WO2023000943A1

WO2023000943A1 - Hybrid vehicle control method and apparatus, and electronic device

Info

Publication number: WO2023000943A1
Application number: PCT/CN2022/102341
Authority: WO
Inventors: 庹晓丰; 宋爱林; 李哲
Original assignee: 长城汽车股份有限公司
Priority date: 2021-07-21
Filing date: 2022-06-29
Publication date: 2023-01-26
Also published as: CN114763132A

Abstract

The present application relates to a hybrid vehicle control method and apparatus, and an electronic device. The method comprises: if an instruction to switch from a current series drive mode and a direct drive mode is received, determining a target gear, a target torque of a crankshaft and a target rotating speed of the crankshaft according to a current state of the vehicle, where the vehicle is driven by a drive motor and an engine participates in power generation in the series drive mode, and the vehicle is driven by both the engine and the drive motor in the direct drive mode; controlling a gearbox to start shifting to the target gear; controlling the rotating speed of the crankshaft to reach a target rotating speed; if it is determined that the gearbox has shifted to the target gear and two sides of a clutch are synchronized, controlling the torque of the clutch to increase to a predetermined value; and if the clutch reaches a slip state, controlling the torque of the crankshaft to increase until the target torque is reached. According to the method, the transmission efficiency of the power transmission system is high, the mode switching time is short, the wear and the impact load of components are reduced, and the riding comfort is improved.

Description

Hybrid vehicle control method, device and electronic device

This application claims the priority of the Chinese patent application with the application number 202110825849.2 and the title of the invention "Control method, device, medium and equipment for hybrid vehicles" filed at the China Patent Office on July 21, 2021, the entire contents of which Incorporated in this application by reference.

technical field

The present application relates to the technical field of hybrid electric vehicle power mode conversion, and in particular to a control method, device and electronic equipment for a hybrid electric vehicle.

Background technique

In a broad sense, a hybrid vehicle refers to a vehicle whose drive system is composed of two or more single drive systems that can operate simultaneously.

The so-called hybrid vehicle refers to a gasoline-electric hybrid vehicle, that is, a traditional internal combustion engine (diesel engine or gasoline engine) and an electric motor are used as power sources, and some engines have been modified to use other alternative fuels, such as compressed natural gas, propane and ethanol fuel, etc. .

The composite power driven vehicle has a complex structure due to two sets of power and two sets of power management and control systems. In some hybrid vehicles, the mode switching process is not rapid and the process transition is not smooth.

technical problem

One of the objectives of the embodiments of the present application is to provide a control method for a hybrid vehicle to solve the technical problems of a long and unstable mode switching process of the hybrid vehicle.

technical solution

The technical scheme that the embodiment of the present application adopts is:

In a first aspect, a method for controlling a hybrid vehicle is provided, the method comprising:

If an instruction to convert the current series drive mode to the direct drive mode is received, the target gear, the target torque of the crankshaft, and the target speed of the crankshaft are determined according to the current state of the vehicle, wherein the series drive mode is driven by the drive motor And the engine participates in power generation, and the direct drive mode is jointly driven by the engine and the drive motor;

Control the gearbox to start switching to the target gear;

controlling the rotational speed of the crankshaft to reach the target rotational speed;

If it is determined that the gearbox has been switched to the target gear and both sides of the clutch have reached synchronization, the control increases the torque of the clutch to a predetermined value;

If the state of the clutch reaches a slipping state, the control increases the torque of the crankshaft until the target torque is reached.

In one embodiment, the current state of the vehicle includes the opening degree of the accelerator pedal, the state of charge of the power battery, and the vehicle speed.

In one embodiment, the determining the target gear, the target torque of the crankshaft, and the target rotational speed of the crankshaft according to the current state of the vehicle includes:

Bringing the accelerator pedal opening, the state of charge of the power battery and the vehicle speed into the pre-stored shift line MAP map to determine the target gear and the target torque of the crankshaft;

Based on the target gear, a target rotational speed of the crankshaft is determined.

In one embodiment, the controlling the speed of the crankshaft to the target speed includes:

The torque of the generator is requested through the PI control method, so that the rotation speed of the crankshaft driven by the generator reaches the target rotation speed.

