CN114962632A - Gear engaging and disengaging force determining method and device, electronic equipment and storage medium - Google Patents

Gear engaging and disengaging force determining method and device, electronic equipment and storage medium Download PDF

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Publication number
CN114962632A
CN114962632A CN202210591964.2A CN202210591964A CN114962632A CN 114962632 A CN114962632 A CN 114962632A CN 202210591964 A CN202210591964 A CN 202210591964A CN 114962632 A CN114962632 A CN 114962632A
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gear
compensation
force
determining
engaging
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CN114962632B (en
Inventor
李长洲
王明玉
宁甲奎
朱桂庆
孙鹏远
张振威
曾云鹏
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FAW Group Corp
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FAW Group Corp
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/04—Smoothing ratio shift
    • F16H61/0437—Smoothing ratio shift by using electrical signals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/14—Inputs being a function of torque or torque demand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/14—Inputs being a function of torque or torque demand
    • F16H59/24—Inputs being a function of torque or torque demand dependent on the throttle opening
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/50—Inputs being a function of the status of the machine, e.g. position of doors or safety belts
    • F16H59/54—Inputs being a function of the status of the machine, e.g. position of doors or safety belts dependent on signals from the brakes, e.g. parking brakes
    • 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
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/84—Data processing systems or methods, management, administration

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Transmission Device (AREA)

Abstract

The embodiment of the invention discloses a gear disengaging force determining method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a driving intention signal of a driving object of a target vehicle, wherein the driving intention signal comprises at least one of a brake master cylinder pressure signal, an accelerator signal and a brake signal; determining the gear shifting type of the target vehicle according to the driving intention signal, and determining an off-gear compensation item matched with the gear shifting type; and determining the compensation gear shifting and engaging force of the dual-clutch transmission in the target vehicle under the gear shifting and engaging compensation item, and determining the target gear shifting and engaging force of the dual-clutch transmission according to the compensation gear shifting and engaging force. According to the technical scheme of the embodiment of the invention, the shifting fork can be quickly taken off and put into gear under the condition of low noise.

Description

Gear engaging and disengaging force determining method and device, electronic equipment and storage medium
Technical Field
The embodiment of the invention relates to the technical field of automatic control, in particular to a method and a device for determining a gear disengaging force, electronic equipment and a storage medium.
Background
With the rapid development of vehicle technology, automatic transmissions are increasingly used. Among many types of automatic transmissions, dual clutch transmissions are favored by many manufacturers and market users due to their advantages of fast shifting without power interruption, low fuel consumption, and low manufacturing cost.
The double-clutch transmission is characterized by comprising two clutches which are respectively arranged on odd and even number shafts of the transmission, the odd number shaft clutches are matched with the gear speed ratios of the odd number shafts of the strain transmission, and the even number shaft clutches are matched with the gear speed ratios of the even number shafts of the strain transmission. In the running process of the vehicle, the transmission control unit can select a gear suitable for the current vehicle working condition to run, and needs to complete corresponding shifting fork gear off-on actions before the clutch is switched, so that the shifting fork gear off-on time has important influence on the dynamic property and the smoothness of the vehicle.
The shifting fork gear off and on time is related to gear off and on force, but the existing gear off and on force determining scheme cannot rapidly complete the shifting fork gear off and on action under the condition of low noise.
Disclosure of Invention
The embodiment of the invention provides a method and a device for determining a gear disengaging and engaging force, electronic equipment and a storage medium, which are used for quickly completing the action of disengaging and engaging a shifting fork under the condition of low noise.
In a first aspect, an embodiment of the present invention provides a method for determining a disengagement force, which may include:
acquiring a driving intention signal of a driving object of a target vehicle, wherein the driving intention signal comprises at least one of a brake master cylinder pressure signal, an accelerator signal and a brake signal;
determining the gear shifting type of the target vehicle according to the driving intention signal, and determining an off-gear compensation item matched with the gear shifting type;
and determining the compensation gear shifting and engaging force of the dual-clutch transmission in the target vehicle under the gear shifting and engaging compensation item, and determining the target gear shifting and engaging force of the dual-clutch transmission according to the compensation gear shifting and engaging force.
In a second aspect, an embodiment of the present invention further provides an engaging and disengaging force determining apparatus, which may include:
the system comprises a signal acquisition module, a signal processing module and a control module, wherein the signal acquisition module is used for acquiring a driving intention signal of a driving object of a target vehicle, and the driving intention signal comprises at least one of a brake master cylinder pressure signal, an accelerator signal and a brake signal;
the gear shifting and engaging compensation item determining module is used for determining the gear shifting type of the target vehicle according to the driving intention signal and determining a gear shifting and engaging compensation item matched with the gear shifting type;
and the target gear off-off and on-gear force determining module is used for determining the compensation gear off-gear force of the dual-clutch transmission in the target vehicle under the gear off-gear compensation item and determining the target gear off-gear force of the dual-clutch transmission according to the compensation gear off-gear force.
In a third aspect, an embodiment of the present invention further provides an electronic device, which may include:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to cause the at least one processor to perform a method of determining a disengagement force provided by any of the embodiments of the invention when executed.
In a fourth aspect, the embodiments of the present invention further provide a computer-readable storage medium, on which computer instructions are stored, where the computer instructions are configured to enable a processor to implement the method for determining a disengagement force according to any of the embodiments of the present invention.
