CN114043980A

CN114043980A - Driving method and device applied to vehicle, electronic equipment and storage medium

Info

Publication number: CN114043980A
Application number: CN202111452234.6A
Authority: CN
Inventors: 叶珂羽; 刘振宇; 唐立中; 徐占; 赵慧超; 康志军; 樊雪来; 吴世楠
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2021-12-01
Filing date: 2021-12-01
Publication date: 2022-02-15
Anticipated expiration: 2041-12-01
Also published as: CN114043980B

Abstract

The embodiment of the invention discloses a driving method and device, electronic equipment and a storage medium applied to a vehicle. The method comprises the following steps: when it is detected that the driving command of the target vehicle is converted from two-drive driving to four-drive driving, driving the target position of the clutch based on the motor; when the target position is detected to be between the position of a predetermined half joint point and a locking position, adjusting the driving state of the target vehicle, and converting two-wheel drive into four-wheel drive; wherein the half-engagement point position and the lock position are determined by learning in advance. The embodiment of the invention solves the problem that the damage of a driving execution mechanism is serious because the position of the half-joint point and the locking position of the clutch cannot be accurately determined when the traditional vehicle is driven, realizes the learning of the position of the half-joint point and the locking position of the clutch based on the target position of the motor-driven clutch, and improves the safety of the system.

Description

Driving method and device applied to vehicle, electronic equipment and storage medium

Technology neighborhood

The present invention relates to vehicle control technologies, and in particular, to a driving method and apparatus applied to a vehicle, an electronic device, and a storage medium.

Background

The motor-driven clutch system structure is applied to occasions such as hybrid electric vehicle driving, transfer case connection/disconnection and the like. The position of a half-joint point of the clutch is an important position influencing the smoothness and the torque transmission accuracy of the clutch, and how to accurately and quickly obtain the position of the half-joint point of the clutch is very important for controlling the clutch, so that the problem of determining the position of the half-joint point is also paid attention to by the public.

In the prior art, various sensing devices are used for monitoring the clutch, so that the position of a clutch half-joint point is determined, a clutch pressure sensor needs to be additionally arranged, and misjudgment caused by abnormal jitter of a sensing signal possibly exists, so that the problem of inaccurate determination of the clutch half-joint point is caused.

Disclosure of Invention

The embodiment of the invention provides a driving method and device, electronic equipment and a storage medium applied to a vehicle, which are used for determining a half-joint position and a locking position of a clutch based on a motor driving clutch, and further controlling the position of the clutch between the half-joint position and the locking position when a vehicle driving command is converted from two-drive driving to four-drive driving so as to achieve the effect of protecting a driving execution mechanism from being damaged.

In a first aspect, an embodiment of the present invention provides a driving method applied in a vehicle, where the method includes:

when it is detected that the driving command of the target vehicle is converted from two-drive driving to four-drive driving, driving the target position of the clutch based on the motor;

when the target position is detected to be between the position of a predetermined half joint point and a locking position, adjusting the driving state of the target vehicle, and converting two-wheel drive into four-wheel drive; wherein the half-engagement point position and the lock position are determined by learning in advance.

In a second aspect, an embodiment of the present invention further provides a driving apparatus applied to a vehicle, including:

a target position determination module for driving a target position of the clutch based on the motor when it is detected that a driving command of the target vehicle is converted from two-drive driving to four-drive driving;

the vehicle driving adjusting module is used for adjusting the driving state of the target vehicle to be converted from two-wheel drive to four-wheel drive when the target position is detected to be between the predetermined half-joint position and the locking position; wherein the half-engagement point position and the lock position are determined by learning in advance.

In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:

one or more processors;

a storage device for storing one or more programs,

when the one or more programs are executed by the one or more processors, the one or more processors implement the driving method applied to the vehicle according to any one of the embodiments of the present invention.

In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the driving method applied to the vehicle according to any one of the embodiments of the present invention.

According to the embodiment of the invention, the target position of the clutch is driven by the motor, the half-joint position and the locking position are learned in advance based on the rotating speed information and the position information of the motor, and when the target position is detected to be between the predetermined half-joint position and the locking position, the driving state of the target vehicle is adjusted to be converted from two-drive driving to four-drive driving. The problem of low accuracy of determining the position of a half-joint point in the vehicle driving process in the traditional technology is solved, segmented rotating speed control of a motor is realized, the motor is used for driving a clutch, learning of the position of the half-joint point of the clutch is realized according to motor feedback information, the position of the half-joint point of the clutch is further determined, the accuracy of determining the position of the half-joint point is improved, meanwhile, the locking position of the clutch in the maximum compression state is determined according to the motor feedback information, learning of the locking position of the clutch is realized, the locking position of the clutch is accurately determined, and in the vehicle driving process, the effects of driving of vehicle smoothness and protecting a driving execution mechanism from being damaged are achieved.

Drawings

In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, a brief description is given below of the drawings used in describing the embodiments. It should be clear that the drawings described are only for a part of the embodiments of the invention to be described, and not all, and that for a person skilled in the art, other drawings can be derived from these drawings without inventive effort.

Fig. 1 is a flowchart of a driving method applied to a vehicle according to a first embodiment of the present invention;

fig. 2 is a flowchart of a driving method applied to a vehicle according to a second embodiment of the present invention;

fig. 3 is a flowchart of a driving method applied to a vehicle according to a third embodiment of the present invention;

fig. 4 is a simplified illustration of a driving method applied to a vehicle according to a fourth embodiment of the present invention;

fig. 5 is a simplified illustration of a driving method applied to a vehicle according to a fourth embodiment of the present invention;

fig. 6 is a simplified illustration of a driving method applied to a vehicle according to a fourth embodiment of the present invention;

fig. 7 is a simplified illustration of a driving method applied to a vehicle according to a fourth embodiment of the present invention;

fig. 8 is a simplified illustration of a driving method applied to a vehicle according to a fourth embodiment of the present invention;

fig. 9 is a block diagram of a driving apparatus applied to a vehicle according to a fifth embodiment of the present invention;

fig. 10 is a schematic structural diagram of an electronic device according to a sixth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Example one

Fig. 1 is a flowchart of a driving method applied to a vehicle according to an embodiment of the present invention, where the embodiment is applicable to determining a half-engagement point position and a lock-up position of a clutch, and further controlling a position of the clutch between the half-engagement point position and the lock-up position when a vehicle driving command is converted from two-drive driving to four-drive driving.

