Clutch control method and device and vehicle

Abstract

The embodiment of the invention relates to a clutch control method and device and a vehicle, and the method comprises the steps that when the vehicle executes powered downshift operation, whether a separation clutch enters a preset clutch control stage or not is recognized, the preset clutch control stage is between a torque exchange oil pressure control stage and an input shaft speed change oil pressure control stage; when entering the preset clutch control stage, identifying whether the separation clutch meets a preset self-learning control condition or not; and when the preset self-learning control condition is met, self-learning is conducted on the control pressure of the separation clutch according to a preset self-learning strategy till gear shifting is completed. According to the technical scheme, the control pressure of the separation clutch is subjected to pressure compensation through self-learning of the control pressure, so that the gear shifting smoothness is improved, and abrasion of the clutch is avoided.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle control, and particularly to a clutch control method, device and vehicle. Background Art

[0002] Among the shifting types of an automatic transmission, there are four types: power-on upshift, power-on downshift, power-off downshift, and power-off upshift, which are classified based on whether there is power and whether it is an upshift or a downshift. Among them, power-on downshift is mainly applied to improve the vehicle's power performance. When the driver steps on the accelerator during driving, because the power performance needs to be improved, the transmission performs a downshift operation.

[0003] In the related art, during the power-on downshift process, one clutch disengages (Offgoing Clutch), and the other clutch engages (Oncoming Clutch), and the torque transfer path is changed to complete the shift. This shift is called Clutch-to-Clutch shift. As the name implies, the torque transfer transfers from one clutch to another. Among them, the Offgoing Clutch can be regarded as the OG clutch. During the downshift process, the control of the OG clutch has a large deviation from the expected value during the speed change stage. For example, during the torque exchange oil pressure control stage of the speed change, the holding time is too short or too long, which are the reasons for the control pressure of the clutch to be too small or too large. Among them, too large control pressure may lead to too short shift time and large shift shock, and too small control pressure may lead to too long shift time and clutch wear. Summary of the Invention

[0004] 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.

[0005] An embodiment of the present disclosure provides a clutch control method, the method includes: when the vehicle performs a power-on downshift operation, identifying whether the disengaging clutch enters 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 entering the preset clutch control stage, identifying whether the disengaging clutch meets a preset self-learning control condition; when meeting the preset self-learning control condition, performing self-learning on the control pressure of the disengaging clutch according to a preset self-learning strategy until the shift is completed, where the self-learning result is used to perform pressure compensation on the control pressure of the disengaging clutch when the disengaging clutch enters the preset clutch control stage, and the self-learning result includes the corresponding relationship between the control torque and the pressure compensation value.

[0006] The embodiments of the present disclosure also provide a clutch control device, which includes: a first identification module, configured to identify whether a disengaging clutch enters a preset clutch control stage when the vehicle performs a power downshift operation, 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 disengaging clutch meets a preset self-learning control condition when entering the preset clutch control stage; and a control module, configured to perform self-learning on the control pressure of the disengaging clutch according to a preset self-learning strategy when the preset self-learning control condition is met until the gearshift is completed, where the self-learning result is used to perform pressure compensation on the control pressure of the disengaging clutch when the disengaging clutch enters the preset clutch control stage, and the self-learning result includes the correspondence between the control torque and the pressure compensation value.

[0007] The embodiments of the present disclosure also provide a vehicle, which 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 embodiments of the present disclosure.

[0008] The technical solutions provided by the embodiments of the present disclosure have the following advantages compared with the prior art: The clutch control solution provided by the embodiments of the present disclosure, when the vehicle performs a power downshift operation, identifies whether the disengaging clutch enters a preset clutch control stage, 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, when entering the preset clutch control stage, identifies whether the disengaging clutch meets a preset self-learning control condition, and when the preset self-learning control condition is met, performs self-learning on the control pressure of the disengaging clutch according to a preset self-learning strategy until the gearshift is completed, where the self-learning result is used to perform pressure compensation on the control pressure of the disengaging clutch when the disengaging clutch enters the preset clutch control stage, and the self-learning result includes the correspondence between the control torque and the pressure compensation value. In this technical solution, the smoothness of the gearshift is improved, and the wear of the clutch is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Combined with the drawings and referring to the following specific embodiments, the above and other features, advantages and aspects of the embodiments of the present disclosure will become more obvious. 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 elements and elements are not necessarily drawn to scale.

[0010] Figure 1 It is a schematic flow chart of a clutch control method provided by the embodiments of the present disclosure; Figure 2 Schematic flowchart of another clutch control method provided by an embodiment of the present disclosure; Figure 3 Schematic flowchart of another clutch control method provided by an embodiment of the present disclosure; Figure 4 Schematic structural diagram of a clutch control device provided by an embodiment of the present disclosure; Figure 5 Schematic structural diagram of a vehicle provided by an embodiment of the present disclosure. Detailed implementation manners

[0011] 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. Instead, 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.

[0012] It should be understood that the various steps recited in the method embodiments of the present disclosure can be executed in a different order 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.

[0013] As used herein, the term "including" and its variations are open-ended, i.e., "including but not limited to". The term "based on" is "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.

[0014] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependent relationships.

[0015] 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 specified in the context, it should be understood as "one or more".

[0016] 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.

[0017] In the prior art, for the shift quality consistency of certain gears, only parameter optimization is carried out through consistent calibration, but it may not be able to cover all transmission hardware, because deviations and assembly deviations of many components of the transmission hardware may all affect the consistency of the transmission. Therefore, it is impossible to ensure the consistency of all matched transmissions through calibration. Therefore, an adaptive strategy is needed to perform differential learning according to the differences of different transmissions, and control the clutch according to the results of self-learning. The control pressure obtained by self-learning is of appropriate magnitude, which improves the smoothness of shifting and avoids the wear of the clutch.

