Control method, device and vehicle of differential lock system

Abstract

The present disclosure relates to a control method and device of a differential lock system and a vehicle, and relates to the field of vehicle control. The differential lock system comprises a first inter-axle differential lock, a second inter-axle differential lock, a front axle inter-wheel differential lock, a middle axle inter-wheel differential lock, and a rear axle inter-wheel differential lock. The first inter-axle differential lock is arranged between a front axle and a middle axle of the vehicle, and the second inter-axle differential lock is arranged in the middle axle. The method comprises: in response to a target locking instruction, determining whether the vehicle meets a target locking condition corresponding to the target locking instruction; in the case where the vehicle meets the target locking condition, controlling a target differential lock corresponding to the target locking instruction to be locked, and the target locking condition comprises a preset locking sequence, and the locking sequence is used to indicate a locking priority of each differential lock in the differential lock system; and in the case where the vehicle meets a target unlocking condition corresponding to the target locking instruction, controlling the target differential lock to be unlocked. The present disclosure can improve the safety of the differential lock system.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of vehicle control, in particular, to a control method and device of a differential lock system and a vehicle. BACKGROUND

[0002] With the continuous development of society, the number of cars is increasing, and the control performance of vehicles is also attracting more and more attention. The differential lock system is part of the vehicle transmission system, and its main function is to ensure that the transmission system can provide sufficient traction under different road conditions. For example, when one side of the wheel slips, the differential lock system can transmit power to the other side of the wheel to help the vehicle get out of trouble. However, if the differential lock system is not used properly, it may cause the vehicle to have no differential between the left and right steering wheels, and the steering torque is large, which may easily lead to safety accidents of the vehicle. SUMMARY

[0003] The purpose of the present disclosure is to provide a control method, device and vehicle of a differential lock system to improve the safety of the differential lock system.

[0004] According to a first aspect of an embodiment of the present disclosure, a control method of a differential lock system is provided, the differential lock system comprising: a first inter-axle differential lock, a second inter-axle differential lock, a front axle inter-wheel differential lock, a middle axle inter-wheel differential lock, and a rear axle inter-wheel differential lock, the first inter-axle differential lock being arranged between a front axle and a middle axle of a vehicle, and the second inter-axle differential lock being arranged in the middle axle of the vehicle; the method comprising:

[0005] in response to a target locking instruction, determining whether the vehicle meets a target locking condition corresponding to the target locking instruction, and in the case that the vehicle meets the target locking condition, controlling a target differential lock corresponding to the target locking instruction to lock; the target locking condition comprises a preset locking sequence, and the locking sequence is used to indicate a locking priority of each differential lock in the differential lock system;

[0006] in the case that the vehicle meets a target unlocking condition corresponding to the target locking instruction, controlling the target differential lock to unlock.

[0007] Optionally, the step of, in response to a target locking instruction, determining whether the vehicle meets a target locking condition corresponding to the target locking instruction, and in the case that the vehicle meets the target locking condition, controlling a target differential lock corresponding to the target locking instruction to lock, comprises:

[0008] acquiring first locking information, determining whether the first locking information meets first preset locking information, and if the first locking information meets the first preset locking information, locking the first inter-axle differential lock;

[0009] acquire second locking information, determine whether the second locking information meets second preset locking information, and determine whether the first inter-axle differential lock is locked, and if the second locking information meets the second preset locking information and the first inter-axle differential lock is locked, lock the second inter-axle differential lock;

[0010] acquire third locking information, determine whether the third locking information meets third preset locking information, and determine whether the first inter-axle differential lock and the second inter-axle differential lock are locked, and if the third locking information meets the third preset locking information and the first inter-axle differential lock and the second inter-axle differential lock are locked, lock the inter-axle differential lock of the middle axle;

[0011] acquire fourth locking information, determine whether the fourth locking information meets fourth preset locking information, and determine whether the first inter-axle differential lock and the second inter-axle differential lock are locked, and if the fourth locking information meets the fourth preset locking information and the first inter-axle differential lock and the second inter-axle differential lock are locked, lock the inter-axle differential lock of the rear axle;

[0012] acquire fifth locking information, determine whether the fifth locking information meets fifth preset locking information, and determine whether the first inter-axle differential lock, the second inter-axle differential lock, the inter-axle differential lock of the middle axle, and the inter-axle differential lock of the rear axle are locked, and if the fifth locking information meets the fifth preset locking information and the first inter-axle differential lock, the second inter-axle differential lock, the inter-axle differential lock of the middle axle, and the inter-axle differential lock of the rear axle are locked, lock the inter-axle differential lock of the front axle.

[0013] Optionally, the acquiring first locking information and determining whether the first locking information meets first preset locking information comprises:

[0014] acquiring an on-off signal of the first inter-axle differential lock, a vehicle speed signal, and a gear signal, and determining whether the vehicle receives the on-off signal of the first inter-axle differential lock, whether the vehicle speed is less than a preset first vehicle speed threshold, and whether the gear is a neutral gear.

[0015] Optionally, the acquiring second locking information and determining whether the second locking information meets second preset locking information comprises:

[0016] acquiring an on-off signal of the second inter-axle differential lock, a vehicle speed signal of the vehicle, and a rotational speed difference signal between the middle axle and the rear axle, and determining whether the vehicle receives the on-off signal of the second inter-axle differential lock, whether the vehicle speed is less than a preset second vehicle speed threshold, and whether the rotational speed difference between the middle axle and the rear axle is less than a preset first rotational speed threshold.

[0017] Optionally, the acquiring the third locking information, determining whether the third locking information meets third preset locking information, comprises:

[0018] acquiring a switch signal of the inter-axle differential lock, a vehicle speed signal of the vehicle, a state signal of a steering assist function, and a rotational speed difference signal between the left rear wheel and the right rear wheel, and determining whether the vehicle receives the switch signal of the inter-axle differential lock, whether the vehicle speed is less than a preset third vehicle speed threshold, and whether the rotational speed difference between the left rear wheel and the right rear wheel is less than a preset third rotational speed threshold.

[0019] Optionally, the acquiring the fourth locking information, determining whether the fourth locking information meets fourth preset locking information, comprises:

[0020] acquiring a switch signal of the inter-axle differential lock, a vehicle speed signal of the vehicle, a state signal of a steering assist function, and a rotational speed difference signal between the left rear wheel and the right rear wheel, and determining whether the vehicle receives the switch signal of the inter-axle differential lock, whether the vehicle speed is less than a preset third vehicle speed threshold, and whether the rotational speed difference between the left rear wheel and the right rear wheel is less than a preset third rotational speed threshold.

