Clutch control method, device and vehicle based on automatic transmission vehicle

Abstract

The disclosed embodiments relate to a clutch control method, device, and vehicle for an automatic transmission vehicle, wherein the method includes: detecting whether the vehicle is in a preset neutral coasting entry condition; when in the preset neutral coasting entry condition, determining whether the vehicle satisfies a preset neutral coasting prohibition condition, wherein the preset neutral coasting prohibition condition is used to prohibit the vehicle from neutral coasting; and when the preset neutral coasting prohibition condition is satisfied, controlling the fourth clutch to switch from a closed state to an open state, wherein when the fourth clutch is in the open state, the vehicle does not neutral coast. In this technical solution, the problem of vehicle neutral coasting is avoided without increasing control costs, thereby improving the user's driving experience.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control technology, and in particular to a clutch control method and device for an automatic transmission vehicle, and a vehicle. Background Art

[0002] Vehicles equipped with automatic transmissions are becoming more and more common. When the shift lever requests neutral, the clutch engaged with the transmission is also controlled in neutral accordingly. The transmission's transfer clutch hardware chain has been opened, but the entire vehicle will creep at a lower speed, that is, the vehicle will glide in neutral.

[0003] In the related art, improvements are made from the perspective of hardware to prevent the vehicle from coasting in neutral. For example, a closable fixing device is installed on the vehicle's drive shaft. When it is detected that the shift lever requests neutral, the fixing device is closed to lock the drive shaft, thereby preventing the vehicle from coasting in neutral.

[0004] However, the above-mentioned method of preventing the vehicle from coasting in neutral gear by improving hardware increases the control cost, and unexpected problems may occur after the hardware improvement, affecting the user's driving experience. Summary of the Invention

[0005] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a clutch control method, device and vehicle based on an automatic transmission vehicle.

[0006] An embodiment of the present disclosure provides a clutch control method based on an automatic transmission vehicle, wherein the vehicle includes a brake, a first clutch, a second clutch, a third clutch and a fourth clutch, and when the vehicle is in neutral, the brake and the fourth clutch are in a closed state by default, wherein the fourth clutch transmits torque to the vehicle in a closed state, and the first clutch, the second clutch and the third clutch are in an open state by default, and the method includes: detecting whether the vehicle is in a preset neutral coasting entry condition; when in the preset neutral coasting entry condition, determining whether the vehicle meets a preset neutral coasting prohibition condition, wherein the preset neutral coasting prohibition condition is used to prohibit the vehicle from neutral coasting; when the preset neutral coasting prohibition condition is met, controlling the fourth clutch to switch from a closed state to an open state, wherein when the fourth clutch is in an open state, the vehicle does not perform neutral coasting.

[0007] The embodiment of the present disclosure also provides a clutch control device based on an automatic transmission vehicle, wherein the vehicle includes a brake, a first clutch, a second clutch, a third clutch and a fourth clutch. When the vehicle is in neutral, the brake and the fourth clutch are in a closed state by default, wherein the fourth clutch transmits torque to the vehicle in a closed state, and the first clutch, the second clutch and the third clutch are in an open state by default. The device includes: a detection module for detecting whether the vehicle is in a preset neutral coasting entry condition; a determination module for determining whether the vehicle meets a preset neutral coasting prohibition condition when in the preset neutral coasting entry condition, wherein the preset neutral coasting prohibition condition is used to prohibit the vehicle from neutral coasting; a control module for controlling the fourth clutch to switch from a closed state to an open state when the preset neutral coasting prohibition condition is met, wherein the vehicle does not neutral coast when the fourth clutch is in an open state.

[0008] An embodiment of the present disclosure also provides a vehicle, comprising: a processor; a memory for storing executable instructions of the processor; the processor for reading the executable instructions from the memory and executing the instructions to implement a clutch control method for an automatic transmission vehicle as provided in an embodiment of the present disclosure.

[0009] An embodiment of the present disclosure further provides a computer-readable storage medium storing a computer program for executing the clutch control method for an automatic transmission vehicle provided in an embodiment of the present disclosure.

[0010] The technical solution provided by the embodiment of the present disclosure has the following advantages over the prior art: the clutch control solution for automatic transmission vehicles provided by the embodiment of the present disclosure detects whether the vehicle is in a preset neutral coasting entry condition, and when in the preset neutral coasting entry condition, determines whether the vehicle meets a preset neutral coasting prohibition condition, wherein the preset neutral coasting prohibition condition is used to prohibit the vehicle from neutral coasting, and then, when the preset neutral coasting prohibition condition is met, controls the fourth clutch to switch from a closed state to an open state, wherein when the fourth clutch is in the open state, the vehicle does not coast in neutral. In this technical solution, without increasing the control cost, it can solve the problem of the vehicle coasting in neutral on a horizontal road surface due to the hardware belt shift when in neutral, which affects the safety of the vehicle and the driver, and improves the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The above and other features, advantages, and aspects of the various embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that the originals and elements are not necessarily drawn to scale.

[0012] Figure 1 A schematic flow chart of a clutch control method for an automatic transmission vehicle provided in an embodiment of the present disclosure;

[0013] Figure 2 A schematic flow chart of another clutch control method for an automatic transmission vehicle provided by an embodiment of the present disclosure;

[0014] Figure 3 A schematic structural diagram of a clutch control device for an automatic transmission vehicle provided by an embodiment of the present disclosure;

[0015] Figure 4 A schematic structural diagram of a vehicle provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0016] The following describes embodiments of the present disclosure in more detail 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 limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of protection of the present disclosure.

[0017] 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.

[0018] As used herein, the term "including" and its variations are open-ended, 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," and the term "some embodiments" means "at least some embodiments." Other terms are defined in the following description.

[0019] It should be noted that the concepts of "first" and "second" mentioned in this 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.

[0020] It should be noted that the modifications of "one" and "multiple" 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, they should be understood as "one or more".

[0021] 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.

[0022] In order to solve the above problems, an embodiment of the present disclosure provides a clutch control method for an automatic transmission vehicle, which is introduced below in conjunction with specific embodiments.