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

[0019] Figure 1 The 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. As Figure 1 shown, the method includes: Step 101, when the vehicle performs a power downshift operation, identify whether the disengaging clutch enters 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.

[0020] Among them, the power downshift operation can be understood as an operation of downshifting while the engine is continuously outputting power. That is to say, during the vehicle driving process, the driver steps on the accelerator, and the transmission switches from one gear to another. Among them, the disengaging clutch can be understood as the OG clutch.

[0021] Among them, during the shifting process of an automatic transmission, the clutch lock control generally goes through stages such as oil filling BOOST, Kp point pressure control, torque exchange oil pressure control (SpdStart), clutch input shaft speed change oil pressure control (SpdSyn), clutch lock-up pressure control LOCK, etc. In this embodiment, the preset clutch control stage is the SpdStart stage. That is, the preset clutch control stage is between the torque exchange oil pressure control stage and the input shaft speed change oil pressure control stage.

[0022] Step 102, when entering the preset clutch control stage, identify whether the disengaging clutch meets the preset self-learning control conditions.

[0023] During the actual driving process, there are some situations that are not suitable for self-learning. Therefore, it is necessary to identify whether the disengaging clutch meets the preset self-learning control conditions, and only after meeting the preset self-learning control conditions, can self-learning control be carried out.

[0024] It should be noted that in different application scenarios, the preset self-learning control conditions are different. In some possible embodiments, the preset self-learning control conditions may include the following (1)-(4): (1) The preset self-learning function switch is in the on state.

[0025] In this embodiment, considering that in some application scenarios, if there is a mis-trigger, there will be mis-learning, resulting in incorrect writing of learning values at different torques, and the learning result is not the learning of downshifting triggered by a normal driver stepping on the accelerator.

[0026] In the embodiments of the present disclosure, a self-learning function switch is preset. The purpose of setting here is that when the calibration engineer needs to complete the test of the special working conditions of the clutch through manual calibration without self-learning, this function needs to be turned off to prevent the self-learning value after the trigger of this function from affecting the purpose at this time. Furthermore, according to the demand for this function of different types of transmissions matched and installed, if the consistency of this type of transmission is relatively good and the clutch pressure parameters of the whole vehicle under different working conditions can be covered by general calibration parameters, this function also needs to be turned off to reduce the software operation load.

[0027] (2) The vehicle is not in the preset low-speed four-wheel drive operation mode.

[0028] In this embodiment, when the preset low-speed four-wheel drive operation mode, i.e., the 4L mode, is turned on, the preset self-learning function is defaultly turned off. Because when the vehicle is in four-wheel drive, the speed ratio of the whole vehicle drive train changes greatly. If the same version of parameters is used for the clutch self-learning value, it will have an impact on each other. Therefore, the self-learning function of low-speed four-wheel drive is defaultly turned off. Under low-speed four-wheel drive, the driving conditions of the driver are relatively single, mainly used in off-road conditions or when getting out of trouble, and the probability of using strong downshifting is relatively low, and the requirement for driving quality is not high. Therefore, the strong downshifting self-learning function of low-speed four-wheel drive can be shielded here.

[0029] However, a switch based on the four-wheel drive function is set. For some four-wheel drive models, if low-speed four-wheel drive is a relatively common working condition and the usage frequency on normal roads is relatively high, the self-learning function under low-speed four-wheel drive needs to be turned on and used. Therefore, a function switch flg_Adpt4LEnable is set. If the four-wheel drive function for this project must be self-learned, then flg_Adpt4LEnable is set to 1. When flg_Adpt4LEnable = 1, self-learning can be performed, thereby further ensuring the shifting quality under four-wheel drive and setting a dedicated writing logic based on four-wheel drive.

[0030] (3) The disengaged clutch is not in the preset fault state.

[0031] In this embodiment, self-learning is not performed when the clutch is not in a preset fault state such as unable to close or open, or the synovial membrane. Since the clutch failure may be caused by insufficient pressure in the transmission, wear and tear of related components in the transmission, etc., it is not necessarily due to a deviation in the true pressure of the clutch that results in poor shift quality caused by abnormal clutch control. Therefore, there may also be cases of true ablation of the clutch in the event of a clutch failure. Therefore, self-learning is not performed in this case to prevent mislearning and unnecessary learning triggers.

[0032] (4)The automatic transmission oil temperature of the automatic transmission associated with the disengaged clutch belongs to a preset temperature range.

[0033] Automatic Transmission Fluid (ATF) also ensures that the hardware temperature of the transmission is within a certain range within a certain range, and the characteristics of the ATF oil and the hardware are maintained under the characteristics of normal transmission operation. For example, when the ATF oil temperature is too low, its fluidity in the transmission is poor, and there is a certain deviation in the control accuracy of the clutch during shifting. Therefore, even if self-learning of the clutch is performed in this case and the self-learning value is written into the pressure corresponding to the torque, as the transmission continues to operate and the temperature is maintained at the normal operating temperature, the performance of the clutch and control becomes abnormal again. Therefore, re-learning is still required, so self-learning is prohibited from being triggered when the transmission is not at the normal operating temperature. Similarly, the characteristics of the transmission hardware change with temperature, so self-learning is also allowed to be triggered only when the transmission is at the normal operating temperature. This will not be elaborated here too much.

[0034] In this embodiment, the preset temperature range can be set to 40 degrees - 90 degrees.

[0035] In this embodiment, for software control, it can be based on the flg_AdptW2Enable flag bit to identify whether the preset self-learning control conditions are met. Among them, when flg_AdptW2Enable = 1, it indicates that the preset self-learning control conditions are met. Only after the preset self-learning control conditions are met, self-learning is performed. Thus, the accuracy of the result of this learning and the necessity of learning are ensured, and the impact of the result of mislearning on the clutch pressure during normal shifting, which leads to incorrect engagement under incorrect pressure, is prevented, that is, it causes poor shift quality, and even seriously affects the normal engagement of the clutch, resulting in problems such as clutch damage.

