Clutch control method and device, vehicle and computer readable storage medium

Abstract

The embodiment of the invention relates to a clutch control method and device, a vehicle and a computer readable storage medium, and the method comprises the steps that in the gear shifting process of the vehicle to a target gear, whether a clutch corresponding to gear shifting is currently in a preset clutch control stage or not is recognized; in the preset clutch control stage, whether the clutch meets a preset dynamic closed-loop control condition or not is recognized according to a preset recognition period; when the current recognition period meets the preset dynamic closed-loop control condition, the current input shaft rotating speed and the current gear shifting remaining time in the current recognition period are determined; according to the current input shaft rotating speed and the current gear shifting remaining time, the current torque control quantity of the clutch is determined; and the historical torque control quantity determined by the clutch in the previous preset recognition period is obtained, and the torque of the clutch is controlled according to the sum of the historical torque control quantity and the current torque control quantity. According to the technical scheme, the gear shifting quality is improved, and the problem of overshoot of the rotating speed of the input shaft is solved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicles, and in particular, to a clutch control method, apparatus, vehicle, and computer-readable storage medium. Background Art

[0002] For an automatic transmission during a gear shifting process, the clutch lock-up control generally undergoes an input shaft speed change, and among them, the speed change effect during the input shaft speed change stage directly affects the gear shifting quality.

[0003] In the related art, during the input shaft speed change stage, a closed-loop control (Proportional-Integral, PI) strategy is executed based on the deviation between the actual speed and the target speed of the current input shaft. During PI control, when the deviation between the actual speed and the target speed of the current input shaft becomes 0, the PI feedback control will also be 0. However, due to the inertia or delay of the control system, when the actual speed of the input shaft reaches the target speed, the control pressure of the clutch may still increase, resulting in the actual speed of the input shaft exceeding the target speed, presenting an overshoot phenomenon. Once overshoot occurs, the error direction between the actual speed and the target speed reverses, and the PI control requires time to correct this new error. Due to the existence of the integral term, i.e., the I term, in the PI control, the control system may have a hysteresis effect, making the callback process not timely enough and affecting the gear shifting quality. Summary of the Invention

[0004] 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, apparatus, vehicle, and computer-readable storage medium.

[0005] An embodiment of the present disclosure provides a clutch control method. An automatic transmission is included in the vehicle where the clutch is located. The method includes: during the gear shifting process of the vehicle to a target gear, identifying whether the clutch corresponding to the gear shift is currently in a preset clutch control stage, where the preset clutch control stage is between the torque exchange oil pressure control stage and the input shaft speed change oil pressure control stage; when in the preset clutch control stage, identifying whether the clutch meets a preset dynamic closed-loop control condition according to a preset identification period; when the current identification period meets the preset dynamic closed-loop control condition, determining the current input shaft speed and the current remaining gear shifting time in the current identification period; determining the current torque control amount of the clutch according to the current input shaft speed and the current remaining gear shifting time; obtaining the historical torque control amount determined by the clutch in the previous preset identification period, and controlling the torque of the clutch according to the sum of the historical torque control amount and the current torque control amount.

[0006] An embodiment of the present disclosure also provides a clutch control device. An automatic transmission is included in the vehicle where the clutch is located. The device includes: a first identification module, configured to identify whether the clutch corresponding to a gearshift is currently in a preset clutch control stage during a gearshift of the vehicle to a target gear, where the preset clutch control stage is between a torque exchange oil pressure control stage and an input shaft speed change oil pressure control stage; a second identification module, configured to identify whether the clutch meets a preset dynamic closed-loop control condition according to a preset identification period when in the preset clutch control stage; a first determination module, configured to determine a current input shaft speed and a current remaining gearshift time in the current identification period when the current identification period meets the preset dynamic closed-loop control condition; a second determination module, configured to determine a current torque control amount of the clutch according to the current input shaft speed and the current remaining gearshift time; and a control module, configured to obtain a historical torque control amount determined for the clutch in the previous preset identification period, and control the torque of the clutch according to the sum of the historical torque control amount and the current torque control amount.

[0007] An embodiment of the present disclosure also provides a vehicle. The vehicle includes: a processor; a memory for storing executable instructions executable by the processor; and the processor, configured to read the executable instructions from the memory and execute the instructions to implement the clutch control method provided by the embodiment of the present disclosure.