According to the technical scheme of the embodiment of the invention, the gear shifting type of a target vehicle is determined by acquiring a driving intention signal of a driving object of the target vehicle, an off-gear compensation item matched with the gear shifting type is determined, the compensation off-gear force of a double-clutch transmission in the target vehicle under the off-gear compensation item is determined, and finally the target off-gear force of the double-clutch transmission is determined according to the compensation off-gear force. The technical scheme can quickly finish the action of gear shifting of the shifting fork under the condition of low noise. According to the technical scheme of the embodiment of the invention, the gear off-off force is dynamically compensated based on the driving intention signal of the driving object, the gear off-off time is effectively shortened, the noise of the target vehicle is effectively reduced while the expectation of the driving object and the dynamic property of the target vehicle are met, and the quality effect of the target vehicle is improved.
It should be understood that the statements in this section do not necessarily identify key or critical features of any embodiment of the present invention, nor do they necessarily limit the scope of the present invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for determining a disengagement force according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for determining a disengagement force according to a second embodiment of the present invention;
fig. 3 is a flowchart of an alternative example of a determination method of an engaging force according to a second embodiment of the present invention;
fig. 4 is a block diagram illustrating a structure of an engaging and disengaging force determining apparatus according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device implementing the off-hook force determination method according to the embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. The cases of "target", "original", etc. are similar and will not be described in detail herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Before the embodiment of the present invention is described, an application scenario of the embodiment of the present invention is exemplarily described: the double-clutch transmission can follow the vehicle state to perform actions such as gear up and gear down in the driving process of the vehicle, the intention of a driving object is judged according to the operation of the driving object, when the input of the driving object is relatively flat and gentle, the gear shifting action of the vehicle is expected to be smooth and soft, the gear shifting force at the moment does not need to be supplemented additionally, and the gear engaging and disengaging actions of a shifting fork only need to be completed by the gear engaging force of a base. When the driver has obvious and urgent acceleration or deceleration intention, the vehicle needs to respond quickly, and the quick action at the moment is the first requirement, but also considers the requirement of smoothness. In order to achieve the above object, a method of determining a clutch engagement force as set forth in the following embodiments is proposed.
Example one
Fig. 1 is a flowchart of a method for determining a disengagement force according to an embodiment of the present invention. The present embodiment is applicable to the case of off-shift force compensation based on the driver's intention. The method may be performed by an off-hook gear power determining apparatus provided in an embodiment of the present invention, which may be implemented by software and/or hardware, and may be integrated on an electronic device, which may be various user terminals or servers.
Referring to fig. 1, the method of the embodiment of the present invention specifically includes the following steps:
s110, acquiring a driving intention signal of a driving object of the target vehicle, wherein the driving intention signal comprises at least one of a brake master cylinder pressure signal, an accelerator signal and a brake signal.
The driving object of the target vehicle may be understood as a driver who is driving the target vehicle, and the driving intention signal may be understood as a signal capable of representing the driving intention of the driving object, such as at least one of a brake master cylinder pressure signal, a throttle signal and a brake signal generated by real-time operation of the driving object on aspects of throttle, brake and the like.
Alternatively, the driving intent signal may include a throttle profile, and/or a change in master cylinder pressure. The accelerator change curve can reflect the absolute value of the current accelerator and the change rate in unit time, and is a direct embodiment of the driving intention of the driving object. The change situation of the pressure of the brake master cylinder can reflect the change situation and the emergency situation of the braking demand of the driver. When the pressure of the brake master cylinder is detected to be larger than the set value, for example, 5Bar can be set, and the brake pedal mark position is judged to be set. This is also a direct manifestation of the driving intention of the driving object.
Specifically, at least one of a brake master cylinder pressure signal, an accelerator signal and a brake signal generated by the operation of a driving object of the target vehicle on an accelerator, a brake and the like is acquired in real time. For example, the pressure on the automatic pedal is detected, if the pressure is above 2Bar, the brake is considered to be available, otherwise, the brake is considered to be unavailable, namely, the pressure on the automatic pedal is used as a brake signal. The brake signal may be considered another form of master cylinder pressure signal.
Optionally, in the embodiment of the present invention, the smoothness of the driving intention signal of the driving object of the target vehicle and/or the entire vehicle state of the current target vehicle may also be obtained. The degree of gentleness can be understood as the degree of significance of the magnitude of the change in the driving intention signal. The overall vehicle state can be understood as the current state of the target vehicle, such as the current driving speed and/or the running gear.
And S120, determining the gear shifting type of the target vehicle according to the driving intention signal, and determining an off-gear compensation item matched with the gear shifting type.
The type of gear shift of the target vehicle can be understood as the type to which the current gear change of the target vehicle belongs. The off-gear compensation term can be understood as a type term that needs to compensate for the on-gear force.
Specifically, the gear shifting type of the target vehicle can be determined according to the driving intention signal, and one or more gear off-off compensation items matched with the gear shifting type are determined according to the gear shifting type of the target vehicle.
Optionally, the shift type of the target vehicle may be determined according to the driving intention signal, the smoothness of the driving intention signal, and/or the entire vehicle state of the current target vehicle, and one or more off-shift compensation items matched with the shift type may be determined according to the shift type of the target vehicle.
Alternatively, the shift type of the target vehicle may include: a power upshift, a coast downshift, a brake downshift, or a power downshift. If the accelerator is stepped on by a driving object, the whole vehicle speed of the target vehicle is increased, and meanwhile, the process of increasing the final running gear can be defined as power gear-up; if the driver does not step on the accelerator, the process of finally operating the gear to be increased can be defined as sliding gear-up; if the driver does not step on the accelerator, the process of lowering the running gear of the target vehicle can be defined as sliding gear reduction; if the accelerator is not stepped on by the driving object, and the process that the target vehicle runs the gear reduction by stepping on the brake pedal can be defined as braking downshift, wherein the braking speed of the driving object is different, and the speed of the target vehicle is different; if the driver does not depress the brake and, in order to achieve a faster acceleration response, rapidly depresses the accelerator, the triggered acceleration process of the final gear reduction may be defined as a power downshift.
