Vehicle starting control method, device, equipment and medium

Abstract

The invention discloses a vehicle starting control method, device and equipment and a medium. The starting process of a vehicle comprises a plurality of starting stages. The vehicle starting control method comprises the steps that whole vehicle state information of the vehicle is obtained; according to the whole vehicle state information, torque slopes and preset torque threshold values of the multiple starting stages are determined; and the output torque of the clutch is controlled according to the torque slope and the preset torque threshold value. According to the method, the torque slope and the preset torque threshold value of each starting stage can be dynamically adjusted according to the obtained state information of the whole vehicle, so that the stability of the starting process of the vehicle can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle starting, and in particular, to a vehicle starting control method, device, equipment and medium. Background Art

[0002] At present, the vehicle industry and automotive electronics technology are developing rapidly, and the degree of electrification in vehicle configuration is getting higher and higher. At the same time, with the rapid development of the economy and the logistics industry, the overall market demand for vehicles is gradually climbing.

[0003] A vehicle automated mechanical transmission (AMT) actually adds an automatic transmission control unit (TCU) on the basis of a manual transmission, cancels the original manual shift lever and pedal clutch, obtains the vehicle running state according to the information collected by sensors, and then makes a judgment according to the internal logic of the TCU, so as to realize the automatic engagement and separation of the clutch and the automatic shift of the internal gear of the transmission during the dynamic driving process of the vehicle. The vehicle automated mechanical transmission greatly reduces the labor intensity of the driver, improves the driving safety of the vehicle, and ensures the comfort of the vehicle during starting and shifting.

[0004] However, existing AMT vehicles often encounter starting conditions, and the smoothness during the starting process is poor. Summary of the Invention

[0005] The present invention provides a vehicle starting control method, device, equipment and medium to solve the problem of poor smoothness during the starting process of existing vehicles.

[0006] In a first aspect, an embodiment of the present invention provides a vehicle starting control method. The starting process of the vehicle includes multiple starting stages. The vehicle starting control method includes:

[0007] Obtain the vehicle's overall vehicle state information;

[0008] Determine the torque slope and preset torque threshold of multiple starting stages according to the overall vehicle state information;

[0009] Control the output torque of the clutch according to the torque slope and the preset torque threshold;

[0010] Control the output torque of the engine according to the overall vehicle state information.

[0011] Optionally, the starting process includes a first starting stage, a second starting stage, a third starting stage, and a fourth starting stage, and the vehicle sequentially experiences the first starting stage, the second starting stage, the third starting stage, and the fourth starting stage; the vehicle state information includes the throttle pedal opening, the clutch zero torque, the vehicle load, the driving road gradient, the resistance, the ambient air pressure, the clutch temperature, the driver demand torque, and the maximum available clutch torque;

[0012] Determining the torque slopes and preset torque thresholds for multiple starting stages according to the vehicle state information includes:

[0013] When the vehicle is in the first starting stage, determining a first torque slope according to the throttle pedal opening, and determining a first preset torque threshold according to the clutch zero torque;

[0014] When the vehicle is in the second starting stage, determining a second torque slope according to the vehicle load and the driving road gradient, and determining a second preset torque threshold according to the resistance, where the second preset torque threshold is greater than the first preset torque threshold;

[0015] When the vehicle is in the third starting stage, determining a third torque slope according to the resistance and the throttle pedal opening, and determining a third preset torque threshold according to the throttle pedal opening, the resistance, the ambient air pressure, the clutch temperature, the driving road gradient, and the vehicle load, where the third preset torque threshold is greater than the second preset torque threshold;

[0016] When the vehicle is in the fourth starting stage, determining a fourth starting torque slope according to the driver demand torque, the throttle pedal opening, the vehicle load, and the driving road gradient, and determining a fourth preset torque threshold according to the maximum available clutch torque, where the fourth preset torque threshold is greater than the third preset torque threshold.

[0017] Optionally, the vehicle state information further includes the vehicle jerk and the clutch slip work;

[0018] Determining the third torque slope according to the resistance and the throttle pedal opening includes:

[0019] Determining a third initial torque slope according to the resistance and the throttle pedal opening;

[0020] Determining a third torque slope adjustment coefficient according to the vehicle jerk and the clutch slip work;

[0021] Determining the third torque slope according to the third initial torque slope and the third torque slope adjustment coefficient.

[0022] Optionally, the vehicle state information further includes the engine speed and the target engine speed;

[0023] After the vehicle is in the second starting stage and the second torque slope is determined according to the vehicle load and the road slope of the driving road, the vehicle starting control method further includes:

[0024] Adjusting the second torque slope according to the engine speed and the target engine speed;

[0025] After the vehicle is in the third starting stage and the third torque slope is determined according to the resistance and the throttle pedal opening, the vehicle starting control method further includes:

[0026] Adjusting the third torque slope according to the engine speed and the target engine speed.

[0027] Optionally, controlling the output torque of the engine according to the vehicle state information includes:

[0028] Determining an engine control mode according to the starting stage, the engine speed, and the target engine speed, where the engine control mode includes a torque control mode and a speed-torque limit control mode;

[0029] Controlling the output torque of the engine according to the engine control mode.

[0030] Optionally, determining the engine control mode according to the starting stage, the engine speed, and the target engine speed includes:

[0031] When the vehicle is in the second starting stage or the third starting stage and the difference between the engine speed and the target engine speed is less than or equal to a preset threshold, controlling the engine control mode to be the torque control mode;

[0032] When the vehicle is in the second starting stage or the third starting stage and the difference between the engine speed and the target engine speed is greater than the preset threshold, controlling the engine control mode to be the speed-torque limit control module;

[0033] When the vehicle is in the fourth starting stage, controlling the engine control mode to be the torque control mode.