[0008] An embodiment of the present disclosure also provides a computer-readable storage medium. The storage medium stores a computer program, and the computer program is used to execute the clutch control method provided by the embodiment of the present disclosure.

[0009] The technical solution provided by the embodiment of the present disclosure has the following advantages compared with the prior art: The clutch control solution provided by the embodiments of the present disclosure, during the gear shifting process of the vehicle to the target gear, identifies whether the clutch corresponding to the gear shift is currently in a preset clutch control stage, where the preset clutch control stage is between the torque exchange oil pressure control stage and the input shaft speed variable oil pressure control stage. When in the preset clutch control stage, it identifies whether the clutch meets the preset dynamic closed-loop control conditions according to a preset identification period. When the current identification period meets the preset dynamic closed-loop control conditions, it determines the current input shaft speed and the current remaining gear shift time in the current identification period. Furthermore, according to the current input shaft speed and the current remaining gear shift time, it determines the current torque control amount of the clutch, obtains the historical torque control amount determined by the clutch in the previous preset identification period, and controls the torque of the clutch according to the sum of the historical torque control amount and the current torque control amount. In this technical solution, it ensures the timely update and determination of the current torque control amount after dynamic closed-loop adjustment. The current torque control amount is calculated based on the current input shaft speed, ensuring the real-time followability of the current torque control amount, ensuring the gear shift quality, and avoiding the problem of overshoot of the input shaft speed. Description of the Drawings

[0010] In combination with the accompanying drawings and with reference to the following specific embodiments, the above and other features, advantages, and aspects of the embodiments of the present disclosure will become more apparent. 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 the original components and elements are not necessarily drawn to scale.

[0011] Figure 1 It is a schematic flowchart of a clutch control method provided by an embodiment of the present disclosure; Figure 2 It is a schematic flowchart of another clutch control method provided by an embodiment of the present disclosure; Figure 3 It is a schematic structural diagram of a clutch control device provided by an embodiment of the present disclosure; Figure 4 It is a schematic structural diagram of a vehicle provided by an embodiment of the present disclosure. Detailed Embodiments

[0012] The embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the 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 set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not used to limit the protection scope of the present disclosure.

[0013] It should be understood that the various steps described in the method embodiments of the present disclosure may be executed 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 regard.

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

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

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

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

[0018] To solve the above problems, an embodiment of the present disclosure provides a clutch control method, which will be introduced below in conjunction with specific embodiments.

[0019] Figure 1 It is a schematic flowchart of a clutch control method provided by an embodiment of the present disclosure. This method can be executed by a clutch control device, which can be implemented by software and / or hardware and is generally integrated in a vehicle. The vehicle where the clutch is located includes an automatic transmission. In the clutch control method of the embodiment of the present disclosure, it is determined whether to trigger a PI control reset strategy. When the PI control reset strategy is triggered, the target speed of the input shaft adjustment is updated in a timely manner to ensure better followability of the input shaft speed and ensure the shifting quality.

[0020] As Figure 1 shown, the method includes: Step 101, during the shifting process of the vehicle to the target gear, identify whether the clutch corresponding to the shift is currently in a preset clutch control stage, where the preset clutch control stage is between the torque exchange oil pressure control stage and the input shaft speed change oil pressure control stage.

[0021] Among them, the target gear is the gear that the current vehicle shifting operation wants to reach. The target gear relative to the current gear can be an upshift process or a downshift process.

[0022] In a vehicle based on an automatic transmission, the clutch usually goes through the following stages from the open state to the closed state: the oil filling stage, the kp point pressure control stage, the torque exchange oil pressure control stage, the clutch input shaft speed variable oil pressure control stage, the clutch lock-up pressure control stage, etc. Among them, the preset clutch control stage of the embodiment of the present disclosure is between the torque exchange oil pressure control stage and the input shaft speed variable oil pressure control stage. In the embodiment of the present disclosure, a PI dynamic control judgment is performed for this stage. This stage is located after the torque exchange oil pressure control stage and before the input shaft speed variable oil pressure control stage, which can ensure the timeliness and effectiveness of PI control.

[0023] Step 102, when in the preset clutch control stage, identify whether the clutch meets the preset dynamic closed-loop control condition according to the preset identification period.