[0021] Optionally, the acquiring the fifth locking information, determining whether the fifth locking information meets fifth preset locking information, comprises:

[0022] acquiring a switch signal of the inter-axle differential lock, a vehicle speed signal of the vehicle, and a rotational speed difference signal between the left front wheel and the right front wheel, and determining whether the vehicle receives the switch signal of the inter-axle differential lock, whether the vehicle speed is less than a preset fifth vehicle speed threshold, and whether the rotational speed difference between the left front wheel and the right front wheel is less than a preset fourth rotational speed threshold.

[0023] Optionally, the controlling the target differential lock to be unlocked in a case where the vehicle meets a target unlocking condition corresponding to the target locking instruction, comprises:

[0024] acquiring first unlocking information, determining whether the first unlocking information meets first preset unlocking information, and unlocking the first inter-axle differential lock if the first unlocking information meets the first preset unlocking information; and / or

[0025] acquiring second unlocking information, determining whether the second unlocking information meets second preset unlocking information, and unlocking the second inter-axle differential lock if the second unlocking information meets the second preset unlocking information; and / or

[0026] acquiring third unlocking information, determining whether the third unlocking information meets third preset unlocking information, and unlocking the inter-axle differential lock of the middle axle and / or the inter-axle differential lock of the rear axle if the third unlocking information meets the third preset unlocking information; and / or

[0027] acquiring fourth unlocking information, determining whether the fourth unlocking information meets fourth preset unlocking information, and unlocking the inter-axle differential lock of the front axle if the fourth unlocking information meets the fourth preset unlocking information.

[0028] Optionally, the acquiring the first unlocking information and determining whether the first unlocking information meets first preset unlocking information comprises:

[0029] acquiring a switch signal of the inter-axle differential lock of the first axle and determining whether the vehicle receives the switch signal of the inter-axle differential lock of the first axle.

[0030] Optionally, the acquiring the second unlocking information and determining whether the second unlocking information meets second preset unlocking information comprises:

[0031] acquiring a switch signal of the inter-axle differential lock of the second axle and a state of the inter-axle differential lock of the first axle, and determining whether the vehicle receives the switch signal of the inter-axle differential lock of the second axle or whether the inter-axle differential lock of the first axle is in an unlocked state.

[0032] Optionally, the acquiring the third unlocking information and determining whether the third unlocking information meets third preset unlocking information comprises:

[0033] acquiring a switch signal of the inter-axle differential lock of the middle axle and the inter-axle differential lock of the rear axle, a state of the inter-axle differential lock of the first axle, a state of the inter-axle differential lock of the second axle, and a vehicle speed signal of the vehicle, and determining whether the vehicle receives the switch signal of the inter-axle differential lock of the middle axle, or whether the inter-axle differential lock of the first axle is in an unlocked state, or whether the inter-axle differential lock of the second axle is in an unlocked state, or whether the vehicle speed is greater than a preset sixth vehicle speed threshold.

[0034] Optionally, the acquiring the fourth unlocking information and determining whether the fourth unlocking information meets fourth preset unlocking information comprises:

[0035] The switch signal of the front axle differential lock, the state of the first inter-axle differential lock, the state of the second inter-axle differential lock, the state of the middle axle differential lock, the state of the rear axle differential lock and the vehicle speed signal of the vehicle are acquired, and it is determined whether the vehicle receives the switch signal of the front axle differential lock, or whether the first inter-axle differential lock is in an unlocked state, or whether the second inter-axle differential lock is in an unlocked state, or whether the middle axle differential lock is in an unlocked state, or whether the rear axle differential lock is in an unlocked state, or whether the vehicle speed is greater than a preset seventh vehicle speed threshold.

[0036] According to a second aspect of the embodiments of the present disclosure, a control device of a differential lock system is provided, the differential lock system comprising: a first inter-axle differential lock, a second inter-axle differential lock, a front axle differential lock, a middle axle differential lock and a rear axle differential lock, the first inter-axle differential lock being arranged between a front axle and a middle axle of a vehicle, and the second inter-axle differential lock being arranged in the middle axle of the vehicle; the device comprising:

[0037] A determination module is configured to determine, in response to a target locking instruction, whether the vehicle satisfies a target locking condition corresponding to the target locking instruction, and control a target differential lock corresponding to the target locking instruction to be locked in a case where the vehicle satisfies the target locking condition; the target locking condition comprises a preset locking sequence, and the locking sequence is used to indicate a locking priority of each differential lock in the differential lock system.

[0038] A control module is configured to control the target differential lock to be unlocked in a case where the vehicle satisfies a target unlocking condition corresponding to the target locking instruction.

[0039] Optionally, the determination module is configured to:

[0040] acquire first locking information, determine whether the first locking information satisfies first preset locking information, and lock the first inter-axle differential lock in a case where the first locking information satisfies the first preset locking information;

[0041] acquire second locking information, determine whether the second locking information satisfies second preset locking information, and determine whether the first inter-axle differential lock is locked, and lock the second inter-axle differential lock in a case where the second locking information satisfies the second preset locking information and the first inter-axle differential lock is locked;

[0042] acquire third locking information, determine whether the third locking information satisfies third preset locking information, and determine whether the first inter-axle differential lock and the second inter-axle differential lock are locked, and lock the middle axle differential lock in a case where the third locking information satisfies the third preset locking information and the first inter-axle differential lock and the second inter-axle differential lock are locked;

[0043] acquire fourth locking information, determine whether the fourth locking information meets fourth preset locking information, and determine whether the first inter-axle differential lock and the second inter-axle differential lock are locked, and if the fourth locking information meets the fourth preset locking information and the first inter-axle differential lock and the second inter-axle differential lock are locked, lock the rear inter-axle differential lock;

[0044] acquire fifth locking information, determine whether the fifth locking information meets fifth preset locking information, and determine whether the first inter-axle differential lock, the second inter-axle differential lock, the middle inter-axle differential lock and the rear inter-axle differential lock are locked, and if the fifth locking information meets the fifth preset locking information and the first inter-axle differential lock, the second inter-axle differential lock, the middle inter-axle differential lock and the rear inter-axle differential lock are locked, lock the front inter-axle differential lock.