[0036] Step 103: When the preset self-learning control conditions are met, perform self-learning on the control pressure of the disengaging clutch until the gearshift is completed. The self-learning result is used to perform pressure compensation on the control pressure of the disengaging clutch when it enters the preset clutch control stage. The self-learning result includes the correspondence between the control torque and the pressure compensation value.

[0037] In the embodiments of the present disclosure, when the preset self-learning control conditions are met, self-learning is performed on the control pressure of the disengaging clutch. The self-learning result includes the correspondence between the control torque and the pressure compensation value. Thus, when the disengaging clutch subsequently enters the preset clutch control stage, based on the current control pressure, the control torque corresponding to the current control pressure is queried, and the pressure compensation value of the control torque is determined according to the self-learning result (when the pressure compensation value corresponding to the control torque is not included in the self-learning result, the pressure compensation value corresponding to the control torque of the current control cycle can be determined according to the proportional relationship between the control torque in the self-learning result and the control torque of the current control cycle). The pressure compensation value obtained from self-learning is superimposed on the current control pressure to achieve pressure compensation of the control pressure.

[0038] It should be noted that in different application scenarios, the method of calculating the control pressure of the clutch according to the preset self-learning strategy is different. Examples are as follows: In an embodiment of the present disclosure, starting from the second control cycle, the control pressure of the previous cycle and the vehicle driving parameters collected in the current control cycle are input into a pre-trained deep learning model. The vehicle driving parameters include vehicle speed, gearshift progress (the gearshift progress during gearshift can include progress such as filling oil BOOST, Kp point pressure control, torque exchange oil pressure control SpdStart, clutch input shaft speed variable oil pressure control SpdSyn, clutch lock-up pressure control Lock, etc.).

[0039] In an embodiment of the present disclosure, the self-learning strategy is divided into four stages: Idle default stage, Pre preprocessing stage, Monitor process detection stage, and Write self-learning write stage. These four stages can be regarded as the four state bits of a state machine.

[0040] In this embodiment, when the preset self-learning control conditions are met, it enters the preset default stage, that is, the Idle default stage is the initial state of the state machine.

[0041] Refer to Figure 2 , calculating the control pressure of the clutch according to the preset self-learning strategy includes: Step 201: When the preset self-learning control conditions are met, enter the preset default stage.

[0042] Step 202, when the condition for entering the preset preprocessing stage from the preset default stage is met, perform self-learning on the control pressure of the disengaging clutch according to the first self-learning strategy corresponding to the preset preprocessing stage.

[0043] In an embodiment of the present disclosure, it is identified whether the condition for entering the preset preprocessing stage from the preset default stage is met.

[0044] Among them, in an embodiment of the present disclosure, the condition for entering the preset preprocessing stage from the preset default stage includes the following (1)-(4): (1) The enabling bit flg_AdptW2Enable = 1 of the judgment holds, that is, it is judged that the preset self-learning control condition is met. This can be understood as a re-judgment to ensure that flg_AdptW2Enable = 1.

[0045] (2) The initial gear and the target gear corresponding to the power downshift operation do not belong to the preset gear combination.

[0046] Among them, self-learning under the preset gear combination is prohibited. For example, the preset gear combination may include (DD31 and DD21, where DD31 represents downshifting from D3 gear to D1 gear, and DD21 represents downshifting from D2 gear to D1 gear). In an embodiment of the present disclosure, when the preset gear combination may trigger a situation where the control torque is positive under a no-power working condition (that is, a state where the engine does not provide effective output torque) (although there is no active acceleration, but due to factors such as inertia and slope, the system calculates a "positive" control torque for vehicle control), it coincides with the pressure of the positive torque learning during the current power downshift, that is, the system misuses the pressure compensation value corresponding to the "positive" control torque learned during the power downshift under the no-power working condition, which may cause abnormal control of the clutch pressure under the no-power working condition. Therefore, self-learning can be prohibited for the corresponding gear combination. Among them, a self-learning switch can be set for each gear combination. The self-learning switch corresponding to the preset gear combination is turned off. For example, flg_AdptW2Enable_DD31 and flg_AdptW2Enable_DD21 are marked as 0 to be turned off, and the calibration quantity for other gear combinations is flg_AdptW2Enable_DDm, where m represents the corresponding clutch, and m can be one of the clutches to be controlled.

[0047] In this embodiment, it is determined that the initial gear and the target gear corresponding to the power downshift operation do not belong to the preset gear combination, where the initial gear and the target gear are the gear before the downshift operation and the gear after the downshift operation, respectively. In this embodiment, the flag bit flg_AdptW2Enable_DDm of the self-learning switch corresponding to the initial gear and the target gear of the downshift operation can be queried. When it is 1, it can be determined that the initial gear and the target gear corresponding to the power downshift operation do not belong to the preset gear combination.

[0048] (3) Disengage the clutch and enter the preset torque synchronization stage, and there is no shift operation on the clutch in the previous control cycle.

[0049] Among them, the preset torque synchronization stage can be the TqSyn stage, which is a part of the engagement stage. In this stage, the clutch is gradually engaged to match the engine speed (RPM) with the speed of the transmission input shaft.

[0050] In this embodiment, the state of the OG clutch is detected. When the state of the OG clutch is DDGW2TqSyn, where W2 indicates power downshift, DD indicates downshift between forward gears, and it is determined that there is no shift in the previous control cycle, that is, the shift in the previous control cycle is None (if there is a shift in the previous cycle, it may be the recovery of the shift interruption in the current control cycle. Therefore, self-learning is not performed).