In one embodiment, the requesting the torque of the generator through the PI control method includes:

If the current rotational speed of the crankshaft is less than the target rotational speed, then controlling the generator to drive the crankshaft to run;

If the current rotational speed of the crankshaft is greater than the target rotational speed, the generator is controlled to convert part of the torque of the crankshaft into electricity and store it in the power battery.

In one embodiment, the method also includes:

If the speed difference between the two sides of the clutch is less than a predetermined threshold, it is determined that the two sides of the clutch have reached synchronization.

In one embodiment, the controlling to increase the torque of the clutch to a predetermined value comprises:

The torque of the clutch is increased to a predetermined value according to a predetermined speed increase.

In a second aspect, a control device for a hybrid vehicle is provided, the device comprising:

A determining module, configured to determine the target gear, the target torque of the crankshaft, and the target rotational speed of the crankshaft according to the current state of the vehicle if an instruction to convert the current series drive mode to the direct drive mode is received, wherein the series drive mode is driven by a drive motor and the engine participates in power generation, and the direct drive mode is jointly driven by the engine and the drive motor;

The first control module is used to control the gearbox to start switching to the target gear;

a second control module, configured to control the speed of the crankshaft to reach the target speed;

The third control module is configured to control increasing the torque of the clutch to a predetermined value if it is determined that the gearbox has switched to the target gear and both sides of the clutch have reached synchronization;

The fourth control module is configured to control increasing the torque of the crankshaft until the target torque is reached if the state of the clutch reaches a slipping state.

In one embodiment, the determining module is also used for:

In one embodiment, the second control module is also used for:

The torque of the generator is requested through a PI control method, so that the rotation speed of the crankshaft driven by the generator reaches the target rotation speed.

In one embodiment, the second control module is also used for:

In one embodiment, the device also includes:

A judging module, configured to judge that both sides of the clutch have reached synchronization if the speed difference between the two sides of the clutch is smaller than a predetermined threshold.

In one embodiment, the third control module is also used for:

In a third aspect, an electronic device is provided, including:

a memory on which a computer program is stored;

A processor configured to execute the computer program in the memory to implement the method in any one of the first aspects.

Beneficial effect

The beneficial effect of the first aspect provided by the embodiment of the present application is: by controlling the speed regulation of the crankshaft speed of the engine, the clutch state is controlled and the gear is shifted, so that when the driving mode of the vehicle is converted from the series driving mode to the direct driving mode, the power The transmission efficiency of the transmission system is high, and the mode switching time is short, thereby reducing the wear and impact load of the components and improving the driving comfort.

The beneficial effects of the second aspect and the third aspect provided by the embodiments of the present application are the same as the beneficial effects of the above-mentioned first aspect, please refer to the above-mentioned beneficial effects of the first aspect.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings that need to be used in the embodiments or exemplary technical descriptions. Obviously, the accompanying drawings in the following descriptions are only for this application. For some embodiments, those skilled in the art can also obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a flowchart of a control method for a hybrid vehicle provided by an exemplary embodiment;

Fig. 2 is a flowchart of a control method for a hybrid vehicle provided by another exemplary embodiment;

Fig. 3 is a block diagram of a control device for a hybrid vehicle provided by an exemplary embodiment;

Fig. 4 is a block diagram of an electronic device shown in an exemplary embodiment.

Embodiments of the present invention

In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, not to limit the present application.

It should be noted that the various steps described in the method implementations of the present application may be executed in different orders, and/or executed in parallel. Additionally, method embodiments may include additional steps and/or omit performing illustrated steps. The scope of the application is not limited in this respect. As used herein, the term "comprise" and its variations are open-ended, ie "including but not limited to". The term "based on" is "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one further embodiment"; the term "some embodiments" means "at least some embodiments." Relevant definitions of other terms will be given in the description below. It should be noted that concepts such as "first" and "second" mentioned in this application are only used to distinguish different devices, modules or units, and are not used to limit the sequence of functions performed by these devices, modules or units or interdependence.