S130, determining the compensation gear shifting and engaging force of a double-clutch transmission in the target vehicle under the gear shifting and engaging compensation item, and determining the target gear shifting and engaging force of the double-clutch transmission according to the compensation gear shifting and engaging force.
The dual-clutch transmission can be understood as a transmission comprising two shafting of an odd shaft and an even shaft, the two shafting are respectively connected with a corresponding odd shaft clutch and a corresponding even shaft clutch, and the corresponding shafting is provided with a plurality of gears, optionally, in the embodiment of the invention, the odd shaft clutch corresponds to 1\3\5\7\ R gear, and the even shaft clutch corresponds to 2\4\6 gear. The compensated engaging and disengaging force under the engaging and disengaging compensation term can be understood as the engaging and disengaging force corresponding to the engaging and disengaging compensation term, and when the number of the engaging and disengaging compensation terms is at least two, each engaging and disengaging compensation term can correspond to the respective engaging and disengaging compensation force. The target gear shifting and engaging force of the dual clutch transmission can be determined according to the compensation gear shifting and engaging force, and if the compensation gear shifting and engaging force is directly used as the target gear shifting and engaging force; if at least two compensation engaging and disengaging forces exist, taking the sum of the compensation engaging and disengaging forces as a target engaging and disengaging force; then, the sum of the compensated gear shifting force and the basic gear shifting force is used as a target gear shifting force; the target gear shifting force is then e.g. the sum of all compensated and basic gear shifting forces.
Specifically, each compensation off-gear and on-gear force of a dual-clutch transmission in the target vehicle under each off-gear compensation item is determined, and the sum of each compensation off-gear and on-gear force and a basic off-gear force is determined to serve as the target off-gear and on-gear force of the dual-clutch transmission.
Above-mentioned technical scheme can introduce extra compensation power of putting into gear to accomplish fast and keep off the position switching, satisfy the demand that the driver object suddenly accelerated or suddenly decelerated. The vibration level, i.e., the noise quality of the vehicle, can be taken into consideration as well as the traveling quality of the vehicle.
According to the technical scheme of the embodiment of the invention, the gear shifting type of the target vehicle can be determined according to the driving intention signal by acquiring the driving intention signal of the driving object of the target vehicle, the gear off and engagement compensation item matched with the gear shifting type is determined, the compensation gear off and engagement force of the dual-clutch transmission in the target vehicle under the gear off and engagement compensation item is determined, and the target gear off and engagement force of the dual-clutch transmission is determined according to the compensation gear off and engagement force. The technical scheme can quickly finish the action of gear shifting of the shifting fork under the condition of low noise. The technical scheme of the embodiment of the invention dynamically compensates the gear disengaging force based on the driving intention signal of the driving object, effectively shortens the gear disengaging time, effectively reduces the noise of the target vehicle while meeting the expectation of the driving object and the dynamic property of the target vehicle, and improves the quality effect of the target vehicle.
In an alternative embodiment, after determining the compensated off-shift force of the dual clutch transmission in the target vehicle under the off-shift compensation term, the off-shift force determination method may further include: acquiring a shifting fork gear shifting stage of the double-clutch transmission, and determining a compensation coefficient corresponding to the shifting fork gear shifting stage, wherein the shifting fork gear shifting stage comprises a presynchronization stage, a synchronization stage or a gear entering stage; and processing the compensation gear engaging and disengaging force according to the compensation coefficient, and updating the compensation gear engaging and disengaging force according to a processing result.
In practical application, the gear shifting fork of the dual clutch transmission can be regarded as a certain stage in the gear shifting process of the dual clutch transmission, and optionally, the gear shifting fork can be a pre-synchronization stage, a synchronization stage or a gear advance stage. The compensation factor can be understood as a factor for processing the compensation of the gear shifting force in different stages of gear shifting.
The pre-synchronization stage can be understood as a process from the movement of the gear shifting fork from a middle position to a reading synchronization point. The synchronization stage can be understood as a process that the shifting fork reaches a transfer synchronization position, the rotating speed of a clutch corresponding to a gear to be engaged is matched with the rotating speed of an output shaft under the action of the gear to be engaged, when the matching speed is smaller than a set value, the synchronization stage is judged to be finished (50rpm), and the shifting fork gear can be pushed in under the action of the gear to be engaged when the speed is smaller than the speed difference according to the characteristics of the system. The gear advance phase can be understood as the fork reaching the synchronized position and after the speed synchronization is completed, the fork starts to move to the fully engaged position.
It should be noted that, because the whole shifting fork gear-off and gear-on stage includes a plurality of stages such as a presynchronization stage, a synchronization stage or a gear-in stage, shortening the time of each shifting fork gear-off and gear-on stage can greatly shorten the gear-on process, but the more the shortening, the larger impact and noise are usually generated at the rear stage of each shifting fork gear-off and gear-on stage, and therefore it is determined that the compensation gear-off and gear-on force of the dual clutch transmission in the target vehicle under the gear-off and gear-on compensation term cannot be directly used. In the embodiment of the invention, the calculated gear shifting compensation force can introduce a compensation coefficient in each shifting fork gear off and on stage, and the compensation gear off and on stage can be processed by using the compensation coefficients corresponding to different shifting fork gear off and on stages, so that the compensation gear off and on stage can be dynamically changed according to the current stage.