[0024] In the embodiment of the present disclosure, when in the preset clutch control stage, identify whether the clutch meets the preset dynamic closed-loop control condition according to the preset identification period. The preset dynamic closed-loop control can be understood as PI control reset. When the PI control is reset, the target input shaft speed of the current identification period is updated, etc. Among them, when the preset dynamic closed-loop control condition is met, it is considered that dynamic closed-loop control is required, and thus, subsequent dynamic closed-loop control operations are executed. In an embodiment of the present disclosure, when the preset dynamic closed-loop control condition is not met, the clutch is controlled based on the originally default control method, and the originally default control method includes PI control, etc.

[0025] It should be emphasized that in the embodiment of the present disclosure, the judgment of whether the preset dynamic closed-loop control condition is met is based on the preset identification period, that is, the control is performed with the preset identification period as the time granularity, realizing dynamic control, further improving the control effect of the clutch, and ensuring the shifting quality. Among them, the cycle duration of the preset identification period can be set according to the scenario. For example, it can be 10 ms.

[0026] Step 103, when the current identification period meets the preset dynamic closed-loop control condition, determine the current input shaft speed and the current remaining shifting time in the current identification period.

[0027] In the embodiment of the present disclosure, when the current identification period meets the preset dynamic closed-loop control condition, determine the current input shaft speed and the current remaining shifting time in the current identification period. Among them, the current input shaft speed is the actual speed of the input shaft collected in real time in the current identification period, and the current remaining shifting time refers to that in the process of shifting to the target gear, the preset clutch control stage needs to be completed within the current remaining shifting time.

[0028] Among them, in different application scenarios, the method for determining the remaining time of the current gear shift is different, and examples are as follows: In some possible embodiments, the total duration required for each preset clutch control stage during gear shifting is pre-calibrated. Furthermore, the duration of entering the preset clutch control stage is determined, and the time difference between the total duration and the duration of entering the preset clutch control stage is calculated, and the time difference is determined as the remaining time of the current gear shift.

[0029] In some possible embodiments, the remaining time of the current gear shift tm_TgtTmFrzn = (1 - (the progress of the current gear shift / 100)) × the calibrated target time of the preset clutch control stage. Among them, the calibrated target time of the preset clutch control stage can be obtained by querying a preset table. The preset table can be as shown in Table 1 below. That is, after obtaining the current input shaft speed of the current recognition cycle, querying Table 1 can obtain the calibrated target time of the preset clutch control stage. When querying Table 1, if there is no speed in Table 1 that is the same as the current input shaft speed, then the time corresponding to the speed closest to the current input shaft speed in Table 1 is determined as the target time. Thus, in the embodiments of the present disclosure, real-time tracking of the target time is also achieved, further ensuring the gear shift effect: Table 1

[0030] Among them, the current gear shift progress in this embodiment is in percentage form. In the embodiments of the present disclosure, the gear shift progress corresponding to the preset clutch control stage can be used as 100%. The current gear shift progress is the gear shift progress executed by the preset clutch control stage. Multiple gear shift progress nodes of the current gear shift progress can be pre-calibrated. Among them, the node attributes of each gear shift progress node include the gear shift progress and the working parameters of the clutch (including the control pressure value of the clutch, the temperature of the clutch, etc.). The real-time working parameters of the current clutch are matched with the working parameters of each gear shift progress node, and the gear shift progress corresponding to the gear shift progress node with successful matching is determined as the current gear shift progress; in the embodiments of the present disclosure, other methods can also be used to determine the remaining time of the current gear shift, which will not be listed one by one here.

[0031] Step 104, determine the current torque control amount of the clutch according to the current input shaft speed and the remaining time of the current gear shift.

[0032] In an embodiment of the present disclosure, the current torque control amount of the clutch is determined according to the current input shaft speed and the remaining time of the current gear shift. After calculating the current input shaft speed, the target input shaft speed corresponding to the target gear can be updated according to the current input shaft speed, the speed ratio of the target gear, and the current driving parameters of the vehicle. Here, the update can be understood as the PI reset of the target input shaft speed. The current driving parameters are related to the software algorithm adopted by the vehicle, including but not limited to the speed ratio of the current gear, the throttle opening, etc. In the prior art, the target input shaft speed can be recalculated based on the current input shaft speed, the speed ratio of the target gear, and the current driving parameters of the vehicle, which will not be elaborated here.