The driving method applied to the vehicle provided by the embodiment specifically comprises the following steps:

and S110, when the driving command of the target vehicle is converted from two-drive driving to four-drive driving, driving the target position of the clutch based on the motor.

The target vehicle may be understood as a vehicle that achieves distribution of vehicle drive force using a motor-driven clutch, among others. Two-drive is understood to mean that the target vehicle is driven by two wheels, either two front wheel drives or two rear wheel drives. Four-wheel drive is understood to mean that the target vehicle is driven by four wheels. The target position can be understood as the position information of the clutch in the actual situation, for example, the motor can rotate towards the direction of pressing the clutch under the control of some controller, and the position corresponding to each time point of the clutch is taken as the target position. The controller may be a motor controller, and the hardware may include a main control chip, a position sensor, a pre-driver for controlling the motor.

It should be noted that the components in the clutch may include a plurality of driving friction plates, a plurality of driven friction plates, and a diaphragm spring, and the clutch engagement state may be used to represent the engagement state of the driving friction plates and the driven friction plates, and may be an engagement state, a semi-engagement state, or a disengagement state.

It should be noted that the motor may drive the clutch to move, and when the engine generates torque and the clutch is simultaneously pressed or the motor drives the clutch to reach a certain position, the system may transmit the torque to the wheels through the clutch, so that the wheels have driving force, thereby converting the two-drive into the four-drive. When the driving friction plate and the driven friction plate are not jointed, namely the clutch is not jointed, the torque can directly reach two wheels of the vehicle through the clutch, and the two-wheel drive of the vehicle is realized.

It should be further noted that, in a specific application scenario, when it is detected that the driving command of the target vehicle is converted from the two-drive driving to the four-drive driving, the target position of the clutch may be detected, and in the process of driving the clutch by the motor and changing the position of the clutch, it is obtained that the vehicle needs to be converted from the two-drive driving to the four-drive driving, or in the process of further processing the position information of the clutch, information of a position point is detected, and when the clutch reaches the point, the clutch may enable a shaft in non-two-drive operation to have a certain torque transmission capability, and the vehicle needs to be converted from the two-drive driving to the four-drive driving, which may be used as a situation that the driving command of the target vehicle is detected and converted from the two-drive driving to the four-drive driving.

Specifically, when it is detected that the driving command of the target vehicle is converted from the two-drive driving to the four-drive driving, the target position of the motor-driven clutch may be detected, for example, the target position of the clutch may be detected in real time by using the controller during the movement of the motor-driven clutch, and when it is detected that the clutch reaches a certain threshold position, a shaft which is not in the two-drive operation may have a certain torque transmission capability through the clutch, and then the target vehicle may be converted from the two-drive driving to the four-drive driving.

It should be noted that, when the motor drives the clutch, the rotation speed of the motor is often very high, in order to improve control, maintenance and safety of the motor and enable the motor to achieve the effects of reducing the speed and increasing the torque when the motor rotates, a certain transmission mechanism device may be installed between the motor and the clutch, and the torque generated by the rotation of the motor in the clutch pressing direction may be adjusted by using the transmission mechanism, so as to determine the target position of the clutch.

Optionally, the target position based on the motor-driven clutch includes: adjusting a target position of the clutch based on the motor driving the transmission mechanism.

The transmission mechanism may be understood as a member or a mechanism that changes the output torque of the motor, and may be a gear transmission mechanism, a chain transmission mechanism, a worm gear transmission mechanism, or the like, and the transmission mechanism is an unnecessary element of the target vehicle system, and the transmission mechanism is not limited herein. When the motor rotates towards the direction of pressing the clutch under the control of the controller, torque is generated, the motor passes through the clutch transmission mechanism to reduce the speed and increase the torque, and then the motor acts on the clutch pressure plate to gradually press the clutch, so that the target position of the clutch can be adjusted. Correspondingly, the motor can be used for driving the transmission mechanism, so that the target position of the clutch can be adjusted, the control of the system on the motor is enhanced, and the safety of the system is improved.

And S120, when the target position is detected to be between the predetermined half-joint position and the locking position, the driving state of the target vehicle is converted from two-wheel drive to four-wheel drive.

Wherein the half-engagement point position and the lock position are determined by learning in advance. The half-engagement point position can be understood as the position at which the clutch is at the half-engagement point, i.e., the position information at which the clutch is in the half-engaged state. The locked position may be understood as a clutch position when the clutch is in a maximum engagement state, and a position when the clutch is in a pressed-down state may be referred to as a locked position. It should be noted that, a preset algorithm model may be used to process the motor related information in the process of driving the clutch by the motor, for example, in the process of driving the clutch by the motor, the motor controller may be used to obtain the ring speed, time, speed and other related information of the rotation of the motor, and the model may calculate the position information of the half-engagement point and the locking position of the clutch according to the related information of the motor.

It should be noted that the motor drives the clutch to move the clutch from the initial position to the locked position, when the target position of the clutch is at the half-engagement point position, the clutch starts to have the capacity of transmitting torque, further, the clutch can transmit the torque of the target vehicle engine to the wheels through the clutch, the wheels can obtain driving force, and further, the target vehicle starts to have a four-wheel drive function, namely, the driving state of the target vehicle is changed from two-wheel drive to four-wheel drive. And continuously driving the clutch, wherein when the clutch reaches a locking position, the clutch is in a compression state, the torque transmission capacity of the clutch is the maximum, the torque can be transmitted to the axle of the wheel, the driving capacity obtained by the non-two-wheel-drive wheel is further the maximum, and the target vehicle is in a four-wheel-drive driving state. Accordingly, when it is detected that the clutch target position is between the half-engagement position and the lock-up position, the target vehicle driving state can be adjusted to be changed from the two-wheel drive to the four-wheel drive.

