Vehicle, control method and device thereof, and storage medium

Abstract

The present invention provides a vehicle, a control method and device thereof, and a storage medium. The method comprises: responding to an off-road cruise control command and activating the vehicle's off-road cruise control system when the vehicle meets the off-road cruise control system's activation conditions; determining the terrain mode the vehicle is currently traveling in when the off-road cruise control system is activated; and controlling the vehicle's front and rear axle differential locks based on the terrain mode using a control strategy corresponding to the terrain mode. The present invention automatically controls the front and rear axle differential locks after the off-road cruise control system is activated, eliminating the need for the driver to manually control the differential locks. This allows the driver to focus primarily on the road ahead, improving the vehicle's ability to escape from obstacles under the off-road cruise control system while also enhancing the overall vehicle intelligence.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle, a control method and device thereof, and a storage medium. Background Art

[0002] CCO (Cruise Control Offroad) is suitable for off-road driving on complex terrain. When activated, the system automatically controls the engine and braking system. The driver can adjust the vehicle speed by operating the cruise control switch, maintaining a low or constant speed. Smooth control of engine torque ensures driving comfort, freeing the driver to control the accelerator and brakes, allowing them to focus on the road ahead. CCO is primarily used in low-speed off-road conditions and for escaping difficulties. It is inactive at high speeds.

[0003] However, with the current control strategy, after the off-road cruise control system is turned on, the electronically controlled differential lock can only be controlled manually by the driver. It is impossible to achieve synchronous control of the electronically controlled differential lock when entering the off-road cruise control system, resulting in the driver being unable to focus his main attention on controlling the road ahead, greatly reducing the intelligence of the entire vehicle. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] To this end, the first purpose of the present invention is to propose a vehicle control method, which, when determining that the off-road cruise control system of the vehicle is turned on, determines the terrain mode on which the vehicle is currently traveling, and controls the front axle differential lock and the rear axle differential lock of the vehicle according to the terrain mode using a control strategy corresponding to the terrain mode. Thus, after the off-road cruise control system is turned on, automatic control of the front axle differential lock and the rear axle differential lock is achieved, and the driver does not need to manually control the differential lock, so that the driver can focus his main attention on the road ahead. While improving the vehicle's ability to escape from difficulties under the off-road cruise control system, the intelligence of the entire vehicle is improved.

[0006] To this end, a second object of the present invention is to provide a vehicle control device.

[0007] To this end, a third object of the present invention is to provide a vehicle.

[0008] To this end, a fourth object of the present invention is to provide a computer-readable storage medium.

[0009] In order to achieve the above-mentioned objectives, an embodiment of the first aspect of the present invention provides a vehicle control method, the method comprising: in response to an off-road cruise control instruction, when the vehicle meets the start-up conditions of the off-road cruise control system, controlling the off-road cruise control system of the vehicle to turn on; when the off-road cruise control system is turned on, determining the terrain mode in which the vehicle is currently traveling; and according to the terrain mode, controlling the front axle differential lock and the rear axle differential lock of the vehicle using a control strategy corresponding to the terrain mode.

[0010] According to the vehicle control method of an embodiment of the present invention, in response to an off-road cruise command, when the vehicle meets the start-up conditions of the off-road cruise control system, the off-road cruise control system of the vehicle is controlled to be turned on. When it is determined that the off-road cruise control system of the vehicle is turned on, the terrain mode in which the vehicle is currently traveling is determined, and the front axle differential lock and the rear axle differential lock of the vehicle are controlled according to the terrain mode using a control strategy corresponding to the terrain mode. Therefore, after the off-road cruise control system is turned on, automatic control of the front axle differential lock and the rear axle differential lock is achieved, and the driver does not need to manually control the differential lock, so that the driver can focus his main attention on the road ahead. While improving the vehicle's escape ability under the off-road cruise control system, the intelligence of the entire vehicle is improved.

[0011] In some embodiments, when the off-road cruise control system is turned on, determining the terrain mode in which the vehicle is currently traveling includes: determining the terrain mode in which the vehicle is currently traveling based on terrain information in which the vehicle is currently located.

[0012] In some embodiments, when the off-road cruise control system is turned on, determining the terrain mode in which the vehicle is currently traveling includes: obtaining terrain information in which the vehicle is currently located, and determining the terrain mode in which the vehicle is currently traveling when the terrain information meets the corresponding preset conditions in the corresponding terrain mode.

[0013] In some embodiments, after determining the terrain mode in which the vehicle is currently traveling, the method further includes: determining whether a terrain mode switching instruction is received; if so, switching the terrain mode in which the vehicle is currently traveling; otherwise, controlling the terrain mode in which the vehicle is currently traveling to remain unchanged.

[0014] In some embodiments, according to the terrain mode, a control strategy corresponding to the terrain mode is adopted to control the front axle differential lock and the rear axle differential lock of the vehicle, including: if the terrain mode is a mud mode or a sand mode, a first control strategy is adopted to control the front axle differential lock and the rear axle differential lock of the vehicle, wherein the first control strategy includes: controlling the rear axle differential lock to be in a first locking mode, and controlling the front axle differential lock to be in an automatic mode.

