Vehicle control method, vehicle and medium

Abstract

The invention provides a vehicle control method, a vehicle and a medium, the method is applied to the technical field of hybrid power control, and the method comprises the steps that after it is detected that the vehicle is switched from a direct drive mode to a series connection mode, the actual state of a clutch is recognized; if the actual state is the opening state, the opening moment of the clutch and the neutral gear taking-off moment of the transmission are obtained; and controlling the clutch to execute a closing action according to the opening moment and the neutral gear taking-off moment. The method can ensure that when the direct-drive mode is switched to the series mode, the situation that the vehicle does not really enter the series mode is accurately recognized, the vehicle really enters the series mode by controlling the clutch to be closed, and the situation that electricity is insufficient due to the fact that an engine cannot generate electricity is avoided.

Description

Technical Field

[0001] This application relates to the field of hybrid power control technology, and more specifically, to a vehicle control method, vehicle, and medium in the field of hybrid power control technology. Background Technology

[0002] For hybrid vehicles, switching from direct drive mode to series drive mode is achieved by adjusting the electric motor torque and disengaging the gear. However, in the event of emergency braking or low engine speed, the clutch is abruptly disengaged to prevent the engine from being dragged backward. Subsequently, the clutch may fail to re-engage after resetting, preventing the engine from generating electricity and causing the vehicle to run out of power, potentially even resulting in a loss of power and a reduced user experience. Summary of the Invention

[0003] This application provides a vehicle control method, a vehicle, and a medium. The method ensures that when switching from direct drive mode to series mode, the vehicle can truly enter series mode, avoiding engine idling and resulting in power loss, thus improving the user experience.

[0004] In a first aspect, a vehicle control method is provided, comprising: after detecting that the vehicle has switched from direct drive mode to series mode, identifying the actual state of the clutch; if the actual state is open, obtaining the clutch opening time and the transmission disengagement time; and controlling the clutch to perform a closing action based on the opening time and the disengagement time.

[0005] Through the above technical solution, in the process of switching the vehicle from direct drive mode to series mode, although the vehicle detects that the actual operating mode is series mode, the vehicle may not actually be in true series mode. If the clutch is in the open state at this time, the engine cannot drive the motor to generate electricity, and it is determined that the vehicle is in false series mode. Therefore, after detecting that the actual operating mode of the vehicle is series mode, the actual state of the clutch is identified. When the actual state is open, it can be determined that the clutch has not entered true series mode. At this time, the power battery cannot be charged because the clutch is open. This application accurately identifies the false series mode by the actual operating mode and the actual state of the clutch. When the vehicle enters the false series mode, the clutch is controlled to perform the closing action according to the opening time and the neutral shift time, so that the vehicle can enter the true series mode, avoid the battery drain caused by engine idling, reduce the risk of vehicle loss of power, and effectively improve the user experience.

[0006] In conjunction with the first aspect, in some possible implementations, the clutch is controlled to perform a closing action based on the opening time and the neutral shift time, including: if the opening time is earlier than the neutral shift time, the vehicle is controlled to perform a restart action, and after the vehicle has completed the restart action, the clutch is controlled to perform a closing action; if the opening time is not earlier than the neutral shift time, the first motor connected to the clutch is controlled to perform a speed adjustment action, and after the first motor has completed the speed adjustment action, the clutch is controlled to perform a closing action.

[0007] Through the above technical solution, the embodiments of this application can achieve clutch closure by controlling the vehicle to restart when the clutch is opened earlier than the neutral gear is disengaged, and achieve clutch closure by adjusting the actual speed of the first motor when the clutch is opened later than the neutral gear is disengaged. Thus, the corresponding method can be selected to achieve clutch closure according to the clutch opening timing, which can enable the vehicle to enter a true series mode, avoid the situation of engine idling causing power loss, reduce the risk of vehicle power loss, and effectively improve the user experience.

[0008] Combining the first aspect and the above implementation methods, in some possible implementation methods, controlling the vehicle to perform a restart action includes: obtaining the request time of the serial mode; calculating the first interval duration between the current time and the request time; if the first interval duration is greater than a preset first duration threshold, generating a vehicle restart command and restarting the vehicle according to the restart command.

[0009] Through the above technical solution, this application embodiment can start timing from the moment the target operating mode is requested to be in series mode. By using the first interval duration and the first duration threshold, it can determine whether the vehicle has timed out when switching to series mode. If the vehicle has timed out when entering series mode, since the vehicle has not entered the real series mode for a long time, the engine has not established a power connection with the first motor, resulting in the engine being unable to charge the vehicle's power battery. Therefore, in order to avoid increasing the engine idling time, the vehicle is restarted by engaging the clutch to allow the vehicle to enter the real series mode, thus avoiding the battery drain caused by engine idling, reducing the risk of the vehicle losing power, and effectively improving the user experience.

[0010] In combination with the first aspect and the above implementation methods, in some possible implementation methods, before controlling the vehicle to perform the restart action, the method further includes: obtaining the actual operating state of the engine and the actual start-stop mode; if it is identified that the actual operating state is a pre-set continuous operating state and the actual start-stop mode is a pre-set allowed start-stop mode, then the vehicle is controlled to perform the restart action.

[0011] By using the above technical solution, the actual operating status and start-stop mode of the engine are obtained before the clutch is closed, and it is determined that the engine is in a state of continuous operation and start-stop is allowed. This ensures that when the clutch is closed after the vehicle restarts, the engine is in a suitable state, thereby avoiding clutch closure failure or power shock due to engine instability or start-stop not being allowed, and ensuring smooth mode switching.

[0012] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the first motor controlling the clutch connection performs a speed adjustment action, including: acquiring the actual speed of the engine; using the actual speed of the engine as a first target speed; adjusting the actual speed of the first motor based on the first target speed; calculating the speed difference between the actual speed of the first motor and the first target speed; and if it is identified that the speed difference is less than a preset speed threshold, then determining that the first motor has completed the speed adjustment action.