Specifically, the information of the half-joint position and the locking position can be learned in advance by using the model, and then when the controller monitors that the target position of the clutch moves from the half-joint position to the locking position, the torque transmission capacity of the clutch to the wheels is gradually increased, so that the capacity of the wheels for obtaining driving force is increased, and the vehicle equipment can adjust the driving state of the target vehicle and convert the two-wheel drive into the four-wheel drive.

Example two

Fig. 2 is a flow chart illustrating a driving method applied to a vehicle according to a second embodiment of the present invention, and based on the foregoing embodiment, the half-engagement point position may be learned and determined in advance based on a target position of a motor-driven clutch. The specific implementation manner can be referred to the technical scheme of the embodiment. The technical terms that are the same as or corresponding to the above embodiments are not repeated herein.

As shown in fig. 2, the method specifically includes the following steps:

s210, determining a first critical rotating speed value.

The first threshold rotational speed value is understood to be the rotational speed value at which the electric machine reaches the first threshold position. The first threshold position may be a preset position information of the motor when the distance between the clutch and the half-engagement point is a certain preset distance. For example, the motor rotates towards the pressing clutch, the driving clutch moves towards the half-joint point position, when the clutch moves to the half-joint point by a certain preset distance, the position information of the motor is used as a first critical position, at this time, a corresponding rotating speed value can be set for the motor, and the rotating speed value can be used as a first critical rotating speed value.

It should be noted that the motor may be controlled in a rotation speed control mode, where the mode at least includes information of a rotation speed value, that is, the motor may be controlled by adjusting the rotation speed value. The first critical rotation speed value may be determined by a technician according to an actual working condition, or may be determined by analyzing information such as a rotation speed, a time, and a speed of the motor when the motor drives the clutch by using an algorithm, where the first critical rotation speed value is not specifically limited.

It should also be noted that before determining the first threshold rotational speed value, the motor position and rotational speed information may be processed to speed up learning the position of the semi-engagement point, e.g., the rotational speed of the motor may be adjusted to move the clutch toward the semi-engagement point faster before the motor reaches the first threshold position. Or the controller can be used for acquiring the actual rotation position information of the motor, comparing the position information with a preset first critical position in real time, and determining a first critical rotation speed value when the motor reaches the first critical position.

Optionally, before determining the first threshold rotation speed value, the method includes: adjusting the rotating speed of the motor to be a second rotating speed value, and determining that the position to which the motor drives the clutch to operate is in the semi-joint neighborhood when the feedback position of the motor is detected to be matched with a preset feedback position; when the position of the clutch is in the half-joint neighborhood, adjusting the rotating speed of the motor to be the first critical rotating speed, and eliminating partial return spring force of the clutch when the speed difference value between the first actual rotating speed of the motor and the first critical rotating speed value is monitored to be smaller than a preset speed difference value threshold value, so that the position of the half-joint point is determined under the condition of eliminating the partial return spring force.

The second rotational speed value is understood to be the starting rotational speed value of the electric machine. For example, after the motor is powered on, a certain rotation speed value may be set for the motor, and the motor rotates at the rotation speed value, which may be used as the second rotation speed value. The feedback position can be understood as the position information of the actual rotation of the motor, and can be represented by using the rotation number of the motor, which can be 1 rotation or 5 rotations. For example, when the motor rotates at the second rotation speed value, the controller may monitor the position of the motor in real time, and the actual rotation speed of the motor recorded by the controller may be used as the feedback position of the motor. The preset feedback position can be understood as preset information of a first critical position of the electric machine. For example, if the clutch is assumed to operate to the half-engagement point, the motor rotates 10 revolutions, it can be known that when the motor rotates 9 revolutions, the clutch does not operate to the half-engagement point, the preset feedback position can be set to 9 revolutions, correspondingly, the preset feedback position can also be 8 revolutions, the preset feedback position can be determined by a technician based on the actual working condition, and the preset feedback position of the motor can also be determined by using an algorithm when the distance between the clutch and the half-engagement point is a certain preset distance. The half-junction neighborhood may be understood as the neighborhood information of the half-junction point. The first actual rotating speed can be understood as an actual rotating speed value of the motor, and the actual rotating speed fed back by the motor can be obtained in real time through the motor controller. The preset speed difference threshold can be understood as a preset difference threshold, and can be preset by a technician according to the actual working condition. The return spring force may be understood as a spring force that returns the engaging element in the clutch to the starting position. The engagement elements may be a master friction plate and a slave friction plate in the clutch.

It should be noted that, after the motor is powered on, the motor motion mode may be set as a rotation speed control mode, at this time, the rotation speed of the motor may be set to a second rotation speed value, the motor rotates toward the compression clutch with the rotation speed value, the compression clutch is driven to move toward the half-joint position, and then, the motor rotation position, that is, the feedback position, may be monitored in real time by using the motor controller. The feedback position may be compared with a preset feedback position, and when it is detected that the motor feedback position matches the preset feedback position, the clutch has not yet reached the semi-joint point, an area between the clutch position and the semi-joint point may be calculated using an algorithm, and the area may be used as semi-joint neighborhood information. Further, when the clutch enters the semi-engaged neighborhood, the motor speed may be adjusted to the first threshold speed. Furthermore, the actual rotating speed of the motor can be monitored in real time by using the controller, the acquired first rotating speed value is compared with the first critical rotating speed, when the speed difference between the actual rotating speed and the first critical rotating speed is smaller than the preset speed difference threshold value, partial return spring force of the clutch can be eliminated, the motor can also be considered to be running at a lower stable rotating speed, the position learning of the half-joint point of the clutch is started at the moment, and correspondingly, the position of the half-joint point is determined.