[0033] In an embodiment of the present disclosure, after calculating the target input shaft speed corresponding to the target gear, the target input shaft speed corresponding to the target gear can be saved and frozen, so that the control system in the vehicle can control the clutch based on the target input shaft speed corresponding to the target gear.

[0034] In an embodiment of the present disclosure, according to the updated target input shaft speed, the remaining time of the current gear shift, and the current input shaft speed, the input shaft speed increase amount is determined. The input shaft speed increase amount can be the input shaft speed increase amount per unit time, etc. Since the increase in the input shaft speed is related to the increase in the torque of the clutch, in the embodiment of the present disclosure, the current torque control amount corresponding to the input shaft speed increase amount can be directly determined. For example, in some possible embodiments, the current torque control amount can be determined by querying a preset corresponding relationship according to the input shaft speed increase amount. For another example, in some possible embodiments, the input shaft speed increase amount is input into a preset deep learning model to obtain the current torque control amount output by the deep learning model. The deep learning model is pre-trained to output the corresponding torque control amount according to the input input shaft speed increase amount. Step 105: Obtain the historical torque control amount determined by the clutch in the previous preset recognition period, and control the torque of the clutch according to the sum of the historical torque control amount and the current torque control amount.

[0035] It should be understood that the current torque control amount calculated in the current recognition period is only the adjustment amount of the current torque control amount calculated in the current PI control stage. The current torque control amount is a relative value. Therefore, in order to ensure the connection between torque and pressure, the historical torque control amount determined by the clutch in the previous preset recognition period is obtained, and the torque of the clutch is controlled according to the sum of the historical torque control amount and the current torque control amount. That is, on the basis of adjusting the torque in the previous preset recognition period, the current torque control amount is superimposed.

[0036] In summary, in the clutch control method according to the embodiments of the present disclosure, during the gear shifting process of the vehicle to the target gear, it is identified whether the clutch corresponding to the gear shift is currently in a preset clutch control stage, where the preset clutch control stage is between the torque exchange oil pressure control stage and the input shaft speed variable oil pressure control stage. When in the preset clutch control stage, it is identified whether the clutch meets the preset dynamic closed-loop control condition according to a preset identification period. When the current identification period meets the preset dynamic closed-loop control condition, the current input shaft speed and the current remaining gear shift time in the current identification period are determined. Furthermore, according to the current input shaft speed and the current remaining gear shift time, the current torque control amount of the clutch is determined, the historical torque control amount determined for the clutch in the previous preset identification period is obtained, and the torque of the clutch is controlled according to the sum of the historical torque control amount and the current torque control amount. In this technical solution, it is ensured that the current torque control amount is updated in a timely manner after the dynamic closed-loop adjustment. The current torque control amount is calculated based on the current input shaft speed, which ensures the real-time followability of the current torque control amount, ensures the gear shift quality, and avoids the problem of overshoot of the input shaft speed.

[0037] It should be noted that in different application scenarios, the above preset dynamic closed-loop control conditions are different. The following is an exemplary description in combination with specific embodiments, as follows: In an embodiment of the present disclosure, as Figure 2 shown, identifying whether the clutch meets the preset dynamic closed-loop control condition according to a preset identification period includes: Step 201, identify whether the clutch supports dynamic closed-loop control.

[0038] In this embodiment, it is identified whether the clutch supports dynamic closed-loop control.

[0039] For example, in some possible embodiments, a preset gear shift mode that supports dynamic closed-loop control is predefined in the vehicle, where the preset gear shift mode may include at least one of the following: upshift with power gear shift (that is, the current gear to the target gear is an upshift, and the user performs operations such as stepping on the accelerator to provide gear shift power), upshift without power gear shift (that is, the current gear to the target gear is an upshift, and the user does not perform operations such as stepping on the accelerator and does not provide gear shift power), downshift with power gear shift (that is, the current gear to the target gear is a downshift, and the user performs operations such as stepping on the accelerator to provide gear shift power), downshift without power gear shift (that is, the current gear to the target gear is a downshift, and the user does not perform operations such as stepping on the accelerator and does not provide gear shift power).