[0034] Optionally, the vehicle state information further includes the starting gear, the vehicle driving mode, and the shift lever position;

[0035] Before the vehicle is in the first starting stage, the vehicle starting control method further includes:

[0036] Control the vehicle to enter the first starting stage according to the throttle pedal opening degree, the driver's required torque, the starting gear, the vehicle driving mode, and the shift lever position.

[0037] Optionally, when the vehicle is in the second starting stage, the resistance at least includes the driving resistance and the ramp resistance; obtaining the resistance includes:

[0038] Determine the driving resistance according to the following corresponding relationship:

[0039] F f = fmg;

[0040] where, F f represents the driving resistance, f represents the rolling resistance coefficient, m represents the vehicle load mass, and g represents the acceleration due to gravity;

[0041] Determine the ramp resistance according to and the following corresponding relationship:

[0042] F i = mg sinα;

[0043] where, F i represents the ramp resistance, and α represents the road slope of travel.

[0044] Optionally, determining the second preset torque threshold according to the resistance includes:

[0045] Determine the second preset torque threshold according to the resistance and the following corresponding relationship:

[0046] T clutch = (F i + F f )r w / i r i c ;

[0047] where, T clutch represents the second preset torque threshold, r w represents the tire radius, i r represents the rear axle speed ratio, and i c represents the transmission current gear ratio.

[0048] Optionally, obtaining the vehicle jerk includes:

[0049] Determine the vehicle jerk according to the following corresponding relationship:

[0050]

[0051] where, J represents the vehicle jerk, r w represents the tire radius, i rIndicates the rear axle ratio, i c Indicates the current gear ratio of the transmission, η represents the transmission efficiency, δ represents the conversion coefficient of the rotating mass, T c Indicates the actual transmitted torque of the input shaft of the axle, m represents the vehicle load;

[0052] Obtaining the clutch slip work includes:

[0053] Determining the clutch slip work according to the following corresponding relationship:

[0054]

[0055] Wherein, W represents the clutch slip work, M(t) represents the frictional torque transmitted by the clutch, n e (t) represents the engine speed, n c (t) represents the clutch speed, t 0 and t 1 Represents the integration time.

[0056] Optionally, determining the third preset torque threshold according to the throttle pedal opening, the resistance, the ambient air pressure, the clutch temperature, the driving road gradient, and the vehicle load includes:

[0057] Determining a third initial torque threshold according to the throttle pedal opening and the resistance;

[0058] Determining a third torque threshold adjustment coefficient according to the ambient air pressure, the throttle pedal opening, the clutch temperature, the driving road gradient, and the vehicle load;

[0059] Determining the third preset torque threshold according to the third initial torque threshold and the third torque threshold adjustment coefficient.

[0060] Optionally, determining the third preset torque threshold according to the third initial torque threshold and the third torque threshold adjustment coefficient includes:

[0061] Determining the third preset torque threshold according to the third initial torque threshold, the third torque threshold adjustment coefficient, and the following corresponding relationship:

[0062] T 3 =t T T f ;

[0063] Wherein, T 3 Represents the third preset torque threshold, t T Represents the third torque threshold adjustment coefficient, T f Represents the third initial torque threshold.

[0064] Second aspect, an embodiment of the present invention provides a vehicle starting control device for executing the vehicle starting control method as described in the first aspect. The vehicle starting control device includes:

[0065] An information acquisition unit for acquiring the vehicle's overall vehicle state information;

[0066] A torque slope and threshold determination unit for determining the torque slopes and preset torque thresholds of multiple starting stages according to the overall vehicle state information;

[0067] A clutch torque control unit for controlling the output torque of the clutch according to the torque slope and the preset torque threshold;

[0068] An engine torque control unit for controlling the output torque of the engine according to the overall vehicle state information.

[0069] Third aspect, an embodiment of the present invention provides a vehicle starting control device, and the vehicle starting control device includes:

[0070] One or more processors;

[0071] A storage device for storing one or more programs,

[0072] When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle starting control method as described in the first aspect.

[0073] Fourth aspect, an embodiment of the present invention provides a storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the vehicle starting control method as described in the first aspect.

[0074] For the technical solution of the embodiment of the present invention, the present invention can dynamically adjust the torque slopes and preset torque thresholds of each starting stage according to the acquired overall vehicle state information, and then control the output torque of the clutch during the vehicle starting process, which is beneficial to improving the smoothness of the vehicle starting process.

[0075] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Description of the Drawings

[0076] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0077] Figure 1 Flow chart of a vehicle starting control method provided by an embodiment of the present invention;

[0078] Figure 2 Flow chart of another vehicle starting control method provided by an embodiment of the present invention;

[0079] Figure 3 Flow chart of yet another vehicle starting control method provided by an embodiment of the present invention;

[0080] Figure 4 Flow chart of yet another vehicle starting control method provided by an embodiment of the present invention;

[0081] Figure 5 Flow chart of yet another vehicle starting control method provided by an embodiment of the present invention;

[0082] Figure 6 Structural schematic diagram of a vehicle starting control device provided by an embodiment of the present invention;

[0083] Figure 7 Structural schematic diagram of a vehicle starting control device provided by an embodiment of the present invention. Detailed implementation manners

[0084] In order to enable those skilled in the art of the present technology to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0085] It should be noted that the terms "first", "second", etc. in the description, claims and the above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily limit to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices. The orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings, and is only used to illustrate the relative positional relationship between each component or component part, and does not particularly limit the specific installation orientation of each component or component part.

