A differential lock control method and device, vehicle and readable storage medium

Abstract

The application provides a differential lock control method and relates to the technical field of vehicles.The method comprises the following steps: when it is detected that a vehicle enters or exits a rock mode, a first instruction for controlling the unlocking or locking of a differential lock is acquired; before the unlocking or locking of the differential lock is performed based on the first instruction, if a second instruction for controlling the differential lock input by a user is acquired, a control instruction for controlling the unlocking or locking of the differential lock is confirmed based on the driving mode of the vehicle and the state of the differential lock; and the unlocking or locking of the differential lock is performed based on the control instruction. In the case that the second instruction for controlling the differential lock input by the user is acquired, the control instruction for controlling the unlocking or locking of the differential lock is confirmed based on the driving mode of the vehicle and the state of the differential lock, flexible control of the differential lock is realized, and the safety of the vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a differential lock control method and device, a vehicle and a readable storage medium. BACKGROUND

[0002] The speed of the wheels on both sides of the vehicle is different during turning, and electronic differential lock is usually used to control the wheels on both sides of the vehicle. In the related art, an electronic differential lock controller is used to automatically control the electronic differential lock of the vehicle. However, in the related art, the terrain is complex during driving of the vehicle, and the electronic differential lock controller is difficult to flexibly control the electronic differential lock to adapt to changes in the terrain, resulting in low safety of the vehicle.

[0003] It can be seen that the prior art has the problem of low safety of the vehicle. SUMMARY

[0004] The embodiments of the present application provide a differential lock control method and device, an electronic device and a readable storage medium to solve the problem of low safety of the vehicle in the prior art.

[0005] To solve the above problems, the present application is implemented as follows:

[0006] In a first aspect, the embodiments of the present application provide a differential lock control method, comprising:

[0007] When it is detected that the vehicle enters or exits a rock mode, a first instruction for controlling the differential lock to be unlocked or locked is obtained, and the rock mode is a driving mode of the vehicle;

[0008] Before the differential lock is unlocked or locked based on the first instruction, if a second instruction for controlling the differential lock input by a user is obtained, a control instruction for controlling the differential lock to be unlocked or locked is confirmed based on the driving mode of the vehicle and the state of the differential lock;

[0009] The differential lock is unlocked or locked based on the control instruction.

[0010] In a second aspect, the embodiments of the present application further provide a differential lock control device, comprising:

[0011] An obtaining module is configured to obtain a first instruction for controlling the differential lock to be unlocked or locked when it is detected that the vehicle enters or exits a rock mode, and the rock mode is a driving mode of the vehicle;

[0012] confirming a control instruction for controlling the differential lock to be unlocked or locked based on the driving mode of the vehicle and the state of the differential lock, if the second instruction input by the user for controlling the differential lock is acquired before the differential lock is unlocked or locked based on the first instruction;

[0013] processing the differential lock to be unlocked or locked based on the control instruction.

[0014] In the embodiments of the present application, in the case that the second instruction input by the user for controlling the differential lock is acquired, the control instruction for controlling the differential lock to be unlocked or locked is confirmed based on the driving mode of the vehicle and the state of the differential lock, so that flexible control of the differential lock is realized, and the safety of the vehicle is improved.

[0015] In the embodiments of the present application, in the case that the second instruction input by the user for controlling the differential lock is acquired, the control instruction for controlling the differential lock to be unlocked or locked is confirmed based on the driving mode of the vehicle and the state of the differential lock, so that flexible control of the differential lock is realized, and the safety of the vehicle is improved.

[0016] In the embodiments of the present application, in the case that the second instruction input by the user for controlling the differential lock is acquired, the control instruction for controlling the differential lock to be unlocked or locked is confirmed based on the driving mode of the vehicle and the state of the differential lock, so that flexible control of the differential lock is realized, and the safety of the vehicle is improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] To make the technical solutions of the embodiments of the present application clearer, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0018] Figure 1 is a flowchart of a differential lock control method provided by the embodiments of the present application;

[0019] Figure 2 is a structural schematic diagram of a differential lock controller provided by the embodiments of the present application;

[0020] Figure 3 is one of control logic schematic diagrams of a rock mode provided by the embodiments of the present application;

[0021] Figure 4 is one of control logic schematic diagrams of a non-rock mode provided by the embodiments of the present application;

[0022] Figure 5 is another control logic schematic diagram of a rock mode provided by the embodiments of the present application;

[0023] Figure 6 is a second control logic diagram of a non-rock mode provided by an embodiment of the present application;

[0024] Figure 7 is a structural diagram of a differential lock control device provided by an embodiment of the present application;

[0025] Figure 8 is a structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall within the protection scope of the present application.