[0023] Figure 1 The present disclosure provides a flow chart of a clutch control method for an automatic transmission vehicle according to an embodiment of the present disclosure. The method can be executed by a clutch control device for an automatic transmission vehicle, wherein the device can be implemented using software and / or hardware and can generally be integrated into the vehicle. The vehicle includes a brake, a first clutch, a second clutch, a third clutch, and a fourth clutch. When the vehicle is in neutral, the brake and the fourth clutch are in a closed state by default, wherein the fourth clutch transmits torque to the vehicle in a closed state, and the first clutch, the second clutch, and the third clutch are in an open state by default. The first clutch, the second clutch, the third clutch, and the fourth clutch can be closed in different combinations to achieve different driving gears of the vehicle, and the specific combination can be set according to the control scenario.

[0024] As mentioned in the above embodiments, when the vehicle is in neutral, power is unloaded by disengaging the first, second, and third clutches. However, in practice, due to the influence of the belt (generally referring to the fluid flow between the pump and turbine in the torque converter), the torque converter is a key component in the automatic transmission that transmits engine power. It transmits torque between the pump and turbine via hydraulic fluid. Even in neutral, if the fluid flow within the torque converter is not completely stopped, some power transmission may still occur. In certain circumstances, especially at high engine speeds, the fluid flow within the torque converter may cause slight power transmission, causing the vehicle to move slowly even when it should theoretically be in neutral, resulting in the problem of neutral coasting. To avoid this problem, the solution proposed in this disclosure controls the disengagement of the fourth clutch under certain conditions to cut off the power transmission path between the engine and the input shaft, thereby resolving the neutral coasting problem caused by the inability to completely disconnect the hardware belt.

[0025] like Figure 1 As shown, the method includes:

[0026] Step 101: Detect whether the vehicle is in a preset neutral gear coasting entry condition.

[0027] The preset neutral coasting condition is used to indicate that the vehicle's current operating condition may cause neutral coasting. The preset neutral coasting condition may vary in different application scenarios. As a possible implementation method, the preset neutral coasting condition includes:

[0028] (1) The vehicle's preset neutral gear anti-coasting function switch is in the preset on state;

[0029] When the preset neutral gear anti-coasting function switch is in the preset on state, it indicates that the vehicle has a problem of coasting in neutral gear. The preset neutral gear anti-coasting function indicates a function for prohibiting the vehicle from coasting in neutral gear. If the function is enabled, relevant processing for prohibiting the vehicle from coasting in neutral gear will be executed.

[0030] In this embodiment, the preset neutral gear inhibit coasting function switch can be defined as flg_NPSlidEn. This switch is mainly a calibration switch for whether the neutral gear inhibiting function needs to be enabled. For example, a certain automatic transmission does not have the problem of neutral gear slipping, so there is no need to suppress the neutral gear coasting function. For example, the transmission that causes neutral gear slipping due to belt loss has been solved from a hardware perspective, so there is no need to turn on this function. In order to ensure software platform management, the function switch can be set according to the needs of different models to facilitate software platformization and software matching the needs of different transmissions and complete vehicles.

[0031] and,

[0032] (2) The vehicle's currently closed clutch is the fourth clutch;

[0033] In this embodiment, the fourth clutch mainly refers to a clutch that is not closed based on the control logic of the vehicle. In this embodiment, it refers to the fourth clutch.

[0034] and,

[0035] (3) The gear shift lever in the vehicle is in the neutral position.

[0036] In this embodiment, when the shift lever in the vehicle is in the neutral position, it indicates that the driver does not want the vehicle to have the power demand to move forward or reverse. The driver does not have real-time driving ability at this time. If the vehicle rolls at this time, it will affect the safety of the vehicle and personnel. Therefore, it is preliminarily considered that the vehicle is in a working condition where neutral coasting is prohibited.

[0037] and,

[0038] (4) The control gear of the automatic transmission is in neutral, or in the process of shifting from another gear to neutral;

[0039] In this embodiment, when the automatic transmission's controlled gear is in neutral (i.e., N), or when the automatic transmission is in the process of shifting from another gear to neutral, for example, during a shift from D1 to N, D2 to N, or R to N, the vehicle is preliminarily deemed to be in a condition where neutral coasting is prohibited. If the automatic transmission is in one of the above gear changes, it indicates that the automatic transmission is in neutral or is being shifted to neutral in accordance with the driver's intention. To quickly respond to entering neutral, the neutral coasting prohibition function can be immediately enabled. This allows for timely control during the shift process to suppress the belt torque that could cause the vehicle to coast. Failure to promptly enable this function could result in abnormal clutch pressure control when entering a driving gear, potentially causing vehicle shock.

[0040] and / or,

[0041] (5) When the vehicle is equipped with a four-wheel drive system, the four-wheel drive system is in a fixed four-wheel drive gear ratio.

[0042] When the vehicle is a four-wheel drive system, the transfer case mainly includes a high-speed four-wheel drive mode, namely 4H mode, and a low-speed four-wheel drive mode, namely 4L mode. When the gear ratio of the transfer case 4H or 4L mode of the four-wheel drive system is fixed, the prohibition of neutral coasting function is allowed to be enabled. If it is not in a fixed four-wheel drive gear ratio at this time, the automatic transmission will affect the shifting quality of the transmission during the shifting process. Therefore, the prohibition of neutral coasting function is not allowed to be enabled when the four-wheel drive system is not in a fixed four-wheel drive gear ratio.

[0043] In this embodiment, when the preset neutral coasting entry condition is met, flg_NPSlidEn=1 may be assigned to indicate that the vehicle satisfies the enabling and disabling vehicle coasting function.

[0044] Step 102 : When the vehicle is in a preset neutral coasting entry state, determining whether the vehicle satisfies a preset neutral coasting prohibition condition, wherein the preset neutral coasting prohibition condition is used to prohibit the vehicle from neutral coasting.

[0045] In an embodiment of the present disclosure, when the vehicle is in a preset neutral coasting entry condition, it is determined whether the vehicle meets a preset neutral coasting prohibition condition, wherein the preset neutral coasting prohibition condition is used to prohibit the vehicle from neutral coasting, that is, when the vehicle is in a preset neutral coasting entry condition, it is further determined whether the relevant processing of prohibiting neutral coasting can be performed.