[0015] In some embodiments, controlling the front axle differential lock to be in automatic mode includes: controlling the initial state of the front axle differential lock to be unlocked, and when the speed difference between the left and right wheels of the front axle of the vehicle meets a first preset wheel speed difference range, controlling the front axle differential lock to be locked, and when the vehicle speed is greater than the first preset vehicle speed or the speed difference between the left and right wheels of the front axle is less than a first preset wheel speed difference threshold, and the driving time of the vehicle exceeds a preset time, controlling the front axle differential lock to be unlocked and to be in the automatic mode again.

[0016] In some embodiments, according to the terrain mode, a control strategy corresponding to the terrain mode is adopted to control the front axle differential lock and the rear axle differential lock of the vehicle, including: if the terrain mode is a rock mode or a climbing mode, a second control strategy is adopted to control the front axle differential lock and the rear axle differential lock of the vehicle, wherein the second control strategy includes: controlling the rear axle differential lock to be in the first locking mode, and controlling the front axle differential lock to be in the second locking mode.

[0017] In some embodiments, the second locking mode includes: controlling the initial state of the front axle differential lock to be locked, and when the vehicle speed is greater than a first preset speed, controlling the front axle differential lock to be unlocked, and when the vehicle speed drops back to less than the first preset speed, controlling the front axle differential lock to be locked.

[0018] In some embodiments, the first locking mode includes: controlling the rear axle differential lock to be continuously locked without an unlocking speed limit.

[0019] In some embodiments, according to the terrain mode, a control strategy corresponding to the terrain mode is adopted to control the front axle differential lock and the rear axle differential lock of the vehicle, including: if the terrain mode is a standard mode or a sports mode, a third control strategy is adopted to control the front axle differential lock and the rear axle differential lock of the vehicle, wherein the third control strategy includes: controlling the front axle differential lock and the rear axle differential lock to be in a third locking mode.

[0020] In some embodiments, the third locking mode includes: controlling the initial states of the front axle differential lock and the rear axle differential lock to be unlocked; when the left and right wheel speed difference of the rear axle of the vehicle is less than a second preset wheel speed difference threshold, and the vehicle speed is less than the second preset vehicle speed, controlling the rear axle differential lock to be locked; and after the rear axle differential lock is locked, judging the relationship between the left and right wheel speed difference of the front axle of the vehicle and the second preset wheel speed difference threshold and the relationship between the vehicle speed and the second preset vehicle speed; when the left and right wheel speed difference of the front axle of the vehicle is less than the second wheel speed difference threshold, and the vehicle speed is less than the second preset vehicle speed, controlling the front axle differential lock to be locked; and when the vehicle speed is greater than a third preset vehicle speed, controlling the front axle differential lock and the rear axle differential lock to be unlocked, wherein the second preset vehicle speed is less than the third preset vehicle speed.

[0021] To achieve the above-mentioned objectives, an embodiment of the second aspect of the present invention proposes a vehicle control device, which includes: a first control module, which is used to respond to an off-road cruise control instruction and control the off-road cruise control system of the vehicle to start when the vehicle meets the start-up conditions of the off-road cruise control system; a determination module, which is used to determine the terrain mode in which the vehicle is currently traveling when the off-road cruise control system is turned on; and a second control module, which is used to control the front axle differential lock and the rear axle differential lock of the vehicle according to the terrain mode using a control strategy corresponding to the terrain mode.

[0022] According to an embodiment of the present invention, the control device of a vehicle responds to an off-road cruise instruction and controls the off-road cruise control system of the vehicle to be turned on when the vehicle meets the starting conditions of the off-road cruise control system. When it is determined that the off-road cruise control system of the vehicle is turned on, the terrain mode in which the vehicle is currently traveling is determined, and the front axle differential lock and the rear axle differential lock of the vehicle are controlled according to the terrain mode using a control strategy corresponding to the terrain mode. Therefore, after the off-road cruise control system is turned on, automatic control of the front axle differential lock and the rear axle differential lock is achieved, and the driver does not need to manually control the differential lock, so that the driver can focus his main attention on the road ahead. While improving the vehicle's escape ability under the off-road cruise control system, the intelligence of the entire vehicle is improved.

[0023] To achieve the above-mentioned purpose, an embodiment of a third aspect of the present invention provides a vehicle, which includes: the control device of the vehicle implemented above.

[0024] According to the vehicle of the embodiment of the present invention, in response to the off-road cruise command, when the vehicle meets the start-up conditions of the off-road cruise control system, the off-road cruise control system of the vehicle is controlled to be turned on. When it is determined that the off-road cruise control system of the vehicle is turned on, the terrain mode in which the vehicle is currently traveling is determined, and the front axle differential lock and the rear axle differential lock of the vehicle are controlled according to the terrain mode using a control strategy corresponding to the terrain mode. Therefore, after the off-road cruise control system is turned on, automatic control of the front axle differential lock and the rear axle differential lock is achieved, and the driver does not need to manually control the differential lock, so that the driver can focus his main attention on the road ahead. While improving the vehicle's escape ability under the off-road cruise control system, the intelligence of the entire vehicle is improved.

[0025] To achieve the above-mentioned objectives, an embodiment of the fourth aspect of the present invention proposes a computer-readable storage medium, on which a vehicle control program is stored. When the vehicle control program is executed by a processor, the vehicle control method as described in the above-mentioned embodiment is implemented.