[0040] In an embodiment of the present disclosure, it is determined whether the current gear position is a preset shifting mode. In some possible embodiments, corresponding flag bits can be set in advance for each shifting mode. For example, the flag bit for power shifting during upshifting is flg_C1PIDDynResetUPPNEn, the flag bit for non-power shifting during upshifting is flg_C1PIDDynResetUPPFEn, the flag bit for power shifting during downshifting is flg_C1PIDDynResetDNPNEn, and the flag bit for non-power shifting during downshifting is flg_C1PIDDynResetDNPFEn. Then, when the corresponding flag bit is 1, it indicates that the corresponding shifting mode is a preset shifting mode that supports dynamic closed-loop control.

[0041] In this embodiment, when the current shifting mode is a preset shifting mode, it is determined whether the current recognition period is the first preset recognition period of the preset clutch control stage, that is, whether it is the first cycle to enter the preset clutch control stage. When it is the first recognition period, triggering dynamic closed-loop control is prohibited to prevent mis-triggering of dynamic closed-loop control and avoid affecting the normal calculation of PI control. That is, in this embodiment, when entering the preset clutch control stage, normal PI control is defaultly executed. After supporting dynamic closed-loop control, operations such as resetting the target input shaft speed in the embodiments of the present disclosure will be executed. When entering the first cycle, normal PI control is first performed (i.e., closed-loop control is performed according to the difference between the target input shaft speed and the current input shaft speed), and PI dynamic control is not performed in the first cycle to give a buffer period for dynamic closed-loop control and ensure the accuracy of subsequent dynamic closed-loop control. That is, in the embodiments of the present disclosure, when entering the first recognition period, the current input shaft speed, target input shaft speed, etc. are frozen to prohibit the execution of dynamic closed-loop control. When the current period is not the first preset recognition period, it is determined that the clutch supports dynamic closed-loop control.

[0042] Step 202, when supporting dynamic closed-loop control, obtain the target input shaft speed corresponding to the target gear position in the current recognition period.

[0043] When supporting dynamic closed-loop control, in an embodiment of the present disclosure, the target input shaft speed corresponding to the target gear position in the current recognition period is obtained. When the current recognition period is the second preset recognition period of the preset clutch control stage, the target input shaft speed is the target input shaft speed frozen in the first recognition period. When the current recognition period is the third and subsequent preset recognition periods, the target input shaft speed can be the target input shaft speed calculated in the previous preset recognition period, etc.

[0044] Step 203, when the current input shaft speed is greater than the target input shaft speed, identify whether the clutch meets the preset positive closed-loop regulation condition.

[0045] In an embodiment of the present disclosure, when the current input shaft speed is greater than the target input shaft speed, it is identified whether the clutch meets the preset positive closed-loop regulation condition.

[0046] In an embodiment of the present disclosure, the current speed difference between the current input shaft speed and the target input shaft speed of the current identification period can be calculated. For example, the current speed difference can be expressed as n_ShiftPIDSpdErr, and the historical speed difference of the previous preset identification period is determined. The historical speed difference can be expressed as n_ShiftPIDSpdErrZ1. The historical speed difference of the previous preset identification period is the difference between the input shaft speed and the target input shaft speed when entering the previous preset identification period. In this embodiment, the maximum value between the current speed difference and the historical speed difference is determined. In this embodiment, the maximum value can be expressed as n_ShiftPIDSpdErrMax. In this embodiment, the first difference between the maximum value and the current speed difference is calculated, and the first difference is expressed as n_ShiftPIDSpdDynMaxErr.

[0047] In this embodiment, it is determined whether the first difference n_ShiftPIDSpdDynMaxErr is greater than the first preset threshold. The first preset threshold can be calibrated according to the scenario. For example, it can be 10 rpm. When it is greater than the first preset threshold, it indicates that on the basis of the first difference, the actual input shaft speed of the clutch is gradually narrowing the gap with the corresponding target input shaft speed after PI regulation, and the PI regulation effect is good. As the PI regulation progresses, the actual input shaft speed gradually decreases and approaches the corresponding target input shaft speed. Therefore, it is considered that dynamic closed-loop regulation can continue. On the contrary, when the first difference is less than or equal to the first preset threshold, it is considered that the PI regulation effect is not good, and there is no need to continue dynamic closed-loop regulation, and the significance of dynamic closed-loop regulation is not great.