[0046] The preset conditions for prohibiting neutral coasting may be calibrated according to application scenarios. In some possible embodiments, the preset conditions for prohibiting neutral coasting include:

[0047] (1) The vehicle is in the preset neutral gear and glides into the working condition.

[0048] For example, in this embodiment, it may be determined that flg_NPSlidEn=1.

[0049] and,

[0050] (2) The vehicle is in neutral.

[0051] That is, in this embodiment, it is determined that both the shift lever and the automatic transmission of the vehicle are in the neutral state.

[0052] and,

[0053] (3) The vehicle’s preset braking device is not activated.

[0054] The vehicle's pre-set braking device may include a parking brake, brake, or other vehicle braking systems. In this embodiment, neutral coasting primarily occurs when the driver shifts the transmission into neutral but does not apply the vehicle brakes. Even if the vehicle brakes, the transmission shifting will not cause the vehicle to move forward or reverse at any speed. Therefore, it is necessary to ensure that the vehicle's pre-set braking device is in an inactive state.

[0055] In an embodiment of the present disclosure, for ease of control, flg_NPSlidNESS may be further defined to indicate a preset neutral coasting prohibition condition. When flg_NPSlidNESS=1, it is considered that the preset neutral coasting prohibition condition is met.

[0056] Step 103 : When a preset neutral coasting prohibition condition is met, the fourth clutch is controlled to switch from a closed state to an open state. When the fourth clutch is in the open state, the vehicle does not coast in neutral.

[0057] In an embodiment of the present disclosure, when the preset conditions prohibiting neutral coasting are met, the fourth clutch is controlled to switch from a closed state to an open state, wherein when the fourth clutch is in the open state, the vehicle does not coast in neutral, that is, in this embodiment, when the fourth clutch is switched from a closed state to an open state, the power transmission between the transmission and the vehicle is further cut off, and the vehicle will not have the problem of neutral coasting due to the belt.

[0058] In one embodiment of the present disclosure, in order to further ensure that the switching of the fourth clutch from the closed state to the open state meets the driving needs of the driver, before controlling the fourth clutch to switch from the closed state to the open state, it is also necessary to determine whether the trigger conditions for switching the fourth clutch from the closed state to the open state are met.

[0059] In some possible embodiments, the triggering conditions for switching the fourth clutch from the closed state to the open state may include:

[0060] (1) flg_NPSlidNESS=1 in the above embodiment;

[0061] (2) In the above embodiment, flg_NPSlidEn = 1, and the current slope of the vehicle is less than a preset slope threshold, where the preset slope threshold can be calibrated according to the actual conditions of different vehicle models or different transmissions. For example, the preset slope threshold can be 3%, and the transmission output shaft is 0; and the driver has stepped on the brakes or operated the vehicle brake. This condition is mainly to indicate that the driver has the intention to brake to stop and has the requirement to not allow the vehicle to coast in neutral. If the driver does not have the requirement to not allow the vehicle to coast in neutral, there is no need to enable the clutch Open control to suppress neutral coasting.

[0062] When one of the sub-conditions in condition (2) is not satisfied, it is considered that condition (2) is not satisfied, and whether condition (2) is satisfied is re-monitored. For example, when flg_NPSlidEn=0, or the state of the fourth clutch is already in the open state, condition (2) can be reset, that is, whether condition (2) is satisfied is re-monitored.

[0063] (3) On the basis of the above condition (2) being met, the current driver has no need to brake or pull up the handbrake, and the current vehicle braking condition is set to 0 (sub-condition 1 of condition (3));

[0064] Moreover, the current output shaft speed is greater than the preset value or the wheel speed is greater than the preset value. The preset value corresponding to the output shaft speed may be 5 rpm, and the preset value corresponding to the wheel speed may be 0.1 km / h (sub-condition 2 of condition (3)). Condition (3) indicates that when the vehicle is currently in neutral, the driver has not manually enabled the neutral coasting suppression function.

[0065] In this embodiment, in order to avoid misjudgment of condition (3), condition (3) is considered to be met only after sub-conditions 1 and 2 corresponding to condition (3) are met at the same time and maintained for a preset time period or longer. The preset time period can be calibrated according to the scenario, for example, the preset time period can be 500ms.

[0066] After the above conditions (1)-(3) are met, the fourth clutch is controlled to switch from the closed state to the open state.

[0067] When controlling the fourth clutch to switch from a closed state to an open state, the control pressure of the fourth clutch can be directly set to 0 bar. The clutch control pressure refers to the pressure provided by the hydraulic system used to operate the clutch. This pressure determines the contact force between the clutch plates, thereby affecting the efficiency of power transmission from the engine to the wheels. When the clutch control pressure increases, the clutch plates are compressed, allowing the engine power to be transmitted to the wheels via the planetary gear set. When the clutch control pressure decreases or is released, the clutch plates are released, severing the power connection between the engine and the wheels. In summary, the clutch control method for an automatic transmission vehicle according to the disclosed embodiment detects whether the vehicle is in a preset neutral coasting entry condition. When in the preset neutral coasting entry condition, it determines whether the vehicle satisfies a preset neutral coasting prohibition condition, wherein the preset neutral coasting prohibition condition is used to prohibit the vehicle from neutral coasting. Furthermore, when the preset neutral coasting prohibition condition is met, the fourth clutch is controlled to switch from a closed state to an open state. When the fourth clutch is in the open state, the vehicle does not neutral coast. In this technical solution, without increasing the control cost, it can solve the problem of the vehicle sliding in neutral on a horizontal road due to the hardware belt line when in neutral, which affects the safety of the vehicle and the driver, and improves the user's driving experience.

[0068] Based on the above embodiment, during actual driving, after neutral coasting is prohibited, the driver may have subsequent driving needs, etc. Therefore, in order to meet driving needs, the fourth clutch is controlled to switch from an open state to a closed state when necessary.

[0069] In one embodiment of the present disclosure, Figure 2 As shown, the method further includes:

[0070] Step 201: Check whether the vehicle meets the preset driving conditions.

