Clutch control method, device and vehicle

Abstract

The disclosed embodiments relate to a clutch control method, device, and vehicle, wherein the method includes: when the vehicle performs a powered downshift operation, identifying whether the disconnect clutch enters a preset clutch control phase, wherein the preset clutch control phase is between the torque exchange oil pressure control phase and the input shaft speed change oil pressure control phase; upon entering the preset clutch control phase, identifying whether the disconnect clutch satisfies a preset self-learning control condition; and, if the preset self-learning control condition is satisfied, self-learning the control pressure of the disconnect clutch according to a preset self-learning strategy until the shift is completed. In this technical solution, through self-learning of the control pressure, pressure compensation is performed on the control pressure of the disconnect clutch, thereby improving the smoothness of the shift and avoiding clutch wear.

Description

Technical Field

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

[0002] The shift types of automatic transmissions are divided into four types: powered upshift, powered downshift, unpowered downshift and unpowered upshift, based on whether there is power and whether it is upshift or downshift. Among them, powered downshift is mainly used to improve the power of the whole vehicle. When the driver steps on the accelerator to move forward, the transmission downshifts because of the need to improve the power.

[0003] In the related art, during the power downshift process, one clutch is disengaged (Offgoing Clutch) and the other clutch is engaged (Oncoming Clutch), which is accomplished by changing the torque transmission path. This type of shifting is called Clutch-to-Clutch shifting. As the name implies, the torque transmission is transferred 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 in the speed change stage deviates greatly from the expected deviation. For example, the holding time of the torque exchange oil pressure control stage of the speed change is short or long, which are all caused by the clutch control pressure being too small or too large. Among them, a large control pressure may cause the speed change time to be too short, resulting in a large shift shock. A small control pressure may cause the speed change time to be too long, resulting in clutch wear. 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, device and vehicle.

[0005] An embodiment of the present disclosure provides a clutch control method, the method comprising: when a vehicle performs a powered downshift operation, identifying whether a separation clutch enters a preset clutch control stage, wherein 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 satisfies a preset self-learning control condition; when the preset self-learning control condition is satisfied, performing self-learning on the control pressure of the separation clutch according to a preset self-learning strategy until the gear shift is completed, wherein a self-learning result of the self-learning is used to perform pressure compensation on the control pressure of the separation clutch when the separation clutch enters the preset clutch control stage, and the self-learning result includes a correspondence between the control torque and the pressure compensation value.

[0006] The disclosed embodiment also provides a clutch control device, which includes: a first identification module for identifying whether the separation clutch enters a preset clutch control stage when the vehicle performs a powered downshift operation, wherein 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 for identifying whether the separation clutch meets a preset self-learning control condition when entering the preset clutch control stage; a control module for self-learning the control pressure of the separation clutch according to a preset self-learning strategy when the preset self-learning control condition is met until the gear shift is completed, wherein the self-learning result of the self-learning is used to pressure compensate the control pressure of the separation clutch when the separation clutch enters the preset clutch control stage, and the self-learning result includes a correspondence between the control torque and the pressure compensation value.

[0007] An embodiment of the present disclosure also provides a vehicle, comprising: a processor; a memory for storing executable instructions of the processor; the processor for reading the executable instructions from the memory and executing the instructions to implement the clutch control method provided in the embodiment of the present disclosure.

[0008] The technical solution provided by the embodiments of the present disclosure has the following advantages over the prior art:

[0009] The clutch control scheme provided by the disclosed embodiment identifies whether the disconnect clutch has entered a preset clutch control phase when the vehicle performs a powered downshift operation. The preset clutch control phase is located between the torque exchange oil pressure control phase and the input shaft speed change oil pressure control phase. Upon entering the preset clutch control phase, the clutch identifies whether the disconnect clutch meets preset self-learning control conditions. If the preset self-learning control conditions are met, the disconnect clutch control pressure is self-learned according to a preset self-learning strategy until the shift is complete. The self-learning results are used to compensate the disconnect clutch control pressure when the disconnect clutch enters the preset clutch control phase. The self-learning results include a correspondence between the control torque and the pressure compensation value. This technical solution improves shifting smoothness and avoids clutch wear. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0011] Figure 1 A schematic flow chart of a clutch control method provided in an embodiment of the present disclosure;

[0012] Figure 2 A schematic flow chart of another clutch control method provided in an embodiment of the present disclosure;

[0013] Figure 3 A schematic flow chart of another clutch control method provided in an embodiment of the present disclosure;

[0014] Figure 4 A schematic structural diagram of a clutch control device provided in an embodiment of the present disclosure;

[0015] Figure 5 A schematic structural diagram of a vehicle provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0016] The following describes embodiments of the present disclosure in more detail with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of protection of the present disclosure.

[0017] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0018] As used herein, the term "including" and its variations are open-ended, i.e., "including but not limited to." The term "based on" means "based, at least in part, on." The term "one embodiment" means "at least one embodiment," the term "another embodiment" means "at least one additional embodiment," and the term "some embodiments" means "at least some embodiments." Other terms are defined in the following description.

[0019] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0020] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, they should be understood as "one or more".

[0021] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0022] In existing technology, shift quality consistency for certain gears is achieved through parameter optimization through consistency calibration. However, this doesn't necessarily cover all transmission hardware. Deviations in numerous transmission hardware components and assembly variations can affect transmission consistency. Therefore, calibration alone cannot guarantee consistency across all matching transmissions. Therefore, an adaptive strategy is needed that performs differentiated learning based on the differences between different transmissions and controls the clutch based on the self-learning results. The control pressure obtained through self-learning is optimized, improving shift smoothness and minimizing clutch wear.

[0023] In order to solve the above problems, an embodiment of the present disclosure provides a clutch control method, which is introduced below in conjunction with specific embodiments.

