CN115263947A - A clutch control method, device, electronic device and storage medium - Google Patents

Abstract

The invention discloses a clutch control method, device, electronic device and storage medium, wherein the method comprises: determining a motor driving torque corresponding to a target vehicle; and determining a motor driving torque corresponding to the target vehicle based on the motor driving torque; The to-be-processed mode corresponding to the clutch to be adjusted; wherein, the to-be-processed mode includes clutch engagement processing or clutch disengagement processing; based on the to-be-processed mode, the to-be-adjusted clutch is axially moved until the to-be-adjusted clutch The clutch state with the front axle motor of the target vehicle is a target clutch state; wherein, the target clutch state includes a disengaged state or an engaged state. It solves the problem that multiple motor mode switching is required when controlling the clutch, and the engagement and disengagement of the clutch cannot be accurately controlled, and the effect of accurately controlling the engagement and disengagement of the clutch is obtained.

Description

A clutch control method, device, electronic equipment and storage medium

technical field

The present invention relates to the technical field of vehicle control, in particular to a clutch control method, device, electronic equipment and storage medium.

Background technique

The front and rear axles of the electric vehicle are respectively driven by a motor, and a dog clutch is installed between the front motor and the drive shaft to output and cut off the power of the front axle.

At present, when controlling the power output and cut-off of the front axle based on the dog-tooth clutch, it is usually necessary for the normal controller and the motor controller in the vehicle to switch the motor control mode multiple times through the rotation speed and torque, and between the two controllers There may be a delay in communication, which will affect the calculation results, and cause fluctuations in torque and speed at the same time, which cannot control the engagement and disengagement of the clutch well.

In order to better control the engagement and disengagement of the clutch in the vehicle, it is necessary to improve the clutch control method.

Contents of the invention

The invention provides a clutch control method, device, electronic equipment and storage medium to solve the problem that multiple motor mode switching is required and the engagement and separation of the clutch cannot be accurately controlled when the clutch is controlled.

In a first aspect, an embodiment of the present invention provides a clutch control method, including:

determining a motor drive torque corresponding to the target vehicle;

Based on the motor drive torque, determine a pending processing mode corresponding to the clutch to be adjusted in the target vehicle; wherein, the pending processing mode includes a clutch engaging processing mode or a clutch disengaging processing mode;

Based on the pending processing mode, move the clutch to be adjusted axially until the clutch state between the clutch to be adjusted and the front axle motor of the target vehicle is a target clutch state; wherein, the target clutch state Includes disengaged or engaged states.

In the second aspect, the embodiment of the present invention also provides a clutch control device, including:

A motor drive torque determination module, configured to determine a motor drive torque corresponding to the target vehicle;

A mode to be processed determination module, configured to determine a mode to be processed corresponding to the clutch to be adjusted in the target vehicle based on the motor driving torque; wherein, the mode to be processed includes a clutch engaging processing mode or a clutch disengaging processing mode ;

A clutch adjustment module, configured to axially move the clutch to be adjusted based on the pending manner until the clutch state between the clutch to be adjusted and the front axle motor of the target vehicle is a target clutch state; wherein , the target clutch state includes a disengaged state or an engaged state.

In a third aspect, an embodiment of the present invention also provides an electronic device, including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the method described in any embodiment of the present invention. clutch control method.

In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the implementation of any embodiment of the present invention. The clutch control method described above.

In the technical solution of this embodiment, the motor drive torque corresponding to the target vehicle is determined, and the information to be used corresponding to the target vehicle is obtained, that is, the opening and closing degree of the accelerator pedal of the target vehicle and the current vehicle speed, and the information to be used is queried in the target mapping table. information corresponding to the motor drive torque. Based on the motor drive torque, determine the pending processing mode corresponding to the clutch to be adjusted in the target vehicle, when the motor driving torque is greater than the upper limit driving torque, determine the pending processing mode as the clutch engagement processing mode, and when the motor driving torque is less than the lower limit driving torque, determine The processing mode to be processed is the clutch disengagement processing mode. Based on the way to be processed, the clutch to be adjusted is moved axially until the clutch state between the clutch to be adjusted and the front axle motor of the target vehicle is the target clutch state, and a clutch control command is sent to the control system of the target vehicle so that the control system according to The clutch control instruction controls the clutch to be adjusted to move axially until the clutch state of the clutch to be adjusted is the target clutch state. It solves the problem that multiple motor mode switching is required when controlling the clutch, and the problem that the engagement and separation of the clutch cannot be accurately controlled, and the effect of accurately controlling the engagement and separation of the clutch is achieved.

It should be understood that the content described in this section is not intended to identify key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will be easily understood from the following description.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.