[0051] The setting here is the critical condition for entering the clutch self-learning. It can only be when it is DDGW2TqSyn and the shift in the previous cycle is not a shift process. That is to say, this power downshift can only be performed when it is DDGW2 this time, avoiding suddenly stepping on the accelerator during the shift of the non-power downshift DDGW1 (W1 indicates upshift), and after the shift type changes to DDGW2, self-learning is triggered, but due to the slow torque response of the engine, the torque has been negative torque; or in this case, DDGW2TqSyn only appears for one cycle, and because the non-power downshift has already started before, the clutch pressure has been running for some time, which easily causes the control of the OG clutch to directly skip in some stages, affecting the wrong judgment of the self-learning process of DDGW2 and resulting in wrong learning. Therefore, this process is blocked.

[0052] Therefore, the setting here can determine that self-learning will not be abnormally triggered only during the current shift and non-normal power downshift.

[0053] (4) The current shift type of the clutch is the preset power shift type, and the initial gear and the target gear are not in neutral.

[0054] Among them, it is preset that the power shift type st_DDShiftType is the preset power shift type PowerOnDn, which can be determined based on the throttle identification bit. Among them, the throttle identification bit is represented by flg_PowerOnAccActive. Among them, when the throttle opening is greater than a certain preset value (which can be set to 2.15%), then flg_PowerOnAccActive = 1, and flg_PowerOnAccActive = 1 indicates that the current shift type of the disengaging clutch is the preset power shift type.

[0055] In this embodiment, it is also determined that both the initial gear and the target gear are not in the neutral gear, that is, it is determined that the power downshift operation is not a shift between ND or DN, and can only be a shift between driving gears. Among them, it can also be reflected by the flag of flg_BasicDDShifting. When flg_BasicDDShifting = 1, it is determined that both the initial gear and the target gear are not in the neutral gear.

[0056] In an embodiment of the present disclosure, when the condition for entering the preset preprocessing stage from the preset default stage is met, self-learning is performed on the control pressure of the disengaging clutch according to the first self-learning strategy corresponding to the preset preprocessing stage.

[0057] Among them, the first self-learning strategy can be set according to the scenario requirements.

[0058] In some possible embodiments, the preset preprocessing stage can be regarded as the preprocessing stage of the self-learning function. For example, when the OG clutch of the power downshift enters DDGW2TqSyn, it starts to enter Pre. In this stage, the current shift gear combination st_W2ShiftIdx is recorded. For example, if the current shift is DD32, it is recorded as DD32.

[0059] In the Pre stage, the clutch control time detected in the SpdStart stage can be reset to 0, that is, tm_WSpdStartMax = 0. It is necessary to re-learn and record the time of the current SpdStart during the current shift. If there is no SpdStart stage currently, the time will remain 0ms without being recalculated, preventing the time from not being reset or the reset time detection not being 0 during self-learning.

[0060] In the Pre stage, the last learning flag bit is reset to 0. After the last learning, flg_W2SpdStartAdpted is assigned the value of 1. Therefore, when entering a new shift learning, it is necessary to reset the flag bit of the previous learning to 0.

[0061] In this embodiment, considering that in an automatic transmission, the control pressure of the clutch directly affects the magnitude of the torque that can be transmitted. For example, when the control pressure of the clutch increases, the contact between the clutch discs becomes closer, allowing more control torque to be transmitted to the wheels. Conversely, when the control pressure of the clutch decreases, the frictional force between the clutch discs decreases, and thus the transmitted control torque also decreases accordingly.

[0062] Therefore, in this embodiment, the control pressure is learned and calibrated through the control torque. In this implementation, the current average control torque (the input torque of the input shaft of the transmission) of the current control cycle is calculated. At the first control cycle, the torque entering this cycle is recorded as the torque initial value of the current stage, and as time increases and the torque changes subsequently, the torque is filtered. Thus, starting from the second control cycle, the historical average control torque of the previous control cycle is obtained, the control torque difference between the current average control torque and the historical average control torque is calculated, and the product value of the preset filtering coefficient and the control torque difference is calculated. The control torque is filtered to remove the uncontrollable control torque mutations caused by the engine torque response or throttle changes, which may lead to inaccurate learned control pressure. The preset filtering coefficient here can be set to 0.1. Furthermore, the current average control torque and the product value are summed to obtain the control torque of the current control cycle. Among them, the control torque of the current control cycle is related to the control pressure. In this embodiment, the corresponding control pressure can be determined based on the control torque of the current control cycle. For example, the corresponding control pressure is determined by querying the preset corresponding relationship based on the current control torque. And the setting of filtering here will also make the control torque basically use the torque near the end of DDGW2TqSyn when it is 0 in the SpdStart stage, that is, when the vehicle is not in the first startup stage, the system will not collect new initial control torque, but will use the control torque at the end of the previous gear shift as the control torque. Through this control torque, it is determined which torque segment has insufficient pressure for the current gear, and self-learning compensation is performed. For example, when the current average control torque in the current control cycle is 100 nm and the corresponding control pressure is determined to be 5 bar, then after filtering, the determined average control torque is 110 nm and the corresponding control pressure is 5.5 bar. Thus, it can be determined that when the current average control torque is 100 nm, the control pressure is insufficient. Therefore, self-learning compensation is performed on the control pressure based on the difference in control pressure. When the current torque is 100 nm, before entering self-learning, 0.5 bar is compensated on the basis of its control pressure, etc. Among them, TqSyn refers to the process of precisely controlling the control pressure of the clutch during downshifting to make the control torque output by the engine as consistent as possible with the rotational speed of the driveline of the target gear. The goal of TqSyn is to make the rotational speeds of the input and output ends of the new gear match before the clutch of the new gear engages, so as to achieve a smooth and shock-free shifting experience.

[0063] Step 203: When the condition for entering the preset process detection stage from the preset preprocessing stage is met, perform self-learning on the control pressure of the disengaging clutch according to the second self-learning strategy corresponding to the preset process detection stage.

[0064] In this embodiment, it is also identified whether the condition for entering the preset process detection stage from the preset preprocessing stage is met. Among them, in some possible embodiments, the condition for entering the preset process detection stage from the preset preprocessing stage includes: (1) The disengaging clutch enters the torque exchange oil pressure control stage.