[0024] Figure 1 This is a flow chart of a clutch control method provided by an embodiment of the present disclosure. The method can be executed by a clutch control device, wherein the device can be implemented using software and / or hardware and can generally be integrated into a vehicle. Figure 1 As shown, the method includes:

[0025] Step 101 : When the vehicle performs a powered downshift operation, it is identified whether the separation clutch enters a preset clutch control stage, wherein the preset clutch control stage is between the torque exchange oil pressure control stage and the input shaft speed change oil pressure control stage.

[0026] A powered downshift is defined as a downshift performed while the engine is continuously outputting power. This means that the transmission shifts from one gear to another while the driver is pressing the accelerator while the vehicle is moving. A disconnect clutch is defined as an OG clutch.

[0027] During the shifting process of an automatic transmission, clutch lockup control generally goes through stages including oil filling BOOST, Kp point pressure control, torque exchange oil pressure control (SpdStart), clutch input shaft speed shift oil pressure control (SpdSyn), and clutch lockup pressure control LOCK. In this embodiment, the preset clutch control stage is the SpdStart stage. That is, the preset clutch control stage falls between the torque exchange oil pressure control stage and the input shaft speed shift oil pressure control stage.

[0028] Step 102 : When entering the preset clutch control phase, it is identified whether the separation clutch satisfies the preset self-learning control condition.

[0029] During actual driving, some situations are not suitable for self-learning. Therefore, it is necessary to identify whether the separation clutch meets the preset self-learning control conditions. Only when the preset self-learning control conditions are met, self-learning control is performed.

[0030] 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):

[0031] (1) The preset self-learning function switch is in the on state.

[0032] In this embodiment, considering that in some application scenarios, if it is triggered incorrectly, it will lead to incorrect learning, resulting in incorrect writing of learning values ​​under different torques, resulting in the learning result not being the learning of the downshift triggered by the normal driver pressing the accelerator.

[0033] In the disclosed embodiments, a self-learning function switch is pre-set. This feature is intended to be disabled when the calibration engineer manually calibrates a clutch under specific operating conditions without requiring self-learning. This prevents the triggered self-learning values ​​from affecting the intended purpose. Furthermore, the need for this function depends on the type of transmission being used. If the transmission model has good consistency and the standard calibration parameters can cover the clutch pressure parameters under different vehicle operating conditions, this feature should also be disabled to reduce the software's computational load.

[0034] (2) The vehicle is not in the preset low-speed four-wheel drive operating mode.

[0035] In this embodiment, when the preset low-speed four-wheel drive operating mode, i.e., 4L mode, is engaged, the preset self-learning function is disabled by default. Because the speed ratio of the vehicle's driveline changes significantly in four-wheel drive, using the same clutch self-learning parameters would affect each other. Therefore, the low-speed four-wheel drive self-learning function is disabled by default. In low-speed four-wheel drive, the driver's driving conditions are relatively simple, primarily used in off-road conditions or when escaping difficulties. The probability of using a hard downshift is low, and driving quality requirements are not high. Therefore, the low-speed four-wheel drive hard downshift self-learning function can be disabled.

[0036] However, an opening switch based on the four-wheel drive function is set. If low-speed four-wheel drive is a relatively common working condition for some four-wheel drive models, and is used frequently when driving on normal roads, 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 of this project must be self-learned, 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 special write logic based on four-wheel drive.

[0037] (3) The separation clutch is not in the preset fault state.

[0038] In this embodiment, self-learning is not performed unless the clutch is in a predetermined fault state, such as being unable to close or open, or experiencing sliding film. This is because clutch failures may be caused by insufficient pressure within the transmission, wear and damage to related transmission components, and are not necessarily due to deviations in actual clutch pressure, leading to abnormal clutch control and poor shift quality. Therefore, actual clutch burnout may also occur in clutch failures. Therefore, self-learning is not performed in these situations to prevent erroneous learning and unnecessary learning triggering.

[0039] (4) The automatic transmission oil temperature of the automatic transmission associated with the release clutch falls within the preset temperature range.

[0040] Automatic transmission fluid (ATF) within a certain range also ensures that the temperature of the transmission hardware is within a certain range, and the characteristics of the ATF oil and hardware remain within the characteristics of normal transmission operation. For example, if the ATF oil temperature is too low, the fluidity in the transmission will be poor, and the control accuracy of the clutch during shifting will have a certain deviation. Therefore, even if clutch self-learning is performed in this situation and the self-learning value is written into the pressure under the corresponding torque, as the transmission continues to operate, the clutch and control performance will be abnormal when the temperature is maintained at normal operating temperature, so re-learning is required. Therefore, self-learning is prohibited when the transmission is not at normal operating temperature. Similarly, the transmission hardware characteristics change with temperature, so self-learning must be triggered only when the transmission is at normal operating temperature. I will not go into too much detail here.

[0041] In this embodiment, the preset temperature range can be set to 40 degrees Celsius to 90 degrees Celsius.

[0042] In this embodiment, software control can be performed based on the flg_AdptW2Enable flag to indicate whether the preset self-learning control conditions are met. When flg_AdptW2Enable = 1, this indicates that the preset self-learning control conditions are met. Self-learning is performed only after the preset self-learning control conditions are met. This ensures the accuracy and necessity of the learning results, and prevents incorrect learning from affecting clutch pressure during normal shifting, leading to incorrect clutch engagement. This can result in poor shift quality and even seriously affect normal clutch engagement, causing damage to the clutch.

[0043] Step 103, when the preset self-learning control conditions are met, the control pressure of the separation clutch is self-learned according to the preset self-learning strategy until the gear shift is completed, wherein the self-learning result is used to pressure compensate the control pressure of the separation clutch when the separation clutch enters the preset clutch control stage, and the self-learning result includes the correspondence between the control torque and the pressure compensation value.