Specifically, in order to quickly eliminate a part of return spring force before determining the first critical rotation speed value and accelerate the progress of learning the position of the half-joint point, the motor may be set to a second rotation speed value after the motor is powered on, a half-joint neighborhood between the clutch position and the half-joint point at the time is calculated when it is detected that the feedback position of the motor matches the preset feedback position, the rotation speed of the motor is adjusted to be the first critical rotation speed when the position of the clutch is in the half-joint neighborhood, and the clutch may overcome most of the return spring force when it is detected that the speed difference between the first actual rotation speed of the motor and the first critical rotation speed value is smaller than the preset speed difference threshold, and the next stage may be entered under this condition, that is, the stage of determining the position of the half-joint point. At this time, it is also considered that the motor is operating at a low stable rotational speed, and the position of the clutch half-engagement point is learned, so that the learning efficiency can be improved.

S220, determining a first initial feedback torque when the motor is at a first critical rotating speed value, and adjusting a first target feedback torque of the motor according to the first critical rotating speed value.

The first initial feedback torque may be understood as an initial feedback torque of the motor, and when the rotation speed of the motor is a first critical rotation speed value, the torque information initially fed back by the motor may be used as the first initial feedback torque. The first target feedback torque may be understood as a feedback torque of the motor, and each torque information fed back by the motor may be used as the first target feedback torque when the rotation speed of the motor is the first critical rotation speed value.

It should be noted that, when determining the first threshold rotation speed value, the motor controller may be used to obtain an initial feedback torque of the motor, and the first initial feedback torque of the feedback torque may be obtained. And along with the motor rotates at the first critical rotating speed value, the rotating speed of the motor can be monitored in real time by using a motor controller, torque information fed back by the motor can be obtained, and the torque information obtained at any moment can be used as a first target feedback torque.

Specifically, the motor controller may be used to obtain a motor initial feedback torque when the motor has a first critical rotation speed value, so as to obtain a first initial feedback torque. Meanwhile, when the motor rotates at the rotating speed, each first target feedback torque of the motor can be obtained, and the position information of the clutch can be further determined according to each feedback torque information of the motor acquired by the controller, so that the position of the half-joint point can be determined.

And S230, determining a moment difference value between the first target feedback moment and the first initial feedback moment corresponding to each sampling point, and determining the position of the half-joint point according to the moment difference value.

The sampling point can be understood as a sampling point of the motor feedback torque. The controller may be used to sample the motor feedback torque according to a preset sampling period, for example, a sampling period may be preset based on the motor pulse intensity information, the period may be 0.01s or 0.02s, a sampling point is determined every other period, and then, the feedback torque may be divided into at least one sampling point. The torque difference may be understood as the difference between the first target feedback torque and the first starting feedback torque.

It should be noted that the motor feedback torque may be sampled in real time, and when each sampling point is determined, the controller may also be used to sample the motor feedback torque according to a preset sampling period and a preset sampling number, for example, the sampling period may be 0.01s, and the sampling number may be 20, that is, one sampling point is determined at an interval of 0.01s, and 20 sampling points may be obtained. It should be further noted that the sampling period and the sampling number may be determined by a technician according to an actual working condition, and the technical solution is not limited.

It should be further noted that, when the controller is used to sample the motor feedback torque according to the preset sampling period, the sampling points may also be numbered according to the sampling sequence, and the numbering sequence may be used as the acquisition sequence of the sampling points, for example, one sampling point is determined at intervals of 0.01s, and each sampling point is numbered according to the acquisition sequence in real time, and the numbering sequence may be 1, 2, 3. Where m is a normal number, and m can be determined by the number of sampling points. The feedback torque corresponding to each sampling point can be used as a first target feedback torque, and meanwhile, the controller is used for obtaining an initial feedback torque when the motor rotates at a first critical rotation speed value and using the initial feedback torque as a first initial feedback torque. Furthermore, the first target feedback moment and the initial feedback moment corresponding to each sampling point can be subjected to difference processing in real time according to the number sequence of the sampling points, that is, the difference between the feedback moment corresponding to each sampling point and the initial feedback moment is calculated to obtain difference information of each moment, that is, a sampling point can be obtained, that is, the feedback moment corresponding to the sampling point and the initial feedback moment are subjected to difference processing. Further, the torque difference values corresponding to the motor can be analyzed by utilizing an algorithm to determine clutch position information, so that the position of the half-joint point can be determined.

Specifically, the controller can be used for sampling the feedback torque of the motor according to a preset sampling period, numbering each sampling point according to a sampling and collecting sequence, and determining information of each sampling point, so that a first target feedback torque corresponding to each sampling point is obtained, further, difference calculation can be carried out on the feedback torque information corresponding to each sampling point and the first initial feedback torque in real time, difference values of each torque are obtained in real time, further, difference information of each torque can be analyzed in real time, and the position of a half-joint point is determined.

Optionally, the determining a torque difference between the first target feedback torque and the first starting feedback torque corresponding to each sampling point, and determining the position of the half joint point according to the torque difference includes: and determining the torque difference between the first target feedback torque and the first initial feedback torque of each sampling point in real time, and taking the position of the clutch when the torque difference is greater than a preset torque difference threshold as the position of the half-joint point.

It should be noted that the first target feedback moment of each sampling point may be compared with the first initial feedback moment in real time according to the collection sequence of the corresponding sampling point, for example, three sampling points a, B, and C may be collected in real time, when the sampling point a is obtained, the feedback moment of the sampling point a may be obtained by using the motor controller, and then the difference calculation may be performed on the moment and the first initial feedback moment by using an algorithm, and then, when the sampling point B is obtained, the difference calculation may be performed on the feedback moment of the sampling point B and the first initial feedback moment, and when the sampling point C is obtained, the difference calculation may be performed on the feedback moment of the sampling point C and the first initial feedback moment, that is, each sampling point may be processed in real time. And then, comparing the torque difference information with a preset torque difference threshold in real time, when a certain torque difference is detected to be larger than the preset torque difference threshold, determining the position information of the clutch at the moment according to the first target feedback torque of the motor corresponding to the torque difference, and taking the position as the position of the half-joint point.