[0065] That is, in this embodiment, the judgment logic follows after the transition from the Idle stage to the Pre stage. The condition for entering the Pre stage is that the OG clutch is at DDGW2, and the next stage for the OG clutch is DDGW2SpdStart. Therefore, the judgment logic here is that if the OG clutch enters SpdStart, it immediately enters the Monitor stage for the logical calculation of SpdStart. Detect the input shaft torque during the speed change of the clutch at this time and the time in the SpdStart stage.

[0066] In this embodiment, when the condition for entering the preset process detection stage from the preset preprocessing stage is met, determine the control pressure of the disengaging clutch in each control cycle according to the second self-learning strategy corresponding to the preset process detection stage, and control the disengaging clutch according to the control pressure.

[0067] Among them, the second self-learning strategy can be set according to the experimental scenario.

[0068] In some possible embodiments, the Monitor stage can be regarded as the stage timing for SpdStart and the calculation of the average torque in this stage after entering SpdStart.

[0069] In the embodiments of the present disclosure, when the condition for entering the preset process detection stage from the preset preprocessing stage is met, determine the entry duration into the preset process detection stage in each control cycle, determine the maximum value between the entry duration and the clutch control time in each control cycle, and update the clutch control time according to the maximum value.

[0070] For example, in this embodiment, when the time tm_G1State at the first moment (the first control cycle) when entering this stage is recorded in the ROM and marked as the clutch control time tm_WSpdStartMax, and in non-first control cycles, the maximum of tm_G1State and tm_WSpdStartMax is taken and recorded in the ROM again as the new clutch control time tm_WSpdStartMax, and so on until the condition is met to exit Monitor. Referring to the above embodiment, when not entering Monitor due to the absence of the Spdstart stage, the clutch control time is always recorded as 0 ms due to the reset process in the Pre stage.

[0071] In this embodiment, the second self-learning strategy is the same as the first self-learning strategy in the Pre stage. It should be noted that the average torque used for self-learning needs to be recalculated after entering Monitor to ensure that the torque entering SpdStart is more accurate.

[0072] Step 204, when the condition for entering the preset self-learning writing stage is met from the preset process detection stage, self-learn the control pressure of the disengaging clutch according to the third self-learning strategy corresponding to the preset self-learning writing stage.

[0073] In this embodiment, it is identified whether the condition for entering the preset self-learning writing stage from the preset process detection stage is met.

[0074] In an embodiment of the present disclosure, the condition for entering the preset self-learning writing stage from the preset process detection stage includes: (1) The disengaging clutch exits the torque exchange oil pressure control stage.

[0075] In this embodiment, the stage following Monitor is the SpdStart stage. If the OG clutch state exits the SpdStart stage, for example, exits the SpdStart stage and enters the SpdSyn stage, then enters the Write stage. According to whether the monitored time of the SpdStart stage in the Monitor stage is too short or too long, it is judged whether the pressure control at this time is too small or too large, and then the pressure compensation for the corresponding torque of this OG clutch is calculated according to the corresponding logic.

[0076] In an embodiment of the present disclosure, when the condition for entering the preset self-learning writing stage is met from the preset process detection stage, self-learn the control pressure of the disengaging clutch according to the second self-learning strategy corresponding to the preset process detection stage.

[0077] In this embodiment, when the Monitor→Write condition is satisfied, it will trigger the calculation of the minimum pressure limit value at the SpdStart stage during the current gear shift, ensuring that the pressure of the learned value after self-learning cannot be less than the current minimum pressure limit value. This ensures that the pressure of the current clutch control does not cause the vehicle to race. In addition to being able to directly jump to Write during the Monitor stage, when there is no SpdStart, it will not enter the Monitor stage. Therefore, at this time, it will directly enter the Write stage from Pre. Therefore, it is also necessary to calculate the minimum pressure limit value (the second reference control pressure) p_W2GPressRelFrzn at the SpdStart stage and ensure the minimum control oil pressure.

[0078] Among them, the third self-learning strategy can be set according to the scenario requirements.

[0079] In an embodiment of the present disclosure, as Figure 3 shown, determine the control pressure of the disengaging clutch in each control cycle according to the third self-learning strategy corresponding to the preset self-learning write stage, and control the disengaging clutch according to the control pressure, including: Step 301, determine the first reference control pressure corresponding to the disengaging clutch calculated by the electronic control unit in the vehicle in the current control cycle.

[0080] It should be understood that the electronic control unit in the vehicle and the software control logic will calculate the pressure value p_ClutchPress of the clutch in real time. In this embodiment, determine the first reference control pressure corresponding to the disengaging clutch calculated by the electronic control unit in the vehicle in the current control cycle. For example, a query request can be sent to the electronic control unit based on the time of the current control cycle and the OG clutch ID to obtain the first reference control pressure p_ClutchPress calculated by the ECU.

[0081] Step 302, calculate the sum value of the engagement point pressure value of the disengaging clutch and the preset minimum pressure value.

[0082] Among them, the preset minimum pressure value can be expressed as P_DDGW2Min, and the clutch engagement point pressure value can be the control pressure value of the clutch in the KP stage. In this embodiment, calculate the sum value of the engagement point pressure value of the disengaging clutch and the preset minimum pressure value.

[0083] Step 303, subtract the sum value from the first reference control pressure to obtain the second reference control pressure.

[0084] In this embodiment, subtract the sum value from the first reference control pressure to obtain the second reference control pressure. Among them, the second reference control pressure can be regarded as the limit value of the self-learning step size during the next gear shift.

[0085] Step 304: Query the first preset table according to the pre-determined clutch control time to obtain the clutch shift level.