[0044] In an embodiment of the present disclosure, when a preset self-learning control condition is met, the control pressure of the separation clutch is self-learned, and the self-learning result of the self-learning includes the correspondence between the control torque and the pressure compensation value. Thus, when the separation clutch subsequently enters the preset clutch control stage, the control torque corresponding to the current control pressure is queried based on the current control pressure, 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 based on the proportional relationship between the control torque in the self-learning result and the control torque of the current control cycle), and the self-learning pressure compensation value is superimposed on the current control pressure to achieve pressure compensation of the control pressure.

[0045] It should be noted that in different application scenarios, the method of calculating the clutch control pressure according to the preset self-learning strategy is different. The examples are as follows:

[0046] In one 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, wherein the vehicle driving parameters include vehicle speed, gear shifting progress (the gear shifting progress during the gear shifting process may include oil filling BOOST, Kp point pressure control, torque exchange oil pressure control SpdStart, clutch input shaft speed change oil pressure control SpdSyn, clutch lock pressure control Lock, etc.), etc.

[0047] In one embodiment of the present disclosure, the self-learning strategy is divided into four phases: Idle default phase, Pre pre-processing phase, Monitor process detection phase, and Write self-learning writing phase. These four phases can be regarded as four state bits of a state machine.

[0048] In this embodiment, when the preset self-learning control condition is met, the preset default stage is entered, that is, the Idle default stage is the initial state of the state machine.

[0049] Reference Figure 2 , calculating the control pressure of the clutch according to a preset self-learning strategy, including:

[0050] Step 201: Entering a preset default phase when a preset self-learning control condition is met.

[0051] Step 202 : When the entry condition from the preset default stage to the preset pre-processing stage is met, the control pressure of the separation clutch is self-learned according to a first self-learning strategy corresponding to the preset pre-processing stage.

[0052] In an embodiment of the present disclosure, it is identified whether a condition for entering a preset pre-processing stage from a preset default stage is satisfied.

[0053] In one embodiment of the present disclosure, the conditions for entering the preset pre-processing stage from the preset default stage include the following (1)-(4):

[0054] (1) The enable bit flg_AdptW2Enable = 1 is judged to be valid, that is, the preset self-learning control condition is met. This can be understood as a re-judgment to ensure that flg_AdptW2Enable = 1.

[0055] (2) The initial gear and target gear corresponding to the powered downshift operation do not belong to the preset gear combination.

[0056] Among them, self-learning under the preset gear combination is prohibited. For example, the preset gear combination may include (DD31 and DD21, wherein DD31 indicates that D3 gear is downgraded to D1 gear, and DD21 indicates that D2 gear is downgraded to D1 gear). In the embodiment of the present disclosure, the preset gear combination may trigger a no-power condition (i.e., a state in which the engine does not provide effective output torque) under which the control torque is positive (although there is no active acceleration, the system may calculate a "positive" control torque for vehicle control due to inertia, slope and other factors), and the pressure coincides with the positive torque learning under the current powered downshift, that is, the system mistakenly uses the previously learned torque under the powered downshift under the no-power condition. The pressure compensation value corresponding to the "positive" control torque learned may cause abnormal clutch pressure control under no-power conditions. Therefore, self-learning can be prohibited under the corresponding gear combination. A self-learning switch can be set for each gear combination, wherein the self-learning switch corresponding to the preset gear combination is closed. For example, flg_AdptW2Enable_DD31 and flg_AdptW2Enable_DD21 are marked as 0 to close, and other gear combinations are marked as flg_AdptW2Enable_DDm, wherein m represents the corresponding clutch, and m can be one of the clutches that need to be controlled.

[0057] In this embodiment, it is determined that the initial gear and target gear corresponding to the powered downshift operation do not belong to the preset gear combination, where the initial gear and target gear are the gear before and after the downshift operation, respectively. In this embodiment, a query is performed to determine whether the flag flg_AdptW2Enable_DDm of the self-learning switch corresponding to the initial gear and target gear corresponding to the downshift operation is 1. If so, it is determined that the initial gear and target gear corresponding to the powered downshift operation do not belong to the preset gear combination.

[0058] (3) The separation clutch enters the preset torque synchronization stage, and the separation clutch has not had any gear shifting operation in the previous control cycle.

[0059] The preset torque synchronization phase may be a TqSyn phase, which is a portion of the engagement phase in which the separation clutch is gradually engaged to match the engine speed (RPM) with the speed of the transmission input shaft.

[0060] In this embodiment, the state of the OG clutch is detected. When the state of the OG clutch is DDGW2TqSyn, where W2 indicates a powered downshift and DD indicates a downshift between forward gears, it is determined that there was no gear shift in the previous control cycle, that is, the gear shift in the previous control cycle was None (if there was a gear shift in the previous cycle, the current control cycle may be a resumption of the gear shift interruption in the previous cycle, and therefore, no self-learning is performed).

[0061] This setting is the critical condition for entering clutch self-learning, which can only occur during DDGW2TqSyn, and the shift in the previous cycle was a non-shifting process. In other words, this powered downshift can only be performed during DDGW2. This prevents the situation where DDGW1 (W1 indicates upshift) suddenly presses the accelerator during a non-powered downshift, triggering self-learning after the shift type changes to DDGW2, but the torque remains negative due to the slow engine torque response. In this case, DDGW2TqSyn only occurs for one cycle, and because non-powered downshifting has already begun, clutch pressure has been running for a while, which can easily cause the OG clutch to skip control at certain stages, affecting the DDGW2 self-learning process. Misjudgment and incorrect learning are therefore blocked.

[0062] Therefore, the setting here can ensure that self-learning will not be abnormally triggered only during the current gear shift and abnormal powered downshift.