Fig. 1 is a flow chart of a control method for a hybrid vehicle provided by an exemplary embodiment. As shown in Figure 1, the method may include the following steps:

Step S11 , if an instruction to switch from the current series drive mode to the direct drive mode is received, then determine the target gear, the target torque of the crankshaft, and the target rotational speed of the crankshaft according to the current state of the vehicle. Among them, the series drive mode is driven by the drive motor and the engine participates in power generation, and the direct drive mode is jointly driven by the engine and the drive motor.

Step S12, controlling the gearbox to switch to the target gear.

Step S13, control to make the rotation speed of the crankshaft reach the target rotation speed.

Step S14, if it is determined that the gearbox has been switched to the target gear and both sides of the clutch have been synchronized, the control increases the torque of the clutch to a predetermined value.

Step S15, if the state of the clutch reaches the slipping state, the control increases the torque of the crankshaft until the target torque is reached.

Wherein, the current state of the vehicle may include the opening degree of the accelerator pedal, the state of charge of the power battery, and the vehicle speed. For example, in the pre-stored shift line MAP, the target gear corresponding to the current state of the vehicle is obtained. The target torque for the crankshaft may also be determined based on the current state of the vehicle. The target rotational speed of the crankshaft may be determined according to the target gear. Afterwards, control the gearbox to start switching to the target gear, and control to switch from the crankshaft torque control mode to the crankshaft speed control mode, and control the crankshaft speed to reach the target speed in the crankshaft speed control mode.

If it is determined that the gearbox has switched to the target gear and both sides of the clutch have reached synchronization, it is considered that the shift condition has been met, and the torque of the clutch can be increased, and the predetermined value can be a torque value calibrated in advance according to the test.

If the state of the clutch reaches the slipping state, it can be controlled to enter the crankshaft torque control mode. In the crankshaft torque control mode, the control increases the torque of the crankshaft until reaching the target torque.

Through the above technical solution, by controlling the speed regulation of the crankshaft speed of the engine, the control of the clutch state and the shifting of gears are performed, so that when the driving mode of the vehicle is converted from the series driving mode to the direct driving mode, the transmission efficiency of the power transmission system is relatively high. The switching time is shorter, which reduces the wear and shock load of the components and improves the driving comfort.

In yet another embodiment, the step S13 of controlling the rotation speed of the crankshaft to reach the target rotation speed may include: requesting the torque of the generator through a proportional-integral (PI) control method, so that the rotation speed of the crankshaft driven by the generator reaches the target rotation speed.

That is, the torque of the generator is determined by the PI control method, so that when the generator is executed according to the determined torque, the rotational speed of the crankshaft can be driven to reach the target rotational speed. In this embodiment, the PI control method is applied to control the crankshaft speed, so that the control process is more reliable and the result is more accurate.

In yet another embodiment, the above requesting the torque of the generator through the PI control method may include:

If the current speed of the crankshaft is lower than the target speed, the generator is controlled to drive the crankshaft to run; if the current speed of the crankshaft is greater than the target speed, the generator is controlled to convert part of the torque of the crankshaft into electricity and store it in the power battery.

Wherein, if the current rotational speed of the crankshaft is lower than the target rotational speed, the generator drives the crankshaft to run to assist the crankshaft in operation, which is beneficial to increase the crankshaft rotational speed; It is converted into electricity and stored in the power battery, which is beneficial to quickly deal with the excess speed of the crankshaft. The partial torque should be smaller than the torque corresponding to the difference between the target rotational speed and the current rotational speed of the crankshaft. The portion of torque may be selected from a predetermined plurality of torques. Through the method of this embodiment, the current rotation speed of the crankshaft can be quickly controlled to the target rotation speed, thereby speeding up the switching speed of the working mode.

In yet another embodiment, the method may further include: if the speed difference between the two sides of the clutch is smaller than a predetermined threshold, determining that the two sides of the clutch have reached synchronization.

There are many ways to determine whether the two sides of the clutch have been synchronized. In this embodiment, the rotational speeds of both sides of the clutch can be detected in real time, and the difference between the rotational speeds of both sides of the clutch can be calculated. If the difference is smaller than a predetermined threshold, it is determined that the two sides of the clutch have reached synchronization. The method of this embodiment is simple and direct, with fast operation speed and high reliability of the result.

In yet another embodiment, controlling to increase the torque of the clutch to a predetermined value may include: increasing the torque of the clutch to a predetermined value according to a predetermined speed increase.