[0086] Figure 1 FIG. is a flowchart of a vehicle starting control method provided by an embodiment of the present invention. The vehicle starting control method in the embodiment of the present invention is applicable to situations where vehicle starting needs to be controlled. The vehicle starting control method can be executed by a vehicle starting control device, and the device can be implemented by software and / or hardware and is specifically configured in a vehicle starting control device. Refer to Figure 1 , the vehicle starting control method in the embodiment of the present invention includes:

[0087] S110. Obtain the vehicle's overall vehicle state information.

[0088] Exemplarily, the overall vehicle state information can be obtained through the vehicle's electronic control unit (ECU) and in-vehicle sensors. In addition, those skilled in the art can also obtain it according to other methods, and the embodiment of the present invention does not limit this. It should be noted that the above-mentioned overall vehicle state information can include throttle pedal opening, vehicle load, driving road gradient, resistance, ambient air pressure, clutch temperature, driver demand torque, etc., and those skilled in the art can set the specific content of the overall vehicle state information according to the actual situation.

[0089] S120. Determine the torque slopes and preset torque thresholds for multiple starting stages according to the overall vehicle state information.

[0090] Exemplarily, the starting process of the vehicle according to the embodiments of the present invention includes multiple starting stages. Each starting stage has a different function and the working state of the clutch is also different. The difference in the working state of the clutch is mainly reflected in its output torque. To achieve precise control of the output torque of the clutch in different starting stages, it is necessary to first determine the torque slope and the preset torque threshold corresponding to different starting stages of the clutch according to the obtained vehicle state information. It should be noted that the torque slope in the starting stage can be the rate at which the output torque of the clutch changes with time when the vehicle is in this starting stage; the preset torque threshold can be the maximum output torque of the clutch when the vehicle is in this starting stage.

[0091] S130. Control the output torque of the clutch according to the torque slope and the preset torque threshold;

[0092] Exemplarily, after determining the torque slope and the preset torque threshold corresponding to different starting stages of the clutch through step S120, the output torque of the clutch in different starting stages can be controlled according to the torque slope and the preset torque threshold. Specifically, in different starting stages, control the output torque of the clutch to change according to the corresponding torque slope until the preset torque threshold is reached.

[0093] S140. Control the output torque of the engine according to the vehicle state information.

[0094] It can be understood that during the starting process of the vehicle, not only the output torque of the clutch needs to be controlled, but also the output torque of the engine needs to be controlled synchronously. The embodiments of the present invention can control the output torque of the engine according to the obtained vehicle state information, and then cooperate with the clutch to realize the starting of the vehicle.

[0095] By setting the embodiments of the present invention to be able to dynamically adjust the torque slope and the preset torque threshold of each starting stage according to the obtained vehicle state information, and then control the output torque of the clutch during the vehicle starting process, it is beneficial to improve the smoothness of the vehicle starting process.

[0096] Further, it should be noted that the starting process in the embodiments of the present invention includes a first starting stage, a second starting stage, a third starting stage, and a fourth starting stage. The vehicle sequentially experiences the first starting stage, the second starting stage, the third starting stage, and the fourth starting stage. The vehicle state information includes the throttle pedal opening, the zero torque of the clutch, the vehicle load, the driving road gradient, the resistance, the ambient air pressure, the clutch temperature, the driver's required torque, and the maximum available torque of the clutch.

[0097] Figure 2 It is a flowchart of another vehicle starting control method provided by the embodiments of the present invention. Figure 2 The illustrated embodiments have described in detail how to determine the torque slope and the preset torque threshold of multiple starting stages according to the vehicle state information. Refer toFigure 2 , the vehicle starting control method in the embodiments of the present invention includes:

[0098] S210. Obtain the vehicle's overall vehicle state information.

[0099] In Figure 2 the illustrated embodiment, the obtained overall vehicle state information may include the accelerator pedal opening, clutch zero torque, vehicle load, driving road gradient, resistance, ambient air pressure, clutch temperature, driver demand torque, and the maximum available torque of the clutch. Among them, the accelerator pedal opening, vehicle load, driving road gradient, ambient air pressure, clutch temperature, and driver demand torque can be obtained according to the corresponding vehicle-mounted sensors. The clutch zero torque and the maximum available torque of the clutch can be obtained from the instruction manual of the clutch used by the vehicle and can be pre-stored in the vehicle control device and called when needed.

[0100] The resistance suffered during the vehicle starting process generally includes driving resistance, ramp resistance, air resistance, and acceleration resistance. The first starting stage in the vehicle starting process in the embodiments of the present invention can be the starting activation stage, the second stage can be the starting friction stage, the third stage can be the starting synchronization stage, and the fourth stage can be the power synchronization stage. It can be understood that during the starting process, the vehicle hardly moves or has a very low speed, and the air resistance and acceleration resistance suffered can be ignored. Therefore, in a feasible embodiment, when the vehicle is in the second starting stage, that is, the starting friction stage, the resistance borne by the vehicle can at least include driving resistance and ramp resistance. Furthermore, obtaining the resistance can include: determining the driving resistance according to the following corresponding relationship: F f = fmg, where F f represents the driving resistance, f represents the rolling resistance coefficient, m represents the vehicle load, and g represents the acceleration due to gravity; determining the ramp resistance according to the following corresponding relationship: F i = mg sinα, where F i represents the ramp resistance and α represents the driving road gradient.

[0101] It should be noted that the above rolling resistance coefficient can usually be obtained through experimental measurement or reference to empirical data, and the embodiments of the present invention do not limit this.

[0102] S220. When the vehicle is in the first starting stage, determine the first torque slope according to the accelerator pedal opening and determine the first preset torque threshold according to the clutch zero torque.

