Control method, device, medium and equipment of limited slip differential

Abstract

The present disclosure relates to a control method, device, medium and equipment of a limited slip differential. The method comprises: acquiring state information of a vehicle and an actual torque of the vehicle; determining whether a wheel slips according to the acquired state information; if it is determined that the wheel slips, controlling the torque of the limited slip differential to be equal to the actual torque of the vehicle. In this way, when it is determined that the wheel slips (i.e. the vehicle gets stuck) according to the acquired state information, the torque of the limited slip differential is controlled to be equal to the actual torque of the vehicle, so that the speed difference between the left and right wheels can be reduced or even eliminated, the driving torque is used for effective driving of the wheels, the wheel slip is avoided, and thus the vehicle can be helped to get unstuck in time.

Description

Technical Field

[0001] This disclosure relates to the field of automatic control technology for differentials, and more specifically, to a control method, device, medium, and equipment for a limited-slip differential. Background Technology

[0002] A limited-slip differential is a traditional open differential with an added limited-slip mechanism. The locking coefficient of the differential can be adjusted by controlling this mechanism to adapt to different road conditions. Under extreme conditions, the entire differential can be locked by locking the limited-slip mechanism. Limited-slip differentials are typically installed on the rear axle of a vehicle.

[0003] When wheel slippage is detected, the differential clutch plates gradually lock the differential to limit slip. In this way, additional torque can be directly transferred to the wheels to improve the overall vehicle traction.

[0004] The default operating state of the lock command switch is "unlocked". If the driver presses the lock command switch, a real-time digital input signal will be sent, requesting the differential lock to switch to the "locked" state. The friction plate pressure of the differential lock will then rise to its maximum value, thus switching the differential lock to the "locked" state.

[0005] When the tightness of the friction plates of the limited-slip differential is automatically controlled, the vehicle may get stuck and unable to get out of trouble due to the small limited-slip torque. Summary of the Invention

[0006] The purpose of this disclosure is to provide a control method, device, medium, and equipment for a highly reliable limited-slip differential, which improves vehicle stability.

[0007] To achieve the above objectives, this disclosure provides a control method for a limited-slip differential, the method comprising:

[0008] Obtain vehicle status information and actual vehicle torque;

[0009] Determine whether the wheels are slipping based on the obtained status information;

[0010] If wheel slippage is determined, the torque controlling the limited-slip differential is equal to the actual torque of the vehicle.

[0011] Optionally, the method further includes:

[0012] Determine whether the preset gradual release conditions are met based on the obtained status information;

[0013] If the preset gradual release conditions are met, the limited-slip differential is controlled to gradually release.

[0014] Optionally, the vehicle's status information includes accelerator pedal opening, steering wheel angle, left and right wheel speed difference, and vehicle longitudinal acceleration.

[0015] Optionally, before determining whether the wheel is slipping based on the acquired state information, the method further includes:

[0016] Obtain the accelerator pedal opening from the vehicle's status information, and determine whether the rate of change of the accelerator pedal opening is greater than a preset rate of change;

[0017] If the rate of change of the accelerator pedal opening is greater than the preset rate of change, the limited-slip differential is controlled to enter the locking preparation state.

[0018] Optionally, determining whether the wheel is slipping based on the acquired state information includes:

[0019] If the rate of change of the accelerator pedal opening is greater than a preset rate of change, the longitudinal acceleration of the vehicle is obtained, and it is determined whether the longitudinal acceleration of the vehicle is greater than a preset first acceleration.

[0020] If the longitudinal acceleration of the vehicle is greater than the first acceleration, the steering wheel angle and the speed difference between the left and right wheels are obtained, and it is determined whether the obtained steering wheel angle is less than the preset first angle and whether the obtained speed difference between the left and right wheels is less than the first wheel speed difference.

[0021] If the obtained steering wheel angle is less than the first angle, and the obtained left and right wheel speed difference is less than the first wheel speed difference, then it is determined that the wheel is slipping.