[0026] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0028] Figure 1 is a flow chart of a vehicle control method according to one embodiment of the present invention;

[0029] Figure 2 is a flowchart of an off-road cruise control system according to one embodiment of the present invention;

[0030] Figure 3 is a flow chart of a vehicle control method according to a specific embodiment of the present invention;

[0031] Figure 4 is a block diagram of a control device for a vehicle according to an embodiment of the present invention;

[0032] Figure 5 is a block diagram of a vehicle according to one embodiment of the present invention. DETAILED DESCRIPTION

[0033] The embodiments of the present invention will be described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention will be described in detail below.

[0034] In the embodiment, when a vehicle is traveling on an off-road road with complex terrain, it is easy for the vehicle to get stuck or the wheels to slip, causing the vehicle to be unable to travel normally. For vehicles with an off-road cruise control system, synchronous control of the differential lock cannot be achieved.

[0035] Therefore, by adopting the vehicle control method of the embodiment of the present invention, after the off-road cruise control system of the vehicle is turned on, the front axle differential lock and the rear axle differential lock of the vehicle are automatically controlled according to the terrain mode on which the vehicle is currently traveling, so as to improve the vehicle's ability to escape from difficulties under the off-road cruise control system, so that the driver can focus his main attention on the road ahead, thereby improving the intelligence of the entire vehicle.

[0036] The following describes a method for controlling a vehicle according to an embodiment of the present invention.

[0037] The following combination Figure 1-Figure 3 The vehicle control method according to the embodiment of the present invention is described as follows: Figure 1 As shown, the vehicle control method according to the embodiment of the present invention at least includes steps S1 to S3.

[0038] Step S1 : in response to an off-road cruise control instruction, when a vehicle meets a start condition of the off-road cruise control system, controlling the off-road cruise control system of the vehicle to start.

[0039] In an embodiment, the off-road cruise control system can only be entered in the low-speed four-wheel drive mode. When the driver issues a start command for the off-road cruise control system, it is determined whether the vehicle meets the start conditions of the off-road cruise control system. When it is determined that the vehicle meets the start conditions of the off-road cruise control system, the off-road cruise control system responds to the start command and controls the vehicle to enter the off-road cruise control mode.

[0040] For example, if Figure 2 The figure shows a workflow diagram of an off-road cruise control system according to one embodiment of the present invention. When the off-road cruise control system is activated, it first determines whether the vehicle has entered low four-wheel drive mode. After determining that the vehicle has entered low four-wheel drive mode, it then determines whether the vehicle's current gear is D or R, and whether other conditions of the off-road cruise control system are met. If these conditions are met and the off-road cruise control system receives a start command, it activates the off-road cruise control system. After the off-road cruise control system is activated, if the driver does not operate the accelerator or brake, the vehicle defaults to the minimum speed. The driver can adjust the target speed by operating the off-road cruise speed control switch.

[0041] When the off-road cruise control system is activated, the driver can adjust the vehicle's speed by operating the accelerator or brake pedal, provided the vehicle's speed does not exceed the system's exit speed. During speed adjustment, the target speed remains unchanged. After the driver releases the accelerator or brake pedal, the off-road cruise control system continues to maintain the target speed. When the vehicle's speed exceeds the vehicle's exit speed, the off-road cruise control system is deactivated. To reactivate the off-road cruise control system, the driver must reactivate the system. When the off-road cruise control system is activated, the vehicle has an automatic departure function. If the off-road cruise control system is activated while the vehicle is stationary and the driver releases the brake pedal, the off-road cruise control system will help the vehicle automatically start.

[0042] If the vehicle is in an uphill condition, or the driver increases the target speed, the off-road cruise control system will request an increase in drive torque; if the vehicle is in a downhill condition, or the driver reduces the target speed, the off-road cruise control system will use the engine's drag torque. If the drag torque is not enough to reduce the vehicle speed to the target speed, the off-road cruise control system will increase the brake pressure and light up the brake lights at the same time.

[0043] Step S2: When the off-road cruise control system is turned on, determine the terrain mode in which the vehicle is currently traveling.

[0044] The terrain mode in which the vehicle is currently traveling includes multiple terrain modes, such as mud mode, sand mode, rock mode, and climbing mode.

[0045] In an embodiment, when it is determined that the off-road cruise control system of the vehicle is turned on, the terrain mode in which the vehicle is currently traveling is determined. For example, the driver determines the terrain mode in which the vehicle is currently traveling based on the current environment. In this terrain mode, the driver controls the vehicle to enter the corresponding terrain mode by operating a corresponding terrain mode determination button in the vehicle. For example, if the driver determines that the vehicle is traveling on sand based on the current environment, the driver operates a sand mode determination button in the vehicle to control the vehicle to enter the sand terrain mode, thereby determining that the terrain in which the vehicle is currently traveling is the sand mode.

[0046] Step S3: According to the terrain mode, the front axle differential lock and the rear axle differential lock of the vehicle are controlled by adopting a control strategy corresponding to the terrain mode.