[0103] Exemplarily, after the vehicle enters the first starting stage, i.e., the starting activation stage, the starting control function of the vehicle is in an activated state, and the vehicle starting control device can determine the first torque slope according to the throttle pedal opening. Specifically, during the experimental stage of the vehicle, the corresponding relationship between different throttle pedal openings and the first torque slope can be determined through experimental measurement. The corresponding relationship between the throttle pedal opening and the first torque slope is pre-stored in the vehicle control device. After obtaining the throttle pedal opening, the first torque slope can be determined according to the throttle pedal opening and the corresponding relationship between the throttle pedal opening and the first torque slope. The first stage of the vehicle is to eliminate the free travel of the clutch, and the first preset torque threshold of the first starting stage can be set to the zero torque of the clutch.

[0104] S230. When the vehicle is in the second starting stage, determine the second torque slope according to the vehicle load mass and the driving road gradient, and determine the second preset torque threshold according to the resistance, where the second preset torque threshold is greater than the first preset torque threshold.

[0105] Exemplarily, after the output torque of the clutch is controlled to change at the first torque slope and reaches the first preset torque threshold, the vehicle enters the second starting stage, i.e., the starting friction stage. At this time, the vehicle starting control device can determine the second torque slope according to the vehicle load mass and the driving road gradient. Specifically, during the experimental stage of the vehicle, the corresponding relationship between different combinations of vehicle load mass and driving road gradient and the second torque slope can be determined through experimental measurement. The corresponding relationship between different combinations of vehicle load mass and driving road gradient and the second torque slope is pre-stored in the vehicle control device. After obtaining the vehicle load mass and the driving road gradient, the second torque slope can be determined according to the vehicle load mass, the driving road gradient, and the corresponding relationship between different combinations of vehicle load mass and driving road gradient and the second torque slope. The clutch friction torque in the second stage of the vehicle is less than the starting resistance torque of the vehicle. This stage is mainly to reduce the sliding friction work and engage the clutch as quickly as possible. Therefore, the second preset torque threshold can be determined according to the resistance.

[0106] As a feasible implementation manner, determining the second preset torque threshold according to the resistance includes: determining the second preset torque threshold according to the resistance and the following corresponding relationship: T clutch =(F i +F f )r w / i r i c , where T clutch represents the second preset torque threshold, r w represents the tire radius, i r represents the rear axle speed ratio, and i c represents the transmission current gear ratio.

[0107] It should be noted that the above-mentioned second preset torque threshold is also the starting resistance torque of the vehicle in the second stage.

[0108] S240. When the vehicle is in the third starting stage, determine the third torque slope according to the resistance and the throttle pedal opening, and determine the third preset torque threshold according to the throttle pedal opening, resistance, ambient air pressure, clutch temperature, driving road slope, and vehicle load mass, where the third preset torque threshold is greater than the second preset torque threshold.

[0109] Exemplarily, after the output torque of the clutch is controlled to change according to the second torque slope and reaches the first two-set torque threshold, the vehicle can enter the third starting stage from the second starting stage, that is, the starting synchronization stage. At this time, the vehicle starting control device can determine the third torque slope according to the resistance and the throttle pedal opening.

[0110] In a feasible implementation manner, the vehicle state information further includes vehicle jerk and clutch slip work. Determining the third torque slope according to the resistance and the throttle pedal opening may include: determining a third initial torque slope according to the resistance and the throttle pedal opening; determining a third torque slope adjustment coefficient according to the vehicle jerk and the clutch slip work; and determining the third torque slope according to the third initial torque slope and the third torque slope adjustment coefficient.

[0111] By taking the vehicle jerk and the clutch slip work as influencing factors of the third torque slope in the embodiments of the present invention, the subjective evaluation of the starting quality by the driver can be adapted, which is beneficial to improving the starting smoothness.

[0112] As a feasible implementation manner, obtaining the vehicle jerk may include: determining the vehicle jerk according to the following corresponding relationship:

[0113] where J represents the vehicle jerk, r w represents the tire radius, i r represents the rear axle ratio, i c represents the current gear ratio of the transmission, η represents the transmission efficiency, δ represents the rotating mass conversion coefficient, T c represents the actual transmitted torque of the input shaft of the axle, and m represents the vehicle load mass.

[0114] Obtaining the clutch slip work may include: determining the clutch slip work according to the following corresponding relationship:

[0115] where W represents the clutch slip work, M(t) represents the frictional torque transmitted by the clutch, n e (t) represents the engine speed, n c (t) represents the clutch speed, t 0 and t 1 represent the integration time.

[0116] As a feasible implementation manner, determining a third preset torque threshold according to the throttle pedal opening, resistance, ambient air pressure, clutch temperature, driving road slope, and vehicle load mass includes: determining a third initial torque threshold according to the throttle pedal opening and resistance; determining a third torque threshold adjustment coefficient according to the ambient air pressure, throttle pedal opening, clutch temperature, driving road slope, and vehicle load mass; and determining the third preset torque threshold according to the third initial torque threshold and the third torque threshold adjustment coefficient.

[0117] Specifically, determining the third preset torque threshold according to the third initial torque threshold and the third torque threshold adjustment coefficient includes: determining the third preset torque threshold according to the third initial torque threshold, the third torque threshold adjustment coefficient, and the following corresponding relationship: T 3 = t T T f where T 3 represents the third preset torque threshold, t T represents the third torque threshold adjustment coefficient, and T f represents the third initial torque threshold.

[0118] S250. When the vehicle is in the fourth starting stage, determine a fourth starting torque slope according to the driver demand torque, throttle pedal opening, vehicle load mass, and driving road slope, and determine a fourth preset torque threshold according to the maximum available torque of the clutch, where the fourth preset torque threshold is greater than the third preset torque threshold.

