Shifting fork control method and device and vehicle

Abstract

The invention provides a shifting fork control method and device and a vehicle. The current position of a shifting fork is detected in real time; a first shifting fork instruction is responded and executed, the first shifting fork instruction indicates that a shifting fork is switched to a first target position corresponding to a first driving mode, and the first driving mode is a two-wheel driving mode or a four-wheel driving mode; if a second shifting fork instruction is received in the execution process of the first shifting fork instruction, whether execution of the first shifting fork instruction is completed or not is determined according to the current position, the second shifting fork instruction indicates that a shifting fork is switched to a second target position corresponding to a second driving mode, and the second driving mode is a four-wheel driving mode or a two-wheel driving mode; the second driving mode is different from the first driving mode; after it is determined that the first shifting fork instruction is executed, the second shifting fork instruction is responded and executed, the shifting fork driving success probability can be increased, the internal execution risk of a front main speed reducer system is reduced, and the user experience is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a shift fork control method, device and vehicle. Background Art

[0002] Some longitudinal four-wheel drive vehicles are equipped with a "disconnect" device on the front final drive system. This device disconnects the power connection between the front axle half shaft and the right drive half shaft, thereby reducing the operating load in two-wheel drive mode and lowering fuel consumption. This disconnect device uses vehicle signals to drive the motor to rotate, which in turn drives the shift fork through a series of mechanical structures. The disconnect is ultimately achieved by the engagement and withdrawal of the spline sleeve.

[0003] However, in actual use, the shift fork often gets stuck. After analysis, it is because the spline sleeve has a tooth-top phenomenon during the shift fork switching process, which prevents it from cutting in, causing the switch to get stuck. If there is a new instruction, it is easy to cause the shift fork to drive incorrectly. Summary of the Invention

[0004] In view of this, the embodiments of the present invention are committed to providing a shift fork control method, device and vehicle. By controlling the execution of the previous shift fork instruction before executing the next shift fork instruction, the probability of successful shift fork driving can be increased, the internal execution risk of the front main reducer system can be reduced, and the problem of abnormal noise of the front main reducer caused by shift fork sticking can be solved, thereby significantly improving the user experience.

[0005] To achieve the above technical objectives, the embodiments of this specification provide the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a fork control method, which includes: real-time detection of the current position of the fork; responding to and executing a first fork instruction, the first fork instruction instructing to switch the fork to a first target position corresponding to a first drive mode, the first drive mode being a two-wheel drive mode or a four-wheel drive mode; if a second fork instruction is received during the execution of the first fork instruction, determining whether the first fork instruction has been completed based on the current position, the second fork instruction instructing to switch the fork to a second target position corresponding to a second drive mode, the second drive mode being a four-wheel drive mode or a two-wheel drive mode, and the second drive mode is different from the first drive mode; if the first fork instruction has not been completed, continuing to execute the first fork instruction until the first fork instruction is completed; if the first fork instruction is completed, responding to and executing the second fork instruction.

[0007] In this embodiment, by detecting the current position of the shift fork in real time, the first shift fork command can be completely executed based on the current position of the shift fork when executing the first shift fork command, thereby increasing the probability of successful shift fork actuation. If a second shift fork command is received during the execution of the first shift fork command, the execution status of the first shift fork command, such as whether the first shift fork command has been completely executed, can be determined based on the current position of the shift fork. Only after confirming that the first shift fork command has been completely executed can the second shift fork command be executed. This reduces the internal execution risk of the front main reducer system, solves the problem of abnormal front main reducer noise caused by shift fork sticking, and significantly improves the user experience.

[0008] Optionally, responding to and executing the first shift fork instruction includes: responding to and executing the first shift fork instruction according to the current position of the shift fork.

[0009] In this embodiment, the current position of the shift fork may be at the first target position corresponding to the first shift fork instruction, or may not be at the first target position. Different shift fork operations are performed based on the first shift fork instruction according to the current position of the shift fork, so that the first shift fork instruction is executed thoroughly, ensuring that the shift fork is fully in place, and preventing situations such as incomplete placement or transmission deviation of the software signal.

[0010] Optionally, responding to and executing the first shift fork instruction according to the current position of the shift fork further includes: if the current position of the shift fork is consistent with the first target position, controlling the shift fork to execute the action of switching to the first target position, and lasting for a first preset time and ending.

[0011] In this embodiment, the current position of the shift fork is consistent with the first target position, which means that the current position indicated by the shift fork is consistent with the first target position, and the actual position of the shift fork may still be a certain distance away from the first target position. By controlling the shift fork to execute the action of switching to the first target position and continuing for a first preset time, it is possible to ensure that the actual position of the shift fork is consistent with the first target position, that is, the first shift fork instruction is executed thoroughly, ensuring that the shift fork is fully in place, and preventing situations such as incomplete placement or transmission deviation of the software signal.

[0012] Optionally, responding to and executing a first shift fork instruction according to the current position of the shift fork includes: if the current position of the shift fork is inconsistent with the first target position, cyclically controlling the shift fork to execute an action of switching to the first target position until the shift fork is in the first target position.

[0013] In this embodiment, the current position of the shift fork is inconsistent with the first target position, that is, the shift fork needs to be moved to the first target position. In the process of executing the first shift fork instruction, if the shift fork operation is performed once and the shift fork does not move to the first target position, the shift fork can be controlled to switch to the first target position repeatedly in multiple cycles until the shift fork is in the first target position. This can increase the probability of successful shift fork driving, reduce the internal execution risk of the front main reducer system, and solve the problem of abnormal noise in the front main reducer caused by shift fork sticking.

[0014] Optionally, the cyclic control of the shift fork to execute the action of switching to the first target position until the shift fork is in the first target position includes: controlling the shift fork to execute the action of switching to the first target position, and continuing for a second preset time; if the shift fork is not detected to be in the first target position within the second preset time, controlling the motor to stop for a third preset time, and then returning to the step of controlling the shift fork to execute the action of switching to the first target position; until the shift fork is detected to be in the first target position.

