference driving environment parameters, and the target torque error value is determined based on the reference torque error value and the environmental parameter difference between the current driving environment parameters and the reference driving environment parameters.

[0035] In different application scenarios, the target torque error value is determined in different ways according to the reference torque error value and the difference between the current driving environment parameter and the reference driving environment parameter. Examples are as follows: In some possible examples, a ratio of a reference torque error value to an environmental parameter difference value may be calculated, the ratio representing a unit reference torque error value corresponding to a unit environmental parameter difference value, and a unit torque error value corresponding to a unit environmental parameter difference value is determined based on a pre-stored correspondence relationship. For example, two sets of data are determined in the correspondence relationship: driving environment parameter value a1-torque error value b1; and driving environment parameter value a2-torque error value b2; then the unit torque error value corresponding to the unit environmental parameter difference value is: (b2-b1) / (a2-a1). In this example, in order to ensure the reliability of the unit torque error value corresponding to the unit environmental parameter difference, the driving environment parameter values ​​in the two sets of data corresponding to the unit torque error value of the unit environmental parameter difference are calculated to be the two sets of driving environment parameter values ​​with the smallest environmental parameter differences with the current driving environment parameter values ​​(that is, the environmental parameter difference between any one of the two sets of driving environment parameter values ​​and the current driving environment parameter value is smaller than the environmental parameter difference between any other driving environment parameter value and the current driving environment parameter value in the corresponding relationship stored in the vehicle). Thus, in this example, the product value of the environmental parameter difference and the unit torque error value corresponding to the unit environmental parameter difference can be calculated, and the reference torque error value and the product value are summed to determine the target torque error value.

[0036] In some possible embodiments, in order to improve calibration efficiency, the reference torque error value corresponding to the reference driving environment parameter may be directly used as the target torque error value.

[0037] In this embodiment, the corresponding relationship can be iteratively updated once each time the vehicle reaches a preset gear position, ensuring that the gearbox uses an accurate input shaft torque value to accurately control the gear shift. In addition, as the vehicle mileage increases, the method can also be used to calibrate the gearbox input shaft torque in a timely and accurate manner after the engine performance decays. In the process of matching new models, there is no need to require the engine to undergo high-cold and plateau tests, which reduces vehicle R&D costs and shortens the R&D cycle.

[0038] In this embodiment, when the difference between the environmental parameters of the current driving environment parameters and the reference driving environment parameters is greater than the preset difference threshold, the target torque error value may not be determined in the above manner. Instead, it is determined whether other vehicles are included in the preset range of the vehicle. If other vehicles are included, the corresponding relationships stored in the other vehicles are obtained, and other corresponding relationships are queried based on the current driving environment parameters. The target torque error value corresponding to the vehicle is determined based on the query results. The method for determining the target torque error value refers to the above embodiment and will not be repeated here.

[0039] Step 104 , calibrating the initial transmission input shaft torque corresponding to the current control gear according to the target torque error value.

[0040] In an embodiment of the present disclosure, after determining the target torque error value, the initial transmission input shaft torque corresponding to the current control gear is calibrated according to the target torque error value. For example, the input shaft torque difference between the initial transmission input shaft torque corresponding to the current control gear and the target torque error value can be calculated, and the initial transmission input shaft torque can be calibrated to the input shaft torque difference.

[0041] In summary, the calibration method of the gearbox input shaft torque of the embodiment of the present disclosure, when the engine in the vehicle is started, determines the current control gear of the vehicle and the initial gearbox input shaft torque corresponding to the current control gear, determines whether the current control gear is a preset gear, wherein the initial gearbox input shaft torque corresponding to the preset gear is 0, and then, when the current control gear is not the preset gear, determines the target torque error value corresponding to the vehicle, and calibrates the initial gearbox input shaft torque corresponding to the current control gear according to the target torque error value. In this technical solution, on the basis of ensuring the accuracy of the gearbox input shaft torque on the shift control, the calibration cost of the gearbox input shaft torque is reduced, and the driving comfort is improved.

[0042] In order to implement the above embodiment, the present disclosure also proposes a calibration device for the input shaft torque of a gearbox.

[0043] Figure 2 This is a schematic diagram of the structure of a gearbox input shaft torque calibration device provided by an embodiment of the present disclosure. The device can be implemented by software and / or hardware and can generally be integrated in a vehicle. Figure 2As shown, the device includes: a first determination module 210, a second determination module 220, a third determination module 230, and a calibration module 240, wherein: A first determination module 210 is used to determine a current control gear of the vehicle and an initial gearbox input shaft torque corresponding to the current control gear when the engine in the vehicle is started; The second determination module 220 is used to determine whether the current control gear is a preset gear, wherein the initial gearbox input shaft torque corresponding to the preset gear is 0; A third determination module 230, for determining a target torque error value corresponding to the vehicle when the current control gear is not a preset gear; The calibration module 240 is used to calibrate the initial transmission input shaft torque corresponding to the current control gear according to the target torque error value.

[0044] In one embodiment of the present disclosure, the third determination module 230 is used to: Acquire the current driving environment parameters of the vehicle, and query the pre-stored corresponding relationship according to the current driving environment parameters; The target torque error value corresponding to the vehicle is determined according to the query result.

[0045] In one embodiment of the present disclosure, the current driving environment parameters include: engine water temperature and altitude.

[0046] In one embodiment of the present disclosure, the third determination module 230 is used to: When the query result is that the pre-stored corresponding relationship includes the torque error value corresponding to the current driving environment parameter, the queried torque error value is determined to be the target torque error value.