[0047] The terrain mode in which the vehicle is currently traveling is different, and the control strategies corresponding to the terrain modes are different. Under different control strategies, the front axle differential lock and the rear axle differential lock of the vehicle are controlled accordingly.

[0048] In an embodiment, after determining the terrain mode in which the vehicle is currently traveling, a control strategy corresponding to the terrain mode is determined. For example, if it is determined that the terrain mode in which the vehicle is currently traveling is a sand mode, a control strategy corresponding to the sand mode is adopted to control the front axle differential lock and the rear axle differential lock of the vehicle. Thus, after the off-road cruise control system is turned on, automatic control of the front axle differential lock and the rear axle differential lock is achieved, and the driver does not need to manually control the differential lock, so that the driver can focus his main attention on the road ahead. While improving the vehicle's ability to escape from difficulties under the off-road cruise control system, the intelligence of the entire vehicle is improved.

[0049] According to the vehicle control method of the embodiment of the present invention, in response to an off-road cruise command, when the vehicle meets the start-up conditions of the off-road cruise control system, the off-road cruise control system of the vehicle is controlled to be turned on. When it is determined that the off-road cruise control system of the vehicle is turned on, the terrain mode in which the vehicle is currently traveling is determined, and the front axle differential lock and the rear axle differential lock of the vehicle are controlled according to the terrain mode using a control strategy corresponding to the terrain mode. Therefore, after the off-road cruise control system is turned on, automatic control of the front axle differential lock and the rear axle differential lock is achieved, and the driver does not need to manually control the differential lock, so that the driver can focus his main attention on the road ahead. While improving the vehicle's escape ability under the off-road cruise control system, the intelligence of the entire vehicle is improved.

[0050] In some embodiments, when an off-road cruise control system is enabled, determining the terrain mode in which the vehicle is currently traveling includes determining the terrain mode in which the vehicle is currently traveling based on terrain information about the vehicle. Specifically, when the off-road cruise control system is enabled, the driver determines the terrain in which the vehicle is currently located and, based on the terrain information, operates a button on the vehicle corresponding to the terrain mode to control the vehicle into the corresponding terrain mode. In this way, a corresponding control strategy is employed based on the terrain mode to control the front and rear axle differential locks of the vehicle. This eliminates the need for the driver to manually control the differential locks, allowing the driver to focus primarily on the road ahead. This improves the vehicle's ability to escape from obstacles under the off-road cruise control system while also enhancing overall vehicle intelligence.

[0051] In some embodiments, when the off-road cruise control system is turned on, determining the terrain mode in which the vehicle is currently traveling includes: obtaining terrain information in which the vehicle is currently located, and determining the terrain mode in which the vehicle is currently traveling when the terrain information meets the corresponding preset terrain information in the corresponding terrain mode.

[0052] In an embodiment, when it is determined that the off-road cruise system is turned on, image information of the vehicle's surrounding environment is obtained through various sensors provided on the vehicle, such as an image sensor, or the wheel speed and vehicle speed of the vehicle are obtained through a speed sensor. The image information, the wheel speed and vehicle speed of the vehicle are then processed to determine the current terrain information of the vehicle. When the current terrain information meets pre-set terrain conditions, for example, when the current terrain information meets the corresponding terrain conditions in the sand mode, the vehicle is controlled to enter the sand mode.

[0053] In some embodiments, after determining the terrain mode in which the vehicle is currently traveling, the method further includes: determining whether a terrain mode switching instruction is received; if so, switching the terrain mode in which the vehicle is currently traveling; otherwise, controlling the terrain mode in which the vehicle is currently traveling to remain unchanged.

[0054] In an embodiment, after determining that the vehicle's current terrain mode is sand mode, a determination is made as to whether a terrain mode switch command has been received. If a terrain mode switch command has been received, the vehicle's current terrain mode is switched. For example, if a terrain mode switch command has been received, the vehicle is controlled to enter rock mode. If no terrain mode switch command has been received, the vehicle is controlled to maintain the current terrain mode.

[0055] The following describes an example of a control strategy for correspondingly controlling the front axle differential lock and the rear axle differential lock when the vehicle is in different terrain modes according to an embodiment of the present invention.

[0056] As shown in Table 1, it is a control strategy comparison table of differential lock control in an off-road cruise control system according to an embodiment of the present invention.

[0057]

[0058] As can be seen from Table 1, the control strategies of the front axle differential lock and the rear axle differential lock of the vehicle are different depending on the terrain mode the vehicle is currently traveling on.

[0059] In some embodiments, based on the terrain mode, a control strategy corresponding to the terrain mode is employed to control the front and rear differential locks of the vehicle. This includes: if the terrain mode is mud mode or sand mode, a first control strategy is employed to control the front and rear differential locks of the vehicle, wherein the first control strategy includes controlling the rear differential lock to a first locking mode and the front differential lock to an automatic mode. It is understood that when the off-road cruise control system is engaged, the rear differential lock is locked in conjunction with the vehicle, and the rear differential lock is not subject to the locking condition of the differential lock when the vehicle speed is less than 5 km / h. Since the vehicle may be in motion when the off-road cruise control system is engaged, the vehicle may be traveling at a relatively low speed, such as within a speed range of 0-35 km / h. In this case, low-speed locking of the differential lock has a lesser impact on vehicle stability and may be directly engaged, thereby enhancing the locking function of the rear differential lock.