[0048] In an embodiment of the present disclosure, when it is greater than the first preset threshold, it is determined whether the current speed difference is less than the second preset threshold. The second preset threshold can be set according to the scenario requirements. For example, the second preset threshold is 300 rpm. When the current speed difference is greater than 0 and less than the second preset threshold, it is determined that the clutch meets the preset positive closed-loop regulation condition. That is, in this embodiment, it is also necessary to ensure that the current speed difference is not too large and is within a certain controllable range. If the current speed difference is too large, there will be no obvious difference in the quality of gear shifting between the pressure of dynamic closed-loop control and the pressure of non-dynamic closed-loop control. In this embodiment, it is ensured that the current speed difference is greater than 0 to ensure that the further calculated current torque control amount is a positive regulation and prevent negative regulation from affecting the shifting quality.

[0049] Step 204: When the current input shaft speed is less than the target input shaft speed, identify whether the clutch meets the preset negative closed-loop regulation condition. Among them, when the preset positive closed-loop regulation condition or the preset negative closed-loop regulation condition is met, it is determined that the clutch meets the preset dynamic closed-loop control condition.

[0050] In an embodiment of the present disclosure, when the current input shaft speed is less than the target input shaft speed, identify whether the clutch meets the preset negative closed-loop regulation condition.

[0051] In an embodiment of the present disclosure, identifying whether the clutch meets the preset negative closed-loop regulation condition includes: calculating the current speed difference between the current input shaft speed and the target input shaft speed of the current identification period, obtaining the historical speed difference of the previous preset identification period, determining the minimum value of the current speed difference and the historical speed difference. In this embodiment, the minimum value can be defined as n_ShiftPIDSpdErrMin, calculating the second difference between the minimum value and the current speed difference, and the second difference can be defined as n_ShiftPIDSpdDynMinErr. Determine whether the second difference is greater than the third preset threshold, where the third preset threshold can be set according to the scenario. For example, the third preset threshold is -10 rpm.

[0052] In this embodiment, when the second difference is greater than the second preset threshold, it indicates that on the basis of the second difference, the actual input shaft speed of the clutch is gradually narrowing the gap with the corresponding target input shaft speed through PI regulation, and the PI regulation effect is good. As the PI regulation progresses, the actual input shaft speed gradually rises close to the corresponding target input shaft speed. Therefore, it is considered that dynamic closed-loop regulation can continue. On the contrary, when the second difference is greater than or equal to the first preset threshold, it is considered that the PI regulation effect is not good, and there is no need to continue dynamic closed-loop regulation, and the significance of dynamic closed-loop regulation is not great.

[0053] When the second difference is greater than the third preset threshold, determine whether the current speed difference is greater than the fourth preset threshold, where the fourth preset threshold is less than the third preset threshold. The fourth preset threshold can be set according to the scenario. For example, the fourth preset threshold is -300 rpm. In this embodiment, in order to avoid the difference between the current input shaft speed and the target input shaft speed from being too large, within a certain controllable range, if the current speed difference is too large, the fluctuation between the pressure of dynamic closed-loop control and the pressure of non-dynamic closed-loop control will not make an obvious difference to the quality of gear shifting. In this embodiment, ensure that the current speed difference is less than 0 to further ensure that the calculated current torque control amount is a negative adjustment (for example, when adjusting negatively, the calculated current torque control amount is negative, etc.), and prevent positive adjustment from affecting the shifting quality.

[0054] In summary, in the clutch control method of the present disclosure, by identifying the change in the difference between the current input shaft speed and the target input shaft speed and whether it is within a certain range, it is determined whether to trigger dynamic closed-loop control, ensuring that the dynamic closed-loop control timely updates the target input shaft speed value for input shaft adjustment, ensuring better followability of the input shaft speed, and improving the shifting quality.

[0055] To implement the above embodiments, the present disclosure also proposes a clutch control device.