[0015] In this embodiment, in the process of cyclically controlling the shift fork to switch to the first target position, a shift fork operation is performed according to the first shift fork instruction and lasts for a second preset time. By appropriately extending the time of each shift fork driving action, the number of times the shift fork is driven can be reduced. Since the motor is controlled to stop for a third preset time after each shift fork driving action, this can prevent multiple drives from causing the process execution time to be too long. If the current position of the shift fork is still inconsistent with the first target position, it means that the top tooth of the shift fork spline sleeve is stuck, and it is necessary to continue to repeat the next shift fork operation. However, in order to prevent the motor from stalling, the motor is controlled to stop for the third preset time before executing the next switching action. By increasing the motor stop time, it can prevent the motor from being damaged due to long-term operation.

[0016] Optionally, the cyclic control fork executes the action of switching to the first target position until the fork is in the first target position, and also includes: counting the number of times the fork executes the action of switching to the first target position; if the number reaches a preset number, outputting a prompt message to prompt the user that the fork switch is stuck.

[0017] In this embodiment, if the shift fork executes the action of switching to the first target position a preset number of times, it indicates that the current shift fork jam cannot be eliminated by repeated operations. At this time, manual intervention may be required to solve the shift fork jam problem. At this time, a prompt message is output to remind the user that the shift fork switch is stuck. By prompting the user, the vehicle can be turned at a low speed so that the relative movement of the front main reducer half shaft and the right drive half shaft of the vehicle avoids the top tooth position, thereby increasing the probability of successful shift fork driving.

[0018] Optionally, determining whether the first fork instruction is executed based on the current position includes: if the current position is at the first target position, determining that the first fork instruction is executed; if the current position is not at the first target position, determining that the first fork instruction is not executed.

[0019] In this embodiment, by determining whether the first fork instruction has been executed based on whether the current position of the fork is at the first target position, the execution status of the first fork instruction can be accurately obtained, so that corresponding actions can be taken according to the execution status of the first fork instruction to ensure that the first fork instruction is executed thoroughly and prevent internal execution risks from occurring in the front main reducer system.

[0020] Optionally, the responding and executing the second fork instruction includes: determining whether the fork is in the second target position; controlling the fork to switch to the second target position according to the second fork instruction; if not, cyclically controlling the fork to switch to the second target position until the fork is in the second target position; if yes, controlling the fork to switch to the second target position, and continuing for a first preset time and ending.

[0021] In this embodiment, the current position of the shift fork is inconsistent with the second target position, that is, the shift fork needs to be moved to the second target position. In the process of executing the second shift fork instruction, if the shift fork operation is performed once and the shift fork does not move to the second target position, the shift fork can be controlled to switch to the second target position repeatedly in multiple cycles until the shift fork is in the second target position. This can increase the probability of successful fork driving, reduce the internal execution risk of the front main reducer system, and solve the problem of abnormal noise of the front main reducer caused by the jamming of the shift fork; if the current position of the shift fork is consistent with the second target position, the shift fork operation is performed once and lasts for the first preset time to ensure that the second shift fork instruction is executed thoroughly, and the shift fork control can be continuously advanced without the occurrence of internal execution risk of the system, which has strong executability and popularization.

[0022] In a second aspect, an embodiment of the present application further provides a fork control device, the device comprising: a position detection module for detecting the current position of the fork in real time; an instruction response module for responding to and executing a first fork instruction, the first fork instruction instructing the fork to be switched to a first target position corresponding to a first drive mode, the first drive mode being a two-wheel drive mode or a four-wheel drive mode; an instruction receiving module for determining whether the first fork instruction is completed based on the current position if a second fork instruction is received during the execution of the first fork instruction, the second fork instruction instructing the fork to be switched to a second target position corresponding to a second drive mode, the second drive mode being a four-wheel drive mode or a two-wheel drive mode, and the second drive mode being different from the first drive mode; a control execution module for continuing to execute the first fork instruction if the first fork instruction is not completed; and responding to and executing the second fork instruction if the first fork instruction is completed.

[0023] In a third aspect, an embodiment of the present application further provides a vehicle, comprising: a memory for storing executable program code; and a processor for calling and running the executable program code from the memory, so that the processor executes the aforementioned method.

[0024] It can be seen from the above technical solution that the fork control method provided in the embodiment of this specification detects the current position of the fork in real time; subsequently, the execution status of the fork instruction can be determined according to the current position of the fork; responds to and executes the first fork instruction, the first fork instruction instructs the fork to be switched to the first target position corresponding to the first drive mode, the first drive mode is a two-wheel drive mode or a four-wheel drive mode; if a second fork instruction is received during the execution of the first fork instruction, it is determined whether the first fork instruction is executed according to the current position, the second fork instruction instructs the fork to be switched to the second target position corresponding to the second drive mode, the second drive mode is a four-wheel drive mode or two-wheel drive mode, and the second drive mode is different from the first drive mode; if the first fork instruction is not executed, continue to execute the first fork instruction until the first fork instruction is executed; if the first fork instruction is executed, respond to and execute the second fork instruction, and receive the second fork instruction during the execution of the first fork instruction. The execution status of the first fork instruction can be determined according to the current position of the fork. Only after determining that the first fork instruction is completely executed can the second fork instruction be executed. This can increase the probability of successful fork driving, reduce the internal execution risk of the front main reducer system, solve the problem of abnormal noise of the front main reducer caused by fork sticking, and significantly improve user experience.

[0025] The above description is only an overview of the technical solution of the present disclosure. In order to more clearly understand the technical means of the present disclosure, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present disclosure more obvious and easy to understand, the specific implementation methods of the present disclosure are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present disclosure. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0027] Figure 1 FIG2 is a schematic structural diagram of a disconnect device provided by an embodiment of the present application with the shift fork in the engaged position;

[0028] Figure 2 The figure shows a schematic structural diagram of a disconnection device provided by an embodiment of the present application with the shift fork in the disconnected position;

[0029] Figure 3 The figure shows a schematic structural diagram of a front main reducer abnormal noise disconnection device provided by an embodiment of the present application;

[0030] Figure 4 FIG2 is a flow chart of a shift fork control method provided by an embodiment of the present application;

[0031] Figure 5 FIG2 is an example diagram of a method for controlling a shift fork from disconnection to engagement provided by an embodiment of the present application;

[0032] Figure 6 FIG2 is an example diagram of a shift fork control method from engagement to disconnection provided by one embodiment of the present application;

[0033] Figure 7 FIG2 is a schematic structural diagram of a shift fork control device provided by an embodiment of the present application;

[0034] Figure 8 Shown is a structural schematic diagram of a vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION

[0035] Unless otherwise defined, technical or scientific terms used in the embodiments of this specification should have the same ordinary meaning as those understood by persons of ordinary skill in the art to which this specification pertains. The terms "first," "second," and similar terms used in the embodiments of this specification do not denote any order, quantity, or importance, but are provided solely to avoid confusion between constituent elements.