[0045] Optionally, the determining module is configured to:

[0046] acquire the on-off signal of the first inter-axle differential lock, the vehicle speed signal and the gear signal, and determine whether the vehicle receives the on-off signal of the first inter-axle differential lock, whether the vehicle speed is less than a preset first vehicle speed threshold and whether the gear is neutral.

[0047] Optionally, the determining module is configured to:

[0048] acquire the on-off signal of the second inter-axle differential lock, the vehicle speed signal of the vehicle and the rotational speed difference signal between the middle axle and the rear axle, and determine whether the vehicle receives the on-off signal of the second inter-axle differential lock, whether the vehicle speed is less than a preset second vehicle speed threshold and whether the rotational speed difference between the middle axle and the rear axle is less than a preset first rotational speed threshold.

[0049] Optionally, the determining module is configured to:

[0050] acquire the on-off signal of the middle inter-axle differential lock, the vehicle speed signal of the vehicle, the state signal of the steering auxiliary function and the rotational speed difference signal between the left middle wheel and the right middle wheel, and determine whether the vehicle receives the on-off signal of the middle inter-axle differential lock, whether the vehicle speed is less than a preset third vehicle speed threshold and whether the rotational speed difference between the left middle wheel and the right middle wheel is less than a preset second rotational speed threshold.

[0051] Optionally, the determining module is configured to:

[0052] The switch signal of the rear axle differential lock, the vehicle speed signal of the vehicle, the state signal of the steering assist function and the rotation speed difference signal between the left rear wheel and the right rear wheel are acquired, and it is determined whether the vehicle receives the switch signal of the rear axle differential lock, whether the vehicle speed is less than a fourth preset vehicle speed threshold and whether the rotation speed difference between the left rear wheel and the right rear wheel is less than a third preset rotation speed threshold.

[0053] Optionally, the determining module is configured to:

[0054] The switch signal of the front axle differential lock, the vehicle speed signal of the vehicle and the rotation speed difference signal between the left front wheel and the right front wheel are acquired, and it is determined whether the vehicle receives the switch signal of the front axle differential lock, whether the vehicle speed is less than a fifth preset vehicle speed threshold and whether the rotation speed difference between the left front wheel and the right front wheel is less than a fourth preset rotation speed threshold.

[0055] Optionally, the control module is configured to:

[0056] The first unlocking information is acquired, it is determined whether the first unlocking information meets the first preset unlocking information, if the first unlocking information meets the first preset unlocking information, the first axle differential lock is unlocked; and / or

[0057] The second unlocking information is acquired, it is determined whether the second unlocking information meets the second preset unlocking information, if the second unlocking information meets the second preset unlocking information, the second axle differential lock is unlocked; and / or

[0058] The third unlocking information is acquired, it is determined whether the third unlocking information meets the third preset unlocking information, if the third unlocking information meets the third preset unlocking information, the middle axle differential lock and / or the rear axle differential lock is unlocked; and / or

[0059] The fourth unlocking information is acquired, it is determined whether the fourth unlocking information meets the fourth preset unlocking information, if the fourth unlocking information meets the fourth preset unlocking information, the front axle differential lock is unlocked.

[0060] Optionally, the control module is configured to:

[0061] The switch signal of the first axle differential lock is acquired, and it is determined whether the vehicle receives the switch signal of the first axle differential lock.

[0062] Optionally, the control module is configured to:

[0063] The switch signal of the second axle differential lock and the state of the first axle differential lock are acquired, and it is determined whether the vehicle receives the switch signal of the second axle differential lock or whether the first axle differential lock is in an unlocked state.

[0064] Optionally, the control module is configured to:

[0065] acquire the switch signal of the front axle differential lock, the state of the first inter-axle differential lock, the state of the second inter-axle differential lock, the state of the middle axle differential lock, the state of the rear axle differential lock, and the vehicle speed signal of the vehicle, and determine whether the vehicle receives the switch signal of the front axle differential lock, or whether the first inter-axle differential lock is in the unlocked state, or whether the second inter-axle differential lock is in the unlocked state, or whether the middle axle differential lock is in the unlocked state, or whether the rear axle differential lock is in the unlocked state, or whether the vehicle speed is greater than a preset seventh vehicle speed threshold.

[0066] Optionally, the control module is configured to:

[0067] acquire the switch signal of the front axle differential lock, the state of the first inter-axle differential lock, the state of the second inter-axle differential lock, the state of the middle axle differential lock, the state of the rear axle differential lock, and the vehicle speed signal of the vehicle, and determine whether the vehicle receives the switch signal of the front axle differential lock, or whether the first inter-axle differential lock is in the unlocked state, or whether the second inter-axle differential lock is in the unlocked state, or whether the middle axle differential lock is in the unlocked state, or whether the rear axle differential lock is in the unlocked state, or whether the vehicle speed is greater than a preset seventh vehicle speed threshold.

[0068] According to a third aspect of the embodiments of the present disclosure, a vehicle is provided, wherein the vehicle is provided with a differential lock system, and the differential lock system comprises: a first inter-axle differential lock, a second inter-axle differential lock, a front axle differential lock, a middle axle differential lock, and a rear axle differential lock, the first inter-axle differential lock is arranged between a front axle and a middle axle of the vehicle, and the second inter-axle differential lock is arranged in the middle axle of the vehicle.

[0069] The vehicle is configured to perform the control method of the differential lock system according to any one of the first aspect of the embodiments of the present disclosure.

[0070] By the technical scheme, the differential lock system in the present disclosure comprises a first inter-axle differential lock, a second inter-axle differential lock, a front axle inter-wheel differential lock, a middle axle inter-wheel differential lock, and a rear axle inter-wheel differential lock. The first inter-axle differential lock is arranged between the front axle and the middle axle of the vehicle, and the second inter-axle differential lock is arranged in the middle axle of the vehicle. First, in response to a target locking instruction, it is determined whether the vehicle satisfies a target locking condition corresponding to the target locking instruction. If the vehicle satisfies the target locking condition, the target differential lock corresponding to the target locking instruction is controlled to be locked. The target locking condition comprises a preset locking sequence, and the locking sequence is used to indicate the locking priority of each differential lock in the differential lock system. If the vehicle satisfies a target unlocking condition corresponding to the target locking instruction, the target differential lock is controlled to be unlocked. The present disclosure controls the target differential lock to be locked when the vehicle satisfies the target locking condition, and controls the target differential lock to be unlocked when the target unlocking condition is satisfied, thereby avoiding the problem that the vehicle has a safety accident due to improper use of the differential lock system, and improving the safety of the differential lock system.