[0063] (4) The current shift type of the clutch is the preset power shift type, and the initial gear and the target gear are not neutral.

[0064] Among them, the preset power shift type st_DDShiftType is the preset power shift type PowerOnDn, which can be determined based on the throttle flag, wherein the throttle flag is represented by flg_PowerOnAccActive, wherein, when the throttle opening is greater than a certain preset value (which can be set to 2.15%), flg_PowerOnAccActive=1, flg_PowerOnAccActive=1 indicates that the current shift type of the separation clutch is the preset power shift type.

[0065] In this embodiment, it is also determined that both the initial gear and the target gear are not neutral, that is, it is determined that the powered downshift operation is not a shift between ND or DN, but can only be a shift between driving gears. This can also be reflected by the identifier of flg_BasicDDShifting. When flg_BasicDDShifting=1, it is determined that both the initial gear and the target gear are not neutral.

[0066] In one embodiment of the present disclosure, when a condition for entering a preset pre-processing stage from a preset default stage is met, the control pressure of the separation clutch is self-learned according to a first self-learning strategy corresponding to the preset pre-processing stage.

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

[0068] 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 with power downshift enters DDGW2TqSyn, it begins to enter Pre. In this stage, the current gear shift combination st_W2ShiftIdx is recorded. For example, if the current gear shift is DD32, it is recorded as DD32.

[0069] In the Pre stage, the clutch control time of the SpdStart stage detection can be reset to 0, that is, tm_WSpdStartMax=0. It is necessary to relearn and record the current SpdStart time in the current gear shift. If there is no SpdStart stage, the time will remain at 0ms without recalculation to prevent the time from being unable to be reset during self-learning or the reset time detection from being not 0.

[0070] In the Pre stage, the last learning flag is reset to 0. After the last learning, flg_W2SpdStartAdpted is assigned to 1. Therefore, when entering a new gear shift learning, the flag of this learning needs to be reset to 0.

[0071] In this embodiment, it is taken into account that in an automatic transmission, the control pressure of the clutch directly affects the amount of torque that can be transmitted. For example, when the control pressure of the clutch increases, the contact between the clutch plates becomes tighter, thereby allowing more control torque to be transmitted to the wheels. Conversely, when the control pressure of the clutch decreases, the friction between the clutch plates decreases, and thus the transmitted control torque also decreases.

[0072] Therefore, in this embodiment, the control pressure is learned and calibrated using the control torque. In this embodiment, the current average control torque (the input torque of the transmission's input shaft) for the current control cycle is calculated. During the first control cycle, the torque entering this cycle is recorded as the initial torque value for the current stage. Subsequently, as the torque changes over time, the torque is filtered. Starting at the second control cycle, the historical average control torque for the previous control cycle is obtained. The control torque difference between the current average control torque and the historical average control torque is calculated. The product of the control torque difference and a preset filter coefficient is then calculated. This control torque is filtered to remove inaccurate learned control pressure caused by uncontrollable sudden changes in control torque due to engine torque response or throttle changes. The preset filter coefficient can be set to 0.1. The current average control torque and the product are then summed to obtain the control torque for the current control cycle. The control torque for 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 for the current control cycle. For example, a preset correspondence relationship can be queried based on the current control torque to determine the corresponding control pressure. Furthermore, the filtering setting ensures that, when SpdStart is 0, the control torque will essentially use the torque near the end of DDGW2TqSyn. That is, unless the vehicle is initially started, the system will not collect a new initial control torque, but instead will use the control torque at the end of the previous gear shift. This control torque is used to determine which torque range in the current gear is experiencing insufficient pressure, and self-learning compensation is performed. For example, if the current average control torque in the current control cycle is 100 nm, the corresponding control pressure is determined to be 5 bar. The average control torque determined after filtering is 110 nm, and the corresponding control pressure is determined to be 5.5 bar. Therefore, it can be determined that the control pressure is insufficient when the current average control torque is 100 nm. Self-learning compensation is then performed based on the control pressure difference. For example, when the current torque is 100 nm, before self-learning is initiated, a 0.5 nm compensation is applied to the control pressure. TqSyn refers to the process of precisely controlling the clutch control pressure during downshifts to ensure that the engine output torque is as consistent as possible with the drivetrain speed of the target gear. The goal of TqSyn is to match the speed of the input and output ends of the new gear before the clutch engages, thereby achieving a smooth and impact-free gear shifting experience.

[0073] Step 203 : When the entry condition from the preset preprocessing stage to the preset process detection stage is met, the control pressure of the separation clutch is self-learned according to the second self-learning strategy corresponding to the preset process detection stage.

[0074] In this embodiment, it is also identified whether the entry conditions from the preset preprocessing stage to the preset process detection stage are met. In some possible embodiments, the entry conditions from the preset preprocessing stage to the preset process detection stage include:

[0075] (1) The clutch enters the torque exchange oil pressure control stage.

[0076] In this embodiment, the judgment logic follows the Idle to Pre phase. The condition for entering Pre is that the OG clutch is in DDGW2, and the next OG clutch phase is DDGW2SpdStart. Therefore, if the OG clutch enters SpdStart, the judgment logic immediately enters Monitor and performs SpdStart logic calculations. The input shaft torque during the clutch shift and the duration of the SpdStart phase are detected.

[0077] In this embodiment, when the conditions for entering the preset process detection stage from the preset preprocessing stage are met, the control pressure of the separation clutch in each control cycle is determined according to the second self-learning strategy corresponding to the preset process detection stage, and the separation clutch is controlled according to the control pressure.

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

[0079] In some possible embodiments, the Monitor phase can be regarded as the calculation of the phase timing for SpdStart and the average torque of this phase after entering SpdStart.