[0036] Unless the context requires otherwise, throughout this specification, the term "plurality" means "at least two," and "including" is to be interpreted as open and inclusive, meaning "including, but not limited to." Throughout this specification, the terms "one embodiment," "some embodiments," "exemplary embodiments," "example," "specific example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with the embodiment or example is included in at least one embodiment or example of this specification. The schematic representations of these terms do not necessarily refer to the same embodiment or example.

[0037] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0038] In related technology, the front final drive system is equipped with a disconnect device that disconnects the power connection between the front axle half-shaft and the right drive half-shaft, thereby reducing the operating load in two-wheel drive mode and lowering fuel consumption. This disconnect device uses vehicle signals to drive the motor to rotate, which in turn drives the shift fork through a series of mechanical structures. The disconnect is ultimately achieved by the engagement and disengagement of the shift fork.

[0039] The structure of the disconnect device is as follows Figure 1-2 As shown, Figure 1 a is a schematic diagram of the three-dimensional structure of the disconnect device with the shift fork in the engaged position. Figure 1 b is a cross-sectional view of the disconnecting device with the shift fork in the engaged position;

[0040] Figure 2 a is a schematic diagram of the three-dimensional structure of the disconnecting device with the shift fork in the disconnected position. Figure 2 b is a cross-sectional view of the disconnecting device when the shift fork is in the disconnected position. The disconnecting device includes a shift fork 1, a first long semi-shaft 2 and a second long semi-shaft 3. The first long semi-shaft 2 is sleeved with the second long semi-shaft 3, and the shift fork 1 is located on the outside of the first long semi-shaft 2 and the second long semi-shaft 3 and can move along the outer surface of the first long semi-shaft 2 and the second long semi-shaft 3. The first long semi-shaft 2 is the front main reducer axle, and the second long semi-shaft 3 is the right drive axle of the vehicle. When the shift fork is in the engaged position, the teeth of the shift fork 1 are sleeved with the teeth of the first long semi-shaft 2 and the teeth of the second long semi-shaft 3 at the same time. When the shift fork is in the disconnected position, the teeth of the shift fork 1 are only sleeved with the teeth of the first long semi-shaft 2.

[0041] In actual use, the shift fork often gets stuck during shifting. Analysis reveals that this is caused by the spline sleeve pushing against the teeth during the shifting process, preventing the gear from engaging. This causes the front main reducer to make unusual noises while the vehicle is moving, which can be noticed by customers.

[0042] For example, when switching from two-wheel drive mode (2H) to four-wheel drive mode (4H), the shift fork is stuck due to the top tooth and is not fully engaged, and is actually in the 2H position. At this time, the vehicle's four-wheel drive mode is switched from 4H to 2H. After the shift fork controller receives the 2H command, it is consistent with the actual state of "disconnection". Therefore, the shift fork controller no longer drives, causing the shift fork to remain stuck in the position, eventually causing abnormal noise from the front main reducer. Figure 3 This is a schematic diagram of the structure of the front main reducer abnormal noise disconnect device, where Figure 3 a is a schematic diagram of the three-dimensional structure of the front main reducer abnormal noise disconnection device, Figure 3 b is a cross-sectional view of the front main reducer's unusual noise disconnect mechanism. When the front main reducer makes unusual noise, the shift fork's teeth become stuck with the teeth on the second long half-shaft, preventing them from engaging with the teeth on the second long half-shaft.

[0043] Based on this, in order to solve the technical problem of abnormal noise of front main reduction caused by fork jam in the prior art, the present application provides a fork control method, such as Figure 4 As shown, Figure 4 : is a schematic flow chart of a shift fork control method provided in an embodiment of the present application. The shift fork control method can be applied to an electronic controller. The shift fork control method includes:

[0044] Step S11: Detect the current position of the shift fork in real time.

[0045] The current position of the shift fork can be a disconnected position or an engaged position. The shift fork position corresponding to the two-wheel drive mode (2H) is the disconnected position, and the shift fork position corresponding to the two-wheel drive mode (4H) is the disconnected position.

[0046] It should be noted that the current position of the shift fork has only two indication states, indicating the disconnected position or the engaged position. The current position of the shift fork is consistent with the first target position, which means that the current position indicated by the shift fork is consistent with the first target position, and the actual current position of the shift fork may be a certain distance away from the indicated position. For example, if the shift fork indicates that it is in the "disconnected" position, the actual current position of the detected shift fork may not be at the shift fork terminal position corresponding to "disconnected", that is, the shift fork has not actually been fully positioned. Similarly, if the shift fork indicates that it is in the "engaged" position, the actual current position of the detected shift fork may not be at the shift fork terminal position corresponding to "engaged". This can easily lead to the shift fork getting stuck, which will eventually cause abnormal noise in the front main reducer, and can also easily cause transmission deviations in the software signal, etc., which creates execution risks within the front main reducer system.

[0047] Step S12: responding to and executing a first shift fork instruction, wherein the first shift fork instruction instructs the shift fork to be switched to a first target position corresponding to a first driving mode, wherein the first driving mode is a two-wheel drive mode or a four-wheel drive mode.

[0048] In this embodiment of the present application, prior to step S11, the first switching instruction is responded to and executed, controlling the vehicle to switch from the second drive mode to the first drive mode. The vehicle is initially in the second drive mode, and upon receiving the first switching instruction, the four-wheel drive controller controls the transfer case to switch from the second drive mode to the first drive mode. Only after the drive mode switch is complete does the four-wheel drive controller issue a first shift fork instruction to the shift fork controller, instructing the shift fork to switch to the first target position corresponding to the first drive mode.