Wherein, the predetermined speed increase can be determined according to experiments. When the torque of the clutch increases according to the predetermined speed increase, it can be considered that the clutch operates stably and has high reliability, and the fixed speed increase makes the algorithm simple and less prone to errors.

The methods of the present application may be performed by one or more controllers in the vehicle. Fig. 2 is a flowchart of a control method for a hybrid vehicle provided by another exemplary embodiment. As shown in FIG. 2 , in this embodiment, if the current serial drive mode of the hybrid vehicle is converted to the direct drive mode, the following steps can be implemented.

1. The current operation mode is the series drive mode, the clutch state is open, and the Hybrid Control Unit (HCU) requests the target operation mode to be the direct drive mode, that is, the HCU requests to convert the series drive mode to the direct drive mode;

2. HCU sends target gear request and crankshaft torque request without automatic transmission control module (Transmission Control Unit, TCU) intervention;

3. The TCU sends the crankshaft target speed and crankshaft speed control mode activation request to the HCU, and the shift is in progress;

4. The HCU control is switched from the crankshaft torque control mode to the crankshaft speed control mode, and the torque request of the PI speed control module is applied to the generator torque request through torque distribution, so that the engine speed reaches the crankshaft target speed;

5. Judging whether the gearbox actuator has completed gearing, and whether the speed difference between the two sides of the clutch is lower than the threshold;

6. If not, proceed to 4;

7. If yes, the TCU increases the clutch torque to a predetermined value through an appropriate rate of change, and sends the clutch state and estimated value of the clutch torque to the HCU;

8. Judging whether the clutch state has reached the slipping state;

9. If not, proceed to step 7;

10. If yes, the HCU adds the estimated value of the clutch torque to the torque request of the PI speed control module, and changes the actual operation mode to the direct drive mode;

11. The TCU sends the crankshaft speed controller mode to the inactive state to the HCU, and increases the crankshaft torque request;

12. The HCU controls to switch to the crankshaft torque control mode, and controls the crankshaft torque (dynamic torque distribution) to follow the crankshaft torque increase request sent by the TCU;

13. Determine whether the clutch is closed and whether the actual crankshaft torque reaches the crankshaft torque request without TCU intervention;

14. If not, proceed to 12;

15. If yes, the TCU sends a message that the gear shift has been completed to the HCU.

Fig. 3 is a block diagram of a control device for a hybrid vehicle provided by an exemplary embodiment. As shown in FIG. 3 , the control device 300 of a hybrid vehicle may include a determination module 301 , a first control module 302 , a second control module 303 , a third control module 304 and a fourth control module 305 .

The determining module 301 is used to determine the target gear, the target torque of the crankshaft, and the target speed of the crankshaft according to the current state of the vehicle if an instruction to convert the current series drive mode to the direct drive mode is received, wherein the series drive mode is determined by The drive motor is driven and the engine participates in power generation, and the direct drive mode is jointly driven by the engine and the drive motor.

The first control module 302 is used to control the gearbox to switch to the target gear.

The second control module 303 is used for controlling the speed of the crankshaft to reach the target speed.

The third control module 304 is used for controlling to increase the torque of the clutch to a predetermined value if it is determined that the gearbox has switched to the target gear and both sides of the clutch have been synchronized.

The fourth control module 305 is used for controlling to increase the torque of the crankshaft until the target torque is reached if the state of the clutch reaches the slipping state.

Optionally, the current state of the vehicle includes the opening degree of the accelerator pedal, the state of charge of the power battery, and the vehicle speed.

Optionally, the determination module is also used for:

Optionally, the second control module 303 is configured to: request the torque of the generator through a PI control method, so that the rotation speed of the crankshaft driven by the generator reaches a target rotation speed.

Optionally, the second control module 303 is configured to: if the current rotational speed of the crankshaft is less than the target rotational speed, control the generator to drive the crankshaft to run; if the current rotational speed of the crankshaft is greater than the target rotational speed, control The generator converts part of the torque of the crankshaft into electricity and stores it in the power battery.

Optionally, the control device 300 of the hybrid vehicle may further include a judging module.