[0056] Figure 3 As shown in the structural schematic diagram of a clutch control device provided by an embodiment of the present disclosure, this device can be implemented by software and / or hardware and is generally integrated in a vehicle. The vehicle where the clutch is located includes an automatic transmission. Figure 3 As shown in the figure, the device includes: a first identification module 310, a second identification module 320, a first determination module 330, a second determination module 340, and a control module 350, where The first identification module 310 is configured to identify whether the clutch corresponding to the shift is currently in a preset clutch control stage during the shift of the vehicle to the target gear, where the preset clutch control stage is between the torque exchange oil pressure control stage and the input shaft speed change oil pressure control stage; The second identification module 320 is configured to identify whether the clutch meets the preset dynamic closed-loop control condition according to a preset identification period when in the preset clutch control stage; The first determination module 330 is configured to determine the current input shaft speed and the current remaining shift time in the current identification period when the current identification period meets the preset dynamic closed-loop control condition; The second determination module 340 is configured to determine the current torque control amount of the clutch according to the current input shaft speed and the current remaining shift time; The control module 350 is configured to obtain the historical torque control amount determined by the clutch in the previous preset identification period and control the torque of the clutch according to the sum of the historical torque control amount and the current torque control amount.

[0057] The clutch control device provided by the embodiments of the present disclosure can execute the clutch control method provided by any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method.

[0058] To implement the above embodiments, the present disclosure also proposes a computer program product, including computer programs / instructions, which implement the clutch control method in the above embodiments when executed by a processor.

[0059] Figure 4 As shown in the structural schematic diagram of a vehicle provided by an embodiment of the present disclosure. Exemplarily, Figure 4As shown, vehicle 400 includes a memory 401 and a processor 402. The memory is used to store executable instructions 4011 that can be executed by the processor. The processor is used to read the executable instructions 4011 from the memory and execute the executable instructions to implement the above method.

[0060] In this embodiment, the vehicle can be divided into functional modules according to the above method examples. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0061] In the case of dividing each functional module according to each function, the vehicle can include: a detection module, a determination module, a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be cited in the function description of the corresponding functional module, and will not be repeated here.

[0062] The vehicle provided in this embodiment is used to execute the above clutch control method, so the same effect as the above implementation method can be achieved.

[0063] In the case of adopting an integrated unit, the vehicle can include a processing module and a storage module. The processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute mutual program codes and data, etc.

[0064] Among them, the processing module can be a processor or a controller, which can implement or execute various exemplary logical blocks, modules, and circuits described in combination with the present disclosure. The processor can also be a combination that realizes computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module can be a memory.

[0065] This embodiment also provides a computer-readable storage medium. The computer-readable storage medium (including but not limited to disk memory, CD-ROM, optical memory, etc.) stores computer program codes. When the computer program codes run on a computer, the computer executes the above relevant method steps to implement a clutch control method provided in the above embodiment. Among them, the beneficial effects of the above embodiment can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0066] From the description of the above embodiments, those skilled in the art can understand that for the convenience and brevity of description, only the division of the above function modules is used as an example. In actual applications, the above functions can be allocated to different function modules according to needs, that is, the internal structure of the device is divided into different function modules to complete all or part of the functions described above.

[0067] In the embodiments provided by the present disclosure, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the coupling or direct coupling or communication connection shown or discussed with each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms. The above description is only the preferred embodiment of the present disclosure and the explanation of the applied technical principles. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosure concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) having similar functions disclosed in the present disclosure.

[0068] In addition, although the operations are depicted in a particular order, this should not be construed as requiring that the operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although a number of specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features described in the context of separate embodiments may also be implemented combinatorially in a single embodiment. Conversely, the various features described in the context of a single embodiment may also be implemented separately or in any suitable sub-combination in multiple embodiments.

[0069] 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, characterized in that The vehicle where the clutch is located includes an automatic transmission, and the method includes: During the gear shifting process of the vehicle to the target gear, identify whether the clutch corresponding to the gear shift is currently in a preset clutch control stage, where the preset clutch control stage is between the torque exchange oil pressure control stage and the input shaft speed change oil pressure control stage; When in the preset clutch control stage, identify whether the clutch meets the preset dynamic closed-loop control condition according to a preset identification period; When the current identification period meets the preset dynamic closed-loop control condition, determine the current input shaft speed and the current remaining gear shift time in the current identification period; Determine the current torque control amount of the clutch according to the current input shaft speed and the current remaining gear shift time; Obtain the historical torque control amount determined by the clutch in the previous preset identification period, and control the torque of the clutch according to the sum of the historical torque control amount and the current torque control amount.