[0022] Optionally, determining whether the wheel is slipping based on the acquired state information includes:

[0023] The steering wheel angle and the speed difference between the left and right wheels are obtained, and it is determined whether the obtained steering wheel angle is less than a preset second angle and whether the obtained speed difference between the left and right wheels is less than the second wheel speed difference.

[0024] If the obtained steering wheel angle is less than the second angle, and the obtained left and right wheel speed difference is less than the second wheel speed difference, then it is determined that the wheel is slipping.

[0025] Optionally, determining whether the wheel is slipping based on the acquired state information includes:

[0026] If the longitudinal acceleration of the vehicle is greater than the preset second acceleration, the steering wheel angle and the speed difference between the left and right wheels are obtained, and it is determined whether the obtained steering wheel angle is less than the preset third angle and whether the obtained speed difference between the left and right wheels is less than the third wheel speed difference.

[0027] If the obtained steering wheel angle is less than the third angle, and the obtained speed difference between the left and right wheels is less than the speed difference between the third wheels, then it is determined that the wheels are slipping.

[0028] This disclosure also provides a control device for a limited-slip differential, the device comprising:

[0029] The acquisition module is used to acquire vehicle status information and the vehicle's actual torque.

[0030] The first judgment module is used to determine whether the wheel is slipping based on the acquired status information;

[0031] The first control module is used to control the torque of the limited-slip differential to be equal to the actual torque of the vehicle if it is determined that the wheel is slipping.

[0032] This disclosure also provides a non-transitory computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the methods described above provided in this disclosure.

[0033] This disclosure also provides an apparatus, comprising:

[0034] A memory on which computer programs are stored;

[0035] A processor is configured to execute the computer program in the memory to implement the steps of the method described above provided in this disclosure.

[0036] By using the above technical solution, when the acquired state information determines that the wheels are slipping (i.e., the vehicle is stuck), the torque of the limited-slip differential can be controlled to be equal to the actual torque of the vehicle. This can reduce or even eliminate the speed difference between the left and right wheels, and use all the driving torque for effective wheel drive, thus avoiding wheel slippage and helping the vehicle get out of trouble in time.

[0037] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0038] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0039] Figure 1 This is a flowchart of a control method for a limited-slip differential provided in an exemplary embodiment;

[0040] Figure 2 This is a block diagram of a control device for a limited-slip differential provided in an exemplary embodiment;

[0041] Figure 3This is a block diagram illustrating a device in an exemplary embodiment. Detailed Implementation

[0042] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0043] In this disclosure, unless otherwise stated, directional terms such as "front," "back," "left," and "right" are generally used relative to the direction in which the vehicle is normally traveling.

[0044] Figure 1 This is a flowchart of a control method for a limited-slip differential provided in an exemplary embodiment. Figure 1 As shown, the method may include the following steps.

[0045] Step S11: Obtain the vehicle's status information and the vehicle's actual torque.

[0046] Step S12: Determine whether the wheel is slipping based on the obtained status information.

[0047] Step S13: If wheel slippage is determined, the torque of the limited-slip differential is controlled to be equal to the actual torque of the vehicle.

[0048] This disclosure uses a rear axle limited-slip differential as an example, where the speed difference between the left and right wheels can be the absolute value of the difference between the wheel speeds of the left and right rear wheels. Typically, the limited-slip differential is controlled based on the speed difference between the left and right wheels for limited-slip control. The actual torque of the vehicle can be calculated in real time based on factors such as the vehicle's load. If wheel slippage is determined, it can be considered that the vehicle is stuck, meaning one wheel is stuck in a ditch and spinning freely, but the vehicle as a whole does not move.

[0049] Vehicle status information can include accelerator pedal opening, steering wheel angle, left and right wheel speed difference, and longitudinal acceleration. Steering wheel angle is the angle by which the steering wheel deviates from its center position. The steering wheel angle indicates the current turning radius of the vehicle; a larger angle indicates a larger turning radius. Longitudinal acceleration represents the absolute value of the vehicle's forward or backward acceleration. Accelerator pedal opening indicates the degree of vehicle acceleration.

