CN111434549B - Vehicle control method and system and vehicle - Google Patents

Vehicle control method and system and vehicle Download PDF

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Publication number
CN111434549B
CN111434549B CN201811588557.6A CN201811588557A CN111434549B CN 111434549 B CN111434549 B CN 111434549B CN 201811588557 A CN201811588557 A CN 201811588557A CN 111434549 B CN111434549 B CN 111434549B
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engine
speed
clutch
vehicle
input shaft
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CN111434549A (en
Inventor
张炎
许少华
郭小雷
李景富
范超雄
贾晔松
李洪起
贾晓伟
魏英杰
李孝军
曹博成
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Great Wall Motor Co Ltd
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Great Wall Motor Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B60W10/11—Stepped gearings
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles

Abstract

The invention provides a vehicle control method and system and a vehicle. Wherein, the vehicle includes engine, BSG motor and derailleur, and the control of vehicle includes: when the vehicle runs in a pure electric mode, determining a target gear according to the speed of the vehicle; controlling the transmission to complete pre-gear according to the target gear; after receiving an engine starting request, the BSG motor drives the engine to start; and controlling the clutch of the transmission to be combined after the rotating speed of the engine is synchronized with the rotating speed of the input shaft. According to the control method of the vehicle, the transmission can be pre-engaged when the pure electric vehicle is in operation, so that when the vehicle is switched to the engine mode, power output delay caused by starting of the engine can be avoided, and the use experience of the vehicle is improved.

Description

Vehicle control method and system and vehicle
Technical Field
The invention relates to the technical field of automobiles, in particular to a vehicle control method and system and a vehicle.
Background
Compared with a fuel automobile, the hybrid automobile has the advantages of energy conservation, emission reduction and the like, generally comprises an engine, a BSG (Belt drive Starter Generator) motor and a transmission, and during pure electric driving, if a large torque request is made by a large accelerator or the mode is switched to an engine mode through a mode switch, the engine is requested to start. At the moment, the BSG motor receives a command of starting the engine and drags the engine to start through the belt. During a drive start engine, once the engine builds up torque, it is necessary to transfer torque to the wheel ends to achieve power take off.
The power output of the engine is slow, and the transmission performs the engaging action of the gear and the clutch after the engine is started, so that the torque output is delayed, and the driving experience is influenced.
Disclosure of Invention
In view of the above, the present invention is directed to a control method of a vehicle. According to the method, when the pure electric vehicle is in a pure electric driving mode, the transmission can be shifted in advance, so that when the engine mode is switched, power output delay caused by starting of the engine can be avoided, and the use experience of the vehicle is improved.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a control method of a vehicle including an engine, a BSG motor, and a transmission, the method comprising: when the vehicle runs in a pure electric mode, determining a target gear according to the speed of the vehicle; controlling the transmission to complete pre-gear according to the target gear; after receiving an engine starting request, the BSG motor drives the engine to start; and controlling the clutch of the transmission to be combined after the rotating speed of the engine is synchronized with the rotating speed of the input shaft.
Further, after receiving an engine start request, the BSG motor dragging the engine to start includes: determining a target rotating speed according to the rotating speed of the input shaft of the clutch and the idle rotating speed of the engine; adjusting the engine speed according to the target speed at the engine start, wherein the engine speed is determined to be synchronized with the input shaft speed when a speed difference between the engine speed and the target speed is less than or equal to a predetermined speed difference.
Further, after receiving the engine start request, the method further comprises: and controlling the clutch to finish pre-charging.
Further, after the rotation speed of the engine is synchronized with the rotation speed of the input shaft, controlling the clutch to be engaged comprises: controlling the engine at a first predetermined rate to achieve a target torque; controlling the clutch engagement at a second predetermined rate.
Further, the transmission is a dual clutch automatic transmission, and the determining the target rotation speed according to the input shaft rotation speed of the clutch and the idle rotation speed of the engine comprises: acquiring the input shaft rotating speed of a first clutch and the input shaft rotating speed of a second clutch in the dual-clutch automatic transmission; taking the smaller of the input shaft rotating speed of the first clutch and the input shaft rotating speed of the second clutch as the input shaft rotating speed of the clutch; the larger of the input shaft rotation speed of the clutch and the idle rotation speed of the engine is taken as the target rotation speed.