[0027] Please refer to Figure 1 , Figure 1 is a flowchart of a differential lock control method provided by an embodiment of the present application, as shown in Figure 1 , comprising the following steps:

[0028] Step 101: When it is detected that a vehicle enters or exits a rock mode, a first instruction for controlling a differential lock to be unlocked or locked is acquired, and the rock mode is a driving mode of the vehicle.

[0029] Wherein, the rock mode of the vehicle is used for driving on a rugged environment such as a sandy road or a rocky road. When the vehicle enters the rock mode, the first instruction is to control the differential lock to be locked; when the vehicle exits the rock mode, the first instruction is to control the differential lock to be unlocked.

[0030] It is worth noting that the differential lock control method provided by the present embodiment is integrated on a full terrain system control unit of the vehicle in the form of control software, and the full terrain system control unit sends an unlocking instruction or a locking instruction to the differential lock to realize automatic control of the differential lock to be unlocked or locked.

[0031] Step 102: Before the differential lock is unlocked or locked based on the first instruction, if a second instruction for controlling the differential lock input by a user is acquired, a control instruction for controlling the differential lock to be unlocked or locked is confirmed based on a driving mode of the vehicle and a state of the differential lock.

[0032] Wherein, as shown in Figure 2 , the first instruction is an instruction sent by the full terrain system control unit to the differential lock controller through a local area network signal, and the second instruction is an instruction sent by the differential lock switch to the differential lock controller through a hard-wired signal.

[0033] It can be understood that, in order to avoid the conflict caused by the simultaneous reception of the first instruction and the second instruction, resulting in the execution of the wrong unlocking or locking action on the differential lock, the priority of the hard-wired signal needs to be higher than that of the local area network signal, that is, in the case of simultaneously obtaining the first instruction and the second instruction, the first instruction for controlling the unlocking or locking of the differential lock is no longer executed, but the control instruction for controlling the unlocking or locking of the differential lock is confirmed based on the driving mode of the vehicle and the state of the differential lock, and the differential lock is controlled by the control instruction.

[0034] In addition, in the case where the second instruction for controlling the differential lock is not obtained by the user input, at this time the differential lock controller sends the control instruction for unlocking or locking to the differential lock, which at this time matches the first instruction for controlling the unlocking or locking of the differential lock, realizing the automatic control of the unlocking or locking of the differential lock.

[0035] Step 103, executing the unlocking or locking of the differential lock based on the control instruction.

[0036] Specifically, after confirming the control instruction for controlling the unlocking or locking of the differential lock based on the driving mode of the vehicle and the state of the differential lock, the differential lock controller sends the control instruction to the differential lock, realizing the manual control of the unlocking or locking of the differential lock.

[0037] In this embodiment, the priority of the second instruction for manually controlling the differential lock is higher than that of the first instruction for automatically controlling the differential lock, and in the case of obtaining the second instruction, the action related to manual control is preferentially executed, and the action related to automatic control with low priority is no longer executed.

[0038] In one embodiment, the first instruction for controlling the unlocking or locking of the differential lock comprises:

[0039] Obtaining the first state of the differential lock, the first state comprising a locking state and an unlocking state;

[0040] In the case where the vehicle is in the rock mode and the first state is the unlocking state, obtaining the first instruction for controlling the locking of the differential lock;

[0041] In the case where the vehicle is in the non-rock mode and the first state is the locking state, obtaining the first instruction for controlling the unlocking of the differential lock.

[0042] It can be understood that in the case that the vehicle enters the rock mode, the differential lock of the vehicle needs to enter the locked state, and the state of the differential lock is unknown, which can be the locked state or the unlocked state. In the case that the vehicle is in the locked state, the differential lock no longer needs to perform other actions, and the first instruction for controlling the differential lock is not needed at this time. Similarly, in the case that the vehicle exits the rock mode, the differential lock of the vehicle needs to enter the unlocked state, and in the case that the vehicle is in the unlocked state, the differential lock no longer needs to perform other actions, and the first instruction for controlling the differential lock is not needed at this time.