[0013] Through the above technical solution, the embodiments of this application can achieve the following: when the clutch is engaged later than the neutral gear is engaged, the vehicle does not actually enter the series mode for a relatively short period of time. Therefore, by adjusting the actual speed of the first motor, the vehicle can enter the true series mode, avoiding the loss of power caused by engine idling, reducing the risk of the vehicle losing power, and effectively improving the user experience.

[0014] In combination with the first aspect and the above implementation methods, in some possible implementation methods, before identifying the actual state of the clutch, the method further includes: identifying the actual operating mode and the target operating mode of the vehicle; if the actual operating mode is direct drive mode and the target operating mode is series mode, then the actual engine speed is obtained, and the clutch is controlled to open or close according to the actual speed; if the actual operating mode is identified as direct drive mode or series mode and the actual state of the clutch is open, then the engine idle speed is adjusted to the second target speed by the engine controller, and then the vehicle is controlled to perform the switching action from direct drive mode to series mode.

[0015] Through the above technical solution, the embodiments of this application control the opening and closing of the clutch according to the actual engine speed during the mode switching process. In order to avoid the engine being dragged, stalling, or having unstable idling speed due to sudden drop in vehicle speed or sudden change in load, the clutch is opened when the actual engine speed is low. In order to avoid the wear caused by opening the clutch when the actual engine speed is high, the clutch opening request is prohibited from being responded to when the actual engine speed is high. When the clutch is detected to be in the open state, the engine idle speed is adjusted to the second target speed through the engine controller, and the vehicle is controlled to perform the switching action from direct drive mode to series mode. This can avoid the engine flywheel situation and improve the user experience.

[0016] In combination with the first aspect and the above implementation methods, in some possible implementation methods, after controlling the clutch to perform the closing action according to the opening time and the neutral shift time, the method further includes: obtaining the completion time of switching from direct drive mode to series mode; identifying the later time between the opening time and the completion time, and calculating the second interval duration between the current time and the later time; if the second interval duration is greater than a preset second duration threshold, generating a vehicle restart command, restarting the vehicle according to the restart command, and then controlling the clutch to perform the closing action.

[0017] Through the above technical solution, since the clutch may still fail to close after performing the closing action, this application embodiment can obtain the first moment when the vehicle's actual operating mode is in series mode and the second moment when the clutch's actual state is in the open state. Starting from the later of the two moments, if the second interval duration is greater than the second duration threshold, it can be determined that the clutch has still not closed after being controlled by the target closing strategy. At this time, the vehicle is triggered to restart and the clutch is closed. Since the time for the vehicle to enter the false series mode is relatively long, in order to avoid the situation of the engine running for a long time without generating electricity and causing power loss, the vehicle is controlled to restart to enter the real series mode. This provides multiple guarantees for the vehicle to enter the series mode, improves the robustness and reliability of the vehicle, avoids the situation of power loss caused by engine idling, reduces the risk of the vehicle losing power, and effectively improves the user experience.

[0018] In combination with the first aspect and the above implementation methods, in some possible implementation methods, after controlling the clutch to perform the closing action according to the opening time and the neutral shift time, the method further includes: if the actual state is a preset slipping state, then obtaining the transmission torque of the clutch; if the transmission torque is less than a preset torque threshold, then generating a vehicle restart command, restarting the vehicle according to the restart command, and then controlling the clutch to perform the closing action.

[0019] Through the above technical solution, since the clutch may still fail to close after performing the closing action, this embodiment of the application can determine that the clutch is still not closed and has not entered the true series mode when the actual state is slipping and the transmission torque of the clutch is too small. In order to avoid the situation of the engine running idle and not generating electricity, which would lead to power loss, this embodiment of the application can determine the situation when the vehicle enters the false series mode based on the state of the clutch, and then control the vehicle to restart so that the vehicle enters the true series mode. This can provide multiple guarantees for the vehicle to enter the true series mode, improve the robustness and reliability of the vehicle, avoid the situation of the engine running idle and causing power loss, reduce the risk of the vehicle losing power, and effectively improve the user experience.

[0020] Secondly, a vehicle control device is provided, comprising: an identification module for identifying the actual state of the clutch after detecting that the vehicle has switched from direct drive mode to series mode; an acquisition module for acquiring the clutch engagement time and the transmission disengagement time if the actual state is open; and a control module for controlling the clutch to perform a closing action based on the engagement time and the disengagement time.

[0021] Thirdly, a vehicle is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle control method described above.

[0022] Fourthly, a computer-readable storage medium having a computer program or instructions stored thereon, which, when executed, implement the aforementioned vehicle control method. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the vehicle system architecture provided in the embodiments of this application; Figure 2 This is a schematic flowchart of the vehicle control method provided in the embodiments of this application; Figure 3 This is a schematic diagram of the vehicle control device provided in the embodiments of this application; Figure 4 This is a schematic diagram of the vehicle structure provided in the embodiments of this application. Detailed Implementation

[0024] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0025] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0026] In the design of hybrid vehicles, the vehicle can typically switch between various drive modes, including direct drive, series drive, parallel drive, and engine idle, to balance power performance and energy recovery. However, during actual driving, when the vehicle switches from direct drive to series drive, the system may trigger an emergency clutch disengagement to prevent the engine from being dragged back in case of emergency braking or low engine speed. In this situation, the clutch command often fails to re-engage after reset, resulting in the engine running but unable to generate electricity. The vehicle may lose power when the battery is low, and there is a lack of effective strategies to ensure power continuity and driving smoothness during mode switching. Therefore, how to maintain clutch engagement and ensure normal engine power generation in emergency situations becomes a key challenge in the switching control of hybrid vehicles.

[0027] The application scenarios or system architecture of the embodiments of this application will be described next.

[0028] This application example uses a hybrid four-wheel drive vehicle switching from direct drive to series mode as an example. It addresses the problem of the clutch suddenly opening due to emergency braking or low speed, affecting engine power generation and power continuity. Specifically, this embodiment proposes a vehicle control method. First, after detecting the vehicle switching from direct drive mode to series mode, the actual state of the clutch when the vehicle is actually in series mode is obtained to understand the current power connection status and provide an accurate basis for subsequent closing strategy formulation. Second, when the clutch is actually open, the method considers the timing of the clutch opening action and the timing of the transmission shifting to neutral. Finally, based on the opening and neutral shifting times, the method controls the clutch to close. This method ensures accurate identification of whether the vehicle has entered a true series mode when switching from direct drive mode to series mode. By controlling the clutch closure, the vehicle enters a true series mode, avoiding the situation where the engine cannot generate power and leads to battery depletion.