[0119] Exemplarily, after controlling the output torque of the clutch to change at the third torque slope to reach the third preset torque threshold and the clutch slip is less than the preset slip threshold, the vehicle enters the fourth starting stage from the third starting stage, that is, the power synchronization stage. At this time, the vehicle starting control device can determine the fourth torque slope according to the driver demand torque, throttle pedal opening, vehicle load mass, and driving road slope. Specifically, in the experimental stage of the vehicle, the corresponding relationship between different combinations of driver demand torque, throttle pedal opening, vehicle load mass, and driving road slope and the fourth torque slope can be determined through experimental measurement and pre-stored in the vehicle control device. After obtaining the driver demand torque, throttle pedal opening, vehicle load mass, and driving road slope, the fourth torque slope can be determined according to the driver demand torque, throttle pedal opening, vehicle load mass, driving road slope, and the corresponding relationship between different combinations of driver demand torque, throttle pedal opening, vehicle load mass, and driving road slope and the fourth torque slope. The fourth starting stage is the last stage of the vehicle starting process. In the implementation of the present invention, the fourth preset torque threshold in the fourth starting stage can be set as the maximum available torque of the clutch to ensure that after the starting process ends, the output torque of the clutch can reach the maximum available torque of the clutch.

[0120] S260. Control the output torque of the clutch according to the torque slope and the preset torque threshold.

[0121] Exemplarily, controlling the output torque of the clutch according to the third torque slope and the third preset torque threshold includes: before the output torque of the clutch reaches the third preset torque threshold, the output torque of the clutch can be determined according to the third initial torque slope and the third torque slope adjustment system. Specifically, the output torque of the clutch at the current moment can be determined according to the following corresponding relationship between the third initial torque slope and the third torque slope adjustment system: T C3,k = T C3,k-1 + k 3 K 3 , where T C3，k represents the output torque of the clutch at the current moment, T C3，k-1 represents the output torque of the clutch at the previous moment, k 3 represents the third torque slope adjustment system, and K 3 represents the third initial torque slope. It should be noted that the third initial torque slope can be understood as the change in the output torque of the clutch from the previous moment to the current moment.

[0122] S270. Control the output torque of the engine according to the vehicle state information.

[0123] Based on the above embodiments, the vehicle state information in the embodiments of the present invention further includes the engine speed and the target engine speed. Exemplarily, the engine speed can be obtained according to the corresponding vehicle sensors. The target engine speed can be determined according to the obtained starting gear, accelerator pedal opening, vehicle load, driving resistance, and driving road gradient. Specifically, in the experimental stage of the vehicle, the corresponding relationship between different combinations of starting gear, accelerator pedal opening, vehicle load, driving resistance, and driving road gradient and the target engine speed can be determined by experimental measurement and pre-stored in the vehicle control device. After obtaining the starting gear, accelerator pedal opening, vehicle load, driving resistance, and driving road gradient, the target engine speed can be determined according to the starting gear, accelerator pedal opening, vehicle load, driving resistance, driving road gradient, and the corresponding relationship between different combinations of starting gear, accelerator pedal opening, vehicle load, driving resistance, and driving road gradient and the target engine speed. It should be noted that during the entire starting process of the vehicle, its starting gear remains unchanged.

[0124] Figure 3 is a flowchart of another vehicle starting control method provided by the embodiments of the present invention. Figure 3 The shown embodiments enrich the process of the vehicle starting control method. Referring to Figure 3 , the vehicle starting control method in the embodiments of the present invention includes:

[0125] S310. Obtain the overall vehicle status information of the vehicle.

[0126] S320. When the vehicle is in the first starting stage, determine the first torque slope according to the throttle pedal opening, and determine the first preset torque threshold according to the zero torque of the clutch.

[0127] S330. When the vehicle is in the second starting stage, determine the second torque slope according to the vehicle load and the driving road gradient, adjust the second torque slope according to the engine speed and the target engine speed, and determine the second preset torque threshold according to the resistance, wherein the second preset torque threshold is greater than the first preset torque threshold.

[0128] Compared with Figure 2 In step S230 of the starting control method shown in the embodiment, in order to prevent unnecessary frictional losses, the present invention embodiment also adjusts the second torque slope according to the engine speed and the target engine speed. Specifically, if the difference between the engine speed and the target engine speed exceeds the first preset difference, the second torque slope will be adjusted, thereby restricting the clutch torque capacity and reducing frictional losses.

[0129] S340. When the vehicle is in the third starting stage, determine the third torque slope according to the resistance and the throttle pedal opening, adjust the third torque slope according to the engine speed and the target engine speed, and determine the third preset torque threshold according to the throttle pedal opening, the resistance, the ambient air pressure, the clutch temperature, the driving road gradient, and the vehicle load, wherein the third preset torque threshold is greater than the second preset torque threshold.

[0130] Compared with Figure 2 In step S240 of the starting control method shown in the embodiment, in order to prevent unnecessary frictional losses, the present invention embodiment also adjusts the third torque slope according to the engine speed and the target engine speed. Specifically, if the difference between the engine speed and the target engine speed exceeds the second preset difference, the third torque slope will be adjusted, thereby restricting the clutch torque capacity and reducing frictional losses.

[0131] It should be noted that the first preset difference and the second preset difference may be the same or different, and those skilled in the art can set them according to the actual situation.

[0132] S350. When the vehicle is in the fourth starting stage, determine the fourth starting torque slope according to the driver's required torque, the throttle pedal opening, the vehicle load, and the driving road gradient, and determine the fourth preset torque threshold according to the maximum available torque of the clutch, wherein the fourth preset torque threshold is greater than the third preset torque threshold.

[0133] S360. Control the output torque of the clutch according to the torque slope and the preset torque threshold.

[0134] S370. Control the output torque of the engine according to the vehicle state information.

[0135] Based on the above embodiments, Figure 4 is a flowchart of another vehicle starting control method provided by an embodiment of the present invention. Figure 4 The illustrated embodiment details how to control the output torque of the engine according to the vehicle state information. Refer to Figure 4 , the vehicle starting control method in the embodiment of the present invention includes:

[0136] S410. Obtain the vehicle state information of the vehicle.