[0049] Therefore, before responding to and executing the first shift fork command, the drive mode switch corresponding to the first drive mode has already been completed. The first shift fork command instructs the shift fork to be switched to the first target position corresponding to the first drive mode, and the first drive mode is a two-wheel drive mode or a four-wheel drive mode. In this way, if the first drive mode is a two-wheel drive mode, the vehicle has already been switched from the four-wheel drive mode to the two-wheel drive mode before responding to and executing the first shift fork command. If the first drive mode is a four-wheel drive mode, the vehicle has already been switched from the two-wheel drive mode to the four-wheel drive mode before responding to and executing the first shift fork command. The two-wheel drive mode (2H) is rear-wheel drive. In 2H mode, the rear wheels are the driven wheels, and the front wheels can rotate freely, making it suitable for driving on ordinary hard roads and highways. The four-wheel drive mode (4H) is a part-time drive mode suitable for use on smooth and soft roads, such as snow, ice, sand, muddy roads, gravel roads, wetlands, etc.

[0050] Step S13: If a second shift fork instruction is received during the execution of the first shift fork instruction, it is determined whether the first shift fork instruction has been executed based on the current position, and the second shift fork instruction instructs the shift fork to be switched to a second target position corresponding to a second drive mode, the second drive mode is a four-wheel drive mode or a two-wheel drive mode, and the second drive mode is different from the first drive mode.

[0051] In an embodiment of the present application, before receiving the first shift fork instruction, the switching of the drive mode corresponding to the second drive mode has been completed. The second shift fork instruction instructs the shift fork to be switched to the second target position corresponding to the first drive mode, and the first drive mode is a four-wheel drive mode or a two-wheel drive mode, and the second drive mode is different from the first drive mode. In this way, if the first drive mode is a two-wheel drive mode, the second drive mode is a four-wheel drive mode, and before responding to and executing the second shift fork instruction, the vehicle has been switched from the two-wheel drive mode to the four-wheel drive mode, and the second target position corresponding to the second drive mode is the shift fork "engaged" position. If the first drive mode is a four-wheel drive mode, the second drive mode is a two-wheel drive mode, and before responding to and executing the second shift fork instruction, the vehicle has been switched from the four-wheel drive mode to the two-wheel drive mode, and the second target position corresponding to the second drive mode is the shift fork "disconnected" position.

[0052] If the shift fork is stuck, even though the first shift fork command is executed in step S12, the shift fork may not actually reach the first target position corresponding to the first drive mode. If the first shift fork command is executed, it means that the shift fork is positioned correctly, that is, the shift fork is at the first target position corresponding to the first drive mode. If the first shift fork command is not executed, it means that the shift fork is not positioned correctly, that is, the shift fork is not at the first target position corresponding to the first drive mode.

[0053] For example, if the first drive mode is 2H mode, after executing the first shift fork command, the shift fork should normally be in the terminal position of the shift fork, which may be disconnected at this time. However, due to the shift fork being stuck, the shift fork moves a certain distance but is still in the "engaged" position. At this time, if the second shift fork command is directly executed, that is, the shift fork needs to be moved to the engaged position, the actual position of the shift fork will be consistent with the position required by the second shift fork command, and the operation will stop, that is, the execution of the second shift fork command will stop. If the second shift fork command is directly indicated to be completed, the shift fork will still remain in the stuck position, resulting in a system logic error.

[0054] If the first drive mode is 4H mode, after executing the first shift fork command, the shift fork should normally be in the shift fork terminal position, which is probably the engaged shift fork. However, due to the shift fork being stuck, the shift fork is still in the "disconnected" position despite moving a certain distance. At this time, if the second shift fork command is directly executed, that is, the shift fork needs to be moved to the disconnected position, the actual position of the shift fork will be consistent with the position required by the second shift fork command, and the operation will stop, that is, the execution of the second shift fork command will stop. If the second shift fork command is directly indicated to be completed, the shift fork will still remain in the stuck position, which will also cause a system logic error.

[0055] This allows the current position of the shift fork to be detected, and based on this current position, it can be determined that the first shift fork instruction has not been completed. If the shift fork has successfully entered its position, that is, the shift fork is at the target terminal position corresponding to the first shift fork instruction, it can be considered that the first shift fork instruction has been completed. Otherwise, it means that the first shift fork has not been completed.

[0056] Step S14: if the first shift fork instruction has not been executed, continue to execute the first shift fork instruction until the first shift fork instruction is executed; if the first shift fork instruction is executed, respond and execute the second shift fork instruction.

[0057] If the first shift fork command is not executed, the second shift fork command will continue to be executed. The position where the shift fork is stuck is consistent with the second target position indication that the second shift fork command needs to move, so the execution of the second shift fork command is stopped and the shift fork controller no longer performs the driving action, causing the shift fork to be stuck in the position all the time, and eventually causing abnormal noise from the front main reducer.

[0058] After the first shift fork instruction is executed, the second shift fork instruction is responded to and executed, so that the shift fork can move to the target position corresponding to the shift fork instruction each time, so that the mode switching operation can be carried out continuously without the internal execution risk of the front main reduction system, and it has strong executability and promotion.

[0059] The fork control method of the present application detects the current position of the fork in real time; responds to and executes a first fork instruction, the first fork instruction instructing to switch the fork to a first target position corresponding to a first drive mode, the first drive mode being a two-wheel drive mode or a four-wheel drive mode; if a second fork instruction is received during the execution of the first fork instruction, it is determined based on the current position whether the first fork instruction has been executed, the second fork instruction instructing to switch the fork to a second target position corresponding to a second drive mode, the second drive mode being a four-wheel drive mode or a two-wheel drive mode, and the second drive mode is different from the first drive mode; if the first fork instruction has not been executed, the first fork instruction is continued to be executed until the first fork instruction is executed; if the first fork instruction is executed, the second fork instruction is responded to and executed, which can increase the probability of successful fork driving, reduce the internal execution risk of the front main reducer system, solve the problem of abnormal noise of the front main reducer caused by fork sticking, and significantly improve user experience.

[0060] In order to more clearly illustrate the technical solution provided by the embodiment of the present application, a shift fork control method provided by the present application is further described below.

[0061] Considering that before executing the first shift fork instruction, the current position of the shift fork may be at the first target position corresponding to the first shift fork instruction, or may be at a position that does not correspond to the first shift fork instruction. Based on the existence of the above two situations, in an embodiment of the present application, optionally, the first shift fork instruction is responded to and executed according to the current position of the shift fork. Regardless of whether the shift fork is currently at the first target position corresponding to the first shift fork instruction, or is not at the first target position, different shift fork operations need to be performed according to the first shift fork instruction so that the first shift fork instruction is executed thoroughly, ensuring that the shift fork is fully in place, and preventing situations such as incomplete placement or transmission deviation of the software signal.