[0086] Wherein, in an embodiment of the present disclosure, referring to the above embodiment, when the condition for entering the preset preprocessing stage from the preset default stage is met, the clutch control time is set to 0. When the condition for entering the preset process detection stage from the preset preprocessing stage is met, the entry duration for entering the preset process detection stage is determined in each control cycle, and the maximum value between the entry duration and the clutch control time is determined in each control cycle. The clutch control time tm_WSpdStartMax is updated according to the maximum value.

[0087] In this embodiment, query the first preset table according to the pre-determined clutch control time to obtain the clutch shift level. The clutch shift level reflects the severity of damage to the clutch that may be caused by the control pressure of the clutch. In different application scenarios, the identification methods of the clutch shift level are different, including but not limited to numbers, letters, etc.

[0088] In some possible embodiments, the first table may be as shown in Table 1 below. In Table 1, the unit of the clutch control time tm_WSpdStartMax is ms, and the clutch shift level identifiers are PosSerious, PosMedium, etc. Based on the previously calculated clutch control time and gear position, look up the severity of the clutch during shifting corresponding to the current clutch control time, which represents that the current time is too short or too long. When the time is too short, it means the pressure is too high, and the severity is judged as PosSerious or PosMedium or PosSlight. If the time is too long, it is NegSerious or NegMedium or NegSlight.

[0089] Table 1

[0090] Step 305: Query the second preset table according to the clutch shift level to obtain the candidate pressure compensation value.

[0091] After entering this stage, it is mainly to calculate the pressure value that needs to be compensated for the clutch shift level and torque in the SpdStart stage calculated from the Monitor, and calculate it with the calculated pressure limit value.

[0092] Wherein, the second preset table may include the corresponding relationship between the clutch shift level and the candidate pressure compensation value.

[0093] In some possible embodiments, the second preset table may be as shown in Table 2 below: Table 2

[0094] Step 306: Determine the target pressure compensation value according to the candidate pressure compensation value and the second reference control pressure.

[0095] Step 307: Perform self-learning according to the control torque in the current control cycle and the target pressure compensation value.

[0096] In the embodiments of the present disclosure, the target pressure compensation value is determined according to the candidate pressure compensation value and the second reference control pressure.

[0097] For example, the negative value of the second reference control pressure can be determined, that is, calculate the value of p_W2GPressRelFrzn×(-1) as the negative value. Furthermore, determine the minimum value between the negative value of the second reference control pressure and 0, that is, determine the minimum value between p_W2GPressRelFrzn×(-1) and 0. Furthermore, determine the maximum value between the minimum value and the candidate pressure compensation value as the target pressure compensation value.

[0098] After taking the minimum value of p_W2GPressRelFrzn×(-1) and 0 bar, take the maximum value with the candidate pressure compensation value obtained by querying the second preset table before as the calculation basis. Generally, when the pressure is too high, the calculated value of p_W2GPressRelFrzn is a relatively large positive value, and the calculation severity is Pos. Exactly the calculated compensation pressure value is a negative value. After the limit calculation and taking the maximum value, the control pressure of SpdStart obtained will not be less than the required minimum control pressure. Even if the current situation is that the time is too short due to too low pressure, if the calculated limit value p_W2GPressRelFrzn is a relatively small positive value of 0.3 and the calculation severity is NegSerious, then the pressure that needs to be compensated after calculation is still 0.3. Therefore, it is not limited by the limit value p_W2GPressRelFrzn because adding 0.3 bar can ensure that the minimum limit value of this clutch is added and will not be subtracted downward.

[0099] Compensate and calculate the torque value of the current control cycle based on the maximum value among the determined minimum value and the candidate pressure compensation value. For example, if the torque of the current control cycle calculated during the current gearshift is 100 Nm, and the maximum value for pressure compensation, i.e., the target pressure compensation value, is 0.5 Bar. The maximum values for pressure compensation corresponding to the control torques of other control cycles are calculated proportionally based on the difference between the control torque and 100 Nm. For example, calculate the difference between the control torque and 100 Nm, calculate the product value of this difference and (0.5 / 100), and calculate the sum of the control torque and this product value as the target pressure compensation value after self-learning. That is, the target pressure compensation value for pressure compensation from 100 Nm to 500 Nm will become smaller and smaller.

[0100] The calculated target candidate pressure compensation value will be looked up according to different control torques during the power strong downshift process, and the control pressure calculated for the corresponding control cycle will be increased to ensure reasonable time control under the SpdStart pressure.

[0101] Through the embodiments of the present disclosure, it can be ensured that the clutch control pressure value for each gear is within a normal range. Even under different torques, even when controlling the same clutch but during different gearshifts, and even for the same gearshift but with deviations caused by different transmission hardware consistencies, the clutch self-learning in the embodiments of the present disclosure can control this deviation within a certain range, ensuring the improvement of the shifting quality of the clutch and preventing impact problems caused by too short or too long shifting times.

[0102] It should be emphasized that since the four stages of self-learning can be regarded as four state bits of the state machine respectively, where Idle can be regarded as the initial state bit of the state machine, therefore, each of the other state bits may return to Idle.

[0103] In an embodiment of the present disclosure, when currently in the Monitor stage of self-learning, when any one of the following conditions (1)-(4) is not satisfied, the current Monitor stage will exit to Idle, that is, the current self-learning function will exit, and whether to enter this function needs to be rejudged.

[0104] (1) The current gearshift type for separating the clutch is a preset power shift type, and the initial gear and the target gear are not in neutral.

[0105] This condition mainly indicates whether the current is the power W2 strong downshift type.

[0106] Among them, it is preset that the power shift type st_DDShiftType is the preset power shift type PowerOnDn, which can be determined based on the throttle identification bit. Among them, the throttle identification bit is represented by flg_PowerOnAccActive. Among them, when the throttle opening is greater than a certain preset value (which can be set to 2.15%), then flg_PowerOnAccActive = 1, and flg_PowerOnAccActive = 1 indicates that the current shift type of the disengaging clutch is the preset power shift type.