FIG. 1 is a flow chart of a clutch control method provided according to Embodiment 1 of the present invention;

FIG. 2 is a flow chart of a clutch control method provided according to Embodiment 2 of the present invention;

Fig. 3 is a schematic structural diagram of a clutch control device provided according to Embodiment 4 of the present invention;

Fig. 4 is a schematic structural diagram of an electronic device implementing a clutch control method according to an embodiment of the present invention.

Detailed ways

In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein.

Before elaborating the technical solution in detail, an application scenario of the technical solution is firstly introduced, so as to understand the technical solution more clearly. In a pure electric vehicle, a motor is installed on the front and rear axles of the vehicle, and a dog clutch is installed between the front motor and the drive shaft, which can be used to output and cut off the power of the front axle. During the running of the vehicle, when it is necessary to engage and disengage the clutch in the vehicle, the vehicle controller usually needs to send the speed control mode and the target speed to the motor controller, so that the clutch and the front The shaft motor is engaged, and after the engagement, the torque control mode and the target control torque are sent to the motor controller, and the motor is expected to be torque driven. During this process, the motor control mode of the vehicle will be continuously switched. At the same time, the communication delay between the two controllers will cause fluctuations in torque and speed, resulting in shocks during the switching process. In order to solve the above problems, the technical solution can be used to control the clutch in the vehicle, so that the clutch can be quickly engaged or disengaged to meet the driving requirements of the vehicle.

Embodiment one

Figure 1 is a flow chart of a clutch control method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation where the clutch of an electric vehicle is controlled to engage and disengage. This method can be executed by a clutch control device. The clutch control The device can be implemented in the form of hardware and/or software, and the clutch control device can be configured in a computing device capable of executing the clutch control method.

As shown in Figure 1, the method includes:

S110. Determine the motor driving torque corresponding to the target vehicle.

Wherein, the target vehicle refers to a vehicle that needs to adjust and control the clutch. This technical solution is only introduced as an example, and the vehicle is not limited. Exemplarily, the target vehicle may be a pure electric vehicle. Drive motors are respectively installed on the front and rear axles of the target vehicle. In this technical solution, the motor drive torque can be understood as the drive torque output to the vehicle based on the front motor of the target vehicle.

Specifically, the motor driving torque of the target vehicle can be determined according to the current vehicle speed and the degree of opening and closing of the accelerator pedal. Optionally, the to-be-used information of the target vehicle is obtained; based on the target mapping table, the motor driving torque corresponding to the to-be-used information is determined.

Wherein, the information to be used includes the opening and closing degree of the accelerator pedal, and the current speed of the target vehicle. The target mapping table includes at least one piece of information to be matched, and the motor driving torque corresponding to each piece of information to be matched. The information to be matched can be understood as the information to be used recorded in the target mapping table. Each information to be matched contains an accelerator pedal opening and closing degree and a vehicle speed information. That is to say, the combination of the accelerator pedal and the vehicle speed information can get the information.

Specifically, a target mapping table is set in advance, and at least one piece of information to be matched and the motor driving torque corresponding to each piece of information to be matched are recorded in the target mapping table. In other words, different accelerator opening and closing degrees and vehicle speed information are combined, and different combinations correspond to different motor drive torques. After obtaining the accelerator pedal opening and closing degree and the current vehicle speed corresponding to the target vehicle at the current moment, query in the target mapping table to determine the motor drive torque corresponding to the accelerator pedal opening and closing degree at the current moment and the current vehicle speed as the motor drive of the target vehicle torque. It should be noted that the motor driving torque here is the motor driving torque determined according to actual conditions.

S120. Based on the driving torque of the electric motor, determine a to-be-processed manner corresponding to the clutch to be adjusted in the target vehicle.

Wherein, the clutch to be adjusted may be understood as a clutch in the target vehicle, for example, may be a dog clutch. The to-be-processed mode includes a clutch-on processing mode or a clutch-disconnecting processing mode.

Specifically, according to the difference of the motor drive torque of the target vehicle, the clutch to be adjusted needs to be processed in a different way. Therefore, the motor drive torque needs to be judged. When the motor drive torque meets a certain judgment condition, the clutch to be adjusted uses the response to be processed.

Exemplarily, different torque thresholds can be set, and the magnitude relationship between the motor driving torque and the torque threshold can be judged. If the motor driving torque is greater than the torque threshold, the clutch engagement processing method is adopted; if the motor driving torque threshold is less than the torque threshold, Adopt the clutch disengagement processing method.