[0029] Before explaining the vehicle control method provided in the embodiments of this application, the structure of the vehicle involved in the embodiments of this application will be described first. Figure 1 This is a schematic diagram of the structure of a hybrid vehicle provided in an embodiment of this application.

[0030] like Figure 1 As shown, the vehicle includes: an engine 1, a clutch 2, a first motor 3, a transmission 4, a second motor 5, a reducer 6, a first drive axle 7, a second drive axle 8, front wheels, rear wheels, and a power battery 13. The front wheels include a left front wheel 9 and a right front wheel 10. The rear wheels include a left rear wheel 11 and a right rear wheel 12.

[0031] The first motor 3 is mounted on the front axle and is used to provide power to the front wheels to drive the vehicle via the front drive shaft. The first motor 3 is connected to the clutch 2, the first end of which is connected to the engine 1, and the second end of which is connected to the first end of the transmission 4. The second end of the transmission 4 is connected to the first drive axle 7, which is located between the left front wheel 9 and the right front wheel 10. The first motor 3 is connected to the second motor 5 via the power battery 13.

[0032] The second motor 5 is located on the rear axle and is used to provide power to the rear wheels to drive the vehicle via the rear drive shaft. The second motor 5 is connected to the first end of the reducer 6, and the second end of the reducer 6 is connected to the second drive axle 8, which is located between the left rear wheel 11 and the right rear wheel 12.

[0033] The hybrid vehicle using the above architecture is equipped with an engine 1, a first motor 3, and a second motor 5. The power battery 13 provides electrical energy to the first motor 3 and the second motor 5 to support the vehicle's operation in different modes. Therefore, to adapt to different road conditions and driving needs, multiple operating modes, including direct drive mode and series drive mode, are usually provided.

[0034] When the vehicle is in direct drive mode, engine 1 is engaged, specifically driving the vehicle. Specifically, both the second motor 5 and engine 1 are in driving mode; the second motor 5 drives the rear wheels, and engine 1 drives the front wheels. The first motor 3 can be engaged or disengaged; when engaged, it functions as both a drive motor and a generator. Specifically, when the vehicle requires high torque output and engine 1's torque output is insufficient, both engine 1 and first motor 3 act as drive sources, driving the wheels; in this case, first motor 3 functions as a drive motor. When the vehicle's torque output requirement is low, engine 1's torque output not only drives the wheels but can also power first motor 3 to generate electricity, charging the battery or supplying power to the vehicle's electrical system; in this case, first motor 3 functions as a generator. Figure 1 In direct drive mode, when clutch 2 is engaged, engine 1, first motor 3 and second motor 5 can drive the vehicle together; or, when clutch 2 is engaged, engine 1 and second motor 5 can drive the vehicle together.

[0035] Furthermore, in the aforementioned direct drive mode, the situation where the first motor 3 participates in the operation can also be called "parallel mode." In other words, parallel mode is a special type of direct drive mode.

[0036] When the vehicle is in series mode, engine 1 is engaged, specifically in generating electricity for the vehicle. Engine 1 operates to drive the first motor 3, which generates electricity to charge the vehicle's battery pack. The front wheels are driven, the battery pack supplies power to the rear drive motor, which outputs power, driving the rear wheels and propelling the vehicle forward. Figure 1 When the vehicle is in series mode, engine 1 is in operation and clutch 2 is in closed state. Engine 1 runs to drive the first motor 3 to generate electricity. The electrical energy generated by the first motor 3 can charge the vehicle's power battery.

[0037] by Figure 1 Taking the vehicle architecture shown as an example, it should be noted that the methods in the following embodiments are applicable to all vehicles with similar architectures. Figure 1 Similar vehicle architecture, in Figure 1 Based on the vehicle architecture shown, the following will combine... Figure 2 The vehicle control methods are explained.

[0038] Figure 2 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application.

[0039] For example, such as Figure 2 As shown, the vehicle control method includes the following steps: In step S101, after detecting that the vehicle has switched from direct drive mode to series mode, the actual state of the clutch is identified.

[0040] The actual state can include any one of the following: open state, closed state, and sliding state.

[0041] It is understandable that the series mode is an operating mode in which the engine generates electricity to charge the power battery and the vehicle is driven by the electric motor. In this application, if the direct drive enable flag is determined to be 1, the actual operating mode is direct drive mode; if the direct drive enable flag is determined to be 0, the target operating mode is series mode. At this time, the HCU adjusts the FM torque to reduce the shaft end torque to 0, the HCU issues a shift permission, the transmission performs a disengagement action, and after the transmission is in neutral, the actual operating mode becomes series mode.

[0042] However, although the vehicle recognizes that the actual operating mode is series mode, if the clutch is in the open state at this time, the engine and the first motor do not establish a substantial power connection. That is, the vehicle enters a false series mode, meaning that the vehicle does not enter a true series mode.

[0043] A false series connection mode refers to a situation where the vehicle enters series connection mode through the above-mentioned check method, but the first motor does not establish a power connection with the engine. A true series connection mode refers to a situation where the vehicle enters series connection mode through the above-mentioned check method, and the first motor establishes a power connection with the engine. The difference between the two is whether the engine can charge the power battery. In a false series connection mode, the engine cannot charge the power battery, resulting in a low battery level. In a true series connection mode, the engine can charge the power battery, which can prevent a low battery level.

[0044] Therefore, in this embodiment of the application, when the actual operating mode of the vehicle is series mode, in order to avoid the vehicle entering a false series mode, the actual state of the clutch is obtained, and the actual state of the clutch is used to confirm whether the vehicle has entered a true series mode.