Specifically, the torque difference between the first target feedback torque and the first initial feedback torque of each sampling point can be determined in real time according to the sampling sequence of the sampling points, and then each torque difference can be compared with a preset torque difference threshold, when the torque difference is greater than the preset torque difference threshold, the position of the clutch corresponding to the torque difference can be determined, and the position where the clutch is located can be used as a half-joint point.

It should be further noted that, in the process of learning the position of the half joint point, the number of the preset sampling points is k, where k is a normal number, and after the moment difference between the first target feedback moment and the first starting feedback moment corresponding to the k sampling points is calculated, if the moment difference still does not reach the preset moment difference threshold, the sampling points may be reselected, and the moment difference in the next period is compared to determine the position of the half joint point.

Optionally, the determining a torque difference between the first target feedback torque and the first starting feedback torque corresponding to each sampling point, and determining the position of the half joint point according to the torque difference includes: and if the torque difference value between the first target feedback torque and the first initial feedback torque of each sampling point in the preset sampling point quantity is smaller than a preset torque difference value threshold value, taking the first target feedback torque of the last sampling point before the current moment as the first initial feedback torque, determining the torque difference value between the first target feedback torque and the first initial feedback torque of each sampling point after the current moment, and taking the position of the clutch where the torque difference value is larger than the preset torque difference value threshold value as the semi-joint point position.

It can be understood that, in the process of learning the half joint point, if the moment difference between the first target feedback moment and the first starting feedback moment corresponding to k sampling points is calculated and the moment difference still does not reach the preset moment difference threshold, the sampling points need to be reselected, and the moment difference in the next period is compared with the preset moment difference threshold in real time until the position of the half joint point is determined.

The information of the number of sampling points can be understood as a sampling step length, the sampling step length can be determined by technicians according to actual working conditions, and the technical scheme is not limited.

Specifically, when a preset number of sampling points are obtained, a moment difference value between a first target feedback moment corresponding to each sampling point and a first initial feedback moment can be calculated in real time, if the moment difference value between the first target feedback moment of each sampling point and the first initial feedback moment in the preset number of sampling points is smaller than a preset moment difference value threshold, a next moment monitoring cycle can be performed, and then the controller can use the moment corresponding to the last sampling point of the previous round of sampling as the current moment, and can use the first target feedback moment of any one sampling point in the preset number close to the current moment as the first initial feedback moment of the next round of monitoring cycle. Furthermore, the controller can sample the motor feedback torque at the current moment in real time according to a preset sampling period, and can calculate the difference value between the first target feedback torque corresponding to each sampling point and the first initial feedback torque in real time to obtain the torque difference value corresponding to the sampling point, and further obtain the position of the clutch at the moment of the torque difference value when the torque difference value is greater than a preset torque difference value threshold value, and can use the position as the position of the half-joint point.

And S240, when the driving command of the target vehicle is converted from two-drive driving to four-drive driving, driving the target position of the clutch based on the motor.

And S250, when the target position is detected to be between the predetermined half-joint position and the locking position, adjusting the driving state of the target vehicle, and converting the driving state of the target vehicle from two-wheel drive to four-wheel drive.

EXAMPLE III

Fig. 3 is a flow chart illustrating a driving method applied to a vehicle according to a third embodiment of the present invention, and based on the foregoing embodiments, the lock-up position may be learned and determined in advance based on a target position of the motor-driven clutch. The specific implementation manner can be referred to the technical scheme of the embodiment. The technical terms that are the same as or corresponding to the above embodiments are not repeated herein.

As shown in fig. 3, the method specifically includes the following steps:

s310, adjusting the motor to be a third rotating speed value, and taking the position of the clutch as a locking position when monitoring that the second feedback torque of the motor reaches a preset maximum torque or monitoring that the second actual rotating speed of the motor is reduced to a preset rotating speed threshold value.

The third rotation speed value may be a rotation speed value of the motor, and the rotation speed value of the motor may be adjusted after the half-joint point position is learned, and may be used as the third rotation speed value. The second feedback torque may be understood as a feedback torque of the motor, and the feedback torque of the motor may be used as the second feedback torque when the rotation speed of the motor is the third rotation speed value. The second actual rotational speed can be understood as an actual rotational speed value of the electric machine. It should be noted that the controller may be used to monitor the second feedback torque and the actual rotation speed of the motor in real time.

When the motor rotates in a direction to press the clutch, the clutch can be driven to a half-engagement position, and further, a lock-up position can be reached. The torque generated by the motor is increased in the rotating process, and the maximum torque when the motor drives the clutch to reach the locking position can be predetermined as the preset maximum torque by utilizing an algorithm according to the actual working condition of the motor, the performance of the motor, the transmission mechanism, the transmission button capacity of the clutch and the like. Meanwhile, in the rotating process of the motor, when the clutch is gradually close to the locking position, the actual rotating speed of the motor is gradually reduced, and a rotating speed threshold value when the motor drives the clutch to reach the locking position can be predetermined as a preset rotating speed threshold value by utilizing an algorithm according to the actual working condition of the motor, the performance of the motor, a transmission mechanism, the torque transmission capacity of the clutch and the like. Meanwhile, the preset maximum torque and the preset rotating speed threshold value can also be determined by technicians according to actual working conditions.

It should be further noted that, after the position of the half-joint point is learned, in order to improve the detection accuracy, the rotation speed value of the motor may be adjusted, at this time, the rotation speed of the motor may be set to be the third rotation speed value, and meanwhile, the torque of the motor may be monitored in real time by using the controller, that is, the second feedback torque. The actual rotating speed of the motor can be monitored in real time by the controller, namely the second actual rotating speed is monitored in real time, the second actual rotating speed is compared with the preset rotating speed threshold value, when the second actual rotating speed is matched with the preset rotating speed threshold value, the second actual rotating speed is reduced to the preset rotating speed threshold value, and then the position where the clutch is located at the moment can be used as the locking position.

Specifically, after the motor is adjusted to the third rotation speed value, the controller may be used to monitor the second feedback torque and the second actual rotation speed of the motor in real time, and when the second feedback torque reaches the preset maximum torque, the position where the clutch is located at this time may be used as the locking position. Or when the motor is monitored to be reduced to a preset rotating speed threshold value, the position of the clutch at the moment can be used as a locking position.