[0080] In an embodiment of the present disclosure, when the entry conditions from the preset preprocessing stage to the preset process detection stage are met, the entry duration of entering the preset process detection stage is determined in each control cycle, and the maximum value of the entry duration and the clutch control time is determined in each control cycle, and the clutch control time is updated according to the maximum value.

[0081] For example, in this embodiment, the time tm_G1State, which is the first time the clutch enters this phase (the first control cycle), is recorded in the ROM and marked as the clutch control time tm_WSpdStartMax. During non-first control cycles, the maximum of tm_G1State and tm_WSpdStartMax is taken and recorded again in the ROM as the new clutch control time tm_WSpdStartMax. This calculation continues in this manner until the conditions are met to exit the Monitor. Referring to the above embodiment, if the Monitor is not entered due to the absence of the Spdstart phase, the clutch control time is recorded as 0ms due to the reset process of the Pre phase.

[0082] 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.

[0083] Step 204 : When the entry condition from the preset process detection phase to the preset self-learning writing phase is met, the control pressure of the separation clutch is self-learned according to the third self-learning strategy corresponding to the preset self-learning writing phase.

[0084] In this embodiment, it is identified whether the preset process detection phase enters the preset self-learning writing phase entry condition is satisfied.

[0085] In one embodiment of the present disclosure, the preset process detection phase enters the preset self-learning writing phase entry condition, including:

[0086] (1) The clutch exits the torque exchange oil pressure control stage.

[0087] In this embodiment, the previous Monitor stage is in the SpdStart stage. If the OG clutch state exits the SpdStart stage, for example, exits the SpdStart stage and enters the SpdSyn stage, then the Write stage is entered. Based on whether the time of the SpdStart stage monitored in the Monitor stage is too short or too long, it is determined whether the pressure control at this time is too small or too large, and then the OG clutch is pressure compensated for the corresponding torque according to the corresponding logical calculation.

[0088] In an embodiment of the present disclosure, when the entry condition from the preset process detection phase to the preset self-learning writing phase is met, the control pressure of the separation clutch is self-learned according to the second self-learning strategy corresponding to the preset process detection phase.

[0089] In this embodiment, when the Monitor→Write condition is met, calculation of the minimum pressure limit for the SpdStart phase of the current shift is triggered, ensuring that the pressure value learned through self-learning cannot be less than the current minimum pressure limit. This ensures that the current clutch control pressure does not run away. While the Monitor phase can directly jump to the Write phase, the Monitor phase will not be entered when SpdStart is not present. In this case, the Write phase will be directly entered from the Pre phase. Therefore, the minimum pressure limit for the SpdStart phase (the second reference control pressure) p_W2GPressRelFrzn must also be calculated to ensure the minimum control oil pressure.

[0090] Among them, the third self-learning strategy can be set according to scenario requirements.

[0091] In one embodiment of the present disclosure, Figure 3 As shown, determining the control pressure of the separation clutch in each control cycle according to the third self-learning strategy corresponding to the preset self-learning writing stage, and controlling the separation clutch according to the control pressure, including:

[0092] Step 301 : determining a first reference control pressure corresponding to a disconnect clutch calculated by an electronic control unit in a vehicle in a current control cycle.

[0093] It should be understood that the electronic control unit in the vehicle and the software control logic will calculate the clutch pressure value p_ClutchPress in real time. In this embodiment, the first reference control pressure corresponding to the separation clutch calculated by the electronic control unit in the vehicle under the current control cycle is determined. 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.

[0094] Step 302 : Calculate the sum of the engagement point pressure value of the separation clutch and the preset minimum pressure value.

[0095] Among them, the preset minimum pressure value can be expressed as P_DDGW2Min, the clutch engagement point pressure value can be the control pressure value of the clutch in the KP stage, and in this embodiment, the sum of the engagement point pressure value of the separation clutch and the preset minimum pressure value is calculated.

[0096] Step 303 : Calculate the difference between the first reference control pressure and the sum value to obtain a second reference control pressure.

[0097] In this embodiment, the difference between the first reference control pressure and the sum value is calculated to obtain the second reference control pressure, wherein the second reference control pressure can be regarded as a limit value of the self-learning step length during the next gear shift.

[0098] Step 304 : query a first preset table according to the predetermined clutch control time to obtain the clutch shift level.

[0099] Among them, in one embodiment of the present disclosure, referring to the above embodiment, when the entry condition from the preset default stage to the preset preprocessing stage is met, the clutch control time is set to 0, and when the entry condition from the preset preprocessing stage to the preset process detection stage is met, the entry duration of entering the preset process detection stage is determined in each control cycle, and the maximum value of the entry duration and the clutch control time is determined in each control cycle, and the clutch control time tm_WSpdStartMax is updated according to the maximum value.

[0100] In this embodiment, a first preset table is queried based on a predetermined clutch control time to obtain a clutch shift level. The clutch shift level reflects the severity of clutch damage that could be caused by clutch control pressure. In different application scenarios, the clutch shift level may be identified in different ways, including but not limited to numbers, letters, etc.

[0101] In some possible embodiments, the first table may be as shown in Table 1 below, wherein, in Table 1, the unit of the clutch control time tm_WSpdStartMax is ms, and the clutch shift level is identified as PosSerious, PosMedium, etc., wherein, based on the previously calculated clutch control time and gear position, the severity of the clutch during gear shifting corresponding to the current clutch control time is looked up in the table, indicating that the current time is too short or too long. When the time is too short, it means that the pressure is too great and the severity is judged to be PosSerious, PosMedium, or PosSlight. If the time is too long, it is NegSerious, NegMedium, or NegSlight.

[0102] Table 1

[0103]

[0104] Step 305 : querying a second preset table according to the clutch shift level to obtain a candidate pressure compensation value.

[0105] After entering this stage, the main focus is on calculating the pressure value that needs to be compensated for the clutch shift level and torque determined by the SpdStart stage time calculated by the Monitor, and calculating it with the calculated pressure limit.