[0045] For example, when the vehicle's actual operating mode is identified as series mode, the engine speed drops sharply due to braking or other reasons, causing the clutch to be disengaged urgently. At this time, the engine and the first motor do not establish a substantial power connection, and the vehicle enters a false series mode, that is, the vehicle does not enter a true series mode. Therefore, in order to determine whether the vehicle has entered a true series mode, this application embodiment obtains the actual state of the clutch when the vehicle's actual operating mode is series mode, and accurately identifies the situation where the vehicle has entered a false series mode through the actual state.

[0046] In this embodiment of the application, before identifying the actual state of the clutch, the method further includes: identifying the actual operating mode and the target operating mode of the vehicle; if the actual operating mode is direct drive mode and the target operating mode is series mode, then the actual engine speed is obtained, and the clutch is controlled to open or close according to the actual speed; if the actual operating mode is identified as direct drive mode or series mode and the actual state of the clutch is open, then the engine idle speed is adjusted to the second target speed by the engine controller, and then the vehicle is controlled to perform the switching action from direct drive mode to series mode.

[0047] Among them, the target operating mode is the power operating mode that the vehicle is expected to switch to; the direct drive mode is the operating mode in which the engine is directly connected to the front axle via the clutch, and the wheels are driven by the engine and the first motor together or separately; the second target speed is the stable idle speed that the engine needs to maintain when the clutch is open and the vehicle is in direct drive mode or series mode. The specific value is not limited and may be determined according to the vehicle design and control strategy.

[0048] It is understood that the embodiments of this application can trigger the vehicle to switch from direct drive mode to series mode according to the actual operating mode and the target operating mode. During the mode switching process, the clutch opening and closing control is realized according to the actual engine speed. In order to avoid the engine being dragged, stalling or idling unstable due to sudden drop in vehicle speed or sudden change in load, the clutch is opened when the actual engine speed is low. In order to avoid the wear caused by opening the clutch when the actual engine speed is high, the clutch opening request is prohibited from being responded to when the actual engine speed is high. When it is detected that the clutch is in the open state, the engine idle speed is adjusted to the second target speed through the engine controller, and the vehicle is further controlled to perform the switching action from direct drive mode to series mode to avoid the engine flywheel situation and improve the user experience.

[0049] Specifically, when the current operating mode is direct drive mode, if the direct drive enable flag is 0, the target operating mode switches to series mode, and the switch from direct drive mode to series mode begins. The hybrid control unit adjusts the torque of the first generator to reduce the shaft torque to zero, and then issues a shift permission signal. The direct drive enable flag indicates whether the vehicle is allowed to operate in direct drive mode; a flag of 1 indicates that direct drive operation is permitted, and a flag of 0 indicates that direct drive operation is prohibited. The hybrid control unit coordinates the collaborative operation of components such as the engine, motor, clutch, and transmission.

[0050] During the switching process from direct drive mode to series mode, the actual engine speed is detected. If the actual speed is lower than the first speed threshold, for example, the first speed threshold is 900, the HCU requests the clutch open signal to be set to 1. If the speed is higher than the second speed threshold, for example, the second speed threshold is 1000, the HCU requests the clutch open signal to be set to 0. At this time, the clutch open request is prohibited from being responded to. The second speed threshold is greater than the first speed threshold.

[0051] When the clutch is in the open state, if the actual operating mode is direct drive mode or series mode, the engine speed control signal is requested to be set to 1, and then the target speed of the engine idle speed is set as the second target speed. The engine idle speed is adjusted to the second target speed through the engine controller, and the vehicle is controlled to perform the switching action from direct drive mode to series mode.

[0052] In step S102, if the actual state is open, the clutch opening time and the transmission shift to neutral time are obtained.

[0053] "Disengaging to neutral" means shifting the vehicle's transmission from its current gear to neutral (N), temporarily disconnecting the drive wheels from the power source and thus preventing the transmission of torque.

[0054] It is understood that in the case of the vehicle's actual operating mode being a series mode, if the clutch is actually in an open state, the vehicle is determined to have entered a false series mode. In this case, the present application embodiment further obtains the clutch's opening time and the transmission's neutral shift time to determine a suitable closing strategy based on the clutch's opening time and the transmission's neutral shift time. The closing strategy is the strategy used in the following implementation to control the clutch to perform the closing action based on the opening time and the neutral shift time.

[0055] In step S103, the clutch is controlled to perform a closing action based on the opening time and the neutral shift time.

[0056] Understandably, this application accurately identifies the false series mode through the actual operating mode and the actual state of the clutch. When the vehicle enters the false series mode, it controls the clutch to perform the closing action according to the opening time and the neutral shift time, thereby enabling the vehicle to enter the real series mode, avoiding the loss of battery due to engine idling, reducing the risk of vehicle power loss, and effectively improving the user experience.

[0057] In this embodiment of the application, controlling the clutch to perform a closing action based on the opening time and the neutral shift time includes: if the opening time is earlier than the neutral shift time, controlling the vehicle to perform a restart action, and controlling the clutch to perform a closing action after the vehicle has completed the restart action; if the opening time is not earlier than the neutral shift time, controlling the first motor connected to the clutch to perform a speed adjustment action, and controlling the clutch to perform a closing action after the first motor has completed the speed adjustment action.

[0058] It is understood that the embodiments of this application can select different closing methods based on the timing of the clutch opening relative to the neutral shift: when the clutch opens earlier than the neutral shift, closing is achieved by controlling the vehicle to restart; when the clutch opens later than the neutral shift, closing is achieved by adjusting the actual speed of the first motor. This method ensures that the vehicle smoothly enters the true series mode, avoids insufficient battery power caused by engine idling, thereby reducing the risk of losing power and improving the user experience.

[0059] For example, if during a switching process, this application detects the clutch reaching the open state first, and then detects the transmission completing the neutral shift, meaning the clutch opening occurs before the neutral shift, it indicates that the power connection between the engine and the first electric motor has been prematurely disconnected, while the transmission may still be in an active gear. Directly closing the clutch in this situation could easily lead to torque surges or clutch slippage. Therefore, in this case, this application first controls the vehicle to perform a restart action, allowing all parts of the powertrain to re-establish a stable zero-torque state; after the vehicle completes the restart action, it then controls the clutch to close, ensuring a smooth and reliable power transition.