[0071] When the fourth clutch is in the open state, it is detected whether the vehicle meets the preset driving condition, and the preset driving condition is used to indicate whether the driver currently has a driving demand.

[0072] It should be noted that in different application scenarios, the preset driving conditions are different, as shown below:

[0073] In some possible embodiments, the preset driving conditions include:

[0074] (1) In the above embodiment, flg_NPSlidNESS=0, that is, the condition for prohibiting neutral coasting is not met.

[0075] For example, if the driver currently has a need to shift gears, the current gear position of the shift lever is not in neutral or the gear position inside the transmission is not in neutral, the driver releases the brake, and the driver intends to drive the vehicle forward, then it is considered that the preset driving conditions are met.

[0076] Step 202 : When a preset driving condition is met, the fourth clutch is controlled to enter a first preset stage, wherein the fourth clutch is oil-filled in the first preset stage.

[0077] It should be understood that, based on the control logic of the clutch, the clutch cannot switch directly from the open state to the closed state, but needs to go through an intermediate stage. In this embodiment, it needs to go through intermediate stages such as the first preset stage to the fourth preset stage, wherein the specific stage content of the first preset stage to the fourth preset stage can be set according to the scenario. For example, in some possible embodiments, the first preset stage is the Boost oil filling stage, the second preset stage is the Kp stage, the Kp stage is the pressure increase stage, the third preset stage is the SpdStart stage, the SpdStart stage further increases the pressure on the clutch, and the fourth stage is the SpdSyn stage, the SpdSyn stage further increases the pressure on the clutch until the clutch is tight.

[0078] In this embodiment, when the preset driving condition is met, the fourth clutch is controlled to enter a first preset stage, wherein the fourth clutch is oil-filled in the first preset stage.

[0079] In this embodiment, the oil filling of the fourth clutch is controlled according to a preset pressure value, wherein the preset pressure value can be set according to the scenario. In some possible embodiments, the preset pressure value is 4 bar.

[0080] Step 203 : In the first preset stage, monitoring whether the fourth clutch meets the first preset stage end condition.

[0081] In this embodiment, whether the fourth clutch satisfies the first preset stage end condition is monitored, so that after the first preset stage end condition is satisfied, the control of the first preset stage is ended and the second preset stage is entered.

[0082] In some possible embodiments, the end condition of the first preset stage includes detecting that the oil filling amount in the clutch and the oil channel is greater than a preset oil amount threshold.

[0083] In some possible embodiments, the oil filling time of the clutch can also be detected to indirectly ensure that the oil filling amount in the clutch and the oil channel reaches a certain value.

[0084] In this embodiment, the current temperature of the fourth clutch is determined, and a preset first table is queried based on the current temperature of the fourth clutch to obtain an oil filling time compensation value. In other words, the temperature of the clutch affects the oil filling time. For example, higher temperatures make the hydraulic oil thinner and more fluid. This allows the hydraulic oil to flow through valves and pipes more quickly, thereby shortening the oil filling time.

[0085] The preset first table may be calibrated according to the scenario. In some possible embodiments, the first table is shown in Table 1 below:

[0086] Table 1

[0087]

[0088] In this embodiment, a preset base oil filling time for the fourth clutch is obtained. The preset base oil filling time can be identified as BaseTime and is calibrated according to the scenario. For example, BaseTime is 110ms. In this embodiment, the remaining oil filling percentage of the fourth clutch is also obtained. The remaining oil filling percentage can be calculated when the fourth clutch is in the oil unloading phase before Boost. The calculation method of the remaining oil filling percentage can be obtained by conventional techniques and is not further described here.

[0089] In this embodiment, a self-learning method is also used to determine the oil filling self-learning time of the fourth clutch. The oil filling self-learning time serves as another oil filling time compensation value of the oil filling time. Among them, the self-learning method includes but is not limited to deep model learning, etc. Any method that can obtain the oil filling self-learning time based on self-learning belongs to the protected embodiment of the present disclosure. For example, when the vehicle shifts gears, the preset oil filling time and the actual oil filling time can be collected, and the oil filling self-learning time is determined based on the difference between the actual oil filling time and the preset oil filling time.

[0090] In this embodiment, the total refueling time of the first preset stage is calculated based on the remaining refueling percentage, the preset basic refueling time, the refueling time compensation value, the preset minimum refueling time and the refueling self-learning time, wherein the preset minimum refueling time can be set according to the scenario requirements, for example, the preset minimum refueling time can be 20 ms.

[0091] The method for calculating the total refueling time of the first preset stage based on the remaining refueling percentage, the preset basic refueling time, the refueling time compensation value, the preset minimum refueling time, and the refueling self-learning time varies in different application scenarios. For example, in some possible embodiments, the remaining refueling percentage, the preset basic refueling time, the refueling time compensation value, the preset minimum refueling time, and the refueling self-learning time are input into a pre-trained refueling time calculation model to obtain the total refueling time of the first preset stage output by the model. In some possible embodiments, the preset minimum refueling time is BoostMin and the refueling self-learning time is tm_BoostAdptC. Then, the sum of the preset basic refueling time and the refueling time compensation value is first calculated, and the preset basic refueling time is updated according to the sum. Then, based on the total refueling time of the first preset stage = ((100-remaining refueling percentage)×(preset basic refueling time-BoostMin))+BoostMin+tm_BoostAdptC), the total refueling time of the first preset stage is calculated.

[0092] Furthermore, in this embodiment, it is monitored whether the oil filling time of the first preset stage is greater than or equal to the total oil filling time of the first preset stage, wherein it is determined that the end condition of the first preset stage is met when it is greater than or equal to the total oil filling time of the first preset stage.

[0093] Step 204 : When the end condition of the first preset stage is met, the fourth clutch is controlled to enter the second preset stage, wherein the fourth clutch adjusts the control pressure in the second preset stage.

[0094] When the end condition of the first preset stage is met, the fourth clutch is controlled to enter the second preset stage, wherein the control pressure of the fourth clutch is adjusted in the second preset stage, and the control pressure of the fourth clutch is further increased in the second preset stage.

[0095] In one embodiment of the present disclosure, the fourth clutch may be controlled directly based on the preset pressure value of the second preset stage.