[0043] The control logic of the differential lock after the vehicle enters the rock mode is as shown in Figure 3 The control logic of the differential lock after the vehicle exits the rock mode is as shown in Figure 4 The differential lock includes a front differential lock and a rear differential lock, and in the case that the front differential lock is in the locked state, the rear differential lock is in the locked state. In the case that the rear differential lock is in the unlocked state, the front differential lock is in the unlocked state.

[0044] The condition for locking the differential lock of the vehicle is more stringent than the condition for unlocking, and when the differential lock of the vehicle is locked, it is necessary to detect whether the vehicle meets the locking condition. The locking condition is usually that the vehicle speed is less than a first set value, and the rotation speed of the wheel is less than a second set value. For example, the first set value is 30 km / h, and the second set value is 100 rpm. When the differential lock of the vehicle is unlocked, the vehicle speed and / or the rotation speed of the wheel usually do not need to be considered.

[0045] In one embodiment, the control instruction for controlling the differential lock to be unlocked or locked is confirmed based on the driving mode of the vehicle and the state of the differential lock, comprising:

[0046] The second state of the differential lock is confirmed, and the second state includes a locked state, a pre-locked state, an unlocked state, a pre-unlocked state, and an overspeed alarm state;

[0047] In the case that the vehicle is in the rock mode and the second state is the locked state, the pre-locked state, or the overspeed alarm state, the control instruction for controlling the differential lock to be unlocked is confirmed;

[0048] In the case that the vehicle is in the non-rock mode and the second state is the unlocked state or the pre-unlocked state, the control instruction for controlling the differential lock to be locked is confirmed.

[0049] The pre-locked state is an intermediate transition state when the differential lock switches from the unlocked state to the locked state, and the pre-unlocked state is an intermediate transition state when the differential lock switches from the locked state to the unlocked state.

[0050] It can be understood that, after the first instruction is acquired, the differential lock does not complete the corresponding unlocking or locking action, the second instruction input by the user is acquired, and the state of the differential lock needs to be changed accordingly.

[0051] Specifically, in a case where the vehicle enters the rock mode, the differential lock performs the locking action; at this time, the user operates the differential lock switch, and the differential lock controller acquires the corresponding second instruction, so that the differential lock no longer performs the locking action, but performs the unlocking action. If the differential lock is in the pre-locking state and the locking action has not been completed, the differential lock stops performing the locking action and performs the unlocking action to restore the differential lock to the unlocked state; if the differential lock is in the locked state, the differential lock performs the unlocking action to restore the differential lock to the unlocked state.

[0052] Correspondingly, in a case where the vehicle exits the rock mode, the differential lock performs the unlocking action; at this time, the user operates the differential lock switch, and the differential lock controller acquires the corresponding second instruction, so that the differential lock no longer performs the unlocking action, but performs the locking action. If the differential lock is in the pre-unlocking state and the unlocking action has not been completed, the differential lock stops performing the unlocking action and performs the locking action to restore the differential lock to the locked state; if the differential lock is in the unlocked state, the differential lock performs the locking action to restore the differential lock to the locked state.

[0053] In addition, in a case where the vehicle enters the rock mode, if the differential lock is in the unlocked state and the locking action has not been performed, the differential lock controller acquires the corresponding second instruction, so that the differential lock can be maintained in the unlocked state without the need to confirm the control instruction for controlling the locking of the differential lock. Similarly, in a case where the vehicle exits the rock mode, if the differential lock is in the locked state and the unlocking action has not been performed, the differential lock controller acquires the corresponding second instruction, so that the differential lock can be maintained in the locked state without the need to confirm the control instruction for controlling the unlocking of the differential lock.

[0054] In one embodiment, the differential lock includes a front differential lock and a rear differential lock, and the second instruction includes a front locking instruction for controlling the front differential lock and a rear locking instruction for controlling the rear differential lock.

[0055] In a case where the vehicle is in the rock mode and the second state is the locked state, the pre-locked state or the overspeed alarm state, the control instruction for controlling the unlocking of the differential lock is confirmed, including:

[0056] In a case where the second instruction is the front locking instruction, and the front differential lock is in the locked state, the pre-locked state or the overspeed alarm state, and the rear differential lock is in the locked state, the pre-locked state or the overspeed alarm state, the control instruction for controlling the unlocking of the front differential lock is confirmed.