[0071] Other features and advantages of the present disclosure will be described in detail in the following detailed description section. BRIEF DESCRIPTION OF DRAWINGS

[0072] The accompanying drawings are included to provide a further understanding of the present disclosure and constitute a part of the specification, and are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation on the present disclosure. In the drawings:

[0073] Figure 1 is a flowchart of a control method of a differential lock system according to an exemplary embodiment;

[0074] Figure 2 is a schematic diagram of a differential lock system according to an exemplary embodiment; Figure 1

[0075] Figure 3 is a flowchart of another control method of a differential lock system according to an exemplary embodiment;

[0076] Figure 4 is a flowchart of another control method of a differential lock system according to an exemplary embodiment;

[0077] Figure 5 is a block diagram of a control device of a differential lock system according to an exemplary embodiment;

[0078] Figure 6 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0079] ​The exemplary embodiments will be described in detail below with reference to the accompanying drawings. In the following description, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present disclosure. Instead, they are merely examples of apparatuses and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0080] Figure 1 is a flowchart of a control method of a differential lock system according to an exemplary embodiment, as Figure 1 shown, the differential lock system includes a first inter-axle differential lock, a second inter-axle differential lock, a front axle inter-wheel differential lock, a middle axle inter-wheel differential lock, and a rear axle inter-wheel differential lock. The first inter-axle differential lock is arranged between the front axle and the middle axle of the vehicle, and the second inter-axle differential lock is arranged in the middle axle of the vehicle. The method includes:

[0081] At step 101, in response to a target locking instruction, it is determined whether the vehicle satisfies a target locking condition corresponding to the target locking instruction. If the vehicle satisfies the target locking condition, the target differential lock corresponding to the target locking instruction is controlled to be locked. The target locking condition includes a preset locking sequence, which is used to indicate the locking priority of each differential lock in the differential lock system.

[0082] For example, the execution subject of the embodiments of the present disclosure can be a six-wheel drive vehicle, such as a six-wheel drive off-road vehicle, as Figure 2 shown, the vehicle is provided with a differential lock system, which includes a first inter-axle differential lock, a second inter-axle differential lock, a front axle inter-wheel differential lock, a middle axle inter-wheel differential lock, and a rear axle inter-wheel differential lock. The first inter-axle differential lock is arranged between the front axle and the middle axle of the vehicle, i.e., at position A, the second inter-axle differential lock is arranged in the middle axle of the vehicle, i.e., at position B, the front axle inter-wheel differential lock is arranged at position C, the middle axle inter-wheel differential lock is arranged at position D, and the rear axle inter-wheel differential lock is arranged at position E.

[0083] It should be noted that the first inter-axle differential lock is used to lock the differential between the front axle and the middle axle of the vehicle, so that the vehicle changes from two-wheel drive to four-wheel drive. The second inter-axle differential lock is used to lock the differential between the middle axle and the rear axle of the vehicle, so that the vehicle changes from four-wheel drive to six-wheel drive. The front axle inter-wheel differential lock is used to lock the differential between the left front wheel and the right front wheel. The middle axle inter-wheel differential lock is used to lock the differential between the left middle wheel and the right middle wheel. The rear axle inter-wheel differential lock is used to lock the differential between the left rear wheel and the right rear wheel.

[0084] When the vehicle receives the target locking instruction, the target locking condition corresponding to the target locking instruction and the target differential lock can be determined, and it is judged whether the vehicle satisfies the target locking condition. The target locking instruction can be triggered by any one differential lock switch, which is used to indicate that the differential lock is locked, and the differential lock is the target differential lock. The target locking condition can be understood as a condition for limiting the locking order of each differential lock in the differential lock system, so that each differential lock can be locked in turn according to the locking order. The locking order is used to indicate the locking priority of each differential lock in the differential lock system, that is, if the differential lock with high locking priority is not locked, the differential lock with low locking priority cannot be locked. For example, the locking order from front to back can be in turn: the first inter-axle differential lock, the second inter-axle differential lock, the inter-axle differential lock, the rear axle differential lock, and the front axle differential lock. The locking priority from high to low can be in turn: the first inter-axle differential lock, the second inter-axle differential lock, the inter-axle differential lock, the rear axle differential lock, and the front axle differential lock. Thus, the safety of the differential lock system can be ensured. The target locking condition may, for example, include: the differential lock in front of the locking order is in the locked state, and the current vehicle speed is less than a specified speed (for example: 5km / h).

[0085] Further, if the vehicle satisfies the target locking condition, the target differential lock corresponding to the target locking instruction can be controlled to be locked. If the vehicle does not satisfy the target locking condition, the target differential lock corresponding to the target locking instruction can not be controlled to be locked, so that the target differential lock remains unlocked. In this way, when the vehicle satisfies the target locking condition, the target differential lock corresponding to the target locking instruction is controlled to be locked, which can ensure the safety of the differential lock system.

[0086] Step 102, in the case that the vehicle satisfies the target unlocking condition corresponding to the target locking instruction, the target differential lock is controlled to be unlocked.

[0087] For example, after the target differential lock is locked, if the vehicle satisfies the target unlocking condition corresponding to the target locking instruction, the target differential lock can be controlled to be unlocked. The target unlocking condition can be understood as a condition for limiting the unlocking of each differential lock in the differential lock system. The target unlocking condition may, for example, include: receiving a target unlocking instruction corresponding to the target locking instruction, or the vehicle speed being greater than a specified speed (for example, 30km / h).