[0096] or,

[0097] In one embodiment of the present disclosure, the current temperature of the fourth clutch can be determined, and a preset second table can be queried based on the current temperature of the fourth clutch to obtain a first pressure compensation value. Specifically, in this embodiment, the hydraulic oil becomes thicker and less fluid when the current clutch temperature is low. This means that at low temperatures, the hydraulic oil flows more slowly through valves and pipes, increasing the filling time and the time required to reach the target control pressure. When the current clutch temperature is high, the hydraulic oil becomes thinner and more fluid. This allows the hydraulic oil to flow through valves and pipes faster, thereby shortening the filling time and increasing the time required to reach the target control pressure. Therefore, the current temperature can have a certain impact on the control pressure.

[0098] In this embodiment, a preset second table is queried according to the current temperature of the fourth clutch to obtain the first pressure compensation value. The second table may be calibrated according to the scenario. In some possible embodiments, the second table is shown in Table 2 below:

[0099] Table 2

[0100]

[0101] In this embodiment, the preset basic control pressure of the second preset stage can be calibrated in advance based on experimental data, for example, the calibrated preset basic control pressure of the second preset stage can be 1.2 bar. In this embodiment, the control pressure of the second preset stage is determined based on the preset basic control pressure of the fourth clutch in the second preset stage and the first pressure compensation value, wherein the control pressure of the second preset stage can be the sum of the preset basic control pressure of the second preset stage and the first pressure compensation value. Furthermore, in the second preset stage, the fourth clutch is controlled based on the control pressure of the second preset stage.

[0102] Step 205 : In the second preset stage, monitoring whether the fourth clutch meets the second preset stage end condition.

[0103] In this embodiment, in the second preset stage, whether the fourth clutch meets the second preset stage end condition is monitored, so that after the second preset stage end condition is met, the fourth clutch is controlled to enter the third preset stage.

[0104] In some possible embodiments, it is possible to detect whether the control duration of the second preset stage is greater than the corresponding preset duration. When it is greater than the corresponding preset duration, it is considered that the end condition of the second preset stage is met; or,

[0105] In some possible embodiments, a preset third table is queried according to the current temperature of the fourth clutch to obtain the total control time of the second preset stage. The third table may be calibrated according to an experimental scenario. In some possible embodiments, the third table is shown in Table 3 below:

[0106] Table 3

[0107]

[0108] In this embodiment, it is determined whether the control duration of the second preset stage is greater than or equal to the total control duration of the second preset stage, wherein when it is greater than or equal to the total control duration of the second preset stage, it is determined that the end condition of the second preset stage is met.

[0109] In one embodiment of the present disclosure, in the second preset stage, when the vehicle shifts from neutral to forward gear, other clutches other than the first clutch and the fourth clutch will be closed (maybe only the first clutch is closed, or the first clutch and the second clutch may be closed, etc., which can be set according to the scenario). The closing of other clutches can ensure a quick response to the driver's driving needs. At this time, if the engagement process of other closed closers is greater than NDBoost, that is, the engagement process of the closed clutch has passed the oil filling stage of the first preset stage, and the engagement process of the fourth clutch is less than NDHoldRamp, that is, the engagement process of the fourth clutch has not entered the clutch control pressure holding stage, then in order to shorten the closing process of the fourth clutch, the second preset stage is directly ended.

[0110] Step 206 : When the end condition of the second preset stage is met, control the fourth clutch to enter the third preset stage, wherein the fourth clutch adjusts the control pressure in the third preset stage.

[0111] When the end condition of the second preset stage is met, the fourth clutch is controlled to enter the third preset stage, wherein the control pressure of the fourth clutch is adjusted in the third preset stage, that is, the control pressure of the fourth clutch is further increased in the third preset stage.

[0112] In one embodiment of the present disclosure, during the third preset stage, the vehicle's current throttle opening is obtained, and a preset fourth table is queried based on the vehicle's current throttle opening to obtain a second pressure compensation value. Specifically, in this embodiment, a larger throttle opening indicates that the driver desires greater power to drive the vehicle, and thus the clutch control pressure will increase. Conversely, a smaller throttle opening indicates that the driver desires a smoother ride, and thus the clutch control pressure will decrease. Therefore, in this embodiment, the preset fourth table is queried based on the vehicle's current throttle opening to obtain the second pressure compensation value.

[0113] The fourth table may be set according to the scenario. In some possible embodiments, the fourth table is shown in Table 4 below:

[0114] Table 4

[0115]

[0116] In this embodiment, the preset basic control pressure of the fourth clutch in the third preset stage is also obtained, wherein the preset basic control pressure of the third preset stage can be set according to the scenario, and the first reference control pressure is determined according to the preset basic control pressure of the fourth clutch in the third preset stage and the second pressure compensation value, wherein the first reference control pressure can be the sum of the preset basic control pressure and the second pressure compensation value.

[0117] In this embodiment, a preset fifth table is queried based on the current throttle opening of the vehicle to obtain a pressure growth slope compensation value. That is, in this embodiment, considering that when the throttle opening is large, it indicates that the driver needs more power to drive the vehicle, the control pressure of the clutch will increase faster at this time. Conversely, when the throttle opening is small, it indicates that the driver wants to drive more smoothly, and the control pressure of the clutch will decrease slowly at this time. Therefore, in this embodiment, the preset fifth table is queried based on the current throttle opening of the vehicle to obtain a pressure growth slope compensation value.

[0118] The preset fifth table may be set according to the scenario. In some possible embodiments, the fifth table is shown in Table 5 below:

[0119] Table 5

[0120]

[0121] In this embodiment, the first historical control pressure of the fourth clutch collected during the last preset period is obtained. Specifically, the control pressure of the fourth clutch is collected based on the preset period. Furthermore, a second reference control pressure is determined based on the pressure growth slope compensation value and the first historical control pressure. For example, the sum of the pressure growth slope compensation value and the first historical control pressure is used as the second reference control pressure, or the first historical control pressure * (1 + pressure growth slope compensation value) is used as the second reference control pressure.