[0057] In a case that the second instruction is a front lock instruction, and the front differential lock is in the locked state, the pre-locked state or the overspeed alarm state, and the rear differential lock is in the locked state, the pre-locked state or the overspeed alarm state, the control instruction for controlling the front differential lock to be unlocked and the rear differential lock to be unlocked is determined.

[0058] In the embodiment, the front lock instruction is an instruction obtained after a user operates a front lock switch, and the rear lock instruction is an instruction obtained after the user operates a rear lock switch. The front lock corresponds to the front differential lock, and the rear lock corresponds to the rear differential lock. Since the front wheels and the rear wheels of the vehicle are different in driving, the unlocking and locking logic of the front differential lock and the rear differential lock needs to be designed differently.

[0059] In a case that the second instruction is a front lock instruction, and the front differential lock is in the locked state, the pre-locked state or the overspeed alarm state, and the rear differential lock is in the locked state, the pre-locked state or the overspeed alarm state, the control instruction for controlling the front differential lock to be unlocked and the rear differential lock to be unlocked is determined. Figure 5

[0060] In addition, when the differential lock is unlocked, the speed of the vehicle and the speed of the wheel do not need to be considered, so the differential lock in the overspeed alarm state can be directly unlocked.

[0061] In a case that the second instruction is a front lock instruction, and the front differential lock is in the locked state, the pre-locked state or the overspeed alarm state, and the rear differential lock is in the locked state, the pre-locked state or the overspeed alarm state, the control instruction for controlling the front differential lock to be unlocked and the rear differential lock to be unlocked is determined.

[0062] In a case that the second instruction is a front lock instruction, and the front differential lock is in the locked state, the pre-locked state or the overspeed alarm state, and the rear differential lock is in the locked state, the pre-locked state or the overspeed alarm state, the control instruction for controlling the front differential lock to be unlocked and the rear differential lock to be unlocked is determined.

[0063] In a case that the second instruction is a front lock instruction, and the front differential lock is in the locked state, the pre-locked state or the overspeed alarm state, and the rear differential lock is in the locked state, the pre-locked state or the overspeed alarm state, the control instruction for controlling the front differential lock to be unlocked and the rear differential lock to be unlocked is determined.

[0064] In the embodiment, the differential lock control logic after the vehicle exits the rock mode is as shown in FIG. 6. In a case that the second instruction is a front lock instruction, and the front differential lock is in the locked state, the pre-locked state or the overspeed alarm state, and the rear differential lock is in the locked state, the pre-locked state or the overspeed alarm state, the control instruction for controlling the front differential lock to be unlocked and the rear differential lock to be unlocked is determined. Figure 6

[0065] Similarly, the front differential lock and the rear differential lock need to meet the locking condition to perform the locking action, and the differential lock does not perform the locking action in a case that the locking condition is not met.​​

[0066] In one embodiment, the method further comprises:

[0067] In the case that the rear differential lock is in the overspeed alarm state, the front differential lock is controlled not to perform locking.

[0068] In this embodiment, when the rear differential lock is in the overspeed alarm state, the speed of the vehicle or the wheel does not meet the locking condition, and the front differential lock locking has a safety risk, and cannot perform locking. The differential lock is controlled not to perform locking, so as to improve the safety of the vehicle.

[0069] In one embodiment, after the differential lock is controlled to perform unlocking or locking based on the control instruction, the method further comprises:

[0070] Receiving state information, the state information being state information of the differential lock sent after the differential lock performs the control instruction;

[0071] Generating a new control instruction according to the state information.

[0072] In this embodiment, as shown in Figure 3 , Figure 4 , Figure 5 and Figure 6 , after the front differential lock and / or the rear differential lock perform unlocking or locking, the front differential lock and the rear differential lock feed back the current state information, and a new control instruction is generated according to the state information. For example, after the vehicle enters the rock mode, the user operates the front lock switch, and then the front lock switch is released, at this time the front differential lock is in the unlocking state. If the user operates the rear lock switch at this time, the rear differential lock needs to be switched to the unlocking state, that is, a second instruction for controlling the rear differential lock to unlock is generated according to the state information, and the rear differential lock is controlled to unlock.