[0060] Conversely, if this application detects that the transmission completes the neutral shift first, and then the clutch reaches the open state (i.e., the opening time is no earlier than the neutral shift), it indicates that the mechanical connection between the drive wheels and the power source has been disengaged first through the neutral shift, and the power chain is in a safe disengaged state. Under this sequence, this application can directly control the first motor connected to the clutch to perform a speed regulation action, synchronizing the first motor speed with the engine's target speed or the transmission's input speed. After the first motor completes the speed regulation action, the clutch is then controlled to close, thus smoothly entering the series mode without power conflict.

[0061] By determining the order of engagement and selecting the corresponding closing strategy, this application can ensure the safety of clutch engagement and the smoothness of power connection in different switching scenarios, avoiding slippage, impact, or power interruption, thereby improving the stability and user experience during the vehicle switching process.

[0062] In this embodiment of the application, before controlling the vehicle to perform a restart action, the method further includes: obtaining the actual operating state of the engine and the actual start-stop mode; if it is identified that the actual operating state is a preset continuous operating state and the actual start-stop mode is a preset allowed start-stop mode, then the vehicle is controlled to perform a restart action.

[0063] Among them, the actual operating state of the engine represents the current working state of the vehicle's engine, such as continuous operation, idling, or shutdown; the actual start-stop mode is the current mode of the vehicle's automatic start-stop function, such as the start-stop allowed mode, the start-stop prohibited mode, or the forced start mode; the preset continuous operating state is the state set in this application to determine that the engine is running stably and is not in a state of being turned off or stopped; the start-stop allowed mode is the start-stop mode set in this application that allows the engine to automatically start and stop according to driving conditions.

[0064] Understandably, by determining whether the engine is continuously running and whether the start-stop mode allows it before restarting the vehicle, it's possible to avoid engaging the clutch before the engine has stabilized or when start-stop is not permitted. This prevents situations such as clutch engagement failure, engine being dragged backward, or inability to generate electricity normally. For example, forcibly engaging the clutch while the engine is still stopped or idling unstable may result in intermittent vehicle power or the inability to engage series mode.

[0065] For example, in this embodiment of the application, taking the scenario of a vehicle switching from direct drive mode to series drive mode as an example, the vehicle may be in a stable cruising state with low torque demand during the switching and starting phase. At this time, this application first obtains the actual operating state and actual start-stop mode of the engine; if this application identifies that the actual operating state of the engine is a pre-set continuous operating state, it means that the engine is currently maintaining normal combustion and continuously outputting power, and the actual start-stop mode is a pre-set permitted start-stop mode, that is, it allows the engine to perform shutdown and restart operations when needed, indicating that the engine has the conditions to perform a restart action.

[0066] If, based on the order of engagement and disengagement, it is necessary to rebuild the zero-torque state of the powertrain through a restart action (for example, if engagement occurs earlier than disengagement), this application can control the vehicle to perform a restart action, thereby enabling the engine to re-establish a stable operating state and providing safe power conditions for the subsequent clutch engagement action, thus avoiding slippage or torque shock.

[0067] Conversely, during vehicle switching, if this application detects that the engine is in a non-continuous operating state, such as the engine is reducing torque, preparing to shut down, or operating unstablely, or if it detects that the actual start-stop mode does not belong to the pre-set permitted start-stop mode, such as the current control strategy not allowing the engine to perform start-stop operation, then this application will not directly trigger a restart action. Instead, it will maintain the current power state or select other safety strategies to avoid forcibly restarting the engine when it does not meet the start-stop conditions, thereby causing fuel waste and power fluctuations. Through the above judgment and control logic, this application can accurately determine whether to perform a restart action under different operating conditions.

[0068] In this embodiment of the application, controlling the vehicle to perform a restart action includes: obtaining the request time in the serial mode; calculating the first interval between the current time and the request time; if the first interval is longer than a preset first duration threshold, generating a vehicle restart command and restarting the vehicle according to the restart command.

[0069] In this application, the first interval duration represents the time interval elapsed from the moment the serial mode request is received to the current time, and is used to determine whether a timeout has occurred during the mode switching process; the first duration threshold represents the upper limit of the time used to determine mode switching anomalies, for example, if the mode switching duration exceeds the threshold, a restart or fault handling is triggered.

[0070] It is understood that this embodiment of the application can start timing from the moment the vehicle receives the request to switch to series mode, and determine whether the vehicle has successfully entered series mode within a specified time by comparing a first interval duration with a preset threshold. If the timeout is determined, it means that the vehicle has not truly entered series mode for a long time, the engine has not yet established a power connection with the first motor, and the power battery cannot be charged. To avoid the problem of battery drain caused by prolonged engine idling, this embodiment restarts the vehicle and engages the clutch to allow the vehicle to smoothly enter series mode, thereby reducing the risk of losing power and improving the user's driving experience.

[0071] Assuming the vehicle is currently operating in direct drive mode and triggers a request to switch to series mode, with the target operating mode request time being 12:00:00, and the first time interval threshold preset in this application being 3 seconds. During the switching process, if the clutch is still not engaged by 12:00:03, it is determined that the first interval duration has exceeded the threshold, and a vehicle restart command is automatically generated. Subsequently, the engine and the first motor restart according to the restart command, and the clutch is engaged at 12:00:05, allowing the vehicle to smoothly enter the true series mode, ensuring that the first motor can generate electricity normally, while avoiding the risk of the vehicle losing power due to low battery.

[0072] In this embodiment of the application, controlling the first motor connected by the clutch to perform a speed adjustment action includes: obtaining the actual speed of the engine; using the actual speed of the engine as a first target speed; adjusting the actual speed of the first motor based on the first target speed; calculating the speed difference between the actual speed of the first motor and the first target speed; and if the speed difference is found to be less than a preset speed threshold, determining that the first motor has completed the speed adjustment action.