[0060] In an embodiment, when it is determined that the terrain mode in which the vehicle is currently traveling is a mud mode or a sand mode, a first control strategy is adopted to control the front axle differential lock and the rear axle differential lock of the vehicle. Under the first control strategy, the rear axle differential lock is in a first locking mode, for example, the rear axle differential lock is linked and locked. It can be understood that the rear axle differential lock is in the first locking state, that is, the rear axle differential lock is continuously in a locked state and is not affected by the vehicle speed. At any vehicle speed, the rear axle differential lock is not unlocked. In other words, in this mode, there is no unlocking speed limit for the rear axle differential lock.

[0061] In some embodiments, controlling the front axle differential lock to be in automatic mode includes: controlling the initial state of the front axle differential lock to be unlocked, and when the speed difference between the left and right wheels of the front axle of the vehicle meets a first preset wheel speed difference range, controlling the front axle differential lock to be locked, and when the vehicle speed is greater than the first preset vehicle speed or the speed difference between the left and right wheels of the front axle is less than the first preset wheel speed difference threshold, and the driving time of the vehicle exceeds a preset time, controlling the front axle differential lock to be unlocked and put back into automatic mode.

[0062] In an embodiment, when the first control strategy is adopted to control the front axle differential lock and the rear axle differential lock of the vehicle, the differential lock control unit continuously receives the left and right wheel speed values ​​of the front axle of the vehicle, and calculates the speed difference between the left and right wheels of the front axle. The wheel speed difference is used as a condition for automatic locking of the front axle differential lock. When the left and right wheel speed difference of the front axle of the vehicle meets the first preset wheel speed difference range, for example, the left and right wheel speed difference of the front axle is greater than or equal to 50rpm and less than or equal to 100rpm, it is considered that the wheels are slipping. At this time, the front axle differential lock is controlled to lock to improve the vehicle's ability to escape from trouble.

[0063] At this time, the differential lock control unit continues to accept the left and right wheel speed values ​​of the vehicle's front axle, and continues to obtain the vehicle speed value. When the vehicle speed is greater than the first preset speed, for example, the vehicle speed is greater than 20Km / h, or the left and right wheel speed difference of the front axle is less than the first preset wheel speed difference threshold, for example, the left and right wheel speed difference of the front axle is less than 10rpm, and the vehicle's driving time exceeds the preset time, for example, the vehicle's driving time is greater than 1 minute, it is considered that the vehicle has escaped. At this time, the front axle differential lock is controlled to be unlocked. After unlocking, the front axle differential lock is still in automatic mode.

[0064] In some embodiments, based on the terrain mode, a control strategy corresponding to the terrain mode is employed to control the front and rear differential locks of the vehicle. This includes: if the terrain mode is rock mode or climbing mode, a second control strategy is employed to control the front and rear differential locks of the vehicle, wherein the second control strategy includes controlling the rear differential lock to a first locking mode and the front differential lock to a second locking mode. It is understood that when the off-road cruise control system is engaged, the rear differential lock is locked in conjunction with the vehicle, and the rear differential lock is not subject to the locking condition of the differential lock when the vehicle speed is less than 5 km / h. Since the vehicle may be in motion when the off-road cruise control system is engaged, the vehicle may be traveling at a relatively low speed, such as within the range of 0-35 km / h. In this case, low-speed differential lock has a lesser impact on vehicle stability and may be directly locked to enhance the locking function of the rear differential lock.

[0065] In an embodiment, when it is determined that the terrain mode in which the vehicle is currently traveling is a rock mode or a climbing mode, a second control strategy is adopted to control the front axle differential lock and the rear axle differential lock of the vehicle. Under the second control strategy, the rear axle differential lock is in a first locking mode, for example, the rear axle differential lock is linked and locked. It can be understood that the rear axle differential lock is in the first locking state, that is, the rear axle differential lock is continuously in a locked state and is not affected by the vehicle speed. At any vehicle speed, the rear axle differential lock is not unlocked. In other words, in this mode, there is no unlocking speed limit for the rear axle differential lock.

[0066] In some embodiments, the second locking mode includes: controlling the initial state of the front axle differential lock to be locked, and when the vehicle speed is greater than a first preset speed, controlling the front axle differential lock to be unlocked, and when the vehicle speed drops back to less than the first preset speed, controlling the front axle differential lock to be locked.

[0067] In this embodiment, when the second control strategy is used to control the front and rear differential locks of the vehicle, the front differential lock is initially locked and the vehicle speed is monitored in real time. When the vehicle speed exceeds a first preset speed, for example, greater than 20 km / h, the front differential lock is unlocked. When the vehicle speed drops back below 20 km / h, the front differential lock is locked again, ensuring that the off-road cruise function is in its strongest off-road mode. By changing the automatic locking and unlocking control strategy of the differential lock in the off-road cruise control system, synchronous control of the rear differential lock is achieved in the off-road cruise control system.

[0068] In some embodiments, according to the terrain mode, a control strategy corresponding to the terrain mode is adopted to control the front axle differential lock and the rear axle differential lock of the vehicle, including: if the terrain mode is the standard mode or the sports mode, a third control strategy is adopted to control the front axle differential lock and the rear axle differential lock of the vehicle, wherein the third control strategy includes: controlling the front axle differential lock and the rear axle differential lock to be in a third locking mode.