The control method of the vehicle of the invention can carry out the pre-gear-shifting of the transmission when the pure electric vehicle is running, thus when the engine mode is switched, namely: when the engine drives the vehicle to drive, the delay of power output caused by the starting of the engine can be avoided, and the use experience of the vehicle is improved.
A second object of the invention is to propose a control system of a vehicle. When the system is used for pure electric driving, the transmission can be shifted in advance, so that when the system is switched to an engine mode, power output delay caused by starting of the engine can be avoided, and the use experience of the vehicle is improved.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a control system of a vehicle including an engine, a BSG motor, and a transmission, the system comprising: the target gear determining module is used for determining a target gear according to the vehicle speed when the pure electric vehicle runs; the pre-gear-shifting module is used for controlling the transmission to complete pre-gear shifting according to the target gear; and the control module is used for dragging the engine to start by the BSG motor after receiving an engine starting request and controlling the clutch of the transmission to be combined after the rotating speed of the engine is synchronous with the rotating speed of the input shaft.
Further, the control module is configured to: determining a target rotating speed according to the rotating speed of the input shaft of the clutch and the idle rotating speed of the engine; adjusting the engine speed according to the target speed at the engine start, wherein the engine speed is determined to be synchronized with the input shaft speed when a speed difference between the engine speed and the target speed is less than or equal to a predetermined speed difference.
Further, the control module is configured to control the clutch to complete pre-charge after receiving an engine start request.
Further, the control module is configured to: controlling the engine at a first predetermined rate to achieve a target torque; controlling the clutch engagement at a second predetermined rate.
Compared with the prior art, the vehicle control system and the vehicle control method have the same advantages, and are not repeated herein.
The third purpose of the invention is to provide a vehicle, which can perform pre-gear engagement of a transmission when the vehicle is in a pure electric driving mode, so that when the vehicle is switched to an engine mode, power output delay caused by starting of an engine can be avoided, and the use experience of the vehicle is improved.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a vehicle provided with a control system of the vehicle as described in any one of the above embodiments.
The control system of the vehicle and the vehicle has the same advantages compared with the prior art, and the detailed description is omitted.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a control method of a vehicle according to an embodiment of the invention;
FIG. 2 is a schematic illustration of a vehicle according to another embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating an input shaft speed of a clutch and an idle speed of an engine in a control method of a vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic view showing the engine speed control in the control method of the vehicle according to the embodiment of the invention;
fig. 5 is a schematic diagram showing the engine speed control in the control method of the vehicle according to another embodiment of the invention;
fig. 6 is a schematic diagram illustrating engine speed control, clutch speed control, and torque control of a BSG motor in a control method of a vehicle according to an embodiment of the present invention;
fig. 7 is a block diagram of a control system of a vehicle according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
FIG. 1 is a flow chart of a method of shifting a vehicle according to one embodiment of the present invention.
Before describing a method of shifting a vehicle according to an embodiment of the present invention, the vehicle will first be described, the vehicle including an engine, a BSG (Belt drive Starter Generator) motor, and a transmission. Namely: the vehicle is a hybrid vehicle, and as shown in fig. 2, the vehicle includes an engine, a BSG motor, a transmission, and the like, wherein the engine transmits power with the BSG motor through a belt, for example: the engine during operation can drive the BSG motor and charge to battery etc. and the BSG motor also can drag the engine to start, still can include rear axle driving motor, and wherein, rear axle driving motor can rotate through rear axle reduction gear drive rear wheel.
As shown in fig. 1, a control method of a vehicle according to one embodiment of the present invention includes the steps of:
s101: and when the vehicle runs in a pure electric mode, determining a target gear according to the vehicle speed.
The pure electric driving mode represents a mode in which the vehicle runs by driving the vehicle by a motor, wherein the motor is powered by a battery.
During pure electric driving, the target gear can be determined according to the vehicle speed, as shown in table 1:
TABLE 1
Gear position Gear-shifting vehicle speed (unit: km/h)
1-2 12
2-3 24
3-4 36
4-5 48
5-6 60
2-1 1
3-2 20
4-3 32
5-4 44
6-5 56
Wherein, 1-2 of the gears represents that the gear 1 is engaged with the gear 2, 2-3 represents that the gear 2 is engaged with the gear 3, and so on, 2-1 represents that the gear 2 is engaged with the gear 1, 3-2 represents that the gear 3 is engaged with the gear 2, and so on.