[0122] Furthermore, in the third preset stage, the fourth clutch is controlled according to the minimum of the first reference control pressure and the second reference control pressure to prevent excessive pressure increase in the third preset stage from causing the clutch to be tightened too quickly and resulting in poor shift quality.

[0123] Step 207 : In the third preset stage, monitoring whether the fourth clutch meets the third preset stage end condition.

[0124] In the third preset stage, whether the fourth clutch meets the third preset stage end condition is monitored, so as to control the fourth clutch to enter the fourth preset stage after the third preset stage end condition is met.

[0125] In some possible embodiments, it may be detected whether the control duration of the third preset stage is greater than the preset control duration of the third preset stage. When the control duration is greater than the corresponding preset duration, it is determined that the end condition of the third preset stage is satisfied.

[0126] In some possible embodiments, in the third preset stage, when the vehicle shifts from neutral to forward gear, other clutches other than the first clutch and the fourth clutch will be closed. At this time, if the engagement process of other closed closers is greater than NDKp, that is, the engagement process of the closed clutch has passed the Kp stage of the second preset stage, and the engagement process of the fourth clutch is less than NDHoldRamp, that is, the engagement process of the fourth clutch has not entered the holding stage of the clutch control pressure, then in order to shorten the closing process of the fourth clutch, the third preset stage is directly ended.

[0127] In some possible embodiments, a preset sixth table is queried according to the current throttle opening of the vehicle to obtain the total control time of the third preset stage, wherein the sixth table can be set according to the scenario. For example, the sixth table is as shown in Table 6 below:

[0128] Table 6

[0129]

[0130] Determine whether the control duration of the third preset stage is greater than or equal to the total control duration of the third preset stage, wherein when it is greater than or equal to the total control duration of the third preset stage, determine that the end condition of the third preset stage is met.

[0131] Step 208 : When the end condition of the third preset stage is met, the fourth clutch is controlled to enter a fourth preset stage, wherein the fourth clutch is tightened in the fourth preset stage.

[0132] When the end condition of the third preset stage is met, the fourth clutch is controlled to enter the fourth preset stage, wherein the fourth clutch is tightened in the fourth preset stage. The fourth preset stage is a control stage of gradually tightening the fourth clutch based on a certain slope.

[0133] In this embodiment, the current throttle opening of the vehicle can be obtained, and a preset seventh table is queried according to the current throttle opening of the vehicle to obtain the third pressure compensation value, wherein the seventh table can be set according to the scenario. In some possible embodiments, the seventh table is shown in Table 7 below:

[0134] Table 7

[0135]

[0136] In an embodiment, a second historical control pressure of the fourth clutch collected in a previous preset cycle may be obtained, and the fourth clutch may be controlled according to the sum of the third pressure compensation value and the second historical control pressure.

[0137] Step 209 : In the fourth preset stage, monitoring whether the fourth clutch meets the fourth preset stage end condition.

[0138] In the fourth preset stage, whether the fourth clutch satisfies a fourth preset stage end condition is monitored.

[0139] In some possible embodiments, in the fourth preset stage, when the vehicle shifts from neutral to forward gear, other clutches other than the fourth clutch, such as the first clutch, will be closed. At this time, if the engagement process of other closed closers is greater than NDKp, that is, the engagement process of the closed clutch has passed the Kp stage of the second preset stage, and the engagement process of the fourth clutch is less than NDHoldRamp, that is, the engagement process of the fourth clutch has not entered the holding stage of the clutch control pressure, then in order to shorten the closing process of the fourth clutch, the fourth preset stage is directly ended.

[0140] In some possible embodiments, a preset eighth table is queried according to the current throttle opening of the vehicle to obtain the total control time of the fourth preset stage, wherein the eighth table can be set according to the scenario. For example, the eighth table is as shown in Table 8 below:

[0141] Table 8

[0142]

[0143] Step 2010: When the fourth preset stage end condition is met, the fourth clutch is controlled to be in a closed state.

[0144] When the fourth preset phase termination condition is met, the fourth clutch is controlled to be engaged, and the fourth clutch is locked. Once engaged, this indicates that the clutch has changed its neutral position or has a driving intention, based on the driver's driving intent. The clutch then enters normal engagement control, ensuring that the fourth clutch transmits normal torque.

[0145] It should be emphasized that the above Tables 1 to 8 are merely examples of tables. When querying Tables 1 and 8, if there is no corresponding parameter value in Tables 1 and 8, the value corresponding to the parameter closest to the query parameter is determined as the query result. For example, with respect to Table 8, when the current throttle opening is 4, the duration corresponding to the closest throttle opening of 5 is used as the total control duration of the fourth preset stage. When there are two closest parameters, the average of the values ​​corresponding to the two parameters is used as the query result. For example, with respect to Table 8, when the current throttle opening is 2.5, the average of the durations corresponding to the closest throttle openings of 0 and 5 is used as the total control duration of the fourth preset stage.

[0146] In summary, the clutch control method based on an automatic transmission vehicle in the embodiment of the present disclosure, after controlling the fourth clutch to open, when it is recognized that the driver has a driving demand, the other clutch controlled in neutral is quickly engaged in time, and according to the multi-stage control of the fourth clutch, the fourth clutch controlled in neutral sliding is quickly engaged in time to ensure that the driver's driving demand is not affected, and when controlling the fourth clutch, the neutral sliding clutch can be quickly tightened according to the current actual driving parameters of the driver, further ensuring that the clutch can be quickly engaged and that the clutch does not have sliding film failures such as slipping.

[0147] To implement the above-mentioned embodiments, the present disclosure further provides a clutch control device for an automatic transmission vehicle. The vehicle includes a brake, a first clutch, a second clutch, a third clutch, and a fourth clutch. When the vehicle is in neutral, the brake and the fourth clutch are in a closed state by default. The fourth clutch transmits torque to the vehicle in the closed state, while the first, second, and third clutches are in an open state by default.