[0106] The second preset table may include a correspondence between clutch shift levels and candidate pressure compensation values.

[0107] In some possible embodiments, the second preset table may be as shown in Table 2 below:

[0108] Table 2

[0109]

[0110] Step 306 : Determine a target pressure compensation value according to the candidate pressure compensation value and the second reference control pressure.

[0111] Step 307 : Perform self-learning based on the control torque and target pressure compensation value of the current control cycle.

[0112] In an embodiment of the present disclosure, the target pressure compensation value is determined according to the candidate pressure compensation values ​​and the second reference control pressure.

[0113] For example, a negative value of the second reference control pressure may be determined, that is, the value of p_W2GPressRelFrzn×(-1) may be calculated as a negative value, and then, a minimum value between the negative value of the second reference control pressure and 0 may be determined, that is, a minimum value between p_W2GPressRelFrzn×(-1) and 0 may be determined, and then, the minimum value and the maximum value among the candidate pressure compensation values ​​may be determined as the target pressure compensation value.

[0114] After taking the minimum of p_W2GPressRelFrzn (-1) and 0 bar, the maximum of the candidate pressure compensation values ​​obtained from the second preset table is used as the calculation basis. Generally, when the pressure is excessive, the calculated p_W2GPressRelFrzn value is a large positive value, and the calculated severity is Pos, which means the calculated compensation pressure value is negative. After taking the maximum value after the limit calculation, the control pressure for SpdStart will not be less than the required minimum control pressure. Even if the current time is too short due to insufficient pressure, if the calculated limit p_W2GPressRelFrzn is a small positive value of 0.3 and the calculated severity is NegSerious, the calculated compensation pressure is still 0.3, thus not exceeding the p_W2GPressRelFrzn limit. This is because adding 0.3 bar ensures that the minimum limit for this clutch is increasing, not decreasing.

[0115] The torque value of the current control cycle is compensated by determining the minimum value and the maximum value among the candidate pressure compensation values. For example, the torque of the current control cycle calculated during the current gear shift is 100nm, and the maximum value for pressure compensation, i.e., the target pressure compensation value, is determined to be 0.5Bar. The maximum value for pressure compensation corresponding to the control torque of other control cycles is proportionally calculated with the difference between the control torque and 100nm. For example, the difference between the control torque and 100nm is calculated, and the product value of the difference and (0.5 / 100) is calculated. The sum of the control torque and the product value is calculated as the target pressure compensation value after self-learning. That is, the target pressure compensation value for pressure compensation from 100nm to 500nm will become smaller and smaller.

[0116] The target candidate pressure compensation value calculated above will be looked up in the table according to different control torques during the powered downshift process, and the control pressure calculated for the corresponding control cycle will be increased to ensure reasonable time control under the SpdStart pressure.

[0117] The embodiments disclosed herein can ensure that the clutch control pressure value of each gear is within a normal range, even under different torques, even under the same clutch control but at different gear shifts, even with the same gear shift but different transmission hardware consistency causing deviations, the clutch self-learning of the embodiments disclosed herein can control this deviation within a certain range, ensuring that the clutch's shifting quality is improved during gear shifting, and there will be no impact problems caused by too short or too long shifting time.

[0118] It should be emphasized that since the four stages of self-learning can be regarded as four state bits of the state machine, among which Idle can be regarded as the initial state bit of the state machine, each of the other state bits may return to Idle.

[0119] In one embodiment of the present disclosure, when the system is currently in the Monitor stage of self-learning, if any of the following conditions (1)-(4) is not met, the system exits the current Monitor stage and enters the Idle stage, that is, exits the current self-learning function, and whether to enter this function needs to be re-determined.

[0120] (1) The current shift type of the clutch is a preset power shift type, and the initial gear position and the target gear position are not neutral.

[0121] This condition mainly indicates whether the current mode is the powered W2 forced downshift type.

[0122] Among them, the preset power shift type st_DDShiftType is the preset power shift type PowerOnDn, which can be determined based on the throttle flag, wherein the throttle flag is represented by flg_PowerOnAccActive, wherein, when the throttle opening is greater than a certain preset value (which can be set to 2.15%), flg_PowerOnAccActive=1, flg_PowerOnAccActive=1 indicates that the current shift type of the separation clutch is the preset power shift type.

[0123] In this embodiment, it is also determined that both the initial gear and the target gear are not neutral, that is, it is determined that the powered downshift operation is not a shift between ND or DN, but can only be a shift between driving gears. This can also be reflected by the identifier of flg_BasicDDShifting. When flg_BasicDDShifting=1, it is determined that both the initial gear and the target gear are not neutral.

[0124] (2) The current gear shift does not change and is still the current powered shift.

[0125] For example, if the current downshift is in DD32W2, and it does not change to other gears such as DD31 or DD23, etc., then you need to re-determine whether this function needs to be re-learned. Exit Monitor and enter Idle to re-learn.

[0126] (3) The C0 clutch (the C0 clutch is the coupling clutch between the engine and the motor) is not in the hybrid mode and is in the process of closing, or the clutch sliding film control strategy is triggered during the C0 clutch locking process.

[0127] If the above strategy is triggered, it will affect the clutch self-learning process of the current gear shift, and the engine torque is not fully transmitted to the entire vehicle through the transmission, or torque fluctuations caused by the engine starting process and C0 closing will affect the pressure changes of the clutch during the gear shift process. Therefore, the clutch learning process at this time will be exited.

[0128] (4) If the fluctuation amplitude of the transmission input shaft torque detected in the Monitor stage exceeds a certain value, self-learning is not allowed. Therefore, the system exits the Monitor stage and enters the Idle stage to relearn. The fluctuation range is preset to 150 Nm. In the case of abnormal torque fluctuations, the pressure response characteristics of the clutch are different. In this case, self-learning is not performed for pressure fluctuations caused by torque fluctuations.