Specifically, a shifting fork gear off-off stage of the current double-clutch transmission is obtained, and a compensation coefficient corresponding to the current shifting fork gear off-off stage is determined, wherein the shifting fork gear off-off stage comprises a presynchronization stage, a synchronization stage or a gear entering stage. According to the compensation coefficient A and formula F Process compensation ＝F Compensation X A pair compensation gear engaging and disengaging force F Compensation Processing and compensating the gear-off force F according to the processed Process compensation Updating the compensated gear off-take force. For example, in the embodiment of the present invention, the compensation coefficients in the pre-synchronization stage, the synchronization stage, or the gear engagement stage may be 0.5, 1, and 0.5, respectively, and if it is determined that the current pre-synchronization stage is the pre-synchronization stage and the obtained compensated off-shift force is 10, the final compensated off-shift force is 10 × 0.5 — 5.
The advantage that sets up like this lies in, both can shorten the time that the shift fork plucked the stage of putting into gear and can make the shortening by a wide margin of the process of putting into gear, also can pluck the power of putting into gear with the compensation and restrict the value that is adapted to each stage that the shift fork plucked the stage of putting into gear more, avoids as far as possible to produce great impact and noise in the back end of each stage that the shift fork plucked the stage of putting into gear.
Another optional technical solution is that the determining of the off-gear compensation term matched with the shift type includes: when the gear shifting type is power upshifting or power downshifting, taking a clutch torque compensation item and/or a throttle compensation item as an off-gear compensation item matched with the gear shifting type; and/or when the gear shifting type is brake downshift, using a brake master cylinder pressure compensation item as an off-gear compensation item matched with the gear shifting type.
Specifically, in power gear shifting (including power gear shifting and power gear shifting), the accelerator compensation item can represent the urgent degree of the gear shifting, and the gear engaging action is quickened to be completed in a mode of increasing gear shifting force, so that the acceleration requirement of a driving object is met. In power shifting (including power upshifting and power downshifting), the clutch torque compensation item can represent the disturbance resistance of the current vehicle, and the gear engaging action is quickened by increasing the shifting force without causing vibration and noise of the vehicle. Therefore, in the embodiment of the invention, when the shift type is a power upshift or a power downshift, the clutch torque compensation term and/or the throttle compensation term are/is used as the off-shift compensation term matched with the shift type. In the braking gear shifting process, the pressure of a brake master cylinder can represent the braking emergency degree of a driver and simultaneously represent the running state of a vehicle, and the gear shifting force compensation item is introduced to improve the gear disengaging and engaging speed under the condition of ensuring the noise level of a system and better meet the use requirement of the driver, so that when the gear shifting type is braking downshift, the pressure compensation item of the brake master cylinder is used as a gear disengaging and engaging compensation item matched with the gear shifting type.
In an embodiment of the invention, different off-shift compensation terms can be matched for different shift types. The advantage of setting up like this lies in can making the off-gear compensation item that matches can satisfy current gear compensation demand, makes the gear compensation power that follow-up definite gear compensation power more be applicable to the gear compensation power that the current condition needs.
In another optional technical solution, after the determining the shift type of the target vehicle according to the driving intention signal, the method for determining an off-hook force further includes: and if the gear shifting type is a coasting upshift or a coasting downshift, acquiring a basic engaging and disengaging force, and using the basic engaging and disengaging force as the target engaging and disengaging force.
The basic gear shifting force can be understood as the basic gear shifting force which can only complete the shifting action of the shifting fork without additional supplement.
Specifically, when the driving intention signal of the driving object is relatively flat, the current gear shifting type can be sliding upshift or sliding downshift, the gear shifting force does not need to be supplemented additionally, and the shifting action of the shifting fork can be completed only by taking the basic shifting force as the target shifting force.
The method has the advantages that when the gear shifting type is the sliding upshift or the sliding downshift, extra compensation gear shifting force is not added, the requirement that the currently expected target vehicle gear shifting action is smooth and soft is met, and time and resources consumed for determining the compensation gear shifting force can be saved.
Example two
Fig. 2 shows another method for determining a second off-hook force according to an embodiment of the present invention. The present embodiment is optimized based on the above technical solutions. The method for determining the gear shifting force provided by the embodiment describes the gear shifting compensation item matched with the gear shifting type and the gear shifting force compensation of the dual clutch transmission in the target vehicle under the gear shifting compensation item in detail, and can realize dynamic compensation of the gear shifting force. The same or corresponding terms as those in the above embodiments are not explained in detail herein.
Referring to fig. 2, the method of the present embodiment may specifically include the following steps:
s210, acquiring a driving intention signal of a driving object of the target vehicle, wherein the driving intention signal comprises at least one of a brake master cylinder pressure signal, an accelerator signal and a brake signal.
S220, determining the gear shifting type of the target vehicle according to the driving intention signal, and determining an off-gear compensation item matched with the gear shifting type.
Wherein, the gear disengagement compensation term can comprise: a throttle compensation term, a clutch torque compensation term, and a master cylinder pressure compensation term.
It should be noted that in the dual clutch transmission, when the dual clutch transmission is in gear, the current clutch transmitting the torque required by the whole vehicle transmits the engine torque value at the moment, and the magnitude of the transmitted torque value represents the rigidity degree of a transmission system and an engine system and represents the capability of the whole vehicle for resisting external action disturbance. Thus, the compensated off-gear force under the clutch torque compensation term can be determined from the engine torque value.
And S230, acquiring a clutch torque and/or an output shaft rotating speed of a transmission by using the gear off compensation item as a clutch torque compensation item, and determining a compensation gear off force of the dual-clutch transmission in the target vehicle under the clutch torque compensation item according to the clutch torque and/or the output shaft rotating speed, wherein the clutch torque comprises an engine torque transmitted by an on-gear clutch in the dual-clutch.