[0062] In order to ensure that the first shift fork instruction is executed thoroughly, optionally, if the current position of the shift fork is consistent with the first target position, the shift fork is controlled to execute the action of switching to the first target position, and the action lasts for a first preset time and ends. The current position of the shift fork is consistent with the first target position, which means that the current position indicated by the shift fork is consistent with the first target position, while the actual position of the shift fork may still be a certain distance away from the first target position, that is, it cannot be determined whether the first shift fork instruction is executed thoroughly. Therefore, it is necessary to control the shift fork to execute the action of switching to the first target position once, and this action lasts for a first preset time. In this way, it can be ensured that after the first shift fork instruction is executed, the actual position of the shift fork is consistent with the first target position, and the first shift fork instruction is executed thoroughly. Among them, the first preset time can be set according to empirical values. If the first preset time is set too long, it will increase unnecessary program execution time and cause unnecessary waste of resources. If the first preset time is set too short, it will result in insufficient execution of the first shift fork instruction. The shift fork may not be fully in place and the execution of the first shift fork instruction will be stopped, which may cause transmission deviation of the software signal. The first preset time is preferably 0.5s.

[0063] If the shift fork becomes stuck, executing the second shift fork command before the first shift fork command is completed can easily cause the shift fork to remain stuck, preventing the second shift fork command from executing smoothly. This can ultimately introduce abnormal noise from the front main reducer, creating execution risks within the front main reducer system and impacting the user experience. Based on this, optionally, if the current position of the shift fork is inconsistent with the first target position, the shift fork is controlled to switch to the first target position in a loop until the shift fork reaches the first target position.

[0064] If the current position of the shift fork is inconsistent with the first target position, it indicates that the shift fork is not in the first target position corresponding to the first drive mode and needs to be moved to the first target position. At this time, the shift fork is controlled to switch to the first target position according to the first shift fork command. If the current position of the shift fork is consistently inconsistent with the first target position, the shift fork can be repeatedly controlled to switch to the first target position in a loop until the shift fork is in the first target position. This increases the probability of successful shift fork actuation, reduces the risk of internal execution within the front main reducer system, and resolves the issue of abnormal noise from the front main reducer caused by a stuck shift fork.

[0065] During the execution of the first shift fork instruction, if the shift fork is controlled to execute the action of switching to the first target position once according to the first shift fork instruction, and the current position of the shift fork detected in real time is still inconsistent with the first target position, the shift fork can be controlled to execute the action of switching to the first target position repeatedly in a loop so that the first shift fork instruction is completely executed. Optionally, the shift fork is controlled to execute the action of switching to the first target position and lasts for a second preset time; if the shift fork is not detected to be at the first target position within the second preset time, the motor is controlled to stop for a third preset time, and then returns to the step of controlling the shift fork to execute the action of switching to the first target position; until the shift fork is detected to be at the first target position. By repeatedly controlling the shift fork to execute the action of switching to the first target position in multiple cycles until the shift fork is at the first target position, the first shift fork instruction can be completely executed without the risk of internal execution of the front main reducer system, and has strong executability and generalizability.

[0066] The second preset time is greater than the first preset time. The second and third preset times can be set as needed. Preferably, the second preset time is 5 seconds, and the third preset time is 5 seconds. If the current position of the shift fork is inconsistent with the first target position, the shift fork is controlled to switch to the first target position for a second preset time. During this process, the current position of the shift fork is continuously detected. If the current position of the shift fork detected within the second preset time is still inconsistent with the first target position, it indicates that the top tooth of the shift fork spline sleeve is stuck. The shift fork needs to continue to switch to the first target position, but to prevent the motor from stalling, the motor is controlled to stop for a third preset time before the next switching action is performed. By increasing the motor stall time, damage to the motor caused by prolonged operation can be prevented. The second preset time is greater than the first preset time. By appropriately extending the time for each shift fork drive, the number of shift fork drives can be reduced. Since the motor is controlled to stop for a third preset time after each shift fork drive, multiple drives can be prevented from causing excessive execution time.

[0067] Considering that if the shift fork cannot be switched to the first target position after repeated control of the shift fork, it may be that the current shift fork is stuck and cannot be eliminated by repeated operation. In this case, it may be necessary to manually solve the shift fork stuck problem. Based on this, in the process of cyclically repeating the action of controlling the shift fork to switch to the first target position, optionally, the number of times the shift fork switches to the first target position is counted; if the number reaches a preset number, a prompt message is output to remind the user that the shift fork is stuck. The preset number can be set as needed, preferably 2 times. If the shift fork is still not switched to the first target position after the preset number of cyclically repeating the action of controlling the shift fork to switch to the first target position, the shift fork controller first sends a "shift fork switching stuck" signal to the vehicle instrument, and the instrument displays the corresponding content "shift fork switching stuck, please turn at low speed" to remind the customer. At the same time, the motor is controlled to stop for a third preset time, and the shift fork continues to cyclically repeat the action of switching to the first target position until the shift fork is successfully switched into position. When the jam cannot be eliminated by repeated operations, the user is prompted to operate the vehicle in a low-speed turn so that the relative movement of the front main reducer half shaft and the right drive half shaft of the vehicle avoids the top tooth position, thereby increasing the probability of successful fork actuation.

[0068] In this embodiment of the present application, similar to the first shift fork command, before receiving the second shift fork command, the second switching command is responded to and executed to control the vehicle to complete the switch from the first drive mode to the second drive mode. The vehicle has already switched to the first drive mode before step S11. At this time, the four-wheel drive controller receives the second switching command and controls the transfer case to complete the switch from the first drive mode to the second drive mode. After the drive mode switch is completed, the four-wheel drive controller issues the second shift fork command to the shift fork controller to instruct the shift fork to switch to the second target position corresponding to the second drive mode.