[0073] Wherein, 0x0 represents that the differential lock is in the unlocking state, 0x1 represents that the differential lock is in the locking state, and 0x2 represents that the differential lock is in the overspeed alarm state.

[0074] Please refer to Figure 7 , Figure 7 is a structure diagram of a differential lock control device provided by an embodiment of the present application, as shown in Figure 7 , the differential lock control device 700 comprises:

[0075] The acquisition module 701 is configured to acquire a first instruction for controlling the differential lock to unlock or lock when it is detected that the vehicle enters or exits the rock mode, the rock mode being a driving mode of the vehicle.

[0076] The confirmation module 702 is configured to, before the differential lock is unlocked or locked based on the first instruction, if a second instruction for controlling the differential lock is acquired, confirm a control instruction for controlling the differential lock to be unlocked or locked based on the driving mode of the vehicle and the state of the differential lock.

[0077] The processing module 703 is configured to execute the unlocking or locking of the differential lock based on the control instruction.

[0078] Optionally, the acquisition module 701 comprises:

[0079] The first acquisition unit is configured to acquire a first state of the differential lock, the first state comprising a locked state and an unlocked state.

[0080] The second acquisition unit is configured to, in a case where the vehicle is in a rock mode and the first state is the unlocked state, acquire a first instruction for controlling the differential lock to be locked.

[0081] The third acquisition unit is configured to, in a case where the vehicle is in a non-rock mode and the first state is the locked state, acquire a first instruction for controlling the differential lock to be unlocked.

[0082] Optionally, the confirmation module 702 comprises:

[0083] The first confirmation unit is configured to confirm a second state of the differential lock, the second state comprising a locked state, a pre-locked state, an unlocked state, a pre-unlocked state, and an overspeed alarm state.

[0084] The second confirmation unit is configured to, in a case where the vehicle is in a rock mode and the second state is the locked state, the pre-locked state, or the overspeed alarm state, confirm a control instruction for controlling the differential lock to be unlocked.

[0085] The third confirmation unit is configured to, in a case where the vehicle is in a non-rock mode and the second state is the unlocked state or the pre-unlocked state, confirm a control instruction for controlling the differential lock to be locked.

[0086] Optionally, the differential lock comprises a front differential lock and a rear differential lock, and the second instruction comprises a front lock instruction for controlling the front differential lock and a rear lock instruction for controlling the rear differential lock.

[0087] The second confirmation unit comprises:

[0088] The fourth confirmation unit is configured to, in a case where the second instruction is the front lock instruction, the front differential lock is in the locked state, the pre-locked state, or the overspeed alarm state, and the rear differential lock is in the locked state, the pre-locked state, or the overspeed alarm state, confirm a control instruction for controlling the front differential lock to be unlocked.

[0089] The fifth confirming unit is configured to confirm a control instruction for controlling the front differential lock to be unlocked and the rear differential lock to be unlocked, in the case that the second instruction is a rear lock instruction, and the front differential lock is in the locked state, the pre-locked state or the overspeed alarm state, and the rear differential lock is in the locked state, the pre-locked state or the overspeed alarm state.

[0090] Optionally, the third confirming unit comprises:

[0091] The sixth confirming unit is configured to confirm a control instruction for controlling the front differential lock to be locked and the rear differential lock to be locked, in the case that the second instruction is a front lock instruction, and the front differential lock is in the unlocked state or the pre-unlocked state, and the rear differential lock is in the unlocked state or the pre-unlocked state.

[0092] The seventh confirming unit is configured to confirm a control instruction for controlling the rear differential lock to be locked, in the case that the second instruction is a rear lock instruction, and the front differential lock is in the unlocked state or the pre-unlocked state, and the rear differential lock is in the unlocked state or the pre-unlocked state.

[0093] Optionally, the device further comprises:

[0094] The control module is configured to control the front differential lock not to be locked in the case that the rear differential lock is in the overspeed alarm state.

[0095] Optionally, after the processing module 703, the device further comprises:

[0096] The receiving module is configured to receive state information, the state information being state information of the differential lock sent after the differential lock executes the control instruction.

[0097] The generating module is configured to generate a new control instruction according to the state information.

[0098] The differential lock control device provided by the embodiments of the present application corresponds to each process of each embodiment of the differential lock control method described above, and can achieve the same technical effects. To avoid repetition, details are not described herein.