For example: when the vehicle speed is 24 km/h, the target gear is 3. Namely: and looking up a table to select the target gear.
The data corresponding to table 1 may be obtained by calibration in advance and stored in the vehicle.
It will be appreciated that the vehicle speed values in table 1 are exemplary only, and that vehicle speeds may be adjusted accordingly as desired.
S102: and controlling the transmission to complete pre-gear according to the target gear.
In a particular example, the transmission actuator may perform a shift after the target gear is determined. For example: the transmission establishes gear shifting oil pressure through a hydraulic mechanism to complete gear shifting.
S103: after receiving the engine start request, the BSG motor drives the engine to start.
Specifically, a target rotational speed may be determined based on the input shaft rotational speed of the clutch and the idle rotational speed of the engine; adjusting the engine speed according to the target speed at the engine start, wherein the engine speed is determined to be synchronized with the input shaft speed when a speed difference between the engine speed and the target speed is less than or equal to a predetermined speed difference. Wherein the predetermined rotational speed difference is, but not limited to, 50 rpm.
Namely: the input shaft speed of the clutch may be detected by a sensor or the like, and the idle speed of the engine is known. Wherein, when the pure electric is driven, the clutch is completely opened. After the gear shifting is completed, the input shaft of the clutch can generate rotating speed due to the dragging effect of the vehicle.
In a specific example, a rotation speed sensor is disposed at an input shaft of the clutch, and the input shaft rotation speed of the clutch can be detected.
As a specific example, the transmission is a dual Clutch automatic transmission dct (dual Clutch transmission), and determining a target rotation speed based on an input shaft rotation speed of the Clutch and an idle rotation speed of the engine includes: acquiring the input shaft rotating speed of a first clutch and the input shaft rotating speed of a second clutch in the double-clutch automatic transmission; taking the smaller of the input shaft rotating speed of the first clutch and the input shaft rotating speed of the second clutch as the input shaft rotating speed of the clutch; the larger of the input shaft rotation speed of the clutch and the idle rotation speed of the engine is taken as the target rotation speed.
Specifically, as shown in fig. 3, the abscissa represents time, and the ordinate represents the rotational speed. A DCT typically engages two gears after a pre-shift is completed, so that both input shafts have rotational speed. Such as the input shaft 1 speed and the input shaft 2 speed in fig. 3. Also shown in fig. 3 are idle speeds, i.e.: an idle speed of the engine, wherein the idle speed is a horizontal line, namely: the idle speed is typically a fixed value.
First, for two input shaft speeds, the input shaft speed with the lower speed is selected as the target speed a after the engine is started, that is: when the input shaft rotation speed of the clutch is set to the target rotation speed a as the rotation speed of the input shaft 2 in fig. 3 and the idle rotation speed of the engine is set to the target rotation speed b after the engine is started, the target rotation speed becomes larger (the target rotation speed a, the target rotation speed b). Namely: the larger of the target rotational speed a and the target rotational speed b is taken as the target rotational speed. As shown in fig. 3, the target rotational speed is the idle rotational speed of the engine on the left side of the intersection point of the rotational speed of the input shaft 2 and the idle rotational speed of the engine, and the target rotational speed is the rotational speed of the input shaft 2 on the right side of the intersection point.
In the above example, the purpose of considering the idle speed is that if the vehicle speed is low, such as less than 5km/h, the input shaft speed of the clutch will be lower than the idle speed. If the input shaft speed of the clutch is still set as the target speed under such conditions, the engine start may fail because the idle speed is not reached. Thus, the starting process for this condition is shown in FIG. 4 below. Namely: the target speed is an idle speed to avoid engine start failure.
Further, as shown in fig. 5. The purpose of selecting the lower speed of the input shaft as the target speed a is: taking into account oil consumption, emissions, etc. If there is a large torque demand, the transmission triggers a power downshift after starting the engine, thereby ensuring power output.
As a specific example, when the driver performs a mode switching operation or a throttle depression operation to make an engine start request, an engine start request is triggered.