[0069] In an embodiment, when it is determined that the terrain mode currently traveled by the vehicle is the standard mode or the sport mode, a third control strategy is adopted to control the front axle differential lock and the rear axle differential lock of the vehicle. Under the third control strategy, the initial state of the front axle differential lock and the rear axle differential lock is controlled to be unlocked. When the speed difference between the left and right wheels of the rear axle of the vehicle is less than a second preset wheel speed difference threshold, for example, the speed difference between the left and right wheels of the rear axle is less than 50 rpm, and the vehicle speed is less than the second preset speed, for example, the vehicle speed is less than 5 km / h, the rear axle differential lock is controlled to be locked. After the rear axle differential lock is locked, the left and right wheel speeds of the front axle and the vehicle speed are continued to be detected. When the speed difference between the left and right wheels of the front axle of the vehicle is less than the second wheel speed difference threshold, and the vehicle speed is less than the second preset speed, the front axle differential lock is controlled to be locked. When the vehicle speed is greater than the third preset speed, for example, the vehicle speed is greater than 40 km / h, the front axle differential lock and the rear axle differential lock are controlled to be unlocked, wherein the second preset speed is less than the third preset speed. By determining the vehicle's current terrain mode under the off-road cruise control system and adopting a control strategy corresponding to the terrain mode to control the vehicle's front axle differential lock and rear axle differential lock, synchronous control of the rear axle differential lock is achieved, allowing the driver to easily cope with complex off-road conditions when driving on complex off-road roads.

[0070] Reference below Figure 3 The overall process of the vehicle control method according to the embodiment of the present invention is described by way of example. Figure 3 FIG. 1 is a flow chart of a vehicle control method according to a specific embodiment of the present invention.

[0071] Step S11 , determining whether the off-road cruise control system of the vehicle is turned on.

[0072] Step S12, determining the terrain mode in which the vehicle is currently traveling. After executing this step, any one of step S13, step S15 and step S17 can be executed.

[0073] Step S13: If the terrain mode is mud mode or sand mode, the first control strategy is used to control the front axle differential lock and the rear axle differential lock of the vehicle.

[0074] Step S14: Control the rear axle differential lock to be in the first locking mode, and control the front axle differential lock to be in the automatic mode.

[0075] Step S15: If the terrain mode is the rock mode or the climbing mode, the second control strategy is used to control the front axle differential lock and the rear axle differential lock of the vehicle.

[0076] Step S16: Control the rear axle differential lock to be in the first locking mode, and control the front axle differential lock to be in the second locking mode.

[0077] Step S17: If the terrain mode is the standard mode or the sports mode, the third control strategy is used to control the front axle differential lock and the rear axle differential lock of the vehicle.

[0078] According to the vehicle control method of the embodiment of the present invention, in response to an off-road cruise command, when the vehicle meets the start-up conditions of the off-road cruise control system, the off-road cruise control system of the vehicle is controlled to be turned on. When it is determined that the off-road cruise control system of the vehicle is turned on, the terrain mode in which the vehicle is currently traveling is determined, and the front axle differential lock and the rear axle differential lock of the vehicle are controlled according to the terrain mode using a control strategy corresponding to the terrain mode. Therefore, after the off-road cruise control system is turned on, automatic control of the front axle differential lock and the rear axle differential lock is achieved, and the driver does not need to manually control the differential lock, so that the driver can focus his main attention on the road ahead. While improving the vehicle's escape ability under the off-road cruise control system, the intelligence of the entire vehicle is improved.

[0079] Next, a control device for a vehicle according to an embodiment of the present invention will be described.

[0080] like Figure 4 As shown, the control device 2 of the vehicle in the embodiment of the present invention includes: a first control module 20, a determination module 21 and a second control module 22, wherein the first control module 20 is used to respond to the off-road cruise control instruction and control the off-road cruise control system of the vehicle to start when the vehicle meets the start conditions of the off-road cruise control system; the determination module 21 is used to determine the terrain mode in which the vehicle is currently traveling when the off-road cruise control system is turned on; and the second control module 22 is used to control the front axle differential lock and the rear axle differential lock of the vehicle according to the terrain mode using a control strategy corresponding to the terrain mode.

[0081] According to the control device 2 of the vehicle of the embodiment of the present invention, in response to the off-road cruise instruction, when the vehicle meets the starting conditions of the off-road cruise control system, the off-road cruise control system of the vehicle is controlled to be turned on. When it is determined that the off-road cruise control system of the vehicle is turned on, the terrain mode in which the vehicle is currently traveling is determined, and the front axle differential lock and the rear axle differential lock of the vehicle are controlled according to the terrain mode using a control strategy corresponding to the terrain mode. Therefore, after the off-road cruise control system is turned on, the front axle differential lock and the rear axle differential lock are automatically controlled without the driver having to manually control the differential lock, so that the driver can focus his main attention on the road ahead. While improving the vehicle's escape ability under the off-road cruise control system, the intelligence of the entire vehicle is improved.