[0099] It should be noted that the differential lock control device in the embodiments of the present application can be a device, a component, an integrated circuit or a chip in a vehicle.

[0100] The embodiments of the present application further provide a vehicle, referring to Figure 8 , Figure 8 is a structural schematic diagram of a vehicle provided by the embodiments of the present application. The vehicle comprises a memory 801, a processor 802 and a program or instruction stored in the memory 801 and running on the memory 801. The program or instruction is executed by the processor 802 and can realizeFigure 1 Any step in the corresponding method embodiments and achieve the same beneficial effects, not repeated here.

[0101] The processor 802 can be a CPU, ASIC, FPGA or GPU.

[0102] Those skilled in the art can understand that all or part of the steps of the above-mentioned embodiment methods can be completed by program instructions related to hardware, and the programs can be stored in a readable medium.

[0103] The embodiment of the application further provides a readable storage medium, and the readable storage medium stores a computer program. Figure 1 Any step in the corresponding method embodiments and achieve the same beneficial effects, not repeated here. The storage medium, such as read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.

[0104] The terms "first", "second" and the like in the embodiments of the application are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those clearly listed steps or units, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices. In addition, "and / or" is used in this application to represent at least one of the connected objects, for example, A and / or B and / or C, which represents 7 cases including A alone, B alone, C alone, A and B, B and C, A and C, and A, B and C.

[0105] It should be noted that in this paper, the term "include", "contain" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0106] Through the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned example methods can be implemented by means of software and necessary universal hardware platforms, and of course can also be implemented by hardware, but in many cases the former is a better implementation. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product in essence or in the part that contributes to the prior art, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a plurality of instructions for causing a terminal (which can be a mobile phone, computer, server, air conditioner, or second terminal device, etc.) to execute the methods of various embodiments of the present application.

[0107] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative and not restrictive. Those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the scope protected by the claims.

Claims

1. A method of differential lock control, characterized in that, The method comprises: obtaining a first instruction for controlling the differential lock to be unlocked or locked sent by the all-terrain system control unit when it is detected that the vehicle enters or exits a rock mode, the rock mode being a driving mode of the vehicle; before executing the unlocking or locking of the differential lock based on the first instruction, if a second instruction for controlling the differential lock input by a user is obtained, confirming a control instruction for controlling the differential lock to be unlocked or locked based on the driving mode of the vehicle and the state of the differential lock; executing the unlocking or locking of the differential lock based on the control instruction; wherein the control instruction for controlling the differential lock to be unlocked or locked based on the driving mode of the vehicle and the state of the differential lock comprises: confirming a second state of the differential lock, the second state comprising a locked state, a pre-locked state, an unlocked state, a pre-unlocked state and an overspeed alarm state; in the case that the vehicle is in the rock mode and the second state is the locked state, the pre-locked state or the overspeed alarm state, confirming a control instruction for controlling the differential lock to be unlocked; in the case that the vehicle is in a non-rock mode and the second state is the unlocked state or the pre-unlocked state, confirming a control instruction for controlling the differential lock to be locked; the differential lock comprises a front differential lock and a rear differential lock, and the second instruction comprises a front lock instruction for controlling the front differential lock and a rear lock instruction for controlling the rear differential lock; the confirming a control instruction for controlling the differential lock to be unlocked in the case that the vehicle is in the rock mode and the second state is the locked state, the pre-locked state or the overspeed alarm state comprises: in the case that the second instruction is the front lock instruction and the front differential lock is in the locked state, the pre-locked state or the overspeed alarm state and the rear differential lock is in the locked state, the pre-locked state or the overspeed alarm state, confirming a control instruction for controlling the front differential lock to be unlocked; in the case that the second instruction is the rear lock instruction and the front differential lock is in the locked state, the pre-locked state or the overspeed alarm state and the rear differential lock is in the locked state, the pre-locked state or the overspeed alarm state, confirming a control instruction for controlling the front differential lock to be unlocked and the rear differential lock to be unlocked; the confirming a control instruction for controlling the differential lock to be locked in the case that the vehicle is in the non-rock mode and the second state is the unlocked state or the pre-unlocked state comprises: in the case that the second instruction is the front lock instruction and the front differential lock is in the unlocked state or the pre-unlocked state and the rear differential lock is in the unlocked state or the pre-unlocked state, confirming a control instruction for controlling the front differential lock to be locked and the rear differential lock to be locked; in the case that the second instruction is the rear lock instruction and the front differential lock is in the unlocked state or the pre-unlocked state and the rear differential lock is in the unlocked state or the pre-unlocked state, confirming a control instruction for controlling the rear differential lock to be locked.