[0050] By using the above technical solution, when the acquired state information determines that the wheels are slipping (i.e., the vehicle is stuck), the torque of the limited-slip differential can be controlled to be equal to the actual torque of the vehicle. This can reduce or even eliminate the speed difference between the left and right wheels, and use all the driving torque for effective wheel drive, thus avoiding wheel slippage and helping the vehicle get out of trouble in time.

[0051] In yet another embodiment, Figure 1 Based on this, the method may also include:

[0052] Determine whether the preset gradual release conditions are met based on the obtained status information;

[0053] If the preset gradual release conditions are met, the limited-slip differential will be gradually released.

[0054] Based on the acquired state information, if the preset gradual release conditions are met, it can be concluded that continuing to apply the limited-slip differential at this point would not guarantee vehicle stability. Therefore, in order to balance vehicle stability and prevent the vehicle from fishtailing, the limited-slip differential can be gradually released. The specific gradual release conditions are described in detail in the embodiments below.

[0055] In one embodiment, in Figure 1 Based on this, before step S12, which determines whether the wheel is slipping based on the acquired state information, the method may further include:

[0056] Obtain the accelerator pedal opening from the vehicle's status information and determine whether the rate of change of the accelerator pedal opening is greater than a preset rate of change.

[0057] If the rate of change of the accelerator pedal opening is greater than the preset rate of change, the limited-slip differential will be controlled to enter the lock-up preparation state.

[0058] In another embodiment, step S12, which determines whether the wheel is slipping based on the acquired state information, may include:

[0059] If the rate of change of the accelerator pedal opening is greater than the preset rate of change, obtain the longitudinal acceleration of the vehicle and determine whether the longitudinal acceleration of the vehicle is greater than the preset first acceleration.

[0060] If the vehicle's longitudinal acceleration is greater than the first acceleration (e.g., 2 m / s²), 2 If the steering wheel angle and the speed difference between the left and right wheels are obtained, it is determined whether the obtained steering wheel angle is less than the preset first angle (e.g., 80°) and whether the obtained speed difference between the left and right wheels is less than the first wheel speed difference (e.g., 350 rpm).

[0061] If the obtained steering wheel angle is less than the first angle, and the obtained speed difference between the left and right wheels is less than the speed difference between the first wheels, then the wheels are determined to be slipping.

[0062] Typically, when a vehicle starts, there is rapid acceleration. A sudden change in the accelerator pedal position indicates that the vehicle is in a rapid acceleration state. If the rate of change of the accelerator pedal opening is greater than a preset rate of change, the vehicle can be considered to be in a rapid acceleration state at start-up. If the obtained steering wheel angle is less than a first angle, the turning radius of the vehicle can be considered smaller. If the obtained left and right wheel speed difference is less than a first wheel speed difference, the wheel speed difference can be considered smaller. At this time, the vehicle is considered to have good stability, and the limited-slip differential can be gradually compressed to limit slip, until the torque of the limited-slip differential equals the actual torque of the vehicle.

[0063] In this embodiment, when the vehicle is in a rapid acceleration state at the start, the longitudinal acceleration of the vehicle determines whether the vehicle has slipped due to being stuck, and the first angle and the first wheel speed difference are preset to determine whether the vehicle has slipped due to being stuck. This ensures that the vehicle performs limited slip under stable conditions.

[0064] Furthermore, preloading can be applied when the vehicle is under rapid acceleration. Once wheel slippage is determined based on the above conditions, limited-slip differential will be applied immediately. The preloading process can be as follows:

[0065] If the vehicle is in a state of rapid acceleration (the rate of change of the accelerator pedal opening is greater than the preset rate of change) based on the accelerator pedal opening, the oil pressure of the limited-slip differential is increased to a predetermined value. If the steering wheel angle is less than the preset first angle and the speed difference between the left and right wheels is less than the first wheel speed difference, the oil pressure of the limited-slip differential is increased again to control the torque of the limited-slip differential to be equal to the actual torque of the vehicle, so that the limited-slip differential can perform limited slip.