Optionally, the to-be-processed manner is a clutch engagement processing manner. Based on the motor drive torque, determine the to-be-processed mode corresponding to the clutch to be adjusted in the target vehicle, including: if the motor drive torque is greater than the upper limit drive torque, determine the The target drive torque corresponding to the motor; based on the target drive torque, the wheel speed of the target vehicle is adjusted until the wheel speed reaches the target speed; the clutch engagement mode corresponding to the clutch to be adjusted is called, and the clutch to be adjusted is based on the clutch engagement mode Engaged with the front axle motor.

In this technical solution, in order to better control the clutch to be adjusted, an upper limit driving torque and a lower limit driving torque can be set as torque thresholds of the motor driving torque. The upper limit driving torque can be understood as a preset highest threshold of motor driving torque, and the lower limit driving torque can be understood as a preset lowest threshold of motor driving torque. The target driving torque can be understood as the motor driving torque output by the front axle motor of the target vehicle, and is used to control the driving of the target vehicle according to the target driving torque. The target rotational speed can be understood as the desired rotational speed of the wheels of the target vehicle. The clutch engagement method can be understood as the processing method of connecting the clutch to be adjusted with the front axle motor.

It should be noted that the upper limit driving torque and the lower limit driving torque are not fixed values, and can be customized by the vehicle research and development personnel during the research and development stage. For example, different models or vehicles with different configurations can adopt different upper limit driving torque and Lower limit drive torque. When the motor driving torque is greater than the upper limit driving torque, the clutch engagement processing method is adopted; when the motor driving torque is smaller than the lower limit driving torque, the clutch separation processing method is adopted.

Specifically, the motor drive torque of the target vehicle is obtained. If the motor drive torque is greater than the upper limit drive torque, the target drive torque corresponding to the front axle motor needs to be determined according to the motor drive torque. The specific determination process is described in detail in the second embodiment below. . After the target driving torque is determined, the target torque is sent to the motor controller, so that the motor controller controls the front axle motor to adjust the wheel speed of the target vehicle to the target speed according to the target torque. After the wheel speed reaches the target speed, the clutch engagement mode corresponding to the clutch to be adjusted is called to connect the clutch to be adjusted with the front axle motor of the target vehicle to perform clutch engagement processing.

Exemplarily, when the wheel speed of the target vehicle does not reach the target speed, the clutch to be adjusted of the target vehicle is disengaged, that is, the two-wheel drive mode, and only relies on the rear axle motor to provide motor driving torque for the target vehicle. When the wheel speed of the target vehicle reaches the target speed, the clutch to be adjusted is connected to the front axle motor based on the clutch engagement mode, and the target vehicle is adjusted from the two-wheel drive mode to the four-wheel drive mode. Together, the shaft motors provide motor drive torque to the target vehicle.

Optionally, the processing method is the clutch disengagement processing method, which also includes: if the motor driving torque is less than the lower limit driving torque, then adjusting the driving torque to be used to the preset driving torque, so as to transfer the front torque of the front axle motor to the rear Axis motor, so that the rear axle motor can combine the torque of the front engine with the rear axle torque of the rear axle motor; call the clutch separation mode corresponding to the clutch to be adjusted, and separate the clutch to be adjusted from the front axle motor based on the clutch separation method deal with.

Wherein, the driving torque to be used can be understood as the feedforward torque of the target vehicle, that is, the motor torque determined according to the change of the torque or the given torque according to the feedforward control system of the target vehicle. The preset driving torque can be set to 0.

Specifically, when the motor driving torque is less than the lower limit driving torque, it is necessary to separate the clutch to be adjusted from the front axle motor. Before the separation process, it is necessary to gradually reduce the front engine torque of the front axle motor to the preset driving torque, and gradually transfer the reduced amount to the rear axle motor during the process to ensure that the target vehicle The total torque value of the front engine torque and the rear engine torque remains unchanged. After all the torque of the front engine is transferred to the rear axle motor, the clutch separation mode corresponding to the clutch to be adjusted is called to separate the clutch to be adjusted from the front axle motor.

S130. Based on the pending processing method, move the clutch to be adjusted axially until the clutch state between the clutch to be adjusted and the front axle motor of the target vehicle is the target clutch state.

Wherein, the target clutch state includes a disengaged state or an engaged state.

Specifically, after the to-be-processed mode corresponding to the clutch to be adjusted is determined, the clutch to be adjusted is moved axially to adjust the clutch state between the clutch to be adjusted and the front axle motor until the clutch state is the target clutch state.

Optionally, based on the manner to be processed, the clutch to be adjusted is moved axially until the clutch state of the clutch to be adjusted is the target clutch state, including: sending a clutch control instruction to the control system of the target vehicle, so that the control system The clutch to be adjusted is controlled to move axially until the clutch state of the clutch to be adjusted is the target clutch state.