[0088] Specifically, taking the target locking instruction for indicating the locking of the inter-axle differential lock of the middle axle as an example, after receiving the target locking instruction, it can be determined whether the vehicle satisfies the locking condition corresponding to the inter-axle differential lock of the middle axle. The locking condition corresponding to the inter-axle differential lock of the middle axle may, for example, be that the second inter-axle differential lock is in a locked state and the vehicle speed is less than a specified vehicle speed. If the vehicle satisfies the locking condition corresponding to the inter-axle differential lock of the middle axle, the inter-axle differential lock of the middle axle can be controlled to be locked. After the inter-axle differential lock of the middle axle is locked, it can be determined in real time whether the vehicle satisfies the unlocking condition corresponding to the inter-axle differential lock of the middle axle. The unlocking condition corresponding to the inter-axle differential lock of the middle axle may, for example, be that a corresponding unlocking instruction of the inter-axle differential lock of the middle axle is received, or the second inter-axle differential lock is in an unlocked state. If the vehicle satisfies the unlocking condition corresponding to the inter-axle differential lock of the middle axle, the inter-axle differential lock of the middle axle can be controlled to be unlocked.

[0089] In addition, the state of each differential lock in the differential lock system can also be displayed on the display interface of the vehicle, where the state of the differential lock can include a locked state and an unlocked state, so that the driver can know the state of each differential lock and control each differential lock more accurately. In addition, in the case where the vehicle speed is greater than the alarm vehicle speed, an overspeed alarm can be issued to remind the driver to reduce the vehicle speed and ensure the safety of the driving process. The alarm vehicle speed may, for example, be 30 km / h.

[0090] In summary, the differential lock system in the present disclosure includes a first inter-axle differential lock, a second inter-axle differential lock, a front axle inter-axle differential lock, a middle axle inter-axle differential lock, and a rear axle inter-axle differential lock. The first inter-axle differential lock is arranged between the front axle and the middle axle of the vehicle, and the second inter-axle differential lock is arranged in the middle axle of the vehicle. First, in response to a target locking instruction, it is determined whether the vehicle satisfies a target locking condition corresponding to the target locking instruction. If the vehicle satisfies the target locking condition, the target differential lock corresponding to the target locking instruction is controlled to be locked. The target locking condition includes a preset locking sequence, which is used to indicate the locking priority of each differential lock in the differential lock system. If the vehicle satisfies a target unlocking condition corresponding to the target locking instruction, the target differential lock is controlled to be unlocked. The present disclosure controls the target differential lock to be locked when the vehicle satisfies the target locking condition and controls the target differential lock to be unlocked when the vehicle satisfies the target unlocking condition, thereby avoiding the problem of safety accidents of the vehicle caused by improper use of the differential lock system and improving the safety of the differential lock system.

[0091] Figure 3 is a flowchart of another control method of a differential lock system according to an exemplary embodiment, as shown in Figure 3 The step 101 can be implemented in the following manner:

[0092] In step 1011, the first locking information is acquired, and it is determined whether the first locking information satisfies the first preset locking information. If the first locking information satisfies the first preset locking information, the first inter-axle differential lock is locked.

[0093] In step 1012, the second locking information is acquired, and it is determined whether the second locking information satisfies the second preset locking information and whether the first inter-axle differential lock is locked. If the second locking information satisfies the second preset locking information and the first inter-axle differential lock is locked, the second inter-axle differential lock is locked.

[0094] In step 1013, the third locking information is acquired, and it is determined whether the third locking information satisfies the third preset locking information and whether the first inter-axle differential lock and the second inter-axle differential lock are locked. If the third locking information satisfies the third preset locking information and the first inter-axle differential lock and the second inter-axle differential lock are locked, the inter-axle differential lock of the middle axle is locked.

[0095] In step 1014, the fourth locking information is acquired, and it is determined whether the fourth locking information satisfies the fourth preset locking information and whether the first inter-axle differential lock and the second inter-axle differential lock are locked. If the fourth locking information satisfies the fourth preset locking information and the first inter-axle differential lock and the second inter-axle differential lock are locked, the inter-axle differential lock of the rear axle is locked.

[0096] In step 1015, the fifth locking information is acquired, and it is determined whether the fifth locking information satisfies the fifth preset locking information and whether the first inter-axle differential lock, the second inter-axle differential lock, the inter-axle differential lock of the middle axle, and the inter-axle differential lock of the rear axle are locked. If the fifth locking information satisfies the fifth preset locking information and the first inter-axle differential lock, the second inter-axle differential lock, the inter-axle differential lock of the middle axle, and the inter-axle differential lock of the rear axle are locked, the inter-axle differential lock of the front axle is locked.

[0097] For example, the target locking condition can include the first preset locking information, the second preset locking information, the third preset locking information, the fourth preset locking information, and the fifth preset locking information.

[0098] For the first inter-axle differential lock, the first locking information corresponding to the first inter-axle differential lock can be acquired, and it is determined whether the first locking information satisfies the first preset locking information. If the first locking information satisfies the first preset locking information, the first inter-axle differential lock can be locked. Specifically, the first locking information can include, for example, a switch signal of the first inter-axle differential lock and a vehicle speed signal. Correspondingly, the first preset locking information can be, for example, that the switch signal of the first inter-axle differential lock indicates to lock the first inter-axle differential lock, and the vehicle speed is less than a preset first vehicle speed threshold.

[0099] For the second inter-axle differential lock, second lock information corresponding to the second inter-axle differential lock can be acquired, and it is determined whether the second lock information satisfies second preset lock information and whether the first inter-axle differential lock is locked. If the second lock information satisfies the second preset lock information and the first inter-axle differential lock is in a locked state, the second inter-axle differential lock can be locked. Specifically, the second lock information can include, for example, a switch signal of the second inter-axle differential lock and a vehicle speed signal. Correspondingly, the second preset lock information can be, for example, that the switch signal of the second inter-axle differential lock indicates locking the second inter-axle differential lock, and the vehicle speed is less than a preset second vehicle speed threshold.

[0100] For the middle axle inter-wheel differential lock, third lock information corresponding to the middle axle inter-wheel differential lock can be acquired, and it is determined whether the third lock information satisfies third preset lock information and whether the first inter-axle differential lock and the second inter-axle differential lock are locked. If the third lock information satisfies the third preset lock information and the first inter-axle differential lock and the second inter-axle differential lock are in a locked state, the middle axle inter-wheel differential lock can be locked. Specifically, the third lock information can include, for example, a switch signal of the middle axle inter-wheel differential lock and a vehicle speed signal. Correspondingly, the third preset lock information can be, for example, that the switch signal of the middle axle inter-wheel differential lock indicates locking the middle axle inter-wheel differential lock, and the vehicle speed is less than a preset third vehicle speed threshold.