The judging module is used for judging that the two sides of the clutch have reached synchronization if the speed difference between the two sides of the clutch is smaller than a predetermined threshold.

Optionally, the third control module 304 is further configured to increase the torque of the clutch to a predetermined value according to a predetermined speed increase.

Regarding the apparatus in the foregoing embodiments, the specific manner in which each module executes operations has been described in detail in the embodiments related to the method, and will not be described in detail here.

The present application also provides an electronic device, including a memory and a processor.

A computer program is stored in the memory; the processor is used to execute the computer program in the memory, so as to realize the steps of the above method provided in this application.

Fig. 4 is a block diagram of an electronic device 400 according to an exemplary embodiment. As shown in FIG. 4 , the electronic device 400 may include: a processor 401 and a memory 402 . The electronic device 400 may also include one or more of a multimedia component 403 , an input/output (I/O) interface 404 , and a communication component 405 .

Wherein, the processor 401 is used to control the overall operation of the electronic device 400, so as to complete all or part of the steps in the control method of the hybrid electric vehicle mentioned above. The memory 402 is used to store various types of data to support the operation of the electronic device 400, for example, these data may include instructions for any application or method operating on the electronic device 400, and application-related data, Such as contact data, sent and received messages, pictures, audio, video, etc. The memory 402 can be realized by any type of volatile or non-volatile memory device or their combination, such as Static Random Access Memory (Static Random Access Memory) Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), Erasable Programmable Read-Only Memory (Erasable Programmable Read-Only Memory, referred to as EPROM), Programmable Read-Only Memory (Programmable Read-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk. Multimedia components 403 may include screen and audio components. The screen can be, for example, a touch screen, and the audio component is used for outputting and/or inputting audio signals. For example, an audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in memory 402 or sent via communication component 405 . The audio component also includes at least one speaker for outputting audio signals. The I/O interface 404 provides an interface between the processor 401 and other interface modules, which may be a keyboard, a mouse, buttons, and the like. These buttons can be virtual buttons or physical buttons. The communication component 405 is used for wired or wireless communication between the electronic device 400 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC for short), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or one or more of them Combinations are not limited here. Therefore, the corresponding communication component 405 may include: a Wi-Fi module, a Bluetooth module, an NFC module and the like.

In an exemplary embodiment, the electronic device 400 may be integrated with one or more Application Specific Integrated Circuits (Application Specific Integrated Circuit, referred to as ASIC), digital signal processor (Digital Signal Processor (DSP for short), Digital Signal Processing Device (DSPD for short), Programmable Logic Device (PLD for short), Field Programmable Gate Array (Field Programmable Gate Array, FPGA for short), control implemented by a microcontroller, a microcontroller, a microprocessor or other electronic components, and is used to execute the above-mentioned control method for a hybrid electric vehicle.

In another exemplary embodiment, there is also provided a computer-readable storage medium including program instructions, and when the program instructions are executed by a processor, the steps of the above method for controlling a hybrid vehicle are realized. For example, the computer-readable storage medium can be the above-mentioned memory 402 including program instructions, and the above-mentioned program instructions can be executed by the processor 401 of the electronic device 400 to complete the above-mentioned hybrid vehicle control method.

In another exemplary embodiment, there is also provided a computer program product comprising a computer program executable by a programmable device, the computer program having a function for performing the above-mentioned The code portion of the hybrid vehicle control method.

The preferred embodiments of the present application have been described in detail above in conjunction with the accompanying drawings. However, the present application is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present application, various simple modifications can be made to the technical solutions of the present application. These simple modifications all belong to the protection scope of the present application.

In addition, it should be noted that the various specific technical features described in the above specific implementation manners may be combined in any suitable manner if there is no contradiction. In order to avoid unnecessary repetition, this application will not further describe various possible combinations.

In addition, any combination of various implementations of the present application can also be made, as long as they do not violate the idea of the present application, they should also be regarded as the content disclosed in the present application.