[0148] Figure 3 This is a schematic diagram of the structure of a clutch control device for an automatic transmission vehicle provided by an embodiment of the present disclosure. The device can be implemented by software and / or hardware and can generally be integrated into the vehicle. Figure 3 As shown, the device includes: a detection module 310, a determination module 320 and a control module 330, wherein:

[0149] A detection module 310 is used to detect whether the vehicle is in a preset neutral coasting entry condition;

[0150] a determination module 320 for determining whether the vehicle satisfies a preset neutral coasting prohibition condition when the vehicle is in the preset neutral coasting entry condition, wherein the preset neutral coasting prohibition condition is used to prohibit the vehicle from neutral coasting;

[0151] The control module 330 is configured to control the fourth clutch to switch from a closed state to an open state when the preset neutral coasting prohibition condition is met, wherein when the fourth clutch is in the open state, the vehicle does not coast in neutral.

[0152] The clutch control device for an automatic transmission vehicle provided in the embodiments of the present disclosure can execute the clutch control method for an automatic transmission vehicle provided in any embodiment of the present disclosure, and has functional modules and beneficial effects corresponding to the execution method.

[0153] In order to implement the above embodiments, the present disclosure further proposes a computer program product, including a computer program / instruction, which implements the clutch control method for an automatic transmission vehicle in the above embodiments when executed by a processor.

[0154] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of the present disclosure. For example, Figure 4 As shown, the vehicle 400 includes a memory 401 and a processor 402, wherein the memory is used to store the processor-executable instructions 4011, and the processor is used to read the executable instructions 4011 from the memory and execute the executable instructions to implement the above method.

[0155] This embodiment can divide the vehicle into functional modules based on the above-described method example. For example, each functional module can be mapped to a specific function, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only one logical functional division. In actual implementation, other division methods may be used.

[0156] When the functional modules are divided according to their functions, the vehicle may include a detection module, a determination module, a control module, etc. It should be noted that all relevant contents of the various steps involved in the above method embodiment can be referred to the functional description of the corresponding functional modules and will not be repeated here.

[0157] The vehicle provided in this embodiment is used to execute the above-mentioned clutch control method based on an automatic transmission vehicle, and thus can achieve the same effect as the above-mentioned implementation method.

[0158] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the vehicle's movements, while the storage module may be used to support the vehicle's execution of program codes and data.

[0159] The processing module may be a processor or a controller that implements or executes various exemplary logic blocks, modules, and circuits described herein. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing (DSP) and a microprocessor, and the storage module may be a memory.

[0160] This embodiment also provides a computer-readable storage medium, which stores computer program code (including but not limited to disk storage, CD-ROM, optical storage, etc.). When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a clutch control method based on an automatic transmission vehicle provided in the above embodiment.

[0161] Among them, the beneficial effects of the above embodiments can refer to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0162] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0163] In the embodiments provided in this disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division into modules or units is merely a logical functional division. In actual implementation, other divisions may be employed, such as combining or integrating multiple units or components into another device, or omitting or disabling certain features. Furthermore, the coupling or direct coupling or communication connection shown or discussed between devices or units may be through interfaces, or indirect coupling or communication connection between devices or units, which may be electrical, mechanical, or other forms. The above description is merely a preferred embodiment of this disclosure and an illustration of the underlying technical principles. Those skilled in the art should understand that the scope of this disclosure is not limited to technical solutions formed by specific combinations of the aforementioned technical features, but also encompasses other technical solutions formed by any combination of the aforementioned technical features or their equivalents, without departing from the scope of this disclosure. For example, technical solutions formed by replacing the aforementioned features with (but not limited to) technical features with similar functions disclosed in this disclosure.

[0164] 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 have been 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.

[0165] Although the subject matter has been described in language specific to structural features and / or methodological logical acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms of implementing the claims.

Claims

1. A clutch control method for an automatic transmission vehicle, characterized in that: The vehicle includes a brake, a first clutch, a second clutch, a third clutch, and a fourth clutch. When the vehicle is in neutral, the brake and the fourth clutch are in a closed state by default. The fourth clutch transmits torque to the vehicle in the closed state, and the first clutch, the second clutch, and the third clutch are in an open state by default. The method includes: Detecting whether the vehicle is in a preset neutral gear coasting entry condition; When the vehicle is in the preset neutral coasting entry condition, determining whether the vehicle satisfies a preset neutral coasting prohibition condition, wherein the preset neutral coasting prohibition condition is used to prohibit the vehicle from neutral coasting; When the preset neutral coasting prohibition condition is met, controlling the fourth clutch to switch from a closed state to an open state, wherein when the fourth clutch is in the open state, the vehicle does not coast in neutral; Detecting whether the vehicle meets preset driving conditions; When the preset driving condition is met, controlling the fourth clutch to fill with oil according to a preset pressure value; In the first preset stage, the current temperature of the fourth clutch is determined, and a preset first table is queried according to the current temperature of the fourth clutch to obtain an oil filling time compensation value. Obtaining the preset basic oil filling time and oil filling remaining percentage of the fourth clutch, and obtaining the pre-calculated oil filling self-learning duration of the fourth clutch, Calculate the total refueling time of the first preset stage according to the remaining refueling percentage, the preset basic refueling time, the refueling time compensation value, the preset minimum refueling time, and the refueling self-learning time. monitoring whether the oil filling time of the first preset stage is greater than or equal to the total oil filling time of the first preset stage; When the total oil filling time of the first preset stage is greater than or equal to the total oil filling time of the first preset stage, it is determined that the first preset stage end condition is met; When the first preset stage end condition is met, controlling the fourth clutch to enter a second preset stage, wherein the fourth clutch adjusts the control pressure in the second preset stage; In the second preset stage, monitoring whether the fourth clutch meets the second preset stage end condition; When the end condition of the second preset stage is met, controlling the fourth clutch to enter a third preset stage, wherein the fourth clutch adjusts the control pressure in the third preset stage; In the third preset stage, monitoring whether the fourth clutch meets a third preset stage end condition; When the end condition of the third preset stage is met, controlling the fourth clutch to enter a fourth preset stage, wherein the fourth clutch is tightened in the fourth preset stage; In the fourth preset stage, monitoring whether the fourth clutch meets a fourth preset stage end condition; When the fourth preset stage end condition is met, the fourth clutch is controlled to be in a closed state.