[0101] For the rear axle inter-wheel differential lock, fourth lock information corresponding to the rear axle inter-wheel differential lock can be acquired, and it is determined whether the fourth lock information satisfies fourth preset lock information and whether the first inter-axle differential lock and the second inter-axle differential lock are locked. If the fourth lock information satisfies the fourth preset lock information and the first inter-axle differential lock and the second inter-axle differential lock are in a locked state, the rear axle inter-wheel differential lock can be locked. Specifically, the fourth lock information can include, for example, a switch signal of the rear axle inter-wheel differential lock and a vehicle speed signal. Correspondingly, the fourth preset lock information can be, for example, that the switch signal of the rear axle inter-wheel differential lock indicates locking the rear axle inter-wheel differential lock, and the vehicle speed is less than a preset fourth vehicle speed threshold.

[0102] For the front axle inter-wheel differential lock, fifth lock information corresponding to the front axle inter-wheel differential lock can be acquired, and it is determined whether the fifth lock information satisfies fifth preset lock information and whether the first inter-axle differential lock, the second inter-axle differential lock, the middle axle inter-wheel differential lock, and the rear axle inter-wheel differential lock are locked. If the fifth lock information satisfies the fifth preset lock information and the first inter-axle differential lock, the second inter-axle differential lock, the middle axle inter-wheel differential lock, and the rear axle inter-wheel differential lock are in a locked state, the front axle inter-wheel differential lock can be locked. Specifically, the fifth lock information can include, for example, a switch signal of the front axle inter-wheel differential lock and a vehicle speed signal. Correspondingly, the fifth preset lock information can be, for example, that the switch signal of the front axle inter-wheel differential lock indicates locking the front axle inter-wheel differential lock, and the vehicle speed is less than a preset fifth vehicle speed threshold.

[0103] In one application scenario, one implementation of step 1011 can be:

[0104] The switch signal of the first inter-axle differential lock, the vehicle speed signal and the gear signal are acquired, and it is determined whether the vehicle receives the switch signal of the first inter-axle differential lock, whether the vehicle speed is less than a preset first vehicle speed threshold and whether the gear is a neutral gear.

[0105] For example, the first locking information can include the switch signal of the first inter-axle differential lock, the vehicle speed signal and the gear signal. The first preset locking information can be that the switch signal of the first inter-axle differential lock indicates that the first inter-axle differential lock is locked, the vehicle speed is less than the first vehicle speed threshold, and the gear of the vehicle is a neutral gear. For example, the first vehicle speed threshold can be 5 km / h.

[0106] Firstly, the switch signal of the first inter-axle differential lock, the vehicle speed signal and the gear signal can be acquired. Then, it can be determined whether the vehicle receives the switch signal of the first inter-axle differential lock, whether the switch signal of the first inter-axle differential lock indicates that the first inter-axle differential lock is locked, whether the vehicle speed is less than the first vehicle speed threshold, and whether the gear of the vehicle is a neutral gear. If the switch signal of the first inter-axle differential lock indicates that the first inter-axle differential lock is locked, the vehicle speed is less than the first vehicle speed threshold, and the gear of the vehicle is a neutral gear, it can be determined that the first locking information meets the first preset locking information, and thus the first inter-axle differential lock can be controlled to be locked, so that the vehicle changes from two-wheel drive to four-wheel drive, the driving force of the vehicle is increased, and the vehicle is helped to get out of the trouble. If any of the first preset locking information is not met, for example, the vehicle speed is greater than or equal to the first vehicle speed threshold, or the gear of the vehicle is not a neutral gear, the first inter-axle differential lock can not be controlled to be locked, so that the first inter-axle differential lock remains unlocked.

[0107] In another application scenario, one implementation of step 1012 can be:

[0108] The switch signal of the second inter-axle differential lock, the vehicle speed signal and the speed difference signal between the intermediate axle and the rear axle are acquired, and it is determined whether the vehicle receives the switch signal of the second inter-axle differential lock, whether the vehicle speed is less than a preset second vehicle speed threshold and whether the speed difference between the intermediate axle and the rear axle is less than a preset first speed threshold.

[0109] For example, the second locking information can include the switch signal of the second inter-axle differential lock, the vehicle speed signal and the speed difference signal between the intermediate axle and the rear axle. The second preset locking information can be that the switch signal of the second inter-axle differential lock indicates that the second inter-axle differential lock is locked, the vehicle speed is less than the second vehicle speed threshold, and the speed difference between the intermediate axle and the rear axle is less than the first speed threshold. For example, the first speed threshold can be 50 rpm, and the second vehicle speed threshold can be the same as or different from the first vehicle speed threshold, for example, 5 km / h.

[0110] Firstly, the switch signal of the second inter-axle differential lock, the vehicle speed signal and the rotational speed difference signal between the intermediate axle and the rear axle can be acquired. Then, it can be determined whether the vehicle receives the switch signal of the second inter-axle differential lock, and whether the switch signal of the second inter-axle differential lock indicates locking the second inter-axle differential lock, and whether the vehicle speed is less than the second vehicle speed threshold, and whether the rotational speed difference between the intermediate axle and the rear axle is less than the first rotational speed threshold. If the switch signal of the second inter-axle differential lock indicates locking the second inter-axle differential lock, the vehicle speed is less than the second vehicle speed threshold, and the rotational speed difference between the intermediate axle and the rear axle is less than the first rotational speed threshold, it can be determined that the second locking information satisfies the second preset locking information.

[0111] If the second locking information satisfies the second preset locking information, and the first inter-axle differential lock is in the locked state, it can be determined that it is safe to lock the second inter-axle differential lock at this time, and thus the second inter-axle differential lock can be controlled to be locked, so that the vehicle changes from four-wheel drive to six-wheel drive, and the driving force of the vehicle is increased to help the vehicle get out of the predicament. If the first inter-axle differential lock is not in the locked state, or any one of the second preset locking information does not satisfy, for example, the vehicle speed of the vehicle is greater than or equal to the second vehicle speed threshold, or the rotational speed difference between the intermediate axle and the rear axle is greater than or equal to the first rotational speed threshold, the second inter-axle differential lock can not be controlled to be locked, so that the second inter-axle differential lock remains in the unlocked state.