And S320, when the driving command of the target vehicle is converted from the two-drive driving to the four-drive driving, driving the target position of the clutch based on the motor.

S330, when the target position is detected to be between the predetermined half-joint position and the locking position, adjusting the driving state of the target vehicle, and converting the driving state of the target vehicle from two-wheel drive to four-wheel drive.

According to the embodiment of the invention, the target position of the clutch is driven by the motor, the half-joint position and the locking position are learned in advance based on the rotating speed information and the position information of the motor, and when the target position is detected to be between the predetermined half-joint position and the locking position, the driving state of the target vehicle is converted from two-drive driving to four-drive driving. The problem of low accuracy of determining the position of a half-joint point in the vehicle driving process in the traditional technology is solved, segmented rotating speed control of a motor is realized, the motor is used for driving a clutch, learning of the position of the half-joint point of the clutch is realized according to motor feedback information, the position of the half-joint point of the clutch is further determined, the accuracy of determining the position of the half-joint point is improved, meanwhile, the locking position of the clutch in the maximum compression state is determined according to the motor feedback information, learning of the locking position of the clutch is realized, the locking position of the clutch is accurately determined, and in the vehicle driving process, the effects of driving of vehicle smoothness and protecting a driving execution mechanism from being damaged are achieved.

Example four

As an alternative embodiment of the above embodiment, in order to make the technical solutions of the embodiments of the present invention further clear to those skilled in the art, a specific application scenario example is given. Specifically, the following details can be referred to.

For example, referring to fig. 4, the reference 1 corresponds to a simple schematic diagram of a clutch, and the reference 2 may be represented as a simple schematic diagram of a transfer case assembly mechanism, where a motor, a controller and the clutch are system essential elements, a transmission mechanism is an unnecessary element, and for a system in which a thrust required to push the clutch is smaller than a certain preset threshold, the motor may directly drive the system. The motor controller hardware may include a main control chip (MCU), a position sensor, a pre-driver for controlling the motor action, etc., for responding to motor speed, torque, position commands, and for feeding back the real-time motor speed, position, torque/current. When the engine generates power and the motor does not rotate and presses the clutch, the power can reach the input shaft of the transfer case through the transmission, and when the clutch is separated, the power can be directly output to the rear differential through the rear output shaft of the transfer case, so that two rear wheels of the vehicle have driving force, and the vehicle is driven in a two-wheel driving state.

Further, as shown in fig. 5, when a motor speed command is given, the motor may rotate towards the pressing clutch under the control of the controller at the speed value, and through the speed reduction and torque increase of the transmission mechanism, the motor acts on the clutch pressure plate to gradually press the clutch, that is, the motor may drive the target position of the clutch. When the clutch passes through the half-joint point position, the clutch starts to have torque transmission capacity, and at the moment, partial torque of the input shaft is transmitted to the front output shaft through the clutch and the chain wheel chain, so that two rear wheels of the vehicle have driving force, and the four-wheel drive function is realized. It should be noted that the torque transmission capacity of the forward output shaft of the transfer case is directly related to the pressing degree of the clutch, and when the clutch is completely pressed and reaches the locking position, the torque transmission capacity of the forward output shaft of the transfer case reaches the maximum.

It should be further noted that the technical solution of the embodiment of the present invention may divide the self-learning process of the half-joint position and the lock position into three stages, i.e., stage 1, stage 2, and stage 3, which are described below.

Illustratively, stage 1 is a rapid return spring force cancellation stage. When the motor is powered on, the motor motion mode can be given as a rotation speed control mode, the rotation speed of the motor can be set to be a second rotation speed value, the feedback position of the motor is monitored in real time, when the position of the motor reaches the preset feedback position, the position to which the motor drives the clutch to operate can be considered to be in a semi-joint neighborhood, the command rotation speed of the motor can be reduced to a first critical rotation speed value, meanwhile, the first actual rotation speed of the motor starts to be monitored, when the difference value between the first actual rotation speed and the first critical rotation speed value is smaller than a preset speed difference value threshold value, the stage 1 is ended, and the stage 2 can be entered. Phase 2 is the half junction learning phase. The motor rotates at a first critical rotating speed value in the stage, the feedback torque of the motor is monitored in real time, the sampling period of the controller can be delta t, the step length of the selected period is k, k represents the sampling number, the current time can be recorded as the initial time from the moment of entering the stage 2, the feedback torque of the motor is recorded as the first initial feedback torque, the increment of the torque value of the motor compared with the first initial feedback torque can be collected at the moment of delta t, the increment is compared with the preset torque difference threshold, once the increment is greater than the preset torque difference threshold, the position of the clutch corresponding to the moment is considered as the position of a half joint point, if the increment still does not reach the preset torque difference threshold after the monitoring of k points, the current time is selected as the monitoring initial time again, and the next motor feedback torque monitoring cycle is started. And (3) ending the stage 2 and entering the stage 3 when the moment increment reaches a preset moment difference threshold value and the position of the half joint point is determined. And the stage 3 is a locking position learning stage, the rotating speed of the motor is adjusted to be a third rotating speed value at the moment, namely the motor rotates at the third rotating speed value at the stage, a second feedback torque and a second actual rotating speed of the motor can be monitored in real time by using the controller, and if the feedback torque reaches the allowable preset maximum torque, the position of the clutch can be used as the locking position at the moment. If the rotating speed is reduced to the preset rotating speed threshold value, the clutch position can be used as the locking position at the moment. And after the stage 3 is finished, completing a self-learning process of the half-joint position and the locking position to obtain the half-joint position and the locking position, and controlling the motor to retreat to the 0 position.

It should be noted that, in the technical solution of the embodiment of the present invention, the second rotation speed value, the third rotation speed value, the first critical rotation speed value, the preset feedback position, the preset speed difference threshold value, the preset rotation speed threshold value, the preset torque difference threshold value, and the preset maximum torque are all calibratable amounts, and can be determined by a technician according to an actual working condition.