2. The method according to claim 1, wherein The preset neutral gear coasting entry working condition includes: The vehicle's preset neutral gear anti-coasting function switch is in a preset on state; and, The vehicle's currently closed clutch is the fourth clutch; and, The gear shift lever position in the vehicle is in a neutral position; and The control gear position of the automatic transmission is in neutral, or is in the process of shifting from another gear position to the neutral; and / or, When the vehicle is a four-wheel drive system, the four-wheel drive system is in a fixed four-wheel drive gear ratio.

3. The method according to claim 1, wherein The preset neutral coasting prohibition conditions include: The vehicle is in the preset neutral gear coasting entry operating condition; and The vehicle is in neutral; and The preset braking device of the vehicle is in an inactivated state.

4. The method according to claim 1, wherein The controlling the fourth clutch to enter the second preset stage includes: determining a current temperature of the fourth clutch, and querying a preset second table according to the current temperature of the fourth clutch to obtain a first pressure compensation value; determining a control pressure of the second preset stage according to a preset basic control pressure of the fourth clutch in the second preset stage and the first pressure compensation value; controlling the fourth clutch according to the control pressure of the second preset stage; The monitoring of whether the fourth clutch satisfies a second preset stage end condition includes: According to the current temperature of the fourth clutch, the preset third table is searched to obtain the total control time of the second preset stage. Determine whether the control duration of the second preset stage is greater than or equal to the total control duration of the second preset stage, wherein when it is greater than or equal to the total control duration of the second preset stage, it is determined that the end condition of the second preset stage is met.

5. The method according to claim 1, wherein The controlling the fourth clutch to enter the third preset stage includes: obtaining a current throttle opening of the vehicle, querying a preset fourth table according to the current throttle opening of the vehicle to obtain a second pressure compensation value, and querying a preset fifth table according to the current throttle opening of the vehicle to obtain a pressure growth slope compensation value; Acquiring a first historical control pressure of the fourth clutch collected in a previous preset cycle; determining a first reference control pressure according to a preset basic control pressure of the fourth clutch in the third preset stage and the second pressure compensation value; determining a second reference control pressure according to the pressure increase slope compensation value and the first historical control pressure; controlling the fourth clutch according to a minimum value of the first reference control pressure and the second reference control pressure; The monitoring of whether the fourth clutch satisfies a third preset stage end condition includes: According to the current throttle opening of the vehicle, a preset sixth table is queried to obtain the total control time of the third preset stage. Determine whether the control duration of the third preset stage is greater than or equal to the total control duration of the third preset stage, wherein when it is greater than or equal to the total control duration of the third preset stage, it is determined that the end condition of the third preset stage is met.

6. The method according to claim 1, wherein The controlling the fourth clutch to enter the fourth preset stage includes: obtaining a current throttle opening of the vehicle, and querying a preset seventh table according to the current throttle opening of the vehicle to obtain a third pressure compensation value; Acquiring a second historical control pressure of the fourth clutch collected in a previous preset cycle; controlling the fourth clutch according to the sum of the third pressure compensation value and the second historical control pressure; The monitoring of whether the fourth clutch satisfies a fourth preset stage end condition includes: According to the current throttle opening of the vehicle, the preset eighth table is searched to obtain the total control time of the fourth preset stage, Determine whether the control duration of the fourth preset stage is greater than or equal to the total control duration of the fourth preset stage, wherein when it is greater than or equal to the total control duration of the fourth preset stage, it is determined that the end condition of the fourth preset stage is met.

7. A clutch control device for an automatic transmission vehicle, characterized in that: The vehicle includes a brake, a first clutch, a second clutch, a third clutch, and a fourth clutch. When the vehicle is in neutral, the brake and the fourth clutch are in a closed state by default, wherein the fourth clutch transmits torque to the vehicle in the closed state, and the first clutch, the second clutch, and the third clutch are in an open state by default. The device includes: A detection module, configured to detect whether the vehicle is in a preset neutral gear coasting entry condition; a determination module, configured to determine whether the vehicle satisfies a preset neutral coasting prohibition condition when the vehicle is in the preset neutral coasting entry condition, wherein the preset neutral coasting prohibition condition is used to prohibit the vehicle from neutral coasting; a control module, configured to control the fourth clutch to switch from a closed state to an open state when the preset neutral coasting prohibition condition is met, wherein the vehicle does not coast in neutral when the fourth clutch is in the open state; The detection module is further used to detect whether the vehicle meets the preset driving conditions; The control module is further configured to control the filling of the fourth clutch according to a preset pressure value when the preset driving condition is met, determine the current temperature of the fourth clutch in a first preset stage, and query a preset first table to obtain a filling time compensation value based on the current temperature of the fourth clutch. Obtaining the preset basic oil filling time and oil filling remaining percentage of the fourth clutch, and obtaining the pre-calculated oil filling self-learning duration of the fourth clutch, Calculate the total refueling time of the first preset stage according to the remaining refueling percentage, the preset basic refueling time, the refueling time compensation value, the preset minimum refueling time, and the refueling self-learning time. monitoring whether the oil filling time of the first preset stage is greater than or equal to the total oil filling time of the first preset stage, and determining that the end condition of the first preset stage is satisfied when the oil filling time is greater than or equal to the total oil filling time of the first preset stage; When the end condition of the first preset stage is met, the fourth clutch is controlled to enter the second preset stage, wherein the fourth clutch adjusts the control pressure in the second preset stage. In the second preset stage, monitoring whether the fourth clutch meets the second preset stage end condition, When the end condition of the second preset stage is met, the fourth clutch is controlled to enter the third preset stage, wherein the fourth clutch adjusts the control pressure in the third preset stage. In the third preset stage, monitoring whether the fourth clutch meets the third preset stage end condition, When the end condition of the third preset stage is met, the fourth clutch is controlled to enter a fourth preset stage, wherein the fourth clutch is tightened in the fourth preset stage. In the fourth preset stage, monitoring whether the fourth clutch meets the fourth preset stage end condition, When the fourth preset stage end condition is met, the fourth clutch is controlled to be in a closed state.

8. A vehicle, characterized in that: The vehicle includes: processor; a memory for storing instructions executable by the processor; The processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the clutch control method for an automatic transmission vehicle as described in any one of claims 1 to 6.

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