[0069] At this point, the first shift fork command may have been executed, and the shift fork is at the first target position corresponding to the first shift fork command. Alternatively, the first shift fork command may not have been fully executed due to the shift fork being stuck, and the shift fork is not at the first target position. Therefore, considering that the purpose of the first shift fork command is to switch the shift fork to the first target position, the completion of the first shift fork command can be determined based on the position of the shift fork. Based on this, optionally, if the current position is at the first target position, the first shift fork command is determined to have been completed; if the current position is not at the first target position, the first shift fork command is determined to have not been completed. If the current position of the shift fork is at the first target position, the purpose of the first shift fork command has been achieved, and the first shift fork command has been completed. If the current position of the shift fork is not at the first target position, the purpose of the first shift fork command has not been achieved, and the first shift fork command has not been completed. By accurately obtaining the execution status of the first shift fork command, subsequent actions can be taken based on the execution status of the first shift fork command to ensure that the first shift fork command is fully executed, preventing internal execution risks in the front final drive system. Only after confirming that the first shift fork command has been completely executed will the second shift fork command be responded to and executed. This can prevent the front main reducer system from having internal execution risks, ensure that the control of the shift fork command can be continuously promoted, and ensure that the front main reducer system has strong execution and promotion capabilities.

[0070] If the first fork shift command has not been executed, the first fork shift command is continued to be executed based on the method in step S12. If the first fork shift command is executed, the second fork shift command is responded and executed.

[0071] In an embodiment of the present application, when executing the second shift fork instruction, it is optionally determined whether the shift fork is in the second target position; if not, the shift fork is controlled to switch to the second target position in a loop until the shift fork is in the second target position; if so, the shift fork is controlled to switch to the second target position for a first preset time and then terminate. The second target position is the target terminal position corresponding to the second shift fork instruction. If the shift fork is not in the second target position, it means that the shift fork is inconsistent with at least the target terminal position corresponding to the second shift fork instruction, and the shift fork is controlled to switch to the second target position in a loop until the shift fork is in the second target position. The specific control method is similar to the aforementioned method of cyclically controlling the shift fork to switch to the first target position until the shift fork is in the first target position, and will not be repeated here. If the shift fork is in the second target position, it means that the shift fork is consistent with the target terminal position corresponding to the second shift fork instruction, and the shift fork is controlled to switch to the second target position for a first preset time to ensure that the second shift fork instruction is fully executed, and then the current shift fork control process is terminated. This can ensure that the second shift fork instruction is executed completely, and combined with the control of the complete execution of the first shift fork instruction, it can ensure that the shift fork control can be continuously promoted without the occurrence of internal execution risks in the system, and has strong executability and promotion.

[0072] In the embodiment of the present application, each time a fork command is executed, the execution of the fork command is controlled to be complete, and the next fork command is executed only after it is determined that the previous fork command is completed. In this way, even if the interval between the first fork command and the second fork command is very short, the logic of executing the next fork command only after the execution of the previous fork command is ensured to continue to advance, and there will be no internal execution risk of the front main reducer system. The application has strong executability and scalability.

[0073] The first shift fork instruction can be to control the shift fork from disconnection to engagement, or to control the shift fork from engagement to disconnection. The two cases are respectively described below with examples, where the first preset time is 0.52s, and the second preset time and the third preset time are 5s.

[0074] 1. The first shift fork command is to control the shift fork from disconnection to engagement:

[0075] See also Figure 5 4H mode means the vehicle needs to be switched to 4H drive mode, and the first mode switching command is transmitted to the four-wheel drive controller. That is, when the vehicle is in 2H mode, the four-wheel drive controller controls the transfer case according to the first switching command to switch the vehicle's four-wheel drive mode to 4H mode. After the four-wheel drive mode switch is completed, the four-wheel drive controller sends a shift fork engagement command (first shift fork command) to the shift fork controller, which first determines the position of the shift fork.

[0076] If the shift fork is already in the engaged position, the shift fork is driven to engage for 0.5s, after which the process ends;

[0077] If the shift fork is in the disconnected position, the shift fork controller will drive the shift fork motor to engage for 5 seconds, and the shift fork position will be continuously detected during the process;

[0078] If the shift fork switches to the engaged position within 5 seconds, the logic ends after driving again for 0.5 seconds;

[0079] If the shift fork does not switch to the engaged position within 5 seconds, it indicates that the top tooth of the shift fork spline sleeve is stuck. The shift fork motor stops for 5 seconds, and then continues to drive the shift fork to engage for 5 seconds. If the engagement is successful within 5 seconds, the drive logic ends. If the engagement is unsuccessful after 5 seconds, the motor pauses for 5 seconds, and then continues to drive the shift fork to engage for 5 seconds. If this process ends and it still does not switch into position, the shift fork controller first sends a "shift fork switch stuck" signal to the vehicle instrument. The instrument displays the corresponding content "shift fork switch stuck, please turn at low speed" to remind the customer. At the same time, after the shift fork motor stops for 5 seconds, it continues to drive the shift fork for 5 seconds, and continues the cycle until the shift fork is successfully switched into position.

[0080] 2. The first shift fork command is to control the shift fork from engagement to disconnection:

[0081] See also Figure 6 , the switch is hung in 2H means that the vehicle needs to switch to 2H driving mode, and the first switching command is transmitted to the four-wheel drive controller. That is, the vehicle is in 4H mode. At this time, the four-wheel drive controller controls the transfer case according to the first switching command to switch the vehicle's four-wheel drive mode to 2H state first. After the four-wheel drive mode switch is completed, the four-wheel drive controller sends a shift fork disconnect command (first shift fork command) to the shift fork controller. The shift fork controller first determines the position of the shift fork:

[0082] If the shift fork is already in the disconnected position, the shift fork is driven to disconnect for 0.5s, after which the process ends;

[0083] If the shift fork is in the engaged position, the shift fork controller will drive the shift fork motor to disconnect for 5 seconds, and the shift fork position will be continuously detected during the process;

[0084] If the shift fork switches to the disconnected position within 5 seconds, the logic ends after driving again for 0.5 seconds;

[0085] If the shift fork does not switch to the disconnected position within 5 seconds, it indicates that the top tooth of the shift fork spline sleeve is stuck. The shift fork motor stops for 5 seconds, and then continues to drive the shift fork to disconnect for 5 seconds. If the disconnection is successful within 5 seconds, the drive logic ends. If the disconnection is unsuccessful after 5 seconds, the motor pauses for 5 seconds, and then continues to drive the shift fork to disconnect for 5 seconds. If this process is completed and still not switched into position, the shift fork controller first sends a "shift fork switch stuck" signal to the vehicle instrument. The instrument displays the corresponding content "shift fork switch stuck, please turn at low speed" to remind the customer. At the same time, after the shift fork motor stops for 5 seconds, it continues to drive the shift fork for 5 seconds, and continues the cycle until the shift fork is successfully switched into position.