Wherein, the clutch control instruction can be understood as an instruction for axially adjusting the clutch to be adjusted, and the clutch control instruction can be a clutch disengagement instruction or a clutch engagement instruction.

Specifically, according to the different ways to be processed, corresponding clutch control instructions are sent to the controller system of the target vehicle, so that the controller system controls the clutch to be adjusted to move axially according to the clutch control instructions until the clutch state is the target clutch state.

Exemplarily, taking the clutch to be adjusted as a dog clutch as an example, when the processing mode to be processed is the clutch engagement processing mode, a clutch engagement command is sent to the controller system to control the driving ring gear and the slave gear of the clutch to be adjusted based on the controller system. The driving gear is combined, that is, the driving ring gear and the driven gear of the dog clutch are fully meshed to combine the motor driving torque output by the front axle motor and the rear axle motor.

Exemplarily, when the processing mode to be processed is the clutch disengagement processing mode, a clutch disengagement command is sent to the controller system to control the driving ring gear and the driven gear of the clutch to be adjusted based on the controller system, that is, to make the dog clutch The driving ring gear and the driven gear are separated to cut off the output of the motor torque of the front axle motor.

The advantage of this setting is that it only needs to send the information to the controller system according to the pending mode of the clutch of the target vehicle, and the controller system can perform axial adjustment on the clutch to be adjusted according to the pending mode, without the need to switch the motor mode multiple times.

In the technical solution of this embodiment, the motor drive torque corresponding to the target vehicle is determined, and the information to be used corresponding to the target vehicle is obtained, that is, the opening and closing degree of the accelerator pedal of the target vehicle and the current vehicle speed, and the information to be used is queried in the target mapping table. information corresponding to the motor drive torque. Based on the motor drive torque, determine the pending processing mode corresponding to the clutch to be adjusted in the target vehicle, when the motor driving torque is greater than the upper limit driving torque, determine the pending processing mode as the clutch engagement processing mode, and when the motor driving torque is less than the lower limit driving torque, determine The processing mode to be processed is the clutch disengagement processing mode. Based on the way to be processed, the clutch to be adjusted is moved axially until the clutch state between the clutch to be adjusted and the front axle motor of the target vehicle is the target clutch state, and a clutch control command is sent to the control system of the target vehicle so that the control system according to The clutch control instruction controls the clutch to be adjusted to move axially until the clutch state of the clutch to be adjusted is the target clutch state. It solves the problem that multiple motor mode switching is required when controlling the clutch, and the problem that the engagement and separation of the clutch cannot be accurately controlled, and the effect of accurately controlling the engagement and separation of the clutch is achieved.

Embodiment two

FIG. 2 is a flow chart of a clutch control method provided by Embodiment 2 of the present invention. Optionally, the determination of the pending processing mode corresponding to the clutch to be adjusted in the target vehicle based on the motor driving torque is refined.

As shown in Figure 2, the method includes:

S210. Determine the motor driving torque corresponding to the target vehicle.

S220. If the motor driving torque is greater than the upper limit driving torque, determine a target driving torque corresponding to the front axle motor.

Optionally, determining the target driving torque corresponding to the front axle motor includes: determining the to-be-used driving torque corresponding to the front axle motor based on the vehicle speed torque information table; according to the target speed and actual speed corresponding to the target vehicle, Determine the to-be-determined driving torque corresponding to the front axle motor; determine the target driving torque corresponding to the front axle motor based on the sum of the to-be-used driving torque and the to-be-determined driving torque.

Wherein, the vehicle speed torque information table includes at least one piece of vehicle speed information, and the motor driving torque corresponding to each vehicle speed information. The actual speed can be understood as the wheel speed of the target vehicle at the current moment. The driving torque to be determined can be understood as the driving torque determined based on the target rotational speed and the actual rotational speed.

Specifically, the current vehicle speed information of the target vehicle is collected based on the vehicle speed collector in the target vehicle, and the motor driving torque matching the current vehicle speed information is queried in the vehicle speed torque information table as the driving torque to be used. When determining the to-be-determined driving torque according to the target vehicle's target speed and actual speed, optionally, according to the average value of the target vehicle's front wheel speed and rear wheel speed, determine the target vehicle's to-be-used speed; according to the current vehicle speed and the target vehicle Determine the expected rotational speed of the target vehicle based on the current acceleration of the target vehicle; determine the target rotational speed corresponding to the target vehicle based on the sum of the rotational speed to be used and the estimated rotational speed; obtain the actual rotational speed of the target vehicle, and calculate the target rotational speed and the actual rotational speed based on the torque determination function processing to obtain the driving torque to be determined corresponding to the front axle motor. Further, the target driving torque corresponding to the front axle motor can be obtained by superimposing the driving torque to be used and the driving torque to be determined.