[0107] In this embodiment, it is also determined that both the initial gear and the target gear are not in the neutral gear, that is, it is determined that the power downshift operation is not a shift between ND or DN, and can only be a shift between driving gears. Among them, it can also be reflected by the flag of flg_BasicDDShifting. When flg_BasicDDShifting = 1, it is determined that both the initial gear and the target gear are not in the neutral gear.

[0108] (2) The current gear shift has not changed and remains the current power shift.

[0109] For example, currently there is a strong downshift of DD32W2 with power, and it has not changed to other shifts such as DD31 or DD23, etc., which are other non-DD32 shifts. If the shift changes, it is necessary to re-judge whether this function needs to be re-learned, and exit Monitor to enter Idle for re-learning.

[0110] (3) Currently, it is not the case that the C0 clutch (the C0 clutch is the coupling clutch between the engine and the motor) in the hybrid mode is closing, or the clutch synovial control strategy trigger during the locking process of the C0 clutch, etc.

[0111] If the above strategies are triggered, it will affect the self-learning process of the clutch during the current shift, and the torque of the engine is not fully transmitted to the whole vehicle through the transmission, or torque fluctuations caused during the engine start-up process and when the C0 closes, etc., will all affect the pressure change of the clutch during the shift. Therefore, the clutch learning at this time is exited for processing.

[0112] (4) When the fluctuation amplitude of the transmission input shaft torque detected in the Monitor stage is greater than a certain value, self-learning is not allowed either. Thus, exit Monitor to enter Idle for re-learning. The preset value of the fluctuation range here is 150 Nm. Under abnormal torque fluctuations, it varies according to the different pressure response characteristics of the clutch, because self-learning is not performed for the pressure fluctuations caused by torque fluctuations here.

[0113] In an embodiment of the present disclosure, when currently in the Pre stage of self - learning, when the following condition (1) is met, exit the current Pre stage to Idle, that is, exit the current self - learning function, and whether to enter this function needs to be re - judged.

[0114] (1) When the condition of Monitor→Idle is established, the current Pre also needs to exit to Idle, and it is necessary to re - judge whether to re - enter the self - learning function.

[0115] In an embodiment of the present disclosure, when currently in the Write stage of self - learning, when the following condition (1) is met, exit the current Write stage to Idle, that is, exit the current self - learning function, and whether to enter this function needs to be re - judged.

[0116] (1) If the current is not DDShifting (shifting between driving gears), exit the self - learning function from Write, that is, end the self - learning function of the current power - downshift after this shift.

[0117] In summary, for the clutch control method of the embodiments of the present disclosure, when the vehicle performs a power - downshift operation, it is identified whether the disengaged clutch enters 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 entering the preset clutch control stage, it is identified whether the disengaged clutch meets the preset self - learning control conditions; when the preset self - learning control conditions are met, the control pressure of the disengaged clutch is self - learned according to the preset self - learning strategy until the shift is completed. Among them, the self - learning result is used to perform pressure compensation on the control pressure of the disengaged clutch when the disengaged clutch enters the preset clutch control stage, and the self - learning result includes the correspondence between the control torque and the pressure compensation value. In this technical solution, the smoothness of shifting is improved and the wear of the clutch is avoided.

[0118] To implement the above - mentioned embodiment, the present disclosure also proposes a clutch control device. Figure 4 It is a schematic structural diagram of a clutch control device according to an embodiment of the present disclosure, as Figure 4 shown. The device includes: a first identification module 410, a second identification module 420, and a control module 430, where, The first identification module 410 is configured to identify whether the disengaged clutch enters a preset clutch control stage when the vehicle performs a power - downshift operation, 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 identification module 420, configured to identify whether the disengaging clutch meets a preset self-learning control condition when entering the preset clutch control stage; A control module 430, configured to perform self-learning on the control pressure of the disengaging clutch according to a preset self-learning strategy when the preset self-learning control condition is met, until the gearshift is completed. Wherein, the self-learning result of the self-learning is used to perform pressure compensation on the control pressure of the disengaging clutch when the disengaging clutch enters the preset clutch control stage, and the self-learning result includes the corresponding relationship between the control torque and the pressure compensation value.

[0119] 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 corresponding functional modules and beneficial effects for executing the method.

[0120] To implement the above embodiments, the present disclosure also proposes a computer program product, including a computer program / instructions, which when executed by a processor, implement the clutch control method in the above embodiments.

[0121] Figure 5 The structural schematic diagram of a vehicle provided by the embodiments of the present disclosure. Exemplarily, as Figure 5 shown, the vehicle 500 includes a memory 501 and a processor 502. Among them, the memory is used to store the executable instructions 5011 that can be executed by the processor, and the processor is used to read the executable instructions 5011 from the memory and execute the executable instructions to implement the above method.

[0122] In this embodiment, the vehicle can be divided into functional modules according to the above method examples. For example, each functional module can be corresponding, 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, and is only a logical function division. There can be other division methods in actual implementation.

[0123] In the case of dividing each functional module corresponding to each function, the vehicle may 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.

[0124] The vehicle provided by this embodiment is used to execute the above-mentioned clutch control method, and thus can achieve the same effect as the above implementation method.

[0125] In the case of adopting an integrated unit, the vehicle may include a processing module and a storage module. Among them, 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, data, etc.

[0126] Among them, the processing module can be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits described in connection with the present disclosure. The processor can also be a combination that realizes computing functions, such as including 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.

[0127] This embodiment also provides a computer-readable storage medium. Computer program code is stored in the computer-readable storage medium (including but not limited to disk memory, CD-ROM, optical memory, etc.). When the computer program code runs on a computer, the computer is enabled to execute the above-related method steps to implement a clutch control method provided in the above embodiment.

[0128] Among them, for the beneficial effects of the above embodiment, reference can be made to the beneficial effects in the corresponding method provided above, which will not be elaborated here.