[0112] In another application scenario, an implementation manner of step 1013 can be:

[0113] The switch signal of the intermediate axle inter-wheel differential lock, the vehicle speed signal, the state signal of the steering auxiliary function and the rotational speed difference signal between the left intermediate wheel and the right intermediate wheel are acquired, and it is determined whether the vehicle receives the switch signal of the intermediate axle inter-wheel differential lock, whether the vehicle speed is less than a preset third vehicle speed threshold, and whether the rotational speed difference between the left intermediate wheel and the right intermediate wheel is less than a preset second rotational speed threshold.

[0114] For example, the third locking information can include the switch signal of the intermediate axle inter-wheel differential lock, the vehicle speed signal, the state signal of the steering auxiliary function and the rotational speed difference signal between the left intermediate wheel and the right intermediate wheel. The first preset locking information can be that the switch signal of the intermediate axle inter-wheel differential lock indicates locking the intermediate axle inter-wheel differential lock, the vehicle speed is less than the third vehicle speed threshold, the steering auxiliary function is in the unstarted state, and the rotational speed difference between the left intermediate wheel and the right intermediate wheel is less than the second rotational speed threshold. The second rotational speed threshold can be the same as the first rotational speed threshold, or can be different, for example, can be 50 rpm. The third vehicle speed threshold can be the same as the first vehicle speed threshold and the second vehicle speed threshold, or can be different, for example, can be 5 km / h.

[0115] Firstly, a switch signal of the inter-axle differential lock of the middle axle, a vehicle speed signal, a state signal of the steering assist function, and a rotational speed difference signal between the left middle wheel and the right middle wheel can be acquired. Then, it can be determined whether the vehicle receives the switch signal of the inter-axle differential lock of the middle axle, whether the switch signal of the inter-axle differential lock of the middle axle indicates locking the inter-axle differential lock of the middle axle, whether the vehicle speed is less than a third vehicle speed threshold, whether the steering assist function is in an unstarted state, and whether the rotational speed difference between the left middle wheel and the right middle wheel is less than a second rotational speed threshold. If the switch signal of the inter-axle differential lock of the middle axle indicates locking the inter-axle differential lock of the middle axle, the vehicle speed is less than the third vehicle speed threshold, the steering assist function is in the unstarted state, and the rotational speed difference between the left middle wheel and the right middle wheel is less than the second rotational speed threshold, it can be determined that the third locking information meets the third preset locking information.

[0116] If the third locking information meets the third preset locking information, and the first inter-axle differential lock and the second inter-axle differential lock are both in the locked state, it can be determined that it is safe to lock the inter-axle differential lock of the middle axle at this time, and thus the inter-axle differential lock of the middle axle can be controlled to be locked, so as to increase the driving force of the wheels connected by the middle axle, and further increase the driving force of the vehicle, helping the vehicle to get out of the predicament. If the first inter-axle differential lock or the second inter-axle differential lock is not in the locked state, or any one of the third preset locking information does not meet, for example: the vehicle speed of the vehicle is greater than or equal to the third vehicle speed threshold, or the rotational speed difference between the left middle wheel and the right middle wheel of the vehicle is greater than or equal to the second rotational speed threshold, or the steering assist function of the vehicle is in the started state, the inter-axle differential lock of the middle axle can not be controlled to be locked, so that the inter-axle differential lock of the middle axle remains in the unlocked state.

[0117] In another application scenario, an implementation manner of the step 1014 can be:

[0118] The switch signal of the inter-axle differential lock of the rear axle, the vehicle speed signal of the vehicle, the state signal of the steering assist function, and the rotational speed difference signal between the left rear wheel and the right rear wheel are acquired, and it is determined whether the vehicle receives the switch signal of the inter-axle differential lock of the rear axle, whether the vehicle speed is less than a preset fourth vehicle speed threshold, and whether the rotational speed difference between the left rear wheel and the right rear wheel is less than a preset third rotational speed threshold.

[0119] For example, the fourth locking information can include a switch signal of the rear axle differential lock, a vehicle speed signal, a state signal of the steering assist function, and a rotational speed difference signal between the left rear wheel and the right rear wheel. The fourth preset locking information can be that the switch signal of the rear axle differential lock indicates locking the rear axle differential lock, the vehicle speed is less than a fourth vehicle speed threshold, the steering assist function is in an unstarted state, and the rotational speed difference between the left rear wheel and the right rear wheel is less than a third rotational speed threshold. The third rotational speed threshold can be the same as or different from the first rotational speed threshold and the second rotational speed threshold, for example, can be 50 rpm. The fourth vehicle speed threshold can be the same as or different from the first vehicle speed threshold, the second vehicle speed threshold, and the third vehicle speed threshold, for example, can be 5 km / h.

[0120] First, the switch signal of the rear axle differential lock, the vehicle speed signal, the state signal of the steering assist function, and the rotational speed difference signal between the left rear wheel and the right rear wheel can be acquired. Then, it can be determined whether the vehicle receives the switch signal of the rear axle differential lock, whether the switch signal of the rear axle differential lock indicates locking the rear axle differential lock, whether the vehicle speed is less than the fourth vehicle speed threshold, whether the steering assist function is in the unstarted state, and whether the rotational speed difference between the left rear wheel and the right rear wheel is less than the third rotational speed threshold. If the switch signal of the rear axle differential lock indicates locking the rear axle differential lock, the vehicle speed is less than the fourth vehicle speed threshold, the steering assist function is in the unstarted state, and the rotational speed difference between the left rear wheel and the right rear wheel is less than the third rotational speed threshold, it can be determined that the fourth locking information meets the fourth preset locking information.

[0121] If the fourth locking information meets the fourth preset locking information and the first axle differential lock and the second axle differential lock are both in the locked state, it can be determined that it is safe to lock the rear axle differential lock at this time, and therefore the rear axle differential lock can be controlled to be locked, so as to increase the driving force of the wheels connected to the rear axle and further increase the driving force of the vehicle, helping the vehicle to get out of the predicament. If the first axle differential lock or the second axle differential lock is not in the locked state, or any one of the fourth preset locking information does not meet, for example, the vehicle speed is greater than or equal to the fourth vehicle speed threshold, or the rotational speed difference between the left rear wheel and the right rear wheel of the vehicle is greater than or equal to the third rotational speed threshold, or the steering assist function of the vehicle is in the started state, the rear axle differential lock can not be controlled to be locked, so that the rear axle differential lock remains unlocked.