[0066] The control system preloads the limited-slip differential by raising its oil pressure to a predetermined value. This predetermined value is lower than the oil pressure at which the limited-slip differential operates, and can be, for example, 50% to 70% of the oil pressure at which it operates. This ensures that the oil pressure reaches a certain value before wheel slippage is detected, allowing for faster limited-slip operation once the conditions are met (steering wheel angle less than a preset first angle, and the speed difference between the left and right wheels less than the first wheel speed difference). If the conditions are not met within a predetermined time after preloading, the preloading can be retracted.

[0067] Furthermore, if the speed difference between the left and right wheels is greater than the speed difference between the first wheels, it can be considered that the wheel speed difference is too large. In order to maintain the stability of the vehicle, it is no longer suitable to limit the slip. The limited slip differential can be controlled to be in the open state, and torque control can be stopped to prevent the speed of one side of the vehicle from suddenly becoming too high, which would affect the stability of the vehicle.

[0068] In addition to the conditions for judging whether the wheels are slipping, the limited-slip differential can be applied only when the vehicle speed is within a small range. For example, the limited-slip differential can be applied only when the vehicle speed is between 0 and 100 km / h. This further ensures that the vehicle applies the limited-slip differential under stable conditions.

[0069] In yet another embodiment, Figure 1 Based on the obtained state information, step S12, which determines whether the wheel is slipping, may include:

[0070] The steering wheel angle and the speed difference between the left and right wheels are obtained, and it is determined whether the obtained steering wheel angle is less than a preset second angle (e.g., 200°) and whether the obtained speed difference between the left and right wheels is less than the second wheel speed difference (e.g., 150 rpm).

[0071] If the obtained steering wheel angle is less than the second angle, and the obtained speed difference between the left and right wheels is less than the speed difference between the second wheels, then the wheels are determined to be slipping.

[0072] If the speed difference between the left and right wheels is less than the speed difference between the second and third wheels, and the steering wheel angle is less than the second angle, then the speed difference between the left and right wheels can be considered small, and the turning radius of the vehicle is not particularly large. In this case, applying limited-slip differential is considered to ensure vehicle stability, and limited-slip differential does not affect vehicle stability. The speed difference between the second and third wheels can be less than the speed difference between the first and third wheels, and the second angle can be greater than the first angle.

[0073] When the steering wheel angle is greater than the second angle, it can be considered that the vehicle is turning a large angle. At this time, the electronic limited-slip differential can be gradually released to prevent the vehicle from fishtailing and causing poor vehicle stability.

[0074] In yet another embodiment, Figure 1 Based on the obtained state information, step S12, which determines whether the wheel is slipping, may include:

[0075] If the vehicle's longitudinal acceleration is greater than the preset second acceleration (e.g., 6 m / s²), 2 If the steering wheel angle and the speed difference between the left and right wheels are obtained, it is determined whether the obtained steering wheel angle is less than the preset third angle (e.g., 100°) and whether the obtained speed difference between the left and right wheels is less than the speed difference between the third wheels (e.g., 100 rpm).

[0076] If the obtained steering wheel angle is less than the third angle, and the obtained speed difference between the left and right wheels is less than the speed difference between the third wheels, then the wheels are determined to be slipping.

[0077] If the vehicle's longitudinal acceleration is greater than the second acceleration, then the acceleration during vehicle operation can be considered relatively large. If the speed difference between the left and right wheels is less than the speed difference between the third wheels, and the steering wheel angle is less than the third angle, then the wheel slippage can be considered very slight and the vehicle's turning radius very small. In this case, gradually locking the differential by controlling the clutch plates can control the vehicle speed, angular velocity, and lateral acceleration. Because the gradual locking of the clutch plates provides some slippage limitation to the chassis, it can bring better vehicle stability. Due to the large acceleration during vehicle operation, complete locking may not be necessary to ensure vehicle stability.

[0078] Figure 2 This is a block diagram of a control device for a limited-slip differential provided in an exemplary embodiment. Figure 2 As shown, the control device 200 of the limited-slip differential may include an acquisition module 201, a first judgment module 202, and a first control module 203.

[0079] The acquisition module 201 is used to acquire the vehicle's status information and the vehicle's actual torque.