[0129] Through the description of the above embodiments, those skilled in the art can understand that for the convenience and brevity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0130] In the embodiments provided by the present 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 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 devices or units can be in electrical, mechanical or other forms. The above description is only a preferred embodiment of the present disclosure and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, and 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.

[0131] 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 several 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.

[0132] 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, Including: When the vehicle performs a power downshift operation, it is identified whether the disengaging clutch enters 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 shift oil pressure control stage; When entering the preset clutch control stage, it is identified whether the disengaging clutch meets the preset self-learning control conditions; When the preset self-learning control conditions are met, self-learning is performed on the control pressure of the disengaging clutch according to a preset self-learning strategy until the shift is completed, wherein the self-learning result of the self-learning is used to perform pressure compensation on the control pressure of the disengaging clutch when the disengaging clutch enters the preset clutch control stage, and the self-learning result includes the corresponding relationship between the control torque and the pressure compensation value.

2. The method according to claim 1, wherein The preset self-learning control conditions include: The preset self-learning function switch is in the on state; The vehicle is not in a preset low-speed four-wheel drive operation mode; The disengaging clutch is not in a preset fault state; The automatic transmission oil temperature of the automatic transmission associated with the disengaging clutch belongs to a preset temperature range.

3. The method according to claim 1, characterized in that The self-learning of the control pressure of the disengaging clutch according to the preset self-learning strategy includes: Entering a preset default stage when the preset self-learning control conditions are met; When the entry condition for entering the preset preprocessing stage from the preset default stage is met, self-learning is performed on the control pressure of the disengaging clutch according to the first self-learning strategy corresponding to the preset preprocessing stage; When the entry condition for entering the preset process detection stage from the preset preprocessing stage is met, self-learning is performed on the control pressure of the disengaging clutch according to the second self-learning strategy corresponding to the preset process detection stage; When the entry condition for entering the preset self-learning writing stage from the preset process detection stage is met, self-learning is performed on the control pressure of the disengaging clutch according to the third self-learning strategy corresponding to the preset self-learning writing stage.

4. The method according to claim 3, characterized in that, The entry condition for entering the preset preprocessing stage from the preset default stage includes: The initial gear and the target gear corresponding to the power downshift operation do not belong to a preset gear combination; The disengaging clutch enters a preset torque synchronization stage, and the disengaging clutch has no shift operation in the previous control cycle; The current shift type of the disengaging clutch is a preset power shift type, and the initial gear and the target gear are not in neutral; The entry condition for entering the preset process detection stage from the preset preprocessing stage includes: The disengaging clutch enters the torque exchange oil pressure control stage; The entry condition for entering the preset self-learning writing stage from the preset process detection stage includes: The disengaging clutch exits the torque exchange oil pressure control stage.

5. The method according to claim 3 or 4, characterized in that The self-learning of the control pressure of the disengaging clutch according to the first self-learning strategy corresponding to the preset preprocessing stage, or the self-learning of the control pressure of the disengaging clutch according to the second self-learning strategy corresponding to the preset process detection stage, includes: Calculating the current average control torque of the current control cycle and obtaining the historical average control torque of the previous control cycle; Calculate the control torque difference between the current average control torque and the historical average control torque, and calculate the product value of the preset filtering coefficient and the control torque difference; Sum the current average control torque and the product value to obtain the corrected control torque for the current control cycle; Perform self-learning on the pressure difference between the first control pressure corresponding to the corrected control torque and the second control pressure corresponding to the current average control torque.

6. The method according to claim 3 or 4, characterized in that The self-learning of the control pressure of the disengaging clutch according to the third self-learning strategy corresponding to the preset self-learning writing stage includes: Determine the first reference control pressure corresponding to the disengaging clutch calculated by the electronic control unit in the vehicle in the current control cycle; Calculate the sum value of the engagement point pressure value of the disengaging clutch and the preset minimum pressure value; Subtract the sum value from the first reference control pressure to obtain the second reference control pressure; Query a first preset table according to the pre-determined clutch control time to obtain the clutch shift level; Query a second preset table according to the clutch shift level to obtain the candidate pressure compensation value; Determine the target pressure compensation value according to the candidate pressure compensation value and the second reference control pressure; Perform self-learning according to the control torque and the target pressure compensation value in the current control cycle.

7. The method according to claim 6, characterized in that, Before querying the first preset table according to the pre-determined clutch control time, it further includes: When the entry condition from the preset default stage to the preset preprocessing stage is met, set the clutch control time to 0; When the entry condition from the preset preprocessing stage to the preset process detection stage is met, determine the entry duration into the preset process detection stage in each control cycle; Determine the maximum value between the entry duration and the clutch control time in each control cycle, and update the clutch control time according to the maximum value.

8. The method according to claim 6, wherein The determining the target pressure compensation value according to the candidate pressure compensation value and the second reference control pressure includes: Determine the negative value of the second reference control pressure; Determine the minimum value between the negative value of the second reference control pressure and 0, and determine the maximum value between the minimum value and the candidate pressure compensation value as the target pressure compensation value.

9. A clutch control device, characterized in that, It includes: A first identification module, configured to identify whether the disengaging clutch enters a preset clutch control stage when the vehicle performs a power downshift operation, 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; A second identification module, configured to identify whether the disengaging clutch meets the preset self-learning control condition when entering the preset clutch control stage; A control module, configured to perform self-learning on the control pressure of the disengaging clutch according to a preset self-learning strategy until the shift is completed when the preset self-learning control condition is met, where the self-learning result is used to perform pressure compensation on the control pressure of the disengaging clutch when the disengaging clutch enters the preset clutch control stage, and the self-learning result includes the corresponding relationship between the control torque and the pressure compensation value.

10. A vehicle, characterized in that, The vehicle includes: Processor; Memory for storing executable 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 according to any one of claims 1-8 above.

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