[0086] During the execution of the first shift fork command, if the four-wheel drive mode changes again and a new shift fork drive command is issued, the shift fork controller will execute the previous command (after the previous command switch is successful) before executing the new command. This error-proofing logic effectively prevents the shift fork from stopping driving due to the new command received being inconsistent with the actual position.

[0087] For example, when the four-wheel drive mode is in 2H and switched to 4H, the four-wheel drive controller sends a shift fork engagement command. If the top tooth of the shift fork gets stuck during the process of disconnection and engagement, the four-wheel drive mode is changed to 2H again. The four-wheel drive controller immediately sends a shift fork disconnection command. Since the shift fork is stuck, it is actually in the disconnected position. The shift fork will stop working if its actual position is consistent with the position of the received command, and the shift fork will still stay in the stuck position, which will also cause problems.

[0088] The shift fork control method of the embodiment of the present application ensures that each shift fork instruction is executed thoroughly. Each time the shift fork is confirmed to be in the target gear, it is still driven again for 0.5 seconds to ensure that the shift fork is fully in place, preventing situations such as incomplete placement or software signal transmission deviation. In the process of executing the shift fork instruction, it has a self-protection strategy. Although the shift fork will continue to be driven logically, in order to prevent the motor from being blocked, the motor stop time is increased during the strategy execution period, and each driving time is as long as 5 seconds, which can reduce the number of times the shift fork is driven. Since the motor is controlled to stop for a third preset time after each shift fork action, it can prevent multiple drives from causing the process execution time to be too long. An instrument prompt strategy is also added. When the shift fork is stuck and cannot be eliminated by repeated operations, the user is prompted to operate the vehicle in a low-speed turn, so that the relative movement of the front main reducer half shaft and the right drive half shaft of the whole vehicle avoids the top tooth position, thereby increasing the probability of successful shift fork driving. It can be continuously advanced without the internal execution risk of the front main reducer system, and has strong executability and promotion.

[0089] The fork control method of the embodiment of the present application detects the current position of the fork in real time; responds to and executes a first fork instruction, the first fork instruction instructing to switch the fork to a first target position corresponding to the first drive mode, the first drive mode being a two-wheel drive mode or a four-wheel drive mode; if a second fork instruction is received during the execution of the first fork instruction, it is determined based on the current position whether the first fork instruction has been executed, the second fork instruction instructing to switch the fork to a second target position corresponding to the second drive mode, the second drive mode being a four-wheel drive mode or a two-wheel drive mode, and the second drive mode is different from the first drive mode; if the first fork instruction has not been executed, the first fork instruction is continued to be executed until the first fork instruction is executed; if the first fork instruction is executed, the second fork instruction is responded to and executed, which can increase the probability of successful fork driving, reduce the internal execution risk of the front main reducer system, solve the problem of abnormal noise of the front main reducer caused by fork sticking, and significantly improve user experience.

[0090] In an exemplary embodiment of the present specification, a shift fork control device is also provided, which is applied to an electronic controller. Figure 7 As shown, the fork control device 700 includes:

[0091] Position detection module 701, used to detect the current position of the shift fork in real time;

[0092] a command response module 702 for responding to and executing a first shift fork command, wherein the first shift fork command instructs the shift fork to be switched to a first target position corresponding to a first driving mode, wherein the first driving mode is a two-wheel drive mode or a four-wheel drive mode;

[0093] an instruction receiving module 703 for determining, if a second shift fork instruction is received during the execution of the first shift fork instruction, whether the execution of the first shift fork instruction is complete based on the current position, the second shift fork instruction instructing to switch the shift fork to a second target position corresponding to a second drive mode, the second drive mode being a four-wheel drive mode or a two-wheel drive mode, and the second drive mode being different from the first drive mode;

[0094] The control execution module 704 is configured to continue executing the first shift fork instruction until the first shift fork instruction is completed if the first shift fork instruction has not been completed; and respond and execute the second shift fork instruction if the first shift fork instruction is completed.

[0095] In a specific embodiment, the instruction response module is configured to respond to and execute a first shift fork instruction according to the current position of the shift fork.

[0096] In some embodiments, the instruction response module is further configured to: if the current position of the shift fork is consistent with the first target position, control the shift fork to execute an action of switching to the first target position, and the action lasts for a first preset time and ends.

[0097] In some embodiments, the instruction response module is further configured to: if the current position of the shift fork is inconsistent with the first target position, cyclically control the shift fork to execute an action of switching to the first target position until the shift fork is at the first target position.

[0098] In some embodiments, the command response module is further used to: control the shift fork to execute the action of switching to the first target position, and continue for a second preset time; if the shift fork is not detected to be at the first target position within the second preset time, control the motor to stop for a third preset time, and then return to the step of controlling the shift fork to execute the action of switching to the first target position; until the shift fork is detected to be at the first target position.

[0099] In some embodiments, the instruction response module is further configured to: count the number of times the shift fork switches to the first target position; and output a prompt message if the number reaches a preset number to remind the user that the shift fork is stuck.

[0100] In some implementations, the instruction receiving module is configured to: determine that the first fork instruction is executed if the current position is at the first target position; and determine that the first fork instruction is not executed if the current position is not at the first target position.

[0101] In some embodiments, the control execution module is used to: determine whether the shift fork is in the second target position; control the shift fork to execute the action of switching to the second target position according to the second shift fork instruction; if not, cyclically control the shift fork to execute the action of switching to the second target position until the shift fork is in the second target position; if yes, control the shift fork to execute the action of switching to the second target position, and continue for a first preset time and end.

[0102] The specific definitions of the shift fork control device can be found in the definitions of the shift fork control method above and will not be repeated here. Each module in the shift fork control device described above may be implemented in whole or in part via software, hardware, or a combination thereof. Each of the modules described above may be embedded in or independent of a processor in a computer device in hardware form, or may be stored in a computer device memory in software form, so that the processor can call and execute the corresponding operations of each module.

[0103] Regarding the device in the above embodiment, the specific manner in which each unit performs the operation has been described in detail in the embodiment of the shift fork control method, and will not be elaborated here.