[0047] In one embodiment of the present disclosure, the third determination module 230 is used to: When the query result is that the pre-stored corresponding relationship does not contain the torque error value corresponding to the current driving environment parameter, determining the reference driving environment parameter in the pre-stored corresponding relationship with the minimum difference between the environmental parameters of the current driving environment parameter; Determining a reference torque error value corresponding to a reference driving environment parameter; The target torque error value is determined according to the reference torque error value and the environmental parameter difference between the current driving environment parameter and the reference driving environment parameter.

[0048] In one embodiment of the present disclosure, the third determination module 230 is used to: Determine the unit torque error value corresponding to the unit environmental parameter difference value according to the pre-stored corresponding relationship; Calculate the product of the environmental parameter difference and the unit torque error value corresponding to the unit environmental parameter difference; The reference torque error value and the product value are summed to determine the target torque error value.

[0049] In one embodiment of the present disclosure, it further includes: a building module for: When the current control gear is a preset gear, obtaining the actual gearbox input shaft torque corresponding to the current control gear; Construct and store the correspondence between the actual transmission input shaft torque and the current driving environment parameters of the vehicle.

[0050] In one embodiment of the present disclosure, the calibration module 240 is used to: Calculate the input shaft torque difference between the initial transmission input shaft torque corresponding to the current control gear and the target torque error value; The initial transmission input shaft torque is calibrated to the input shaft torque difference.

[0051] The calibration device for the gearbox input shaft torque provided in the embodiment of the present disclosure can execute the calibration method for the gearbox input shaft torque provided in any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method.

[0052] In order to implement the above embodiments, the present disclosure further proposes a computer program product, including a computer program / instruction, which implements the calibration method of the gearbox input shaft torque in the above embodiments when executed by a processor.

[0053] In order to implement the above embodiment, the present disclosure also proposes a vehicle, wherein the vehicle includes: a processor; a memory for storing processor executable instructions; and a processor for reading the executable instructions from the memory and executing the executable instructions to implement the above transmission input shaft torque calibration method.

[0054] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0055] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a unit does not, in some cases, limit the unit itself.

[0056] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0057] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0058] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0059] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0060] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A method for calibrating the torque of a gearbox input shaft, characterized in that: The following steps are involved: When an engine in a vehicle is started, determining a current control gear of the vehicle and an initial transmission input shaft torque corresponding to the current control gear; Determining whether the current control gear is a preset gear, wherein the initial gearbox input shaft torque corresponding to the preset gear is 0; When the current control gear is not the preset gear, determining a target torque error value corresponding to the vehicle; The initial transmission input shaft torque corresponding to the current control gear is calibrated according to the target torque error value.

2. The method according to claim 1, characterized in that The determining a target torque error value corresponding to the vehicle includes: Acquiring current driving environment parameters of the vehicle, and querying a pre-stored corresponding relationship according to the current driving environment parameters; A target torque error value corresponding to the vehicle is determined according to the query result.

3. The method according to claim 2, characterized in that Current driving environment parameters include: engine water temperature and altitude.

4. The method according to claim 2, characterized in that The step of determining a target torque error value corresponding to the vehicle according to the query result includes: When the query result is that the pre-stored corresponding relationship includes the torque error value corresponding to the current driving environment parameter, the queried torque error value is determined to be the target torque error value.

5. The method according to claim 2, characterized in that The method further comprises: When the query result is that the pre-stored corresponding relationship does not include the torque error value corresponding to the current driving environment parameter, determining a reference driving environment parameter in the pre-stored corresponding relationship having the smallest difference between the environmental parameter and the current driving environment parameter; Determining a reference torque error value corresponding to the reference driving environment parameter; The target torque error value is determined according to the reference torque error value and an environmental parameter difference between the current driving environment parameter and the reference driving environment parameter.

6. The method according to claim 5, characterized in that The step of determining the target torque error value according to the reference torque error value and the environmental parameter difference between the current driving environment parameter and the reference driving environment parameter comprises: Determine a unit torque error value corresponding to a unit environmental parameter difference value according to the pre-stored corresponding relationship; Calculate the product of the environmental parameter difference and the unit torque error value corresponding to the unit environmental parameter difference; The reference torque error value and the product value are summed to determine the target torque error value.

7. The method according to any one of claims 1 to 6, characterized in that: After determining whether the current control gear is a preset gear, the method further includes: When the current control gear is the preset gear, obtaining an actual gearbox input shaft torque corresponding to the current control gear; A correspondence between the actual transmission input shaft torque and the current driving environment parameters of the vehicle is constructed and stored.

8. The method according to any one of claims 1 to 6, characterized in that: The calibrating the initial transmission input shaft torque corresponding to the current control gear position according to the target torque error value includes: Calculate the input shaft torque difference between the initial transmission input shaft torque corresponding to the current control gear and the target torque error value; The initial transmission input shaft torque is calibrated to the input shaft torque difference.

9. A calibration device for a gearbox input shaft torque, characterized in that: include: A first determination module, configured to determine a current control gear of the vehicle and an initial gearbox input shaft torque corresponding to the current control gear when an engine in the vehicle is started; A second determination module is used to determine whether the current control gear is a preset gear, wherein the initial gearbox input shaft torque corresponding to the preset gear is 0; a third determination module, configured to determine a target torque error value corresponding to the vehicle when the current control gear is not the preset gear; The calibration module is used to calibrate the initial transmission input shaft torque corresponding to the current control gear according to the target torque error value.

10. A vehicle, characterized in that: The vehicle comprises: processor; a memory for storing instructions executable by the processor; The processor is used to read the executable instructions from the memory and execute the executable instructions to implement the calibration method of the transmission input shaft torque described in any one of claims 1-8.

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