For clarity of description of the above three stages, they can be described with reference to specific schematic diagrams. It should also be noted that the torque of the motor is proportional to the current of the motor, so that the above mentioned position can be represented by the motor torque or the motor current. For example, referring to fig. 6, a schematic diagram corresponding to a relationship between a torque variation of a motor and a rotational speed of the motor and a time at each stage may be shown, in stage 1, the motor rotates at a second rotational speed value, at this time, the motor rotates toward the compression clutch, as time t increases, the torque of the motor gradually increases, when stage 2 is reached, the motor rotates at a first critical rotational speed value, at this time, the motor continues to rotate toward the compression clutch, the torque of the motor gradually increases, when stage 3 is reached, the motor rotates at a third rotational speed value, at this time, the motor continues to rotate toward the compression clutch, resistance encountered during the rotation of the motor becomes larger and larger, the clutch gradually becomes a compression state, the torque of the motor increases in a larger range, an actual rotational speed also decreases to a certain threshold, when the torque is fed back to an allowable preset maximum torque, or the rotational speed decreases to a preset rotational speed threshold, stage 3 ends. Further, as shown in fig. 7, a schematic diagram corresponding to a relationship between the number of rotations of the motor and the position to be learned corresponding to the learning time of each position may be shown. Wherein, waiting to learn the position includes: a half junction neighborhood start point, a half junction point position, and a lock position. At the beginning of learning, the motor rotates at a second rotating speed value, the motor rotates towards the direction of the compression clutch at the moment, the actual rotating speed of the motor gradually increases along with the increase of time t, the feedback position of the motor gradually increases, the motor gradually drives the clutch to enable the clutch to run to the semi-joint field, and the motor reaches the position 1 at the moment. When the motor reaches the position 1, the motor rotates at a first critical rotating speed value, the feedback position increasing amplitude of the motor is reduced along with the increase of time t, the motor drives the clutch gradually, the clutch is enabled to run to a half-joint position, and at the moment, the motor reaches the position 2. And when the motor reaches the position 2, the motor rotates at a third rotating speed value, the feedback position increasing amplitude of the motor increases along with the increase of time t, the motor drives the clutch gradually, the clutch is enabled to run to the locking position, and the motor reaches the position 3. As shown in fig. 8, a schematic diagram of phase 2 motor feedback torque, corresponding to each time interval in each sampling cycle, may be shown. And in the stage 3, the controller is utilized to monitor the motor feedback torque/current in real time, the sampling period is delta t, the sampling step length is selected to be 6, the motor feedback torque is sampled, and when the motor feedback torque is larger than the preset torque difference value threshold, the position of the clutch can be used as the position of the half-joint point of the clutch.

According to the embodiment of the invention, the target position of the clutch is driven by the motor, the half-joint position and the locking position are learned in advance based on the rotating speed information and the position information of the motor, and when the target position is detected to be between the predetermined half-joint position and the locking position, the target vehicle is adjusted to be converted from two-drive to four-drive. The problem of low accuracy of determining the position of a half-joint point in the vehicle driving process in the traditional technology is solved, segmented rotating speed control of a motor is realized, the motor is used for driving a clutch, learning of the position of the half-joint point of the clutch is realized according to motor feedback information, the position of the half-joint point of the clutch is further determined, the accuracy of determining the position of the half-joint point is improved, meanwhile, the locking position of the clutch in the maximum compression state is determined according to the motor feedback information, learning of the locking position of the clutch is realized, the locking position of the clutch is accurately determined, and in the vehicle driving process, the effects of driving of vehicle smoothness and protecting a driving execution mechanism from being damaged are achieved.

EXAMPLE five

Fig. 9 is a block diagram of a driving device applied to a vehicle according to a third embodiment of the present invention. The device includes: a target position determination module 910 and a vehicle drive adjustment module 920.

The target position determining module 910 is configured to, when it is detected that the driving command of the target vehicle is converted from the two-drive driving to the four-drive driving, drive the target position of the clutch based on the motor; a vehicle driving adjustment module 920, configured to adjust the driving state of the target vehicle to be converted from two-wheel drive to four-wheel drive when the target position is detected to be between a predetermined half-joint position and a locking position; wherein the half-engagement point position and the lock position are determined by learning in advance.

In the above apparatus, optionally, the target position determining module 910 is specifically configured to adjust the target position of the clutch based on the motor driving the transmission mechanism.

On the basis of the device, the device further comprises a half joint point position determining module, wherein the half joint point position determining module comprises a first critical rotating speed value determining unit, a first target feedback torque determining unit and a half joint point position determining unit.

A first critical rotation speed value determination unit for determining a first critical rotation speed value;

the first target feedback torque determining unit is used for determining a first initial feedback torque when the motor is at a first critical rotating speed value, and adjusting a first target feedback torque of the motor according to the first critical rotating speed value;

and the half joint point position determining unit is used for determining a moment difference value between a first target feedback moment and the first initial feedback moment corresponding to each sampling point and determining the position of the half joint point according to the moment difference value.

In the above apparatus, optionally, the half junction point position determining module further includes a half junction neighborhood determining unit, wherein the half junction neighborhood determining unit includes a half junction neighborhood determining subunit and a half junction point position determining subunit.

The semi-joint neighborhood determining subunit is used for adjusting the rotating speed of the motor to be a second rotating speed value, and determining that the position to which the motor drives the clutch to operate is in the semi-joint neighborhood when the feedback position of the motor is matched with a preset feedback position;

and the half joint point position determining subunit is used for adjusting the rotating speed of the motor to be the first critical rotating speed when the position of the clutch is in the half joint neighborhood, and eliminating partial return spring force of the clutch when the speed difference value between the first actual rotating speed of the motor and the first critical rotating speed value is monitored to be smaller than a preset speed difference value threshold value so as to determine the position of the half joint point under the condition of eliminating the partial return spring force.