2. The method according to claim 1, characterized in that, The identifying whether the clutch meets the preset dynamic closed-loop control condition according to a preset identification period includes: Identify whether the clutch supports dynamic closed-loop control; When supporting the dynamic closed-loop control, obtain the target input shaft speed corresponding to the target gear in the current identification period; When the current input shaft speed is greater than the target input shaft speed, identify whether the clutch meets the preset positive closed-loop regulation condition; When the current input shaft speed is less than the target input shaft speed, identify whether the clutch meets the preset negative closed-loop regulation condition; Wherein, when meeting the preset positive closed-loop regulation condition or the preset negative closed-loop regulation condition, determine that the clutch meets the preset dynamic closed-loop control condition.

3. The method according to claim 2, wherein The identifying whether the clutch supports dynamic closed-loop control includes: Identify whether the current gear shift mode of the vehicle is a preset gear shift mode; When it is the preset gear shift mode, determine whether the current identification period is the first preset identification period of the preset clutch control stage; When it is not the first preset identification period, determine that the clutch supports the dynamic closed-loop control.

4. The method according to claim 2, characterized in that The identifying whether the clutch meets the preset positive closed-loop regulation condition includes: Calculate the current speed difference between the current input shaft speed and the target input shaft speed of the current identification period; Obtain the historical speed difference of the previous preset identification period; Determine the maximum value between the current speed difference and the historical speed difference, and calculate the first difference between the maximum value and the current speed difference; Determine whether the first difference is greater than a first preset threshold; When it is greater than the first preset threshold, determine whether the current speed difference is less than a second preset threshold, where the second preset threshold is greater than the first preset threshold; Wherein, when the current speed difference is greater than 0 and less than the second preset threshold, determine that the clutch meets the preset positive closed-loop regulation condition.

5. The method according to claim 2, wherein The identifying whether the clutch meets the preset negative closed-loop regulation condition includes: Calculate the current speed difference between the current input shaft speed and the target input shaft speed of the current identification period; Obtain the historical rotational speed difference in the previous preset recognition period; Determine the minimum value between the current rotational speed difference and the historical rotational speed difference, and calculate the second difference between the minimum value and the current rotational speed difference; Determine whether the second difference is greater than a third preset threshold; When it is greater than the third preset threshold, determine whether the current rotational speed difference is greater than a fourth preset threshold, where the fourth preset threshold is less than the third preset threshold; Among them, when the current rotational speed difference is less than 0 and greater than the fourth preset threshold, it is determined that the clutch meets the preset negative closed-loop regulation condition.

6. The method according to claim 1, wherein The determining the current torque control amount of the clutch according to the current input shaft rotational speed and the current remaining shift time includes: Update the target input shaft rotational speed corresponding to the target gear according to the current input shaft rotational speed, the speed ratio of the target gear, and the current driving parameters of the vehicle; Determine the increase amount of the input shaft rotational speed according to the updated target input shaft rotational speed, the current remaining shift time, and the current input shaft rotational speed; Determine the current torque control amount corresponding to the increase amount of the input shaft rotational speed.

7. The method according to claim 6, characterized in that, The determining the current torque control amount corresponding to the increase amount of the input shaft rotational speed includes: Query a preset corresponding relationship according to the increase amount of the input shaft rotational speed to determine the current torque control amount.

8. A clutch control device, characterized in that, The vehicle where the clutch is located includes an automatic transmission, and the device includes: A first recognition module, configured to recognize whether the current clutch corresponding to the shift is in a preset clutch control stage during the shift of the vehicle to the target gear, where the preset clutch control stage is between the torque exchange oil pressure control stage and the input shaft speed variable oil pressure control stage; A second recognition module, configured to recognize whether the clutch meets the preset dynamic closed-loop control condition according to a preset recognition period when in the preset clutch control stage; A first determination module, configured to determine the current input shaft rotational speed and the current remaining shift time in the current recognition period when the current recognition period meets the preset dynamic closed-loop control condition; A second determination module, configured to determine the current torque control amount of the clutch according to the current input shaft rotational speed and the current remaining shift time; A control module, configured to obtain the historical torque control amount determined by the clutch in the previous preset recognition period, and control the torque of the clutch according to the sum of the historical torque control amount and the current torque control amount.

9. A vehicle, characterized in that, The vehicle includes: A processor; A memory for storing executable instructions of 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 according to any one of claims 1-7 above.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and the computer program is used to execute the clutch control method according to any one of claims 1-7 above.

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