[0137] S420. When the vehicle is in the first starting stage, determine the first torque slope according to the throttle pedal opening and determine the first preset torque threshold according to the clutch zero torque.

[0138] S430. When the vehicle is in the second starting stage, determine the second torque slope according to the vehicle load and the driving road slope, adjust the second torque slope according to the engine speed and the target engine speed, and determine the second preset torque threshold according to the resistance, where the second preset torque threshold is greater than the first preset torque threshold.

[0139] S440. When the vehicle is in the third starting stage, determine the third torque slope according to the resistance and the throttle pedal opening, adjust the third torque slope according to the engine speed and the target engine speed, and determine the third preset torque threshold according to the throttle pedal opening, the resistance, the ambient air pressure, the clutch temperature, the driving road slope, and the vehicle load, where the third preset torque threshold is greater than the second preset torque threshold.

[0140] S450. When the vehicle is in the fourth starting stage, determine the fourth starting torque slope according to the driver's required torque, the throttle pedal opening, the vehicle load, and the driving road slope, and determine the fourth preset torque threshold according to the maximum available torque of the clutch, where the fourth preset torque threshold is greater than the third preset torque threshold.

[0141] S460. Control the output torque of the clutch according to the torque slope and the preset torque threshold.

[0142] S470. Determine the engine control mode according to the starting stage, the engine speed, and the target engine speed, where the engine control mode includes a torque control mode and a speed-torque limit control mode;

[0143] In a feasible embodiment, an engine control mode is determined according to the starting stage, the engine speed, and the target engine speed, including: when the vehicle is in the second starting stage or the third starting stage and the difference between the engine speed and the target engine speed is less than or equal to a preset threshold, controlling the engine control mode to be a torque control mode; when the vehicle is in the second starting stage or the third starting stage and the difference between the engine speed and the target engine speed is greater than the preset threshold, controlling the engine control mode to be a speed-torque limit control module; when the vehicle is in the fourth starting stage, controlling the engine control mode to be a torque control mode.

[0144] It should be noted that the first starting time of the vehicle is very short. When the vehicle is in the first starting stage, the engine of the vehicle should start from an unstarted state.

[0145] S480. Control the output torque of the engine according to the engine control mode.

[0146] Exemplarily, when the engine control mode is the torque control mode, the difference between the engine speed and the target engine speed can be calculated and used as an input, and the output torque of the engine is determined through a PID algorithm. Specifically, the torque target value is controlled to be the driver's required torque, the engine torque increase rate is determined by obtaining the throttle pedal opening and the driving resistance, and the vehicle impact degree, the engine torque, and the engine crankshaft angular acceleration are used as influencing factors to determine the engine torque increase influence coefficient K C , thereby restricting the engine torque increase rate N E , the calculation formula for the output torque of the engine at the current moment is as follows: T E,k =T E,k-1 +K C N E , where T E，k represents the output torque of the engine at the current moment, and T E，k-1 represents the output torque of the engine at the previous moment. It should be noted that the engine torque increase rate can be understood as the change in the engine output torque from the previous moment to the current moment. Through the above torque control method, stable control of the output torque of the engine can be achieved.

[0147] When the engine control mode is the speed-torque limit control mode, the limit speed of the engine can be determined first according to the obtained starting gear, throttle pedal opening, vehicle load, driving resistance, and driving road gradient, and then the output torque of the engine can be determined according to the limit speed.

[0148] On the basis of the above embodiments, the vehicle state information in the embodiments of the present invention further includes the starting gear, the vehicle driving mode, and the shift lever position. The starting gear, the vehicle driving mode, and the shift lever position can be obtained through corresponding vehicle-mounted sensors.

[0149] Figure 5 This is a flowchart of another vehicle starting control method provided by an embodiment of the present invention. Figure 5 The illustrated embodiment enriches the process of the vehicle starting control method. Referring to Figure 5 , the vehicle starting control method in the embodiment of the present invention includes:

[0150] S510. Obtain the vehicle's overall vehicle state information.

[0151] S520. Control the vehicle to enter the first starting stage according to the throttle pedal opening, driver's required torque, starting gear, vehicle driving mode, and shift lever position.

[0152] Exemplarily, if the throttle pedal opening is greater than a preset opening threshold, the driver's required torque is greater than a preset required torque threshold, the current gear is less than the maximum starting gear, the vehicle driving mode is automatic or manual, and the shift lever is in the forward gear or reverse gear, then activate the vehicle starting control function and enter the first stage of vehicle starting. By setting that the vehicle can be controlled to start only when the above conditions are met, it is beneficial to ensure the safety of vehicle starting and avoid situations such as vehicle damage and driver injury caused by starting in the wrong gear or starting when the driver is not ready.

[0153] S530. When the vehicle is in the first starting stage, determine the first torque slope according to the throttle pedal opening and determine the first preset torque threshold according to the clutch zero torque.

[0154] S540. When the vehicle is in the second starting stage, determine the second torque slope according to the vehicle load and the driving road gradient, and determine the second preset torque threshold according to the resistance, where the second preset torque threshold is greater than the first preset torque threshold.

[0155] S550. When the vehicle is in the third starting stage, determine the third torque slope according to the resistance and the throttle pedal opening, and determine the third preset torque threshold according to the throttle pedal opening, resistance, ambient air pressure, clutch temperature, driving road gradient, and vehicle load, where the third preset torque threshold is greater than the second preset torque threshold.

[0156] S560. When the vehicle is in the fourth starting stage, determine the fourth starting torque slope according to the driver's required torque, throttle pedal opening, vehicle load, and driving road gradient, and determine the fourth preset torque threshold according to the maximum available torque of the clutch, where the fourth preset torque threshold is greater than the third preset torque threshold.