[0073] Among them, the first target speed is the target motor speed set with reference to the actual engine speed; the actual speed of the first motor is the current operating speed of the first motor; the speed difference is the difference between the actual speed of the first motor and the first target speed; and the speed threshold is the threshold for judging whether the motor speed is close to the target speed.

[0074] It is understood that in the embodiments of this application, when the clutch is disengaged later than the neutral gear is engaged, the vehicle enters the actual series mode in a shorter time. Therefore, the actual speed of the first motor can be adjusted to allow the vehicle to smoothly enter the series mode, thereby avoiding the problem of power loss caused by prolonged engine idling, reducing the risk of power loss, and improving the user's driving experience.

[0075] Taking the switch from direct drive mode to series mode as an example, during continuous driving, the vehicle detects that the battery charge is gradually decreasing to a level requiring recharging. After recognizing the series mode request, the vehicle controller records the request time and begins the mode switching process. During subsequent operation, factors such as traffic slowdown and fluctuating vehicle speed affect the stability of the powertrain. The clutch fails to enter a suitable closing range, and the first motor cannot establish sufficient speed to meet power generation requirements. To ensure smooth mode switching, the controller continuously monitors the time interval between the current moment and the request time and dynamically judges the clutch engagement progress.

[0076] When the time interval confirmed by this application exceeds the preset allowable range, and the clutch is still not engaged, it can be determined that the current powertrain cannot complete the transition to series mode under the given conditions. To avoid the vehicle being in an unstable intermediate state for a long time, this application generates a vehicle restart command based on the judgment result. The engine enters a controlled shutdown and restart process according to the start-stop logic to rebuild the zero-torque state adapted to the series mode; at the same time, the first motor enters the pre-synchronization control stage, and by adjusting the speed and load of the motor, it can quickly establish a synchronization relationship after the engine is restarted.

[0077] As the engine resumes stable combustion, the clutch smoothly engages without torque shock or significant slippage, ultimately forming a complete power generation path and successfully entering the actual series mode. In this mode, the first motor begins to output electrical energy stably, continuously replenishing the battery and ensuring reliable driving range. This effectively avoids the risks of continued battery depletion due to switching delays, engine idling, or insufficient power in low-battery conditions.

[0078] Through the above mechanism, this application can promptly trigger a restart action when the clutch engagement action is disturbed by external operating conditions and the power chain cannot be established within a reasonable time limit, thereby achieving safety, stability and efficiency in the mode switching process, and enabling the vehicle to maintain smooth power response and controllable energy management in complex road scenarios.

[0079] In this embodiment of the application, after controlling the clutch to perform the closing action according to the opening time and the neutral shift time, the method further includes: obtaining the completion time of switching from direct drive mode to series mode; identifying the later time between the opening time and the completion time, and calculating the second interval duration between the current time and the later time; if the second interval duration is greater than a preset second duration threshold, generating a vehicle restart command, restarting the vehicle according to the restart command, and then controlling the clutch to perform the closing action.

[0080] The later time is the later time between the opening time and the completion time, and is used as the starting point for timing; the second interval duration represents the time interval elapsed from the later time between the opening time and the completion time to the current time, which is used to determine the duration of the clutch remaining in the open state for a long time or the abnormal series mode; the second duration threshold is a preset timeout duration, and a restart command is triggered if this time is exceeded; the restart command is a control signal issued by this application to the vehicle, so that the vehicle restarts and restores the normal series power generation state.

[0081] It is understandable that, since the clutch may fail to close even after performing the closing action, this application embodiment can obtain the first moment when the vehicle's actual operating mode is in series mode and the second moment when the clutch's actual state is in the open state. Starting from the later of the two moments, if the second interval duration is greater than the second duration threshold, it can be determined that the clutch has still not closed after being controlled by the target closing strategy. At this time, the vehicle is triggered to restart and the clutch is closed. Since the time the vehicle spends in the false series mode is relatively long, in order to avoid the situation of the engine running for a long time without generating electricity and causing power loss, the vehicle is controlled to restart to enter the real series mode. This provides multiple guarantees for the vehicle to enter the series mode, improves the robustness and reliability of the vehicle, avoids the situation of the engine running idling and causing power loss, reduces the risk of the vehicle losing power, and effectively improves the user experience.

[0082] In this application, if the vehicle's current operating mode is direct drive mode, the mold-changing process begins when the direct drive enable flag is 0 and the target operating mode changes to series mode. At this time, the hybrid control unit adjusts the torque of the first motor to reduce the total torque at the shaft end to 0 and sends a shift permission signal to the transmission control unit. If, during the mold-changing process, the transmission gear has not been disengaged, and the clutch is requested to be opened by the hybrid control unit due to emergency braking, resulting in the clutch remaining open, the actual series mode cannot be entered. Furthermore, this application starts timing from when the target issues the series mode. If the timing duration exceeds a preset threshold, a fault shutdown is triggered. After shutdown, when the vehicle receives a start request, the engine and motor restart according to the series mode, the clutch is closed, thereby restoring the vehicle's actual series driving mode and ensuring that the first motor can generate electricity normally, avoiding the risk of the vehicle losing power due to low battery.

[0083] The transmission control unit is a control module in a vehicle specifically designed to control the transmission (including manual, automatic, or hybrid transmissions).

[0084] For example, in this application, if the vehicle's current operating mode is direct drive mode, when the direct drive enable flag is 0 and the target operating mode changes to series mode, the mode change process begins: at this time, the hybrid control unit adjusts the torque of the first motor to reduce the total torque at the shaft end to 0, and sends a shift permission signal to the transmission control unit; assuming that during the mode change process, the transmission gear has not yet been disengaged, and the clutch is requested to be opened by the hybrid control unit due to emergency braking, causing the clutch to remain open, then the actual series mode cannot be entered; furthermore, this application starts timing from the time the target issues the series mode, and simultaneously obtains the completion time of the actual operating mode being series mode, assuming it is 10:00:00 (the time when the vehicle actually enters the series mode), and the opening time of the clutch performing the opening action, assuming it is 10:00:02 (the time when the clutch is urgently opened); timing starts from the later of the completion time and the opening time, i.e., 10:00:02; assuming the second duration threshold is 3 seconds, at 10:00:06, the second interval duration is 4 seconds, which is greater than the second duration threshold, then a fault shutdown is triggered at this time.