[0129] In one embodiment of the present disclosure, when the current self-learning is in the Pre stage, if the following condition (1) is met, the current Pre stage is exited to Idle, that is, the current self-learning function is exited, and whether to enter this function needs to be re-judged.

[0130] (1) When the Monitor→Idle condition is met, the current Pre also needs to exit to Idle, and it is necessary to re-judgment whether it is necessary to re-enter self-learning.

[0131] In one embodiment of the present disclosure, when the system is currently in the Write phase of self-learning, if the following condition (1) is met, the system exits the current Write phase and enters the Idle phase, that is, the system exits the current self-learning function, and whether to enter this function needs to be re-judged.

[0132] (1) If the current gear shift is not DDShifting (shifting between driving gears), the self-learning function must be exited from Write. In other words, the self-learning function of the powered downshift must be terminated after the gear shift is completed.

[0133] In summary, the clutch control method of the disclosed embodiment identifies whether the disconnect clutch has entered a preset clutch control phase when the vehicle performs a powered downshift operation, wherein the preset clutch control phase is between the torque exchange oil pressure control phase and the input shaft speed change oil pressure control phase. Upon entering the preset clutch control phase, the method identifies whether the disconnect clutch satisfies preset self-learning control conditions. If the preset self-learning control conditions are met, the disconnect clutch control pressure is self-learned according to a preset self-learning strategy until the shift is complete. The self-learning results are used to compensate the disconnect clutch control pressure when the disconnect clutch enters the preset clutch control phase, and the self-learning results include a correspondence between the control torque and the pressure compensation value. This technical solution improves shifting smoothness and avoids clutch wear.

[0134] In order to implement the above embodiments, the present disclosure also proposes a clutch control device. Figure 4 : is a schematic structural diagram of a clutch control device according to an embodiment of the present disclosure, as shown in FIG. Figure 4 As shown, the device includes: a first recognition module 410, a second recognition module 420, and a control module 430, wherein:

[0135] A first identification module 410 is configured to identify whether the disconnect clutch enters a preset clutch control phase when the vehicle performs a powered downshift operation, wherein the preset clutch control phase is between the torque exchange oil pressure control phase and the input shaft speed change oil pressure control phase;

[0136] A second identification module 420 is used to identify whether the separation clutch meets the preset self-learning control condition when entering the preset clutch control stage;

[0137] The control module 430 is used to self-learn the control pressure of the separation clutch according to the preset self-learning strategy when the preset self-learning control conditions are met until the gear shift is completed, wherein the self-learning results are used to pressure compensate the control pressure of the separation clutch when the separation clutch enters the preset clutch control stage, and the self-learning results include the correspondence between the control torque and the pressure compensation value.

[0138] The clutch control device provided in the embodiments of the present disclosure can execute the clutch control method provided in any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method.

[0139] In order to implement the above embodiments, the present disclosure further proposes a computer program product, including a computer program / instruction, which implements the clutch control method in the above embodiments when executed by a processor.

[0140] Figure 5A schematic diagram of the structure of a vehicle provided in an embodiment of the present disclosure. For example, Figure 5 As shown, the vehicle 500 includes a memory 501 and a processor 502, wherein the memory is used to store the processor-executable instructions 5011, and the processor is used to read the executable instructions 5011 from the memory and execute the executable instructions to implement the above method.

[0141] This embodiment can divide the vehicle into functional modules based on the above-described method example. For example, each functional module can be mapped to a specific function, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only one logical functional division. In actual implementation, other division methods may be used.

[0142] When the functional modules are divided according to their functions, the vehicle may include a detection module, a determination module, a control module, etc. It should be noted that all relevant contents of the various steps involved in the above method embodiment can be referred to the functional description of the corresponding functional modules and will not be repeated here.

[0143] The vehicle provided in this embodiment is used to execute the above-mentioned clutch control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0144] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the vehicle's movements, while the storage module may be used to support the vehicle's execution of program codes and data.

[0145] The processing module may be a processor or a controller that implements or executes various exemplary logic blocks, modules, and circuits described herein. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing (DSP) and a microprocessor, and the storage module may be a memory.

[0146] This embodiment also provides a computer-readable storage medium, which stores computer program code (including but not limited to disk storage, CD-ROM, optical storage, etc.). When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a clutch control method provided in the above embodiment.

[0147] Among them, the beneficial effects of the above embodiments can refer to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0148] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0149] In the embodiments provided in this disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division into modules or units is merely a logical functional division. In actual implementation, other divisions may be employed, such as combining or integrating multiple units or components into another device, or omitting or disabling certain features. Furthermore, the coupling or direct coupling or communication connection shown or discussed between devices or units may be through interfaces, or indirect coupling or communication connection between devices or units, which may be electrical, mechanical, or other forms. The above description is merely a preferred embodiment of this disclosure and an illustration of the underlying technical principles. Those skilled in the art should understand that the scope of this disclosure is not limited to technical solutions formed by specific combinations of the aforementioned technical features, but also encompasses other technical solutions formed by any combination of the aforementioned technical features or their equivalents, without departing from the scope of this disclosure. For example, technical solutions formed by replacing the aforementioned features with (but not limited to) technical features with similar functions disclosed in this disclosure.