Optionally, in the embodiment of the present invention, when determining the disengagement compensation term, in addition to referring to the shift type, entry conditions of various disengagement compensation terms may be referred to. For example, the clutch torque compensation term may also set an entry condition, and if the entry condition cannot be reached, the current off-gear compensation term may not include the clutch torque compensation term. The entry conditions of the clutch torque compensation term may include: the clutch torque is greater than the set value, which may be 50Nm in an embodiment of the invention, for example; and/or the current output shaft speed is greater than a set value, for example in an embodiment of the invention the set value may be greater than 100 Rpm.
For example, clutch torque and/or output shaft speed of the transmission are obtained, wherein the clutch torque comprises engine torque transmitted by an on-gear clutch in the double clutches; obtaining the compensation gear off-off and on-gear force of a double-clutch transmission in a target vehicle under a clutch torque compensation item according to a clutch torque and/or output shaft rotating speed lookup table 1; the lookup table of the compensation off-gear and on-gear forces under the clutch torque compensation term in the embodiment of the invention is shown in table 1:
TABLE 1 Compensation off-and-on gear force lookup table under clutch torque compensation term
Figure BDA0003665673720000121
Figure BDA0003665673720000131
It can be understood that the horizontal axis of table 1 represents the torque transmitted by the current clutch, and the larger the clutch torque is, the better the rigidity of the transmission system and the engine is, the stronger the disturbance resistance of the system is, and the larger the gear engaging force that can be tolerated while ensuring the gear shifting noise is. The vertical axis of table 1 is the rotating speed of the output shaft of the transmission, and the rotating speed of the output shaft is converted into the vehicle speed, and represents the magnitude of the rotational inertia of the currently running gear, the higher the rotating speed and the larger the rotational inertia, the stronger the disturbance resistance of the system, and the larger the allowable engaging force is under the condition of ensuring that the shifting noise is small, and the smaller the allowable engaging force is, otherwise. Under the same output shaft rotating speed, the larger the torque of the clutch is, the larger the compensation gear engaging and disengaging force under the torque compensation term of the clutch is; under the same clutch torque, the larger the rotating speed of the output shaft is, the larger the compensation gear engaging and disengaging force under the clutch torque compensation item is. The specific value of the compensation gear off and on force under the clutch torque compensation item in the table 1 is obtained according to the actual vehicle performance calibration.
It will be appreciated that table 1 shows the compensated off-shift force for the clutch torque compensation term determined from the clutch torque and the output shaft speed of the transmission together, and in another embodiment, the compensated off-shift force for the torque compensation term may be determined from the clutch torque (i.e. one clutch torque corresponds to the compensated off-shift force for one torque compensation term); or determining the compensation gear shifting force under the torque compensation term according to the rotating speed of the output shaft of the transmission (namely the rotating speed of the output shaft of one transmission corresponds to the compensation gear shifting force under one torque compensation term).
The advantage of setting up like this lies in, only needs can acquire the compensation under the clutch torque compensation item and plucks the power of putting into gear through looking up the table, and the acquisition process is convenient and fast.
S240, the gear off-off compensation item comprises an accelerator compensation item, an accelerator value and/or an accelerator value change rate are/is obtained, and gear off-off and on-off compensation force of a double-clutch transmission in the target vehicle under the accelerator compensation item is determined according to the accelerator value and/or the accelerator value change rate.
Optionally, in the embodiment of the present invention, when determining the disengagement compensation term, in addition to referring to the shift type, entry conditions of various disengagement compensation terms may be referred to. For example, the throttle compensation term may also set an entry condition, and if the entry condition cannot be reached, the current gear disengagement compensation term may not include the throttle compensation term. The entry conditions of the throttle compensation term may include: the value of the accelerator pedal is greater than a set value, for example, the set value may be 40% in the embodiment of the present invention; and/or the accelerator is in a monotone increasing state in a set period (representing the acceleration requirement of a driving object when the accelerator is in a dynamic increasing process).
Illustratively, obtaining a throttle value and/or a rate of change of the throttle value; obtaining the compensation gear off-off and on-gear force of a double-clutch transmission in the target vehicle under an accelerator compensation item according to the accelerator value and/or the accelerator value change rate lookup table 2; the lookup table of the gear shifting and engaging force compensation under the accelerator compensation term in the embodiment of the invention is shown in table 2:
TABLE 2 Compensation on throttle compensation term gear off and on force lookup table
Figure BDA0003665673720000141
Figure BDA0003665673720000151
It is understood that the horizontal axis of table 2 is the size of the accelerator pedal. The vertical axis of table 2 is the change rate of the accelerator pedal, which is the value of the accelerator pedal in the current cycle minus the value of the accelerator pedal in the previous cycle, and the average value of three consecutive calculation intervals is taken to prevent the signal disturbance of the accelerator. Under the same accelerator change rate, the larger the accelerator is, the larger the compensation gear off-on force under the accelerator compensation item is; under the same accelerator, the larger the accelerator change rate is, the larger the compensation gear shifting and engaging force under the accelerator compensation term is. In table 2, the specific value of the compensated gear engaging and disengaging force under the throttle compensation term is obtained according to the actual vehicle performance calibration.
It can be understood that, in table 2, the compensated off-gear shift force under the throttle compensation term is determined according to the throttle change rate and the throttle size, and in another embodiment, the compensated off-gear shift force under the throttle compensation term may be determined according to the throttle change rate (that is, one throttle change rate corresponds to the compensated off-gear shift force under one throttle compensation term); or determining the compensation gear off and on force under the accelerator compensation term according to the accelerator size (namely the compensation gear off and on force under one accelerator compensation term corresponds to one accelerator size).