[0080] The first judgment module 202 is used to determine whether the wheel is slipping based on the acquired status information.

[0081] The first control module 203 is used to control the torque of the limited-slip differential to be equal to the actual torque of the vehicle if it is determined that the wheel is slipping.

[0082] Optionally, the control device 200 of the limited-slip differential may also include a second judgment module and a second control module.

[0083] The second judgment module is used to determine whether the preset gradual release conditions are met based on the acquired status information.

[0084] The second control module is used to control the limited-slip differential to gradually release if the preset gradual release conditions are met.

[0085] Optionally, the vehicle status information includes accelerator pedal opening, steering wheel angle, left and right wheel speed difference, and vehicle longitudinal acceleration.

[0086] Optionally, the control device 200 of the limited-slip differential may also include a third judgment module and a third control module.

[0087] The third judgment module is used to obtain the accelerator pedal opening from the vehicle's status information and to determine whether the rate of change of the accelerator pedal opening is greater than the preset rate of change.

[0088] The third control module is used to control the limited-slip differential to enter the lock-up preparation state if the rate of change of the accelerator pedal opening is greater than the preset rate of change.

[0089] Optionally, the first judgment module 202 is also used for:

[0090] If the rate of change of the accelerator pedal opening is greater than the preset rate of change, obtain the longitudinal acceleration of the vehicle and determine whether the longitudinal acceleration of the vehicle is greater than the preset first acceleration.

[0091] If the longitudinal acceleration of the vehicle is greater than the first acceleration, the steering wheel angle and the speed difference between the left and right wheels are obtained, and it is determined whether the obtained steering wheel angle is less than the preset first angle and whether the obtained speed difference between the left and right wheels is less than the first wheel speed difference.

[0092] If the obtained steering wheel angle is less than the first angle, and the obtained speed difference between the left and right wheels is less than the speed difference between the first wheels, then the wheels are determined to be slipping.

[0093] Optionally, the first judgment module 202 is also used for:

[0094] The system obtains the steering wheel angle and the speed difference between the left and right wheels, and determines whether the obtained steering wheel angle is less than the preset second angle and whether the obtained speed difference between the left and right wheels is less than the second wheel speed difference.

[0095] If the obtained steering wheel angle is less than the second angle, and the obtained speed difference between the left and right wheels is less than the speed difference between the second wheels, then the wheels are determined to be slipping.

[0096] Optionally, the first judgment module 202 is also used for:

[0097] If the longitudinal acceleration of the vehicle is greater than the preset second acceleration, the steering wheel angle and the speed difference between the left and right wheels are obtained, and it is determined whether the obtained steering wheel angle is less than the preset third angle and whether the obtained speed difference between the left and right wheels is less than the third wheel speed difference.

[0098] If the obtained steering wheel angle is less than the third angle, and the obtained speed difference between the left and right wheels is less than the speed difference between the third wheels, then the wheels are determined to be slipping.

[0099] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0100] By using the above technical solution, when the acquired state information determines that the wheels are slipping (i.e., the vehicle is stuck), the torque of the limited-slip differential can be controlled to be equal to the actual torque of the vehicle. This can reduce or even eliminate the speed difference between the left and right wheels, and use all the driving torque for effective wheel drive, thus avoiding wheel slippage and helping the vehicle get out of trouble in time.

[0101] This disclosure also provides an apparatus including a memory and a processor, wherein a computer program is stored in the memory; the processor is used to execute the computer program in the memory to implement the steps of the method provided in this disclosure.

[0102] Figure 3 This is a block diagram illustrating a device 300 according to an exemplary embodiment. Figure 3 As shown, the device 300 may include a processor 301 and a memory 302. The device 300 may also include one or more of a multimedia component 303, an input / output (I / O) interface 304, and a communication component 305.