On the basis of the above device, optionally, the half-joint position unit is specifically configured to determine a torque difference between the first target feedback torque and the first starting feedback torque at each sampling point in sequence, and use a position where the clutch is located when the torque difference is greater than a preset torque difference threshold as the half-joint position.

On the basis of the above device, optionally, the half-joint point position unit is further specifically configured to, if the torque difference between the first target feedback torque and the first start feedback torque of each sampling point within a preset number of sampling points is smaller than a preset torque difference threshold, use the first target feedback torque of any one sampling point in the preset number near the current time as the first start feedback torque, determine the torque difference between each sampling point after the sampling point and the first start feedback torque, and use the position where the clutch is located when the torque difference is larger than the preset torque difference threshold as the half-joint point position.

On the basis of the device, the device further comprises a locking position determining module.

And the locking position determining module is used for adjusting the motor to be a third rotating speed value, and taking the position of the clutch as a locking position when monitoring that the second feedback torque of the motor reaches a preset maximum torque or monitoring that the second actual rotating speed of the motor is reduced to a preset rotating speed threshold value.

The driving device applied to the vehicle provided by the embodiment of the invention can execute the driving method applied to the vehicle provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

It should be noted that, the units and modules included in the system are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the embodiment of the invention.

EXAMPLE six

Fig. 10 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention. FIG. 10 illustrates a block diagram of an exemplary electronic device 100 suitable for use in implementing embodiments of the present invention. The electronic device 100 shown in fig. 10 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.

As shown in fig. 10, electronic device 100 is embodied in the form of a general purpose computing device. The components of the electronic device 100 may include, but are not limited to: one or more processors or processing units 1001, a system memory 1002, and a bus 1003 that couples the various system components (including the system memory 1002 and the processing unit 1001).

Bus 1003 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Electronic device 100 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by electronic device 100 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 1002 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)1004 and/or cache memory 1005. The electronic device 100 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 1006 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 10, commonly referred to as a "hard disk drive"). Although not shown in FIG. 10, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 1003 by one or more data media interfaces. Memory 1002 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

A program/utility 1008 having a set (at least one) of program modules 1007 may be stored, for example, in memory 1002, such program modules 1007 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may include an implementation of a network environment. Program modules 1007 generally perform functions and/or methods in the described embodiments of the invention.

Electronic device 100 may also communicate with one or more external devices 1009 (e.g., keyboard, pointing device, display 1010, etc.), with one or more devices that enable a user to interact with electronic device 100, and/or with any devices (e.g., network card, modem, etc.) that enable electronic device 100 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 1011. Also, the electronic device 100 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 1012. As shown, the network adapter 1012 communicates with the other modules of the electronic device 100 via the bus 1003. It should be appreciated that although not shown in FIG. 10, other hardware and/or software modules may be used in conjunction with electronic device 100, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processing unit 1001 executes various functional applications and data processing by executing programs stored in the system memory 1002, for example, to implement a driving method applied to a vehicle provided by an embodiment of the present invention.

EXAMPLE seven

Embodiments of the present invention also provide a storage medium containing computer-executable instructions that, when executed by a computer processor, perform a method of driving for use in a vehicle. The method comprises the following steps:

Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A driving method applied to a vehicle, characterized by comprising:

2. The method of claim 1, wherein the motor-driven clutch based target position comprises:

adjusting a target position of the clutch based on the motor driving the transmission mechanism.

3. The method of claim 1, further comprising:

determining the half-joint point position;

the determining the position of the half-junction point comprises:

determining a first critical rotating speed value;

determining a first initial feedback torque when the motor is at a first critical rotating speed value, and adjusting a first target feedback torque of the motor according to the first critical rotating speed value;

and determining a moment difference value between the first target feedback moment and the first initial feedback moment corresponding to each sampling point, and determining the position of the half-joint point according to the moment difference value.

4. The method of claim 3, prior to determining the first threshold speed value, comprising:

adjusting the rotating speed of the motor to be a second rotating speed value, and determining that the position to which the motor drives the clutch to operate is in the semi-joint neighborhood when the feedback position of the motor is detected to be matched with a preset feedback position;

when the position of the clutch is in the half-joint neighborhood, adjusting the rotating speed of the motor to be the first critical rotating speed, and eliminating partial return spring force of the clutch when the speed difference value between the first actual rotating speed of the motor and the first critical rotating speed value is monitored to be smaller than a preset speed difference value threshold value, so that the position of the half-joint point is determined under the condition of eliminating the partial return spring force.

5. The method of claim 3, wherein determining a torque difference between the first target feedback torque and the first start feedback torque for each sampling point, and determining the semi-junction position based on the torque difference comprises:

and determining the torque difference between the first target feedback torque and the first initial feedback torque of each sampling point in real time, and taking the position of the clutch when the torque difference is greater than a preset torque difference threshold as the position of the half-joint point.

6. The method of claim 3, wherein determining a torque difference between the first target feedback torque and the first start feedback torque for each sampling point, and determining the semi-junction position based on the torque difference comprises:

if the torque difference value between the first target feedback torque and the first initial feedback torque of each sampling point in the preset sampling point number is smaller than a preset torque difference value threshold value, taking the first target feedback torque of any one sampling point in the preset number close to the current moment as the first initial feedback torque, determining the torque difference value between each sampling point behind the sampling point and the first initial feedback torque, and taking the position of the clutch when the torque difference value is larger than the preset torque difference value threshold value as the half-joint point position.

7. The method of claim 1, further comprising:

determining the locking position;

the determining the lock position includes:

and adjusting the motor to be a third rotating speed value, and taking the position of the clutch as a locking position when monitoring that the second feedback torque of the motor reaches a preset maximum torque or monitoring that the second actual rotating speed of the motor is reduced to a preset rotating speed threshold value.

8. A drive device for use in a vehicle, comprising:

9. An electronic device, characterized in that the device comprises:

one or more processors;

a storage device for storing one or more programs,

when executed by the one or more processors, cause the one or more processors to implement a driving method applied in a vehicle as recited in any one of claims 1-7.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a driving method according to any one of claims 1 to 7, as applied to a vehicle.