[0082] In some embodiments, the determination module 21 is specifically configured to determine the terrain mode in which the vehicle is currently traveling based on terrain information in which the vehicle is currently located.

[0083] In some embodiments, the determination module 21 is specifically used to: obtain terrain information where the vehicle is currently located, and when the terrain information meets the corresponding preset terrain conditions in the corresponding terrain mode, determine the terrain mode in which the vehicle is currently traveling.

[0084] In some embodiments, the determination module 21 is further configured to determine whether a terrain mode switching instruction is received; if so, switch the terrain mode in which the vehicle is currently traveling; otherwise, control the terrain mode in which the vehicle is currently traveling to remain unchanged.

[0085] In some embodiments, the second control module 22 is specifically used to: if the terrain mode is mud mode or sand mode, use the first control strategy to control the front axle differential lock and rear axle differential lock of the vehicle, wherein the first control strategy includes: controlling the rear axle differential lock to be in a first locking mode, and controlling the front axle differential lock to be in an automatic mode.

[0086] In some embodiments, the second control module 22 is specifically used to: control the initial state of the front axle differential lock to be unlocked, and when the speed difference between the left and right wheels of the front axle of the vehicle meets the first preset wheel speed difference range, control the front axle differential lock to be locked, and when the vehicle speed is greater than the first preset vehicle speed or the speed difference between the left and right wheels of the front axle is less than the first preset wheel speed difference threshold, and the driving time of the vehicle exceeds the preset time, control the front axle differential lock to be unlocked and return to automatic mode.

[0087] In some embodiments, the second control module 22 is specifically used to: if the terrain mode is rock mode or climbing mode, use the second control strategy to control the front axle differential lock and rear axle differential lock of the vehicle, wherein the second control strategy includes: controlling the rear axle differential lock to be in a first locking mode, and controlling the front axle differential lock to be in a second locking mode.

[0088] In some embodiments, the second control module 22 is specifically used to: control the initial state of the front axle differential lock to be locked, and when the vehicle speed is greater than a first preset speed, control the front axle differential lock to be unlocked, and when the vehicle speed drops back to less than the first preset speed, control the front axle differential lock to be locked.

[0089] In some embodiments, the second control module 22 is specifically configured to control the rear axle differential lock to be continuously locked without any unlocking speed limit.

[0090] In some embodiments, the second control module 22 is specifically used to: if the terrain mode is standard mode or sports mode, use the third control strategy to control the front axle differential lock and the rear axle differential lock of the vehicle, wherein the third control strategy includes: controlling the front axle differential lock and the rear axle differential lock to be in a third locking mode.

[0091] In some embodiments, the second control module 22 is specifically used to: control the initial state of the front axle differential lock and the rear axle differential lock to be unlocked; when the speed difference between the left and right wheels of the rear axle of the vehicle is less than the second preset wheel speed difference, and the vehicle speed is less than the second preset speed, control the rear axle differential lock to be locked; and after the rear axle differential lock is locked, when the speed difference between the left and right wheels of the front axle of the vehicle is less than the second wheel speed difference and less than the second preset speed, control the front axle differential lock to be locked; and when the vehicle speed is greater than a third preset speed, control the front axle differential lock and the rear axle differential lock to be unlocked, wherein the second preset speed is less than the third preset speed.

[0092] Next, a vehicle according to an embodiment of the present invention will be described.

[0093] like Figure 5 As shown, the vehicle 3 according to the embodiment of the present invention includes: the vehicle control device 2 implemented above.

[0094] According to the vehicle 3 of the embodiment of the present invention, after determining that the off-road cruise control system of the vehicle is turned on, the terrain mode in which the vehicle is currently traveling is determined, and the front axle differential lock and the rear axle differential lock of the vehicle are controlled according to the terrain mode using a control strategy corresponding to the terrain mode. As a result, automatic control of the front axle differential lock and the rear axle differential lock is achieved in the off-road cruise mode, without the need for the driver to manually control the differential lock, so that the driver can focus his main attention on the road ahead. While improving the vehicle's ability to escape from difficulties under the off-road cruise control system, the intelligence of the entire vehicle is improved.

[0095] To achieve the above-mentioned objectives, an embodiment of the fourth aspect of the present invention proposes a computer-readable storage medium, on which a vehicle control program is stored. When the vehicle control program is executed by a processor, the vehicle control method as described in the above-mentioned embodiment is implemented.

[0096] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "example," "specific example," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0097] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A vehicle control method, characterized in that: include: In response to the off-road cruise control instruction, when the vehicle meets the activation condition of the off-road cruise control system, controlling the off-road cruise control system of the vehicle to activate; When the off-road cruise control system is on, determining a terrain mode in which the vehicle is currently traveling; According to the terrain mode, a control strategy corresponding to the terrain mode is adopted to control the front axle differential lock and the rear axle differential lock of the vehicle, including: If the terrain mode is a mud mode or a sand mode, a first control strategy is used to control the front axle differential lock and the rear axle differential lock of the vehicle, wherein the first control strategy includes: controlling the rear axle differential lock to be in a first locking mode, and controlling the front axle differential lock to be in an automatic mode; The first locking mode includes: controlling the rear axle differential lock to be continuously locked without an unlocking speed limit; The controlling the front axle differential lock to be in the automatic mode includes: controlling the initial state of the front axle differential lock to be unlocked, and when the speed difference between the left and right wheels of the front axle of the vehicle meets a first preset wheel speed difference range, controlling the front axle differential lock to be locked, and when the vehicle speed is greater than the first preset vehicle speed or the speed difference between the left and right wheels of the front axle is less than a first preset wheel speed difference threshold, and the driving time of the vehicle exceeds a preset time, controlling the front axle differential lock to be unlocked and put back into the automatic mode.