[0150] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details have been included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0151] 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: include: When the vehicle performs a powered downshift operation, identifying whether the disconnect clutch enters a preset clutch control stage, wherein 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 phase, identifying whether the separation clutch satisfies a preset self-learning control condition; When the preset self-learning control condition is met, the control pressure of the separation clutch is self-learned according to the preset self-learning strategy until the gear shift is completed. Wherein, the self-learning of the control pressure of the separation clutch according to the preset self-learning strategy includes: entering a preset default stage when the preset self-learning control condition is met, self-learning the control pressure of the separation clutch according to a first self-learning strategy corresponding to the preset preprocessing stage when the entry condition for entering the preset preprocessing stage from the preset default stage is met, self-learning the control pressure of the separation clutch according to a second self-learning strategy corresponding to the preset process detection stage when the entry condition for entering the preset process detection stage from the preset preprocessing stage is met, and self-learning the control pressure of the separation clutch according to a third self-learning strategy corresponding to the preset self-learning writing stage when the entry condition for entering the preset self-learning writing stage from the preset process detection stage is met, wherein, the self-learning of the control pressure of the separation clutch according to the first self-learning strategy corresponding to the preset preprocessing stage, or the self-learning of the control pressure of the separation clutch according to the second self-learning strategy corresponding to the preset process detection stage, includes: calculating a current average control torque of a current control cycle, obtaining a historical average control torque of a previous control cycle, calculating a control torque difference between the current average control torque and the historical average control torque, and calculating a product value of a preset filter coefficient and the control torque difference, summing the current average control torque and the product value to obtain a corrected control torque of the current control cycle, and performing self-learning on a pressure difference between a first control pressure corresponding to the corrected control torque and a second control pressure corresponding to the current average control torque; The self-learning result of the self-learning is used to perform pressure compensation on the control pressure of the separation clutch when the separation clutch enters the preset clutch control stage. The self-learning result includes a correspondence 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 the preset low-speed four-wheel drive operating mode; The separation clutch is not in a preset fault state; The automatic transmission oil temperature of the automatic transmission associated with the disconnect clutch falls within a preset temperature range.

3. The method according to claim 1, wherein The entry condition from the preset default stage to the preset preprocessing stage includes: The initial gear and target gear corresponding to the powered downshift operation do not belong to the preset gear combination; The separation clutch enters a preset torque synchronization phase, and the separation clutch has no gear shifting operation in the previous control cycle; The current shift type of the separation clutch is a preset power shift type, and the initial gear position and the target gear position are not neutral; The conditions for entering the preset process detection phase from the preset preprocessing phase include: The separation clutch enters the torque exchange oil pressure control stage; The conditions for entering the preset self-learning writing phase during the preset process detection phase include: The separation clutch exits the torque exchange oil pressure control phase.

4. The method according to claim 1, wherein The self-learning of the control pressure of the separation clutch according to the third self-learning strategy corresponding to the preset self-learning writing stage includes: determining a first reference control pressure corresponding to a disconnect clutch calculated by an electronic control unit in the vehicle in a current control cycle; Calculating a sum of a pressure value at an engagement point of the separation clutch and a preset minimum pressure value; calculating a difference between the first reference control pressure and the summed value to obtain a second reference control pressure; querying a first preset table according to a predetermined clutch control time to obtain a clutch shift level; querying a second preset table according to the clutch shift level to obtain a candidate pressure compensation value; determining a target pressure compensation value according to the candidate pressure compensation value and the second reference control pressure; Self-learning is performed according to the control torque in the current control cycle and the target pressure compensation value.

5. The method according to claim 4, wherein Before querying the first preset table according to the predetermined clutch control time, the method further includes: When the entry condition from the preset default stage to the preset pre-processing stage is met, setting the clutch control time to 0; When an entry condition from the preset preprocessing stage to the preset process detection stage is met, determining an entry duration for entering the preset process detection stage in each control cycle; The maximum value between the entry duration and the clutch control time is determined in each control cycle, and the clutch control time is updated according to the maximum value.

6. The method according to claim 4, wherein The determining of the target pressure compensation value according to the candidate pressure compensation value and the second reference control pressure includes: determining a negative value of the second reference control pressure; A minimum value between a negative value of the second reference control pressure and 0 is determined, and a maximum value between the minimum value and the candidate pressure compensation values ​​is determined as the target pressure compensation value.

7. A clutch control device, characterized in that: include: a first identification module configured to identify whether the disconnect clutch enters a preset clutch control phase when the vehicle performs a powered downshift operation, wherein the preset clutch control phase is between a torque exchange oil pressure control phase and an input shaft speed change oil pressure control phase; a second identification module, configured to identify whether the separation clutch satisfies a preset self-learning control condition when entering the preset clutch control phase; A control module is configured to perform self-learning on the control pressure of the separation clutch according to a preset self-learning strategy when the preset self-learning control condition is met until the gear shift is completed. Wherein, the self-learning of the control pressure of the separation clutch according to the preset self-learning strategy includes: entering a preset default stage when the preset self-learning control condition is met, self-learning the control pressure of the separation clutch according to a first self-learning strategy corresponding to the preset preprocessing stage when the entry condition for entering the preset preprocessing stage from the preset default stage is met, self-learning the control pressure of the separation clutch according to a second self-learning strategy corresponding to the preset process detection stage when the entry condition for entering the preset process detection stage from the preset preprocessing stage is met, and self-learning the control pressure of the separation clutch according to a third self-learning strategy corresponding to the preset self-learning writing stage when the entry condition for entering the preset self-learning writing stage from the preset process detection stage is met, wherein, the self-learning of the control pressure of the separation clutch according to the first self-learning strategy corresponding to the preset preprocessing stage, or the self-learning of the control pressure of the separation clutch according to the second self-learning strategy corresponding to the preset process detection stage, includes: Calculate the current average control torque of the current control cycle, obtain 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 filter coefficient and the control torque difference, sum the current average control torque and the product value to obtain the corrected control torque of the current control cycle, and self-learn 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; the self-learning result of the self-learning is used to pressure compensate the control pressure of the separation clutch when the separation clutch enters the preset clutch control stage, and the self-learning result includes the correspondence between the control torque and the pressure compensation value.

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

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