[0157] S570. Control the output torque of the clutch according to the torque slope and the preset torque threshold.

[0158] S580. Control the output torque of the engine according to the overall vehicle state information.

[0159] Based on the same inventive concept, an embodiment of the present invention further provides a vehicle starting control device. Figure 6 As a schematic structural diagram of a vehicle starting control device provided by an embodiment of the present invention, referring to Figure 6 , the vehicle starting control device in the embodiment of the present invention includes:

[0160] An information acquisition unit 610, configured to acquire the vehicle's overall vehicle state information.

[0161] A torque slope and threshold determination unit 620, configured to determine the torque slopes and preset torque thresholds for multiple starting stages according to the overall vehicle state information.

[0162] A clutch torque control unit 630, configured to control the output torque of the clutch according to the torque slope and the preset torque threshold.

[0163] An engine torque control unit 640, configured to control the output torque of the engine according to the overall vehicle state information.

[0164] Optionally, the vehicle starting control device in the embodiment of the present invention may further include a starting stage start control unit, a second torque slope adjustment unit, and a third torque slope adjustment unit. Among them, the starting stage start control unit can control the vehicle to enter the first starting stage according to the throttle pedal opening, the driver's required torque, the starting gear, the vehicle driving mode, and the shift lever position; the second torque slope adjustment unit can adjust the second torque slope according to the engine speed and the target engine speed; the third torque slope adjustment unit can adjust the third torque slope according to the engine speed and the target engine speed.

[0165] The vehicle starting control device provided by the embodiment of the present invention can execute the vehicle starting control method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0166] Figure 7 FIG. shows a schematic structural diagram of a vehicle starting control device 700 that can be used to implement an embodiment of the present invention. The vehicle starting control device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The vehicle starting control device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device (such as a helmet, glasses, a watch, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described herein and / or claimed.

[0167] As Figure 7As shown, the vehicle start control device 700 includes at least one processor 710 and a memory communicatively connected to the at least one processor 710, such as a read-only memory (ROM) 720, a random access memory (RAM) 730, etc. The memory stores a computer program executable by the at least one processor. The processor 710 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 720 or the computer program loaded from the storage unit 780 into the random access memory (RAM) 730. In the RAM 730, various programs and data required for the operation of the vehicle start control device 700 can also be stored. The processor 710, the ROM 720, and the RAM 730 are connected to each other via a bus 740. The input / output (I / O) interface 750 is also connected to the bus 740.

[0168] Multiple components in the vehicle start control device 700 are connected to the I / O interface 750, including: an input unit 760, such as a keyboard, a mouse, etc.; an output unit 770, such as various types of displays, speakers, etc.; a storage unit 780, such as a disk, an optical disc, etc.; and a communication unit 790, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 790 allows the vehicle start control device 700 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0169] The processor 710 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 710 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 710 executes the various methods and processes described above, such as the vehicle start control method.

[0170] In some embodiments, the vehicle start control method can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 780. In some embodiments, part or all of the computer program can be loaded and / or installed onto the vehicle start control device 700 via the ROM 720 and / or the communication unit 790. When the computer program is loaded into the RAM 730 and executed by the processor 710, one or more steps of the vehicle start control method described above can be executed. Alternatively, in other embodiments, the processor 710 can be configured to execute the vehicle start control method by any other appropriate means (e.g., by means of firmware).

[0171] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0172] The computer program for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer program can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0173] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0174] To provide interaction with a user, the systems and techniques described herein can be implemented on a vehicle start control device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the vehicle start control device. Other kinds of devices can also be used to provide interaction with the user. For example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback). And the input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0175] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0176] The computing system can include a client and a server. The client and the server are generally far from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0177] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0178] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A vehicle starting control method, characterized in that: The starting process of the vehicle includes multiple starting stages, and the vehicle starting control method includes: Obtaining vehicle status information of the vehicle; Determining a plurality of torque slopes and preset torque thresholds in the starting phase according to the vehicle state information; controlling the output torque of the clutch according to the torque slope and the preset torque threshold; The output torque of the engine is controlled according to the vehicle status information.

2. The vehicle starting control method according to claim 1, characterized in that: The starting process includes a first starting stage, a second starting stage, a third starting stage and a fourth starting stage, and the vehicle sequentially experiences the first starting stage, the second starting stage, the third starting stage and the fourth starting stage; the vehicle status information includes accelerator pedal opening, clutch zero torque, vehicle mass, driving road slope, resistance, ambient air pressure, clutch temperature, driver demand torque and clutch maximum available torque; Determining a plurality of torque slopes and preset torque thresholds in the starting phase according to the vehicle state information includes: When the vehicle is in the first starting stage, determining a first torque slope according to the accelerator pedal opening, and determining a first preset torque threshold according to the clutch zero torque; When the vehicle is in the second starting stage, a second torque slope is determined according to the vehicle mass and the driving road slope, and a second preset torque threshold is determined according to the resistance, wherein the second preset torque threshold is greater than the first preset torque threshold; When the vehicle is in the third starting stage, a third torque slope is determined according to the resistance and the accelerator pedal opening, and a third preset torque threshold is determined according to the accelerator pedal opening, the resistance, the ambient air pressure, the clutch temperature, the driving road slope and the vehicle mass, wherein the third preset torque threshold is greater than the second preset torque threshold; When the vehicle is in the fourth starting stage, the fourth starting torque slope is determined according to the driver's required torque, the accelerator pedal opening, the vehicle mass and the driving road slope, and the fourth preset torque threshold is determined according to the maximum available torque of the clutch, wherein the fourth preset torque threshold is greater than the third preset torque threshold.