The arrangement has the advantages that the compensation gear shifting and engaging force under the accelerator compensation item can be obtained only by looking up the table, and the obtaining process is convenient and fast.
And S250, the gear off and engagement compensation item comprises an accelerator compensation item, the pressure of a brake master cylinder and/or the pressure change rate of the brake master cylinder are/is obtained, and the gear off and engagement compensation force of the double-clutch transmission in the target vehicle under the pressure compensation item of the brake master cylinder is determined according to the pressure of the brake master cylinder and/or the pressure change rate of the brake master cylinder.
Optionally, in the embodiment of the present invention, when determining the engagement and disengagement compensation term, besides referring to the shift type, entry conditions of various engagement and disengagement compensation terms may also be referred to. For example, the master cylinder pressure compensation term may also set an entry condition, and if the entry condition cannot be reached, the current disengagement shift compensation term may not include the master cylinder pressure compensation term. The entry condition of the master cylinder pressure compensation term may include: the value of the master cylinder pressure is greater than a set value, which may be, for example, 5Bar in an embodiment of the invention; and/or, the brake pedal flag bit is set.
Illustratively, acquiring the master cylinder pressure and/or the master cylinder pressure change rate; obtaining the compensation gear shifting and engaging force of the dual clutch transmission in the target vehicle under the pressure compensation item of the brake master cylinder according to the pressure of the brake master cylinder and/or the pressure change rate lookup table 3 of the brake master cylinder; the lookup table of the compensation gear shifting and disengaging force under the pressure compensation item of the brake master cylinder in the embodiment of the invention is shown in the table 3:
TABLE 3 Compensation off-and-on gear force lookup table under brake master cylinder pressure compensation term
Figure BDA0003665673720000161
It is understood that the horizontal axis of table 3 represents the master cylinder pressure, and the greater the master cylinder pressure, the greater the braking demand that characterizes the current driving object. The vertical axis of table 3 is the change rate of the master cylinder pressure, the change rate of the master cylinder pressure is equivalent to 0-100% when the master cylinder pressure is within the range of the minimum value and the maximum value, the change rate of the master cylinder pressure is the difference between the current braking percentage and the last cycle braking percentage, in order to eliminate the influence of signal jitter, the average value of the past certain time is taken, and in the embodiment of the invention, the change rate of 3 continuous cycles is taken. The brake master cylinder pressure compensation item represents the deceleration requirement of a driving object and also represents the deceleration state of a vehicle system. The larger the pressure of the brake master cylinder is, the larger the pressure change rate of the brake master cylinder is, the larger the speed reduction requirement of the representation vehicle is, the larger the change rate of the vehicle speed can be inferred, the stronger the disturbance resistance of the system is, and the additional gear engagement compensation force can be increased. Under the same pressure change rate of the brake master cylinder, the larger the pressure of the brake master cylinder is, the larger the compensation gear-removing and gear-engaging force under the pressure compensation item of the brake master cylinder is; under the same brake master cylinder pressure, the larger the brake master cylinder pressure change rate is, the larger the compensation gear removing and engaging force under the brake master cylinder pressure compensation item is. In table 3, the specific value of the compensation engaging and disengaging force in the brake master cylinder pressure compensation term is obtained according to the actual vehicle performance calibration.
It can be understood that table 3 is to determine the compensation gear shifting and engaging force under the brake master cylinder pressure compensation term according to the brake master cylinder pressure and the brake master cylinder pressure change rate, and in another embodiment, may be to determine the compensation gear shifting and engaging force under the brake master cylinder pressure compensation term according to the brake master cylinder pressure change rate (that is, one brake master cylinder pressure change rate corresponds to the compensation gear shifting and engaging force under one brake master cylinder pressure compensation term); or determining the compensation gear shifting and engaging force under the pressure compensation item of the brake master cylinder according to the pressure of the brake master cylinder (namely, one pressure of the brake master cylinder corresponds to the compensation gear shifting and engaging force under the pressure compensation item of the brake master cylinder).
The advantage of setting up like this lies in, only need can obtain the compensation under the brake master cylinder pressure compensation item and take off the power of putting into gear through looking up the table, and the acquisition process is convenient and fast.
It should be noted that, in practical applications, S230-S250 may be executed alternatively, alternatively or totally, which is related to the specific situation of the determined gear shifting compensation term, and is not limited specifically herein.
And S260, determining the target gear shifting and engaging force of the double-clutch transmission according to the compensation gear shifting and engaging force.
Optionally, determining respective compensation off-and-on forces of the dual clutch transmission in the target vehicle under respective off-and-on compensation terms, and according to formula F Target ═ F Foundation +F Throttle valve +F Torque of +F Braking device The sum of the respective compensated off-gear forces and the basic off-gear force is determined as a target off-gear force for the dual clutch transmission.
It should be noted that the clutch torque, the output shaft rotation speed, the throttle value change rate, the master cylinder pressure change rate, and the like explained above may reflect the bearing capacity of the target vehicle, that is, it may reflect whether the target vehicle may generate noise when rapidly responding to the driving intention of the driving object, so that the target vehicle may not generate excessive noise when rapidly responding to the driving intention according to the corresponding compensation gear-off and gear-on forces determined by the above. According to the technical scheme, the gear shifting type and the gear shifting and engaging compensation item are linked, and the compensation gear shifting and engaging force under the corresponding gear shifting and engaging compensation item is determined based on the factors, so that the obtained target gear shifting and engaging force can quickly complete the action of shifting fork gear shifting and engaging under the condition of low noise.