Wherein, the torque determination function may be a PID control function. Exemplarily, the torque determination function may be expressed by the following formula:

Among them, T_pi represents the drive torque to be determined, p represents the preset constant, V_act represents the actual speed, and V_target represents the target speed.

S230. Based on the target driving torque, adjust the wheel speed of the target vehicle until the wheel speed reaches the target speed.

S240. Retrieving a clutch engagement mode corresponding to the clutch to be adjusted, so as to engage the clutch to be adjusted with the front axle motor based on the clutch engagement mode.

S250. Based on the pending processing method, move the clutch to be adjusted axially until the clutch state between the clutch to be adjusted and the front axle motor of the target vehicle is the target clutch state.

In the technical solution of this embodiment, if the motor drive torque is greater than the upper limit drive torque, then determine the target drive torque corresponding to the front axle motor, determine the to-be-used drive torque corresponding to the front axle motor according to the vehicle speed torque information table, and simultaneously determine the target drive torque corresponding to the front axle motor. The to-be-determined driving torque corresponding to the front axle motor, so as to determine the target driving torque based on the sum of the to-be-used driving torque and the to-be-determined driving torque. The problem of inaccurate determination of the target driving torque is solved, and the effect of accurately determining the motor driving torque of the front axle motor is obtained.

Embodiment Three

In a specific example, the opening and closing degree of the accelerator pedal and the current vehicle speed of the target vehicle are acquired, and the motor driving torque corresponding to the target vehicle is determined based on the opening and closing degree of the accelerator pedal and the current vehicle speed.

When the motor driving torque is greater than the upper limit driving torque, it is determined that the dog clutch (ie, the clutch to be adjusted) in the target vehicle performs clutch engagement processing with the front axle motor. Specifically, the vehicle speed information of the target vehicle is collected based on the vehicle speed collector, and the motor drive torque corresponding to the vehicle speed information is queried in the vehicle speed torque information table, and the motor drive torque is used as the feedforward torque (that is, the drive torque to be used ). Wherein, the higher the vehicle speed, the larger the feed-forward torque. At the same time, the rotation speed of the left front wheel and the right front wheel of the target vehicle are obtained, and the average rotation speed (ie, the rotation speed to be used) is obtained based on the two rotation speeds. Further, the actual rotational speed and the current acceleration of the target vehicle are obtained, the matching expected rotational speed is determined by looking up a table, and the target rotational speed corresponding to the target vehicle is obtained based on the sum of the to-be-used rotational speed and the expected rotational speed. The actual rotational speed of the target vehicle is acquired, and the actual rotational speed and the target rotational speed are processed based on a torque determination function to obtain a target driving torque, so as to adjust the wheel rotational speed of the target vehicle to the target vehicle speed based on the target driving torque. When the wheel speed of the target vehicle reaches the target speed, the dog clutch is controlled to move axially, so that the driving ring gear and the driven gear of the dog clutch are engaged and reversed. After the vehicle control unit receives the combined state, torque transfer is performed. , that is, the rear motor torque of the rear axle motor of the target vehicle is transferred to the front axle motor, and the target vehicle is adjusted from the two-wheel drive mode to the four-wheel drive mode, so that the front axle motor and the front motor of the rear axle jointly drive the target vehicle. torque output.

When the driving torque of the motor is less than the lower limit driving torque, it is determined that the dog clutch (ie, the clutch to be adjusted) in the target vehicle performs clutch separation processing with the front axle motor. Before performing the separation process, the motor torque of the front axle motor of the target vehicle (ie, the driving torque to be used) is adjusted to a preset driving torque, for example, the driving torque to be used is gradually reduced until it is reduced to zero. During this process, the reduced amount is gradually transferred to the rear axle motor to ensure that the total torque value of the front and rear motor torques of the target vehicle remains unchanged during the torque transfer process. After all the torque of the front engine is transferred to the rear axle motor, the clutch separation mode corresponding to the clutch to be adjusted is called to separate the clutch to be adjusted from the front axle motor.

After determining the mode to be processed, the corresponding clutch control command is sent to the control system of the target vehicle to control the clutch to be adjusted to move axially based on the control system according to the clutch control command until the clutch state of the clutch to be adjusted is the target clutch state.