When there is an engine start request, the BSG motor and engine are commanded while the dual clutch automatic transmission DCT is activated. As shown in fig. 6 below, a torque request is made to the BSG motor to adjust engine starting speed via torque control. And simultaneously sending a starting request to the engine to prepare the engine for oil injection and ignition until the engine is successfully started, and exiting the torque control by the BSG.
Further, the DCT is activated, allowing the DCT to clutch pre-charge to meet the goal of rapid engagement thereafter. Namely: after receiving the engine starting request, the method further comprises the following steps: and controlling the clutch to finish pre-charging.
S104: and controlling the clutch of the transmission to be combined after the rotating speed of the engine is synchronized with the rotating speed of the input shaft.
According to the control method of the vehicle of the embodiment of the invention, when the pure electric vehicle is driven, the pre-gear of the transmission can be carried out, so that when the engine mode is switched, the following steps are carried out: when the engine drives the vehicle to drive, the delay of power output caused by the starting of the engine can be avoided, and the use experience of the vehicle is improved.
For example: controlling the engine at a first predetermined rate to achieve a target torque; controlling the clutch engagement at a second predetermined rate. Wherein the first predetermined rate and the second predetermined rate may be obtained experimentally or calibrated empirically in advance.
For example: when the difference between the engine speed and the input shaft speed of the clutch is less than or equal to 50rmp, the engine speed is considered to be synchronized with the input shaft speed of the clutch, and at this time, clutch engagement control is performed. The engine starts to build torque at a certain speed, so that the normal output of power is ensured; while the DCT clutch is also engaged at a certain rate. Therefore, the delay of power output after starting can be avoided, and the purposes of smooth control and pause prevention can be achieved by adjusting the change rate of the engine torque and the clutch torque.
Wherein the torque control rate of the clutch can be obtained by pre-calibration, for example: and calibrating based on the rotating speed of the engine and the opening degree of the accelerator pedal. The calibration table is shown in table 2:
TABLE 2
Figure BDA0001919700160000081
Further, when the start is completed, the engine normally outputs torque.
According to the control method of the vehicle of the embodiment of the invention, when the pure electric vehicle is driven, the pre-gear of the transmission can be carried out, so that when the engine mode is switched, the following steps are carried out: when the engine drives the vehicle to drive, the delay of power output caused by the starting of the engine can be avoided, in addition, the starting pause and the stop are avoided through the accurate control of the target rotating speed in the starting process of the engine and the control of the combination rate of the clutch, and the riding comfort of the vehicle is effectively improved.
Fig. 7 is a block diagram of a control system of a vehicle according to an embodiment of the present invention. As shown in fig. 7, a control system 700 of a vehicle according to one embodiment of the present invention includes: a target gear determination module 710, a pre-shift module 720, and a control module 730.
The target gear determining module 710 is configured to determine a target gear according to a vehicle speed when the electric vehicle is purely driven. The pre-engagement module 720 is configured to control the transmission to complete pre-engagement according to the target gear. The control module 730 is configured to, upon receiving an engine start request, the BSG motor crank the engine and control the transmission clutch to engage when the engine speed is synchronized with the input shaft speed.
In an embodiment of the present invention, the control module 730 is configured to: determining a target rotating speed according to the rotating speed of the input shaft of the clutch and the idle rotating speed of the engine; adjusting the engine speed according to the target speed at the engine start, wherein the engine speed is determined to be synchronized with the input shaft speed when a speed difference between the engine speed and the target speed is less than or equal to a predetermined speed difference.
In one embodiment of the present invention, the control module 730 is further configured to control the clutch to complete the pre-fill after receiving an engine start request.
In an embodiment of the present invention, the control module 730 is configured to: controlling the engine at a first predetermined rate to achieve a target torque; controlling the clutch engagement at a second predetermined rate.
According to the control system of the vehicle of the embodiment of the invention, when the pure electric vehicle is driven, the pre-gear of the transmission can be carried out, so that when the engine mode is switched, namely: when the engine drives the vehicle to drive, the delay of power output caused by the starting of the engine can be avoided, in addition, the starting pause and the stop are avoided through the accurate control of the target rotating speed in the starting process of the engine and the control of the combination rate of the clutch, and the riding comfort of the vehicle is effectively improved.