According to the technical scheme of the embodiment of the invention, by determining different gear off and on compensation items matched with different gear shifting types and determining the compensation gear off and on force of the dual-clutch transmission in the target vehicle under the different gear off and on compensation items, the gear off and on speed can be further increased under the condition of ensuring the noise level of a system, the use requirement of a driver can be better met, and the time and resources in the aspects of calculating the compensation gear off and on force and the like can be saved as much as possible.
For example, an embodiment of the present invention provides a method for determining an engagement force, as shown in fig. 3, to determine whether a driver intention signal is input, and if the driver intention signal is input, to perform a gear shift type determination according to the intention signal. If the gear shifting type is power gear up or power gear down, calculating the compensation gear off and on force under the torque compensation item and/or the accelerator compensation item; if the gear shifting type is sliding upshift or sliding downshift, the gear shifting force is not compensated; and if the gear shifting type is braking downshift, calculating the compensation gear shifting and engaging force under the braking force compensation term. And finally, determining the target gear shifting and engaging force of the double-clutch transmission according to the compensation gear shifting and engaging force and the basic gear shifting and engaging force.
EXAMPLE III
Fig. 4 is a block diagram of a disengaging force determining apparatus according to a third embodiment of the present invention, which is configured to execute the disengaging force determining method according to any of the embodiments described above. The apparatus and the method for determining an off-hook force according to the embodiments described above belong to the same inventive concept, and details that are not described in detail in the embodiments of the off-hook force determining apparatus may refer to the embodiments of the method for determining an off-hook force described above. Referring to fig. 4, the apparatus may specifically include: a signal acquisition module 310, a gear off compensation term determination module 320 and a target gear off force determination module 330.
The signal acquiring module 310 is configured to acquire a driving intention signal of a driving object of a target vehicle, where the driving intention signal includes at least one of a brake master cylinder pressure signal, a throttle signal, and a brake signal;
an off-gear compensation item determining module 320, configured to determine a gear shifting type of the target vehicle according to the driving intention signal, and determine an off-gear compensation item matching the gear shifting type;
and a target off-gear and on-gear force determining module 330, configured to determine a compensated off-gear and on-gear force of a dual-clutch transmission in the target vehicle under the off-gear and on-gear compensation term, and determine a target off-gear and on-gear force of the dual-clutch transmission according to the compensated off-gear and on-gear force.
Optionally, the off-shift compensation term is a clutch torque compensation term, and the target off-shift force determination module 330 may include:
an output shaft speed acquisition unit for acquiring a clutch torque and/or an output shaft speed of the transmission, wherein the clutch torque comprises an engine torque transmitted by an on-gear clutch in the dual clutches;
and the first compensation off-gear force determination unit is used for determining the compensation off-gear force of the dual-clutch transmission in the target vehicle under the clutch torque compensation term according to the clutch torque and/or the output shaft rotating speed.
Optionally, the gear-off shift compensation term includes a throttle compensation term, and the target gear-off shift force determining module 330 may include:
the throttle value change rate acquisition unit is used for acquiring a throttle value and/or a throttle value change rate;
and the second compensation gear off-off and on-gear force determination unit is used for determining the compensation gear off-gear force of the double-clutch transmission in the target vehicle under the accelerator compensation term according to the accelerator value and/or the accelerator value change rate.
Optionally, the gear shifting compensation term is a brake master cylinder pressure compensation term, and the target gear shifting force determining module 330 may include:
the brake master cylinder pressure change rate acquisition unit is used for acquiring the pressure of the brake master cylinder and/or the pressure change rate of the brake master cylinder;
and the third compensation gear shifting and engaging force determining unit is used for determining the compensation gear shifting and engaging force of the double-clutch transmission in the target vehicle under the pressure compensation item of the brake master cylinder according to the pressure of the brake master cylinder and/or the pressure change rate of the brake master cylinder.
Optionally, the gear disengagement compensation term determining module 320 may include:
the first engaging and disengaging gear compensation item matching unit is used for taking a clutch torque compensation item and/or a throttle compensation item as an engaging and disengaging gear compensation item matched with the gear shifting type when the gear shifting type is a power upshift or a power downshift;
and/or the presence of a gas in the gas,
and the second off-gear compensation item matching unit is used for taking a brake master cylinder pressure compensation item as an off-gear compensation item matched with the gear shifting type when the gear shifting type is brake downshifting.
Optionally, on the basis of the above technical solution, the apparatus for determining an off-hook power further includes:
the compensation gear shifting and engaging force updating module is used for acquiring a shifting fork gear shifting and engaging stage of the double-clutch transmission after determining the compensation gear shifting and engaging force of the double-clutch transmission in a target vehicle under a gear shifting and engaging compensation item, and determining a compensation coefficient corresponding to the shifting fork gear shifting and engaging stage, wherein the shifting fork gear shifting and engaging stage comprises a pre-synchronization stage, a synchronization stage or a gear entering stage;
and the compensation gear shifting and engaging force updating module is used for processing the compensation gear shifting and engaging force according to the compensation coefficient and updating the compensation gear shifting and engaging force according to a processing result.
Optionally, the above-mentioned off-gear force determining device may further include:
and the target off-gear and on-gear force obtaining module is used for obtaining basic off-gear and on-gear force and taking the basic off-gear and on-gear force as the target off-gear and on-gear force if the gear shifting type of the target vehicle is the sliding upshift or the sliding downshift according to the driving intention signal.