In the technical solution of this embodiment, the motor drive torque corresponding to the target vehicle is determined, and the information to be used corresponding to the target vehicle is obtained, that is, the opening and closing degree of the accelerator pedal of the target vehicle and the current vehicle speed, and the information to be used is queried in the target mapping table. information corresponding to the motor drive torque. Based on the motor drive torque, determine the pending processing mode corresponding to the clutch to be adjusted in the target vehicle, when the motor driving torque is greater than the upper limit driving torque, determine the pending processing mode as the clutch engagement processing mode, and when the motor driving torque is less than the lower limit driving torque, determine The processing mode to be processed is the clutch disengagement processing mode. Based on the way to be processed, the clutch to be adjusted is moved axially until the clutch state between the clutch to be adjusted and the front axle motor of the target vehicle is the target clutch state, and a clutch control command is sent to the control system of the target vehicle so that the control system according to The clutch control instruction controls the clutch to be adjusted to move axially until the clutch state of the clutch to be adjusted is the target clutch state. It solves the problem that multiple motor mode switching is required when controlling the clutch, and the problem that the engagement and separation of the clutch cannot be accurately controlled, and the effect of accurately controlling the engagement and separation of the clutch is achieved.

Embodiment Four

Fig. 3 is a schematic structural diagram of a clutch control device provided by Embodiment 4 of the present invention. As shown in FIG. 3 , the device includes: a motor driving torque determination module 310 , a pending mode determination module 320 and a clutch adjustment module 330 .

Wherein, the motor driving torque determination module 310 is used to determine the motor driving torque corresponding to the target vehicle;

The mode to be processed determining module 320 is configured to determine a mode to be processed corresponding to the clutch to be adjusted in the target vehicle based on the motor driving torque; wherein, the mode to be processed includes a clutch engaging processing mode or a clutch disengaging processing mode;

The clutch adjustment module 330 is configured to move the clutch to be adjusted axially based on the manner to be processed until the clutch state between the clutch to be adjusted and the front axle motor of the target vehicle is a target clutch state; wherein, the target clutch state includes a disengaged state or engaged state.

In the technical solution of this embodiment, the motor drive torque corresponding to the target vehicle is determined, and the information to be used corresponding to the target vehicle is obtained, that is, the opening and closing degree of the accelerator pedal of the target vehicle and the current vehicle speed, and the information to be used is queried in the target mapping table. information corresponding to the motor drive torque. Based on the motor drive torque, determine the pending processing mode corresponding to the clutch to be adjusted in the target vehicle, when the motor driving torque is greater than the upper limit driving torque, determine the pending processing mode as the clutch engagement processing mode, and when the motor driving torque is less than the lower limit driving torque, determine The processing mode to be processed is the clutch disengagement processing mode. Based on the way to be processed, the clutch to be adjusted is moved axially until the clutch state between the clutch to be adjusted and the front axle motor of the target vehicle is the target clutch state, and a clutch control command is sent to the control system of the target vehicle, so that the control system according to The clutch control instruction controls the clutch to be adjusted to move axially until the clutch state of the clutch to be adjusted is the target clutch state. It solves the problem that multiple motor mode switching is required when controlling the clutch, and the problem that the engagement and separation of the clutch cannot be accurately controlled, and the effect of accurately controlling the engagement and separation of the clutch is achieved.

Optionally, the motor drive torque determination module includes: a to-be-used information acquisition sub-module for acquiring to-be-used information of the target vehicle; wherein, the to-be-used information includes the degree of opening and closing of the accelerator pedal, and the current speed of the target vehicle;

The motor driving torque sub-determining module is configured to determine the motor driving torque corresponding to the information to be used based on the target mapping table; wherein, the target mapping table includes at least one piece of information to be matched, and the motor driving torque corresponding to each piece of information to be matched. torque.

Optionally, the module for determining the mode to be processed includes: a target driving torque determining submodule, configured to determine the target driving torque corresponding to the front axle motor if the motor driving torque is greater than the upper limit driving torque;

The wheel speed adjustment sub-module is used to adjust the wheel speed of the target vehicle based on the target driving torque until the wheel speed reaches the target speed;

The clutch engagement sub-module is used to call the clutch engagement mode corresponding to the clutch to be adjusted, so as to engage the clutch to be adjusted with the front axle motor based on the clutch engagement mode.

Optionally, the target drive torque determination submodule includes: a drive torque to be used determination unit, configured to determine the drive torque to be used corresponding to the front axle motor based on the vehicle speed torque information table; wherein, the vehicle speed torque information table includes at least one Vehicle speed information, and motor drive torque corresponding to each vehicle speed information;

an undetermined driving torque determining unit, configured to determine an undetermined driving torque corresponding to the front axle motor according to the target rotational speed and the actual rotational speed corresponding to the target vehicle;

The target driving torque determining unit is configured to determine the target driving torque corresponding to the front axle motor based on the sum of the driving torque to be used and the driving torque to be determined.