3. The vehicle starting control method according to claim 2, characterized in that: The vehicle status information also includes the vehicle impact degree and clutch slip friction work; Determining a third torque slope according to the resistance and the accelerator pedal opening includes: a third initial torque slope according to the resistance and the accelerator pedal opening; Determining a third torque slope adjustment coefficient according to the vehicle impact degree and the clutch slip work; The third torque slope is determined according to the third initial torque slope and the third torque slope adjustment coefficient.

4. The vehicle starting control method according to claim 2, characterized in that: The vehicle status information also includes engine speed and target engine speed; When the vehicle is in the second starting stage and after the second torque slope is determined according to the vehicle mass and the driving road slope, the vehicle starting control method further includes: adjusting the second torque slope according to the engine speed and the target engine speed; When the vehicle is in the third starting stage and a third torque slope is determined according to the resistance and the accelerator pedal opening, the vehicle starting control method further includes: The third torque slope is adjusted according to the engine speed and the target engine speed.

5. The vehicle starting control method according to claim 4, characterized in that: Controlling the output torque of the engine according to the vehicle status information includes: determining an engine control mode according to the starting stage, the engine speed and the target engine speed, wherein the engine control mode includes a torque control mode and a speed torque limiting control mode; The output torque of the engine is controlled according to the engine control mode.

6. The vehicle starting control method according to claim 5, characterized in that: Determining an engine control mode according to the starting stage, the engine speed and the target engine speed includes: When the vehicle is in the second starting stage or the third starting stage, and the difference between the engine speed and the target engine speed is less than or equal to a preset threshold, controlling the engine control mode to be a torque control mode; When the vehicle is in the second starting stage or the third starting stage, and the difference between the engine speed and the target engine speed is greater than the preset threshold, controlling the engine control mode to be a speed torque limiting control module; When the vehicle is in the fourth starting stage, the engine control mode is controlled to be a torque control mode.

7. The vehicle starting control method according to claim 2, characterized in that: The vehicle status information also includes starting gear, vehicle driving mode and shift handle position; Before the vehicle is in the first starting stage, the vehicle starting control method further includes: The vehicle is controlled to enter the first starting stage according to the accelerator pedal opening, the driver's required torque, the starting gear, the vehicle driving mode and the shift handle position.

8. The vehicle starting control method according to claim 2, characterized in that: When the vehicle is in the second starting stage, the resistance includes at least driving resistance and slope resistance; obtaining the resistance includes: The driving resistance is determined according to the following corresponding relationship: F f =fmg; Among them, F f represents the driving resistance, f represents the rolling resistance coefficient, m represents the vehicle mass, and g represents the gravitational acceleration; The slope resistance is determined according to the following corresponding relationship: F i =mgsinα; Among them, F i represents the slope resistance, and α represents the slope of the driving road.

9. The vehicle starting control method according to claim 8, characterized in that: Determining the second preset torque threshold according to the resistance comprises: The second preset torque threshold is determined according to the resistance and the following corresponding relationship: T clutch =(F i +F f )r w / i r i c ; Among them, T clutch represents the second preset torque threshold, r w represents the tire radius, i r Represents the rear axle speed ratio, i c Indicates the current gear ratio of the transmission.

10. The vehicle starting control method according to claim 3, characterized in that: Obtaining the impact degree of the entire vehicle, including: The impact degree of the whole vehicle is determined according to the following corresponding relationship: Wherein, J represents the impact strength of the whole vehicle, r w represents the tire radius, i r Represents the rear axle speed ratio, i c represents the current gear ratio of the transmission, η represents the transmission efficiency, δ represents the rotational mass conversion coefficient, T c It represents the actual torque transmitted by the input shaft of the bridge, and m represents the vehicle mass; Obtaining the clutch sliding friction work includes: The clutch slip work is determined according to the following corresponding relationship: Wherein, W represents the clutch slip work, M(t) represents the friction torque transmitted by the clutch, and n e (t) represents the engine speed, n c (t) represents the clutch speed, and t0 and t1 represent the integration times.

11. The vehicle starting control method according to claim 2, characterized in that: Determining a third preset torque threshold according to the accelerator pedal opening, the resistance, the ambient air pressure, the clutch temperature, the driving road slope, and the vehicle mass includes: determining a third initial torque threshold value according to the accelerator pedal opening and the resistance; determining a third torque threshold adjustment coefficient according to the ambient air pressure, the accelerator pedal opening, the clutch temperature, the driving road slope and the vehicle mass; A third preset torque threshold is determined according to the third initial torque threshold and the third torque threshold adjustment coefficient.

12. The vehicle starting control method according to claim 11, characterized in that: Determining a third preset torque threshold according to the third initial torque threshold and the third torque threshold adjustment coefficient includes: The third preset torque threshold is determined according to the third initial torque threshold, the third torque threshold adjustment coefficient and the following corresponding relationship: T3=t T T f ; Wherein, T3 represents the third preset torque threshold, t T represents the third torque threshold adjustment coefficient, T f represents the third initial torque threshold.

13. A vehicle starting control device, used to execute the vehicle starting control method according to any one of claims 1 to 12, characterized in that: The vehicle starting control device comprises: An information acquisition unit, used to acquire the vehicle status information of the vehicle; A torque slope and threshold determination unit, used to determine a plurality of torque slopes and preset torque thresholds in the starting phase according to the vehicle state information; a clutch torque control unit, configured to control the output torque of the clutch according to the torque slope and the preset torque threshold; The engine torque control unit is used to control the output torque of the engine according to the vehicle status information.

14. A vehicle starting control device, characterized in that: The vehicle starting control device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle starting control method as described in any one of claims 1-12.

15. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the vehicle starting control method as described in any one of claims 1 to 12 is implemented.

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