[0103] The processor 301 controls the overall operation of the device 300 to complete all or part of the steps in the control method for the limited-slip differential described above. The memory 302 stores various types of data to support the operation of the device 300. This data may include, for example, instructions for any application or method operating on the device 300, and application-related data such as contact data, sent and received messages, pictures, audio, video, etc. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. Multimedia component 303 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 302 or transmitted via communication component 305. The audio component also includes at least one speaker for outputting audio signals. I / O interface 304 provides an interface between processor 301 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. Communication component 305 is used for wired or wireless communication between device 300 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G technologies, or combinations thereof, is not limited here. Therefore, the corresponding communication component 305 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0104] In an exemplary embodiment, device 300 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other components to perform the control method for the limited-slip differential described above.

[0105] In another exemplary embodiment, a non-transitory computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the control method for the limited-slip differential described above. For example, the computer-readable storage medium may be the memory 302 including the program instructions described above, which may be executed by the processor 301 of the device 300 to complete the control method for the limited-slip differential described above.

[0106] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the control method of the limited-slip differential described above when executed by the programmable device.

[0107] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0108] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0109] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A control method for a limited-slip differential, characterized in that, The method includes: Acquire vehicle status information and actual vehicle torque; the vehicle status information includes accelerator pedal opening, steering wheel angle, left and right wheel speed difference, and vehicle longitudinal acceleration; If the rate of change of the accelerator pedal opening is greater than the preset rate of change, then the limited-slip differential is controlled to enter the locking preparation state. The system determines whether the wheels are slipping based on the acquired status information; wheel slippage refers to the wheels spinning freely due to the vehicle getting stuck. If it is determined that the wheel is slipping, then the torque of the limited-slip differential is controlled to be equal to the actual torque of the vehicle; The step of determining whether the wheel is slipping based on the acquired state information includes: If the rate of change of the accelerator pedal opening is greater than a preset rate of change, and the longitudinal acceleration of the vehicle is greater than a first acceleration, and the steering wheel angle is less than a first angle, and the speed difference between the left and right wheels is less than a first wheel speed difference, then the wheel is determined to be slipping; the determination of wheel slipping is used to characterize the condition that the limited-slip differential is used for limited slip. If the steering wheel angle is less than the second angle and the speed difference between the left and right wheels is less than the speed difference between the second wheels, then the wheel is determined to be slipping. If the longitudinal acceleration of the vehicle is greater than the preset second acceleration, the steering wheel angle is less than the third angle, and the speed difference between the left and right wheels is less than the speed difference between the third wheels, then the wheels are determined to be slipping.

2. The method according to claim 1, characterized in that, The method further includes: Determine whether the preset gradual release conditions are met based on the obtained status information; If the preset gradual release conditions are met, the limited-slip differential is controlled to gradually release.

3. A control device for a limited-slip differential, characterized in that, The device includes: The acquisition module is used to acquire the vehicle's status information and the vehicle's actual torque; the vehicle's status information includes accelerator pedal opening, steering wheel angle, left and right wheel speed difference, and the vehicle's longitudinal acceleration; The third control module is used to control the limited-slip differential to enter the locking preparation state if the rate of change of the accelerator pedal opening is greater than the preset rate of change. The first judgment module is used to determine whether the wheel is slipping based on the acquired status information; the wheel slipping refers to the wheel spinning freely due to the vehicle getting stuck. The first control module is used to control the torque of the limited-slip differential to be equal to the actual torque of the vehicle if it is determined that the wheel is slipping. The first determination module is used to: determine wheel slippage if the rate of change of the accelerator pedal opening is greater than a preset rate of change, the longitudinal acceleration of the vehicle is greater than a first acceleration, the steering wheel angle is less than a first angle, and the speed difference between the left and right wheels is less than the first wheel speed difference; determine wheel slippage if the steering wheel angle is less than a second angle and the speed difference between the left and right wheels is less than the second wheel speed difference; determine wheel slippage if the longitudinal acceleration of the vehicle is greater than a preset second acceleration, the steering wheel angle is less than a third angle, and the speed difference between the left and right wheels is less than the third wheel speed difference; the determination of wheel slippage is used to indicate that the conditions for the limited-slip differential to perform limited slip are met.

4. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the method described in claim 1 or 2.

5. A device, characterized in that, include: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the steps of the method of claim 1 or 2.

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