Optionally, the to-be-determined driving torque determination unit includes: a to-be-used rotational speed determination subunit, configured to determine the to-be-used rotational speed of the target vehicle according to the average value of the front wheel rotational speed and the rear wheel rotational speed of the target vehicle;

The estimated rotational speed determination subunit is used to determine the expected rotational speed of the target vehicle according to the current vehicle speed and the current acceleration of the target vehicle;

A target rotational speed determination subunit, configured to determine a target rotational speed corresponding to the target vehicle based on the rotational speed to be used and the expected rotational speed;

The to-be-determined driving torque determination subunit is used to obtain the actual rotational speed of the target vehicle, and process the target rotational speed and the actual rotational speed based on the torque determination function to obtain the to-be-determined driving torque corresponding to the front axle motor.

Optionally, the pending mode determination module also includes: a torque coupling sub-module, which is used to adjust the driving torque to be used to a preset driving torque if the motor driving torque is less than the lower limit driving torque, so as to connect the front axle motor to the front axle motor. Torque is transferred to the rear axle motor so that the rear axle motor engages the front machine torque with the rear axle torque from the rear axle motor;

The clutch separation determination sub-module is used to call the clutch separation mode corresponding to the clutch to be adjusted, so as to separate the clutch to be adjusted from the front axle motor based on the clutch separation mode.

Optionally, the clutch adjustment module is configured to send a clutch control instruction to the control system of the target vehicle, so that the control system controls the clutch to be adjusted to move axially according to the clutch control instruction until the clutch state of the clutch to be adjusted is the target clutch state; Wherein, the clutch control instruction includes a clutch disengagement instruction or a clutch engagement instruction.

The clutch control device provided in the embodiment of the present invention can execute the clutch control method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

Embodiment five

FIG. 4 shows a schematic structural diagram of an electronic device 10 according to an embodiment of the present invention. Electronic device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (eg, helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are by way of example only, and are not intended to limit implementations of the inventions described and/or claimed herein.

As shown in FIG. 4, the electronic device 10 includes at least one processor 11, and a memory connected in communication with the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores There is a computer program executable by at least one processor, and the processor 11 can operate according to a computer program stored in a read-only memory (ROM) 12 or loaded from a storage unit 18 into a random access memory (RAM) 13. Various appropriate actions and processes are performed. In the RAM 13, various programs and data necessary for the operation of the electronic device 10 are also stored. The processor 11 , ROM 12 , and RAM 13 are connected to each other through a bus 14 . An input/output (I/O) interface 15 is also connected to the bus 14 .

Multiple 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, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices through a computer network such as the Internet and/or various telecommunication networks.

Processor 11 may be various general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), various dedicated artificial intelligence (AI) computing chips, various processors that run machine learning model algorithms, digital signal processing processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes various methods and processes described above, such as a clutch control method.

In some embodiments, the clutch control method may be implemented as a computer program tangibly embodied on a computer readable storage medium, such as storage unit 18 . In some embodiments, part or all of the computer program may be loaded and/or installed on 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 clutch control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the clutch control method in any other suitable way (for example, by means of firmware).

Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips Implemented in a system of systems (SOC), load programmable logic device (CPLD), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include being implemented in one or more computer programs executable and/or interpreted on a programmable system including at least one programmable processor, the programmable processor Can be special-purpose or general-purpose programmable processor, can receive data and instruction from storage system, at least one input device, and at least one output device, and transmit data and instruction to this storage system, this at least one input device, and this at least one output device an output device.

The computer program for implementing the clutch control method of the present invention may be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus, so that the computer program causes the functions/operations specified in the flowcharts and/or block diagrams to be implemented when executed by the processor. A computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus or device. A computer readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer readable storage medium may be a machine readable signal medium. More specific examples of machine-readable storage media would include one or more wire-based electrical connections, portable computer disks, hard disks, Random Access Memory (RAM), Read Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM or flash memory), optical fiber, compact disk read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.

In order to provide interaction with the user, the systems and techniques described herein can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display)) for displaying information to the user. monitor); and a keyboard and pointing device (eg, a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and can be in any form (including Acoustic input, speech input or, tactile input) to receive input from the user.

The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., as a a user computer having a graphical user interface or web browser through which a user can interact with embodiments of the systems and techniques described herein), or including such backend components, middleware components, Or any combination of front-end components in a computing system. The components of the system can be interconnected by any form or medium of digital data communication, eg, a communication network. Examples of communication networks include: local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

A computing system can include clients and servers. Clients and servers are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or a cloud host. It is a host product in the cloud computing service system to solve the problems of difficult management and weak business expansion in traditional physical hosts and VPS services. defect.

It should be understood that steps may be reordered, added or deleted using the various forms of flow shown above. For example, each step described in the present invention may be executed in parallel, sequentially, or in a different order, as long as the desired result of the technical solution of the present invention can be achieved, there is no limitation herein.