In the apparatus for determining an engaging and disengaging power according to the third embodiment of the present invention, through the mutual cooperation of the signal obtaining module 310, the engaging and disengaging compensation item determining module 320 and the target engaging and disengaging power determining module 330,
the method comprises the steps of obtaining a driving intention signal of a driving object of a target vehicle, determining a gear shifting type of the target vehicle, determining an engaging and disengaging compensation item matched with the gear shifting type, determining a compensation engaging and disengaging force of a double-clutch transmission in the target vehicle under the engaging and disengaging compensation item, and finally determining a target engaging and disengaging force of the double-clutch transmission according to the compensation engaging and disengaging force. The device can rapidly complete the shifting fork gear disengaging and engaging actions under the low-noise condition. The device provided by the embodiment of the invention dynamically compensates the gear disengaging force based on the driving intention signal of the driving object, effectively shortens the gear disengaging time, effectively reduces the noise of the target vehicle while meeting the driving object expectation and the target vehicle dynamic property, and improves the quality effect of the target vehicle.
The gear disengaging and engaging force determining device provided by the embodiment of the invention can execute the gear disengaging and engaging force determining method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the executing method.
It should be noted that, in the above-mentioned embodiment of the off-hook power determining apparatus, the included units and modules are only divided according to functional logic, but are not limited to the above-mentioned 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 present invention.
Example four
FIG. 5 illustrates a schematic diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM)12, a Random Access Memory (RAM)13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM)12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above, such as the off-hook force determination method.
In some embodiments, the disengagement force determination method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the above described disengagement force determination method may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the off-hook force determination method in any other suitable way (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on 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.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A method of determining an off-gear force, comprising:
acquiring a driving intention signal of a driving object of a target vehicle, wherein the driving intention signal comprises at least one of a brake master cylinder pressure signal, an accelerator signal and a brake signal;
determining the gear shifting type of the target vehicle according to the driving intention signal, and determining an off-gear compensation item matched with the gear shifting type;
and determining the compensation gear shifting and engaging force of the dual-clutch transmission in the target vehicle under the gear shifting and engaging compensation item, and determining the target gear shifting and engaging force of the dual-clutch transmission according to the compensation gear shifting and engaging force.
2. The method of claim 1, wherein the off-shift compensation term comprises a clutch torque compensation term, and the determining a compensated off-shift force of a dual clutch transmission in the target vehicle under the off-shift compensation term comprises:
acquiring clutch torque and/or output shaft rotating speed of a transmission, wherein the clutch torque comprises engine torque transmitted by an on-gear clutch in the double clutches;
and determining the compensation off-gear force of a dual-clutch transmission in the target vehicle under the clutch torque compensation term according to the clutch torque and/or the output shaft rotating speed.
3. The method of claim 1, wherein the off-shift compensation term comprises a throttle compensation term, and the determining a compensated off-shift force of a dual clutch transmission in the target vehicle under the off-shift compensation term comprises:
acquiring a throttle value and/or a throttle value change rate;
and determining the compensation off-gear force of a double-clutch transmission in the target vehicle under the accelerator compensation term according to the accelerator value and/or the accelerator value change rate.
4. The method of claim 1, wherein the off-shift compensation term is a master cylinder pressure compensation term, and the determining a compensated off-shift force of a dual clutch transmission in the target vehicle under the off-shift compensation term comprises:
acquiring the pressure of a brake master cylinder and/or the pressure change rate of the brake master cylinder;
and determining the compensation gear engaging and disengaging force of the double-clutch transmission in the target vehicle under the brake master cylinder pressure compensation item according to the brake master cylinder pressure and/or the brake master cylinder pressure change rate.
5. The method of claim 1, wherein the determining an off-gear compensation term that matches the shift type comprises:
when the gear shifting type is power upshifting or power downshifting, taking a clutch torque compensation item and/or a throttle compensation item as an off-gear compensation item matched with the gear shifting type;
and/or the presence of a gas in the atmosphere,
and when the gear shifting type is brake downshift, taking a brake master cylinder pressure compensation item as an off-off gear compensation item matched with the gear shifting type.
6. The method of claim 1, further comprising, after said determining a compensated off-shift force of a dual clutch transmission in the target vehicle under the off-shift compensation term:
acquiring a shifting fork gear shifting stage of the double-clutch transmission, and determining a compensation coefficient corresponding to the shifting fork gear shifting stage, wherein the shifting fork gear shifting stage comprises a presynchronization stage, a synchronization stage or a gear feeding stage;
and processing the compensation gear engaging and disengaging force according to the compensation coefficient, and updating the compensation gear engaging and disengaging force according to a processing result.
7. The method of claim 1, further comprising, after said determining a shift type of the target vehicle from the driving intent signal:
and if the gear shifting type is a coasting upshift or a coasting downshift, acquiring a basic engaging and disengaging force, and using the basic engaging and disengaging force as the target engaging and disengaging force.
8. An off-gear force determining device, comprising:
the system comprises a signal acquisition module, a signal processing module and a control module, wherein the signal acquisition module is used for acquiring a driving intention signal of a driving object of a target vehicle, and the driving intention signal comprises at least one of a brake master cylinder pressure signal, an accelerator signal and a brake signal;
the gear shifting and engaging compensation item determining module is used for determining the gear shifting type of the target vehicle according to the driving intention signal and determining a gear shifting and engaging compensation item matched with the gear shifting type;
and the target gear off-off and on-gear force determining module is used for determining the compensation gear off-gear force of the dual-clutch transmission in the target vehicle under the gear off-gear compensation item and determining the target gear off-gear force of the dual-clutch transmission according to the compensation gear off-gear force.
9. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor to cause the at least one processor to perform the method of determining a disengagement force according to any of claims 1-7.
10. A computer-readable storage medium, characterized in that it stores computer instructions for causing a processor, when executed, to implement a method of determining a disengagement force according to any of claims 1-7.
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