[0085] In this embodiment of the application, after controlling the clutch to perform the closing action according to the opening time and the neutral time, the method further includes: if the actual state is a preset slip friction state, then obtaining the transmission torque of the clutch; if the transmission torque is less than a preset torque threshold, then generating a vehicle restart command, restarting the vehicle according to the restart command, and then controlling the clutch to perform the closing action.

[0086] Among them, slipping condition represents the clutch being in a semi-engaged state, partially transmitting torque but not fully closed; transmitted torque represents the actual torque value transmitted to the power system through the clutch; torque threshold represents the minimum torque value used to determine clutch abnormality in slipping condition.

[0087] It is understandable that, since the clutch may fail to close even after it has performed the closing action, this embodiment of the application can determine that the clutch is still not closed and has not entered the true series mode when the actual state is slipping and the transmission torque of the clutch is too low. In order to avoid the situation of the engine running idle and not generating electricity, which would lead to power loss, this embodiment of the application can determine the situation when the vehicle is in a false series mode based on the state of the clutch, and then control the vehicle to restart so that the vehicle enters the true series mode. This can provide multiple guarantees for the vehicle to enter the true series mode, improve the robustness and reliability of the vehicle, avoid the situation of the engine running idle and causing power loss, reduce the risk of the vehicle losing power, and effectively improve the user experience.

[0088] In this embodiment, assuming the vehicle is currently operating in series mode, after obtaining the actual state of the clutch, it is found that the clutch is in a pre-set slipping state. At this time, the transmission torque of the clutch is 8 Nm, while the pre-set torque threshold is 10 Nm. Since the transmission torque is less than the torque threshold, a vehicle restart command is immediately generated. According to the command, the engine and the first motor are restarted to restore the vehicle's series mode. After the restart is completed, the clutch is closed to ensure that the first motor can generate electricity normally.

[0089] Meanwhile, the hybrid control unit continuously monitors the vehicle status. If the following conditions are met, a fault shutdown is triggered: the actual operating mode is series, the target operating mode is series, and the clutch remains open for more than the set operating time (e.g., more than 3 seconds), or the clutch is in a slipping state and the clutch capacity is less than 10 Nm. In this example, the clutch is in a slipping state and the capacity is 8 Nm, thus meeting the fault shutdown conditions, and the hybrid control unit immediately executes a shutdown operation.

[0090] After shutdown, when the vehicle receives a start request, the engine and the first motor restart in series mode, the clutch engages, and the vehicle resumes normal series operation. The entire restart and clutch engagement process takes approximately 2 seconds. During this process, this application ensures that the engine idle speed matches the actual speed of the first motor, thereby smoothly restoring the vehicle's series driving mode, ensuring that the first motor generates electricity normally, and reducing the risk of the vehicle losing power due to low battery.

[0091] In summary, this application provides a vehicle control method. During the process of switching from direct drive mode to series mode, although the vehicle detects that the actual operating mode is series mode, the vehicle may not actually be in true series mode. If the clutch is in the open state at this time, the engine cannot drive the motor to generate electricity, thus determining that the vehicle is in false series mode. Therefore, after detecting that the actual operating mode of the vehicle is series mode, the actual state of the clutch is identified. When the actual state is open, it can be determined that the clutch has not entered true series mode. At this time, the power battery cannot be charged because the clutch is open. This application accurately identifies the false series mode by the actual operating mode and the actual state of the clutch. When the vehicle enters the false series mode, the clutch is controlled to perform a closing action according to the opening time and the neutral shift time, thereby enabling the vehicle to enter true series mode, avoiding the battery drain caused by engine idling, reducing the risk of vehicle power loss, and effectively improving the user experience.

[0092] Figure 3 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application.

[0093] For example, such as Figure 3As shown, the device may include: an identification module 100, an acquisition module 200, and a control module 300.

[0094] The identification module 100 is used to identify the actual state of the clutch after detecting that the vehicle has switched from direct drive mode to series mode; the acquisition module 200 is used to acquire the clutch opening time and the transmission shift to neutral if the actual state is open; and the control module 300 is used to control the clutch to perform the closing action according to the opening time and the shift to neutral.

[0095] In this embodiment, the control module 300 is further configured to control the vehicle to perform a restart action if the opening time is earlier than the neutral time, and control the clutch to perform a closing action after the vehicle has completed the restart action; if the opening time is not earlier than the neutral time, control the first motor connected to the clutch to perform a speed adjustment action, and control the clutch to perform a closing action after the first motor has completed the speed adjustment action.

[0096] In this embodiment, the control module 300 is further configured to obtain the requested time of the serial mode; calculate the first interval between the current time and the requested time; if the first interval is longer than a preset first time threshold, generate a vehicle restart command and restart the vehicle according to the restart command.

[0097] In this embodiment of the application, it further includes: a restart module, which is used to obtain the actual operating state and actual start-stop mode of the engine before controlling the vehicle to perform a restart action; if it is identified that the actual operating state is a preset continuous operating state and the actual start-stop mode is a preset allowed start-stop mode, then the vehicle is controlled to perform a restart action.

[0098] In this embodiment, the control module 300 is further configured to acquire the actual speed of the engine; use the actual speed of the engine as the first target speed; adjust the actual speed of the first motor based on the first target speed; calculate the speed difference between the actual speed of the first motor and the first target speed; and if the speed difference is found to be less than a preset speed threshold, determine that the first motor has completed the speed adjustment action.

[0099] In this embodiment, the system further includes an adjustment module, which identifies the vehicle's actual operating mode and target operating mode before identifying the actual state of the clutch. If the actual operating mode is direct drive mode and the target operating mode is series mode, the module obtains the engine's actual speed and controls the clutch to open or close based on the actual speed. If the actual operating mode is identified as either direct drive mode or series mode and the clutch is in an open state, the module adjusts the engine's idle speed to the second target speed via the engine controller and then controls the vehicle to perform a switching action from direct drive mode to series mode.