2. The vehicle control method according to claim 1, characterized in that: When the off-road cruise control system is turned on, determining the terrain mode in which the vehicle is currently traveling includes: The terrain mode in which the vehicle is currently traveling is determined according to the terrain information in which the vehicle is currently located.

3. The vehicle control method according to claim 1, characterized in that: When the off-road cruise control system is turned on, determining the terrain mode in which the vehicle is currently traveling includes: The terrain information of the vehicle is currently located is obtained, and when the terrain information satisfies a corresponding preset terrain condition in a corresponding terrain mode, the terrain mode in which the vehicle is currently traveling is determined.

4. The vehicle control method according to claim 3, characterized in that: After determining the terrain mode in which the vehicle is currently traveling, the method further includes: Determine whether a terrain mode switching instruction is received; If so, the terrain mode in which the vehicle is currently traveling is switched; otherwise, the terrain mode in which the vehicle is currently traveling is controlled to remain unchanged.

5. The vehicle control method according to claim 1, characterized in that: According to the terrain mode, a control strategy corresponding to the terrain mode is adopted to control the front axle differential lock and the rear axle differential lock of the vehicle, further comprising: If the terrain mode is rock mode or climbing mode, a second control strategy is used to control the front axle differential lock and the rear axle differential lock of the vehicle, wherein the second control strategy includes: controlling the rear axle differential lock to be in the first locking mode, and controlling the front axle differential lock to be in the second locking mode; The second locking mode includes: controlling the initial state of the front axle differential lock to be locked, and when the vehicle speed is greater than a first preset speed, controlling the front axle differential lock to be unlocked, and when the vehicle speed drops back to less than the first preset speed, controlling the front axle differential lock to be locked.

6. The vehicle control method according to claim 1, characterized in that: According to the terrain mode, a control strategy corresponding to the terrain mode is adopted to control the front axle differential lock and the rear axle differential lock of the vehicle, further comprising: If the terrain mode is the standard mode or the sport mode, a third control strategy is used to control the front axle differential lock and the rear axle differential lock of the vehicle, wherein the third control strategy includes: Controlling the front axle differential lock and the rear axle differential lock to be in a third locking mode; The third locking mode includes: controlling the initial states of the front axle differential lock and the rear axle differential lock to be unlocked; when the left and right wheel speed difference of the rear axle of the vehicle is less than a second preset wheel speed difference threshold, and the vehicle speed is less than the second preset vehicle speed, controlling the rear axle differential lock to be locked; and after the rear axle differential lock is locked, judging the relationship between the left and right wheel speed difference of the front axle of the vehicle and the second preset wheel speed difference threshold, and the relationship between the vehicle speed and the second preset vehicle speed; when the left and right wheel speed difference of the front axle of the vehicle is less than the second preset wheel speed difference threshold, and the vehicle speed is less than the second preset vehicle speed, controlling the front axle differential lock to be locked; and when the vehicle speed is greater than a third preset vehicle speed, controlling the front axle differential lock and the rear axle differential lock to be unlocked, wherein the second preset vehicle speed is less than the third preset vehicle speed.

7. A vehicle control device, characterized in that: include: a first control module, configured to control the off-road cruise control system of the vehicle to start in response to an off-road cruise control instruction when the vehicle meets a start condition of the off-road cruise control system; a determination module, configured to determine a terrain mode in which the vehicle is currently traveling when the off-road cruise control system is turned on; The second control module is configured to control the front axle differential lock and the rear axle differential lock of the vehicle according to the terrain mode and adopt a control strategy corresponding to the terrain mode, including: If the terrain mode is a mud mode or a sand mode, a first control strategy is used to control the front axle differential lock and the rear axle differential lock of the vehicle, wherein the first control strategy includes: controlling the rear axle differential lock to be in a first locking mode, and controlling the front axle differential lock to be in an automatic mode; The first locking mode includes: controlling the rear axle differential lock to be continuously locked without an unlocking speed limit; The controlling the front axle differential lock to be in the automatic mode includes: controlling the initial state of the front axle differential lock to be unlocked, and when the speed difference between the left and right wheels of the front axle of the vehicle meets a first preset wheel speed difference range, controlling the front axle differential lock to be locked, and when the vehicle speed is greater than the first preset vehicle speed or the speed difference between the left and right wheels of the front axle is less than a first preset wheel speed difference threshold, and the driving time of the vehicle exceeds a preset time, controlling the front axle differential lock to be unlocked and put back into the automatic mode.

8. A vehicle, characterized in that: include: The vehicle control device according to claim 7.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a vehicle control program, and when the vehicle control program is executed by the processor, the vehicle control method according to any one of claims 1 to 6 is implemented.

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