It should be noted that the specific implementation manner of the vehicle control system according to the embodiment of the present invention is similar to the specific implementation manner of the vehicle control method according to the embodiment of the present invention, and please refer to the description of the method part specifically, and details are not repeated here in order to reduce redundancy.
Further, an embodiment of the invention discloses a vehicle provided with the control system of the vehicle as in any one of the above embodiments. This vehicle can carry out the gear in advance of derailleur when pure electric drive, like this, when switching to engine mode, promptly: when the engine drives the vehicle to drive, the delay of power output caused by the starting of the engine can be avoided, in addition, the starting pause and the stop are avoided through the accurate control of the target rotating speed in the starting process of the engine and the control of the combination rate of the clutch, and the riding comfort of the vehicle is effectively improved.
In addition, other configurations and functions of the vehicle according to the embodiment of the present invention are known to those skilled in the art, and are not described herein in detail in order to reduce redundancy.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (8)

1. A control method of a vehicle including an engine, a BSG motor, and a transmission, the method comprising:
when the vehicle runs in a pure electric mode, determining a target gear according to the speed of the vehicle;
controlling the transmission to complete pre-gear according to the target gear;
after receiving an engine starting request, the BSG motor drives the engine to start;
controlling the clutch of the transmission to engage when the rotational speed of the engine is synchronized with the rotational speed of the input shaft, and controlling the clutch to engage when the rotational speed of the engine is synchronized with the rotational speed of the input shaft, includes: controlling the engine at a first predetermined rate to achieve a target torque; the clutch combination is controlled at a second preset speed, so that the purposes of smooth control and jerk prevention are achieved by adjusting the change speed of the engine torque and the clutch torque while the power output delay after starting is avoided.
2. The control method of a vehicle according to claim 1, wherein said BSG motor dragging the engine start after receiving an engine start request comprises:
determining a target rotating speed according to the rotating speed of the input shaft of the clutch and the idle rotating speed of the engine;
adjusting the engine speed based on the target speed at the engine start,
wherein it is determined that the rotation speed of the engine is synchronized with the rotation speed of the input shaft when a rotation speed difference between the rotation speed of the engine and the target rotation speed is less than or equal to a predetermined rotation speed difference.
3. The control method of a vehicle according to claim 1 or 2, characterized by further comprising, after receiving an engine start request: and controlling the clutch to finish pre-charging.
4. The control method of a vehicle according to claim 2, characterized in that the transmission is a dual clutch automatic transmission,
the determining a target rotation speed according to the input shaft rotation speed of the clutch and the idle rotation speed of the engine comprises the following steps:
acquiring the input shaft rotating speed of a first clutch and the input shaft rotating speed of a second clutch in the dual-clutch automatic transmission;
taking the smaller of the input shaft rotating speed of the first clutch and the input shaft rotating speed of the second clutch as the input shaft rotating speed of the clutch;
the larger of the input shaft rotation speed of the clutch and the idle rotation speed of the engine is taken as the target rotation speed.
5. A control system of a vehicle including an engine, a BSG motor, and a transmission, the system comprising:
the target gear determining module is used for determining a target gear according to the vehicle speed when the pure electric vehicle runs;
the pre-gear-shifting module is used for controlling the transmission to complete pre-gear shifting according to the target gear;
a control module for the BSG motor to crank the engine upon receipt of an engine cranking request and for controlling the clutch of the transmission to engage when the engine speed is synchronized with the input shaft speed, the control module being configured to: controlling the engine at a first predetermined rate to achieve a target torque; the clutch combination is controlled at a second preset speed, so that the purposes of smooth control and jerk prevention are achieved by adjusting the change speed of the engine torque and the clutch torque while the power output delay after starting is avoided.
6. The control system of the vehicle of claim 5, wherein the control module is configured to:
determining a target rotating speed according to the rotating speed of the input shaft of the clutch and the idle rotating speed of the engine;
adjusting the engine speed based on the target speed at the engine start,
wherein it is determined that the rotation speed of the engine is synchronized with the rotation speed of the input shaft when a rotation speed difference between the rotation speed of the engine and the target rotation speed is less than or equal to a predetermined rotation speed difference.
7. The control system of the vehicle of claim 5 or 6, wherein the control module is further configured to control the clutch to complete pre-fill after receiving an engine start request.
8. A vehicle, characterized in that a control system of the vehicle according to any one of claims 5-7 is provided.
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