[0100] In this embodiment, the system further includes: a reset module, which, after controlling the clutch to perform a closing action based on the opening time and the neutral shift time, is used to obtain the completion time of switching from direct drive mode to series mode; identify the later time between the opening time and the completion time, and calculate the second interval duration between the current time and the later time; if the second interval duration is greater than a preset second duration threshold, a vehicle restart command is generated, and after restarting the vehicle according to the restart command, the clutch is controlled to perform a closing action.

[0101] In this embodiment, the system further includes a reset module, which, after controlling the clutch to perform a closing action based on the opening time and the neutral shift time, is used to obtain the transmission torque of the clutch if the actual state is a preset slipping state; if the transmission torque is less than a preset torque threshold, it generates a vehicle restart command, restarts the vehicle according to the restart command, and then controls the clutch to perform a closing action.

[0102] According to the direct-drive shift control device for vehicles proposed in this application, during the process of switching the vehicle from direct-drive mode to series mode, although the vehicle detects that the actual operating mode is series mode, the vehicle may not actually be in true series mode. If the clutch is in the open state at this time, the engine cannot drive the motor to generate electricity, and it is determined that the vehicle is in false series mode. Therefore, if the actual operating mode of the vehicle is detected to be series mode, the actual state of the clutch is identified. When the actual state is open, it can be determined that the clutch has not entered true series mode. At this time, the power battery cannot be charged because the clutch is open. This application accurately identifies the false series mode by the actual operating mode and the actual state of the clutch. When the vehicle enters the false series mode, the clutch is controlled to perform a closing action according to the opening time and the neutral shift time, so that the vehicle can enter the true series mode, avoid the battery drain caused by engine idling, reduce the risk of vehicle power loss, and effectively improve the user experience.

[0103] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include: The memory 401, the processor 402, and the computer program stored on the memory 401 and capable of running on the processor 402.

[0104] When the processor 402 executes the program, it implements the drift method provided in the above embodiments.

[0105] Furthermore, the vehicle also includes: Communication interface 403 is used for communication between memory 401 and processor 402.

[0106] The memory 401 is used to store computer programs that can run on the processor 402.

[0107] The memory 401 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0108] If the memory 401, processor 402, and communication interface 403 are implemented independently, then the communication interface 403, memory 401, and processor 402 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0109] Optionally, in a specific implementation, if the memory 401, processor 402, and communication interface 403 are integrated on a single chip, then the memory 401, processor 402, and communication interface 403 can communicate with each other through an internal interface.

[0110] Processor 402 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of this application.

[0111] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0112] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0113] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A vehicle control method, characterized in that, The method includes: After detecting that the vehicle has switched from direct drive mode to series mode, the actual state of the clutch is identified; If the actual state is open, obtain the clutch opening time and the transmission shift to neutral time; The clutch is controlled to perform a closing action based on the opening time and the neutral shift time.

2. The vehicle control method according to claim 1, characterized in that, The step of controlling the clutch to perform a closing action based on the opening time and the neutral shift time includes: If the opening time is earlier than the neutral shift time, the vehicle is controlled to perform a restart action, and after the vehicle completes the restart action, the clutch is controlled to perform a closing action. If the opening time is not earlier than the neutral time, the first motor connected to the clutch is controlled to perform a speed adjustment action. After the first motor completes the speed adjustment action, the clutch is controlled to perform a closing action.

3. The vehicle control method according to claim 2, characterized in that, The control of the vehicle to perform a restart action includes: The request time for obtaining the serial mode; Calculate the first interval between the current time and the requested time; If the first interval duration is longer than a preset first duration threshold, a restart command for the vehicle is generated, and the vehicle is restarted according to the restart command.

4. The vehicle control method according to claim 3, characterized in that, Before controlling the vehicle to perform a restart, the following steps are also included: Obtain the engine's actual operating status and actual start-stop mode; If the actual operating state is identified as a pre-set continuous operating state and the actual start-stop mode is a pre-set allowed start-stop mode, then the vehicle is controlled to perform a restart action.

5. The vehicle control method according to claim 2, characterized in that, The first motor controlling the clutch connection performs a speed regulation action, including: Obtain the actual engine speed; The actual speed of the engine is taken as the first target speed; Adjust the actual speed of the first motor based on the first target speed; Calculate the speed difference between the actual speed of the first motor and the first target speed. If the speed difference is found to be less than a preset speed threshold, then determine that the first motor has completed the speed adjustment action.

6. The vehicle control method according to claim 1, characterized in that, Before identifying the actual condition of the clutch, the following steps are also included: Identify the actual operating mode and target operating mode of the vehicle; If the actual operating mode is direct drive mode and the target operating mode is series mode, then the actual engine speed is obtained, and the clutch is controlled to open or close according to the actual engine speed; If the actual operating mode is detected to be either direct drive mode or series mode, and the actual state of the clutch is open, then the engine idle speed is adjusted to the second target speed by the engine controller, and the vehicle is controlled to perform the switching action from direct drive mode to series mode.

7. The vehicle control method according to claim 1, characterized in that, After controlling the clutch to perform the closing action according to the opening time and the neutral shift time, the method further includes: Obtain the completion time of switching from direct drive mode to series mode; Identify the later of the opening and completion times, and calculate the second interval duration between the current time and the later time. If the second interval duration is longer than a preset second duration threshold, a vehicle restart command is generated. After restarting the vehicle according to the restart command, the clutch is controlled to perform a closing action.

8. The vehicle control method according to claim 1, characterized in that, After controlling the clutch to perform the closing action according to the opening time and the neutral shift time, the method further includes: If the actual state is a preset slip friction state, then the transmission torque of the clutch is obtained; If the transmitted torque is less than a preset torque threshold, a vehicle restart command is generated. After restarting the vehicle according to the restart command, the clutch is controlled to perform a closing action.

9. A vehicle, characterized in that, The vehicle includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the vehicle control method as described in any one of claims 1-8.

10. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed, they implement the vehicle control method according to any one of claims 1-8.

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