Claims

A control method for a hybrid vehicle, characterized in that the method comprises:

If an instruction to convert the current series drive mode to the direct drive mode is received, the target gear, the target torque of the crankshaft, and the target speed of the crankshaft are determined according to the current state of the vehicle, wherein the series drive mode is driven by the drive motor And the engine participates in power generation, and the direct drive mode is jointly driven by the engine and the drive motor;

Control the gearbox to start switching to the target gear;

controlling the rotational speed of the crankshaft to reach the target rotational speed;

If it is determined that the gearbox has been switched to the target gear and both sides of the clutch have reached synchronization, the control increases the torque of the clutch to a predetermined value;

If the state of the clutch reaches a slipping state, the control increases the torque of the crankshaft until the target torque is reached.
The method according to claim 1, wherein the current state of the vehicle includes the opening of the accelerator pedal, the state of charge of the power battery, and the vehicle speed.
The method according to claim 2, wherein said determining the target gear, the target torque of the crankshaft, and the target rotational speed of the crankshaft according to the current state of the vehicle comprises:

Bringing the accelerator pedal opening, the state of charge of the power battery and the vehicle speed into the pre-stored shift line MAP map to determine the target gear and the target torque of the crankshaft;

Based on the target gear, a target rotational speed of the crankshaft is determined.
The method according to claim 1, wherein the controlling the speed of the crankshaft to reach the target speed comprises:

The torque of the generator is requested through the PI control method, so that the rotation speed of the crankshaft driven by the generator reaches the target rotation speed.
The method according to claim 4, wherein the requesting the torque of the generator through the PI control method comprises:

If the current rotational speed of the crankshaft is less than the target rotational speed, then controlling the generator to drive the crankshaft to run;

If the current rotational speed of the crankshaft is greater than the target rotational speed, the generator is controlled to convert part of the torque of the crankshaft into electricity and store it in the power battery.
The method according to claim 1, further comprising:

If the speed difference between the two sides of the clutch is less than a predetermined threshold, it is determined that the two sides of the clutch have reached synchronization.
The method according to claim 1, wherein said controlling to increase the clutch torque to a predetermined value comprises:

The torque of the clutch is increased to a predetermined value according to a predetermined speed increase.
A control device for a hybrid vehicle, characterized in that the device comprises:

A determining module, configured to determine the target gear, the target torque of the crankshaft, and the target rotational speed of the crankshaft according to the current state of the vehicle if an instruction to convert the current series drive mode to the direct drive mode is received, wherein the series drive mode is driven by a drive motor and the engine participates in power generation, and the direct drive mode is jointly driven by the engine and the drive motor;

The first control module is used to control the gearbox to start switching to the target gear;

a second control module, configured to control the speed of the crankshaft to reach the target speed;

The third control module is configured to control increasing the torque of the clutch to a predetermined value if it is determined that the gearbox has switched to the target gear and both sides of the clutch have reached synchronization;

The fourth control module is configured to control increasing the torque of the crankshaft until the target torque is reached if the state of the clutch reaches a slipping state.
The device according to claim 8, wherein the current state of the vehicle includes the opening of the accelerator pedal, the state of charge of the power battery, and the vehicle speed.
The device according to claim 9, wherein the determination module is also used for:

Bringing the accelerator pedal opening, the state of charge of the power battery and the vehicle speed into the pre-stored shift line MAP map to determine the target gear and the target torque of the crankshaft;

Based on the target gear, a target rotational speed of the crankshaft is determined.
The device according to claim 8, wherein the second control module is further used for:

The torque of the generator is requested through a PI control method, so that the rotation speed of the crankshaft driven by the generator reaches the target rotation speed.
The device according to claim 11, wherein the second control module is further used for:

If the current rotational speed of the crankshaft is less than the target rotational speed, then controlling the generator to drive the crankshaft to run;

If the current rotational speed of the crankshaft is greater than the target rotational speed, the generator is controlled to convert part of the torque of the crankshaft into electricity and store it in the power battery.
The device according to claim 8, wherein the device further comprises:

A judging module, configured to judge that both sides of the clutch have reached synchronization if the speed difference between the two sides of the clutch is smaller than a predetermined threshold.
The device according to claim 8, wherein the third control module is also used for:

The torque of the clutch is increased to a predetermined value according to a predetermined speed increase.
An electronic device, characterized in that it comprises:

a memory on which a computer program is stored;

A processor, configured to execute the computer program in the memory, so as to implement the steps of the method according to any one of claims 1-7.