[0104] Figure 8 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0105] For example, Figure 8 As shown, the vehicle includes: a memory 801 and a processor 802, wherein the memory 801 stores an executable program code 8011, and the processor 802 is used to call and execute the executable program code 8011 to perform the fork control method.

[0106] This embodiment can divide the vehicle into functional modules based on the above-mentioned method embodiment. For example, each functional module can be mapped to a specific function, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division. In actual implementation, other division methods may be used.

[0107] In the case of dividing the functional modules according to the respective functions, the vehicle may include: a data acquisition module, an offset calculation module, a counting module, and an identification and updating module, etc.

[0108] It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0109] The vehicle provided in this embodiment is used to execute the above-mentioned fork control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0110] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the vehicle's movements, while the storage module may be used to support the vehicle's execution of program codes and data.

[0111] The processing module may be a processor or controller that implements or executes various exemplary logic blocks, modules, and circuits disclosed herein. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing (DSP) and a microprocessor, and the storage module may be a memory.

[0112] This embodiment further provides a computer-readable storage medium, which stores computer program code (including but not limited to disk storage, CD-ROM, optical storage, etc.). When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a fork control method provided in the above embodiment. Among them, computer-readable storage media may include, but are not limited to, any type of disk, including floppy disks, optical disks, Digital Video Discs (DVDs), Compact Disc Read-Only Memory (CD-ROMs), microdrives and magneto-optical disks, Read-Only Memory (ROMs), Random Access Memory (RAMs), Erasable Programmable Read-Only Memory (EPROMs), Electrically Erasable Programmable Read-Only Memory (EEPROMs), Dynamic Random Access Memory (DRAMs), Video Random Access Memory (VRAMs), flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0113] This embodiment further provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a shift fork control method provided in the above embodiment.

[0114] Among them, the beneficial effects of the above embodiments can refer to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0115] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0116] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0117] In the description of the present disclosure, it should be understood that if the terms "up", "down", "front", "back", "left" and "right" are used to indicate directions or positional relationships, they are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the positions or elements referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limitations of the present disclosure.

[0118] It should be noted that, in the embodiments of the present application, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. It should also be noted that the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, commodity or device comprising the elements.

[0119] The above are merely examples of the present disclosure and are not intended to limit the present disclosure. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure are intended to be included within the scope of the claims of the present disclosure.

Claims

1. A shift fork control method, characterized in that: The method comprises: Real-time detection of the current position of the fork; responding to and executing a first shift fork instruction, the first shift fork instruction instructing to switch the shift fork to a first target position corresponding to a first drive mode, the first drive mode being a two-wheel drive mode or a four-wheel drive mode; If a second shift fork command is received during execution of the first shift fork command, determining whether execution of the first shift fork command is complete based on the current position, the second shift fork command instructing to switch the shift fork to a second target position corresponding to a second drive mode, the second drive mode being a four-wheel drive mode or a two-wheel drive mode, and the second drive mode being different from the first drive mode; If the first shift fork instruction has not been executed, the first shift fork instruction is continued to be executed until the first shift fork instruction is executed; if the first shift fork instruction is executed, the second shift fork instruction is responded to and executed.

2. The method according to claim 1, characterized in that The responding and executing the first fork shift instruction includes: A first shift fork instruction is responded to and executed according to the current position of the shift fork.

3. The method according to claim 2, characterized in that The method of responding to and executing a first shift fork instruction according to the current position of the shift fork further includes: If the current position of the shift fork is consistent with the first target position, the shift fork is controlled to execute the action of switching to the first target position, and the action lasts for a first preset time and ends.

4. The method according to claim 2, characterized in that The step of responding to and executing a first shift fork instruction according to the current position of the shift fork includes: If the current position of the shift fork is inconsistent with the first target position, the shift fork is cyclically controlled to execute an action of switching to the first target position until the shift fork is at the first target position.

5. The method according to claim 4, characterized in that The cyclically controlling the shift fork to execute the action of switching to the first target position until the shift fork is at the first target position includes: Controlling the shift fork to switch to the first target position for a second preset time; If the shift fork is not detected at the first target position within the second preset time, controlling the motor to stop for a third preset time, and then returning to the step of controlling the shift fork to switch to the first target position; Until it is detected that the shift fork is in the first target position.

6. The method according to claim 5, characterized in that The cyclic control of the shift fork to execute the action of switching to the first target position until the shift fork is at the first target position further includes: Counting the number of times the shift fork switches to the first target position; If the number of times reaches a preset number, a prompt message is output to remind the user that the shift fork is stuck.

7. The method according to claim 1, characterized in that The determining, according to the current position, whether the first fork instruction is executed, includes: If the current position is at the first target position, determining that the first fork instruction is executed; If the current position is not located at the first target position, it is determined that the first fork shift command has not been completed.

8. The method according to claim 1, characterized in that The responding and executing the second fork shift instruction includes: determining whether the shift fork is at the second target position; controlling the shift fork to switch to the second target position according to the second shift fork instruction; If not, cyclically controlling the shift fork to execute the action of switching to the second target position until the shift fork is at the second target position; If yes, the shift fork is controlled to switch to the second target position, and the switching operation lasts for a first preset time and ends.

9. A shift fork control device, characterized in that: The device comprises: Position detection module, used to detect the current position of the fork in real time; a command response module, configured to respond to and execute a first shift fork command, wherein the first shift fork command instructs the shift fork to be switched to a first target position corresponding to a first drive mode, wherein the first drive mode is a two-wheel drive mode or a four-wheel drive mode; a command receiving module, configured to, if a second shift fork command is received during execution of the first shift fork command, determine, based on the current position, whether execution of the first shift fork command has been completed, the second shift fork command instructing to switch the shift fork to a second target position corresponding to a second drive mode, the second drive mode being a four-wheel drive mode or a two-wheel drive mode, and the second drive mode being different from the first drive mode; The control execution module is configured to continue executing the first shift fork instruction until the first shift fork instruction is completed if the first shift fork instruction has not been completed; and respond to and execute the second shift fork instruction if the first shift fork instruction is completed.

10. A vehicle, characterized in that: The vehicle comprises: a memory for storing executable program code; A processor, configured to call and run the executable program code from the memory, so that the processor executes the method according to any one of claims 1 to 8.

Images