2. The method of claim 1, wherein, the obtaining the first instruction for controlling the differential lock to be unlocked or locked comprises: obtaining a first state of the differential lock, the first state comprising a locked state and an unlocked state; In a case where the vehicle is in the rock mode and the first state is the unlocked state, obtaining a first instruction for controlling the differential lock to be locked; In a case where the vehicle is in the non-rock mode and the first state is the locked state, obtaining a first instruction for controlling the differential lock to be unlocked.

3. The method of claim 1, wherein, The method further comprises: In a case where the rear differential lock is in the overspeed alarm state, controlling the front differential lock not to be locked.

4. The method of claim 1, wherein, After the differential lock is controlled to be unlocked or locked based on the control instruction, the method further comprises: receiving state information, the state information being state information of the differential lock sent after the differential lock executes the control instruction; generating a new control instruction based on the state information.

5. A differential lock control device characterized by, Comprise: The acquisition module is used to acquire a first instruction for controlling the differential lock to be unlocked or locked sent by the all-terrain system control unit when it is detected that the vehicle enters or exits the rock mode, the rock mode being a driving mode of the vehicle; The confirmation module is used to, before the differential lock is controlled to be unlocked or locked based on the first instruction, if a second instruction for controlling the differential lock input by a user is acquired, confirm a control instruction for controlling the differential lock to be unlocked or locked based on a driving mode of the vehicle and a state of the differential lock; The processing module is used to control the differential lock to be unlocked or locked based on the control instruction; the differential lock comprises a front differential lock and a rear differential lock, and the second instruction comprises a front lock instruction for controlling the front differential lock and a rear lock instruction for controlling the rear differential lock; The confirmation module comprises: The first confirmation unit is used to confirm a second state of the differential lock, the second state comprising a locked state, a pre-locked state, an unlocked state, a pre-unlocked state and an overspeed alarm state; The second confirmation unit is used to, in a case where the vehicle is in the rock mode and the second state is the locked state, the pre-locked state or the overspeed alarm state, confirm a control instruction for controlling the differential lock to be unlocked; The third confirmation unit is used to, in a case where the vehicle is in the non-rock mode and the second state is the unlocked state or the pre-unlocked state, confirm a control instruction for controlling the differential lock to be locked. The second confirmation unit comprises: The fourth confirmation unit is used to, in a case where the second instruction is the front lock instruction and the front differential lock is in the locked state, the pre-locked state or the overspeed alarm state and the rear differential lock is in the locked state, the pre-locked state or the overspeed alarm state, confirm a control instruction for controlling the front differential lock to be unlocked; The fifth confirmation unit is used to, in a case where the second instruction is the rear lock instruction and the front differential lock is in the locked state, the pre-locked state or the overspeed alarm state and the rear differential lock is in the locked state, the pre-locked state or the overspeed alarm state, confirm a control instruction for controlling the front differential lock to be unlocked and the rear differential lock to be unlocked; The third confirmation unit comprises: a sixth confirming unit configured to, in a case where the second instruction is a front lock instruction and the front differential lock is in an unlocked state or a pre-unlocked state and the rear differential lock is in an unlocked state or a pre-unlocked state, confirm a control instruction for controlling locking of the front differential lock and the rear differential lock; a seventh confirming unit configured to, in a case where the second instruction is a rear lock instruction and the front differential lock is in an unlocked state or a pre-unlocked state and the rear differential lock is in an unlocked state or a pre-unlocked state, confirm a control instruction for controlling locking of the rear differential lock.

6. A vehicle characterized by comprising: A computer program product comprising a processor, a memory, and a computer program stored on the memory and loadable on the processor, the computer program implementing the steps of the differential lock control method according to any one of claims 1 to 4 when executed by the processor.

7. A readable storage medium for storing a program, characterized by The program implements the steps of the differential lock control method according to any one of claims 1 to 4 when executed by the processor.

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