The above specific implementation methods do not constitute a limitation to the protection scope of the present invention. It should be apparent to those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made depending on design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. A clutch control method, characterized by comprising:

determining a motor drive torque corresponding to the target vehicle;

determining a pending mode corresponding to a pending clutch in the target vehicle based on the motor drive torque; the waiting mode comprises a clutch engaging mode or a clutch disengaging mode;

based on the to-be-processed mode, axially moving the to-be-adjusted clutch until the clutch state between the to-be-adjusted clutch and a front axle motor of the target vehicle is a target clutch state; wherein the target clutch state includes a disengaged state or an engaged state.

2. The method of claim 1, wherein said determining a motor drive torque corresponding to a target vehicle comprises:

acquiring information to be used of the target vehicle; the information to be used comprises the opening degree of an accelerator pedal and the current speed of the target vehicle;

determining a motor driving torque corresponding to the information to be used based on a target mapping table; the target mapping table comprises at least one piece of information to be matched and motor driving torque corresponding to each piece of information to be matched.

3. The method of claim 1, wherein the pending mode is the clutch engagement mode, and the determining the pending mode corresponding to the oncoming clutch in the target vehicle based on the motor drive torque comprises:

if the motor driving torque is larger than the upper limit driving torque, determining a target driving torque corresponding to the front axle motor;

adjusting a wheel speed of the target vehicle based on the target drive torque until the wheel speed reaches a target speed;

and a clutch engagement mode corresponding to the to-be-adjusted clutch is adjusted, and the to-be-adjusted clutch and the front axle motor are engaged according to the clutch engagement mode.

4. The method of claim 3, wherein determining a target drive torque corresponding to the front axle motor if the motor drive torque is greater than an upper limit drive torque comprises:

determining a driving torque to be used corresponding to the front axle motor based on a vehicle speed and torque information table; the vehicle speed torque information table comprises at least one piece of vehicle speed information and motor driving torque corresponding to each piece of vehicle speed information;

determining a driving torque to be determined corresponding to the front axle motor according to a target rotating speed and an actual rotating speed corresponding to the target vehicle;

determining a target driving torque corresponding to the front axle motor based on a sum of the driving torque to be used and the driving torque to be determined.

5. The method according to claim 4, wherein the determining a drive torque to be determined corresponding to the front axle motor from a target rotational speed and an actual rotational speed corresponding to the target vehicle comprises:

determining the rotation speed to be used of the target vehicle according to the average value of the rotation speed of the front wheels and the rotation speed of the rear wheels of the target vehicle;

determining the predicted rotating speed of the target vehicle according to the current vehicle speed and the current acceleration of the target vehicle;

determining a target rotation speed corresponding to the target vehicle based on the rotation speed to be used and the predicted rotation speed;

and acquiring the actual rotating speed of the target vehicle, and processing the target rotating speed and the actual rotating speed based on a torque determination function to obtain the driving torque to be determined corresponding to the front axle motor.

6. The method of claim 1, wherein the pending mode is the clutch release mode, further comprising:

if the motor driving torque is smaller than the lower limit driving torque, adjusting the driving torque to be used to a preset driving torque so as to transfer the front engine torque of the front axle motor to the rear axle motor, so that the rear axle motor combines the front engine torque with the rear axle torque of the rear axle motor;

and a clutch separation mode corresponding to the to-be-adjusted clutch is obtained, and separation processing is carried out on the to-be-adjusted clutch and the front axle motor based on the clutch separation mode.

7. The method of claim 1, wherein axially moving the offgoing clutch until the clutching state of the offgoing clutch is a target clutching state based on the oncoming mode comprises:

sending a clutch control instruction to a control system of the target vehicle so that the control system controls the clutch to be adjusted to axially move according to the clutch control instruction until the clutch state of the clutch to be adjusted is the target clutch state; wherein the clutch control command comprises a clutch disengagement command or a clutch engagement command.

8. A clutch control apparatus, characterized by comprising:

a motor drive torque determination module to determine a motor drive torque corresponding to a target vehicle;

a pending mode determination module to determine a pending mode corresponding to a pending clutch in the target vehicle based on the motor drive torque; the waiting mode comprises a clutch engagement processing mode or a clutch disengagement processing mode;

the clutch adjusting module is used for axially moving the clutch to be adjusted based on the to-be-processed mode until the clutch state between the clutch to be adjusted and a front axle motor of the target vehicle is a target clutch state; wherein the target clutch state includes a disengaged state or an engaged state.

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

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the clutch control method of any one of claims 1-7.

10. A computer readable storage medium storing computer instructions for causing a processor to perform the clutch control method of any one of claims 1-7 when executed.

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