[0122] In another application scenario, an implementation of step 1015 can be:

[0123] The switch signal of the front axle differential lock, the vehicle speed signal, and the rotational speed difference signal between the left front wheel and the right front wheel are acquired, and it is determined whether the vehicle receives the switch signal of the front axle differential lock, whether the vehicle speed is less than a preset fifth vehicle speed threshold, and whether the rotational speed difference between the left front wheel and the right front wheel is less than a preset fourth rotational speed threshold.

[0124] For example, the fifth locking information may include the switch signal of the front axle inter-wheel differential lock, the vehicle speed signal, and the speed difference signal between the left and right front wheels. The fifth preset locking information may be: the switch signal of the front axle inter-wheel differential lock indicates that the front axle inter-wheel differential lock is locked, the vehicle speed is less than the fifth vehicle speed threshold, and the speed difference between the left and right front wheels is less than the fourth speed threshold. The fourth speed threshold may be the same as or different from the first, second, and third speed thresholds; for example, it may be 50 rpm. The fifth vehicle speed threshold may be the same as or different from the first, second, third, and fourth speed thresholds; for example, it may be 5 km / h.

[0125] First, the on / off signal of the front axle differential lock, the vehicle speed signal, and the speed difference signal between the left and right front wheels can be acquired. Then, it can be determined whether the vehicle has received the on / off signal of the front axle differential lock, and whether the on / off signal indicates that the front axle differential lock is locked. It can also be determined whether the vehicle speed is less than a fifth speed threshold, and whether the speed difference between the left and right front wheels is less than a fourth speed threshold. If the on / off signal of the front axle differential lock indicates that the front axle differential lock is locked, the vehicle speed is less than the fifth speed threshold, and the speed difference between the left and right front wheels is less than the fourth speed threshold, then it can be determined that the fifth locking information meets the fifth preset locking information.

[0126] If the fifth locking information satisfies the fifth preset locking information, and the first inter-axle differential lock, second inter-axle differential lock, middle axle wheel differential lock, and rear axle wheel differential lock are all locked, then it can be determined that locking the front axle wheel differential lock is safe. Therefore, the front axle wheel differential lock can be locked, thereby increasing the driving force of the front wheels and further increasing the vehicle's driving force to help the vehicle escape from a difficult situation. If the first inter-axle differential lock, second inter-axle differential lock, middle axle wheel differential lock, or rear axle wheel differential lock are not locked, or any of the fifth preset locking information is not satisfied (e.g., the vehicle speed is greater than or equal to the fifth speed threshold, or the speed difference between the left and right front wheels is greater than or equal to the fourth speed threshold), then the front axle wheel differential lock can remain unlocked without being locked.

[0127] Figure 4 This is a flowchart illustrating another control method for a differential lock system according to an exemplary embodiment, such as... Figure 4 As shown, step 102 can be achieved in the following way:

[0128] Step 1021: Obtain the first unlocking information and determine whether the first unlocking information meets the first preset unlocking information. If the first unlocking information meets the first preset unlocking information, then unlock the first inter-bridge differential lock.

[0129] and / or

[0130] At step 1022, the second unlocking information is acquired, and it is determined whether the second unlocking information satisfies the second preset unlocking information. If the second unlocking information satisfies the second preset unlocking information, the second inter-axle differential lock is unlocked.

[0131] and / or

[0132] At step 1023, the third unlocking information is acquired, and it is determined whether the third unlocking information satisfies the third preset unlocking information. If the third unlocking information satisfies the third preset unlocking information, the inter-axle differential lock of the middle axle and / or the inter-axle differential lock of the rear axle is unlocked. And / or

[0133] At step 1024, the fourth unlocking information is acquired, and it is determined whether the fourth unlocking information satisfies the fourth preset unlocking information. If the fourth unlocking information satisfies the fourth preset unlocking information, the inter-axle differential lock of the front axle is unlocked.

[0134] In an example, the target unlocking condition can include the first preset unlocking information, the second preset unlocking information, the third preset unlocking information, and the fourth preset unlocking information.

[0135] For the first inter-axle differential lock, the first unlocking information corresponding to the first inter-axle differential lock can be acquired, and it is determined whether the first unlocking information satisfies the first preset unlocking information. If the first unlocking information satisfies the first preset unlocking information, the first inter-axle differential lock can be unlocked. Specifically, the first unlocking information can include, for example, a switch signal of the first inter-axle differential lock. Correspondingly, the first preset unlocking information can be, for example, that the switch signal of the first inter-axle differential lock indicates to unlock the first inter-axle differential lock.

[0136] For the second inter-axle differential lock, the second unlocking information corresponding to the second inter-axle differential lock can be acquired, and it is determined whether the second unlocking information satisfies the second preset unlocking information. If the second unlocking information satisfies the second preset unlocking information, the second inter-axle differential lock can be unlocked. Specifically, the second unlocking information can include, for example, a switch signal of the second inter-axle differential lock. Correspondingly, the second preset unlocking information can be, for example, that the switch signal of the second inter-axle differential lock indicates to unlock the second inter-axle differential lock.

[0137] For the inter-wheel differential lock of the middle axle and the inter-wheel differential lock of the rear axle, third unlocking information corresponding to the inter-wheel differential lock of the middle axle and the inter-wheel differential lock of the rear axle can be acquired, and it is determined whether the third unlocking information meets third preset unlocking information. If the third unlocking information meets the third preset unlocking information, the inter-wheel differential lock of the middle axle or the inter-wheel differential lock of the rear axle can be unlocked. Specifically, the third unlocking information may, for example, include a switch signal of the inter-wheel differential lock of the middle axle and a switch signal of the inter-wheel differential lock of the rear axle. Correspondingly, the third preset unlocking information may, for example, be that the switch signal of the inter-wheel differential lock of the middle axle indicates to unlock the inter-wheel differential lock of the middle axle, or the switch signal of the inter-wheel differential lock of the rear axle indicates to unlock the inter-wheel differential lock of the rear axle.

[0138] For the inter-wheel differential lock of the front axle, fourth unlocking information corresponding to the inter-wheel differential lock of the front axle can be acquired, and it is determined whether the fourth unlocking information meets fourth preset unlocking information. If the fourth unlocking information meets the fourth preset unlocking information, the inter-wheel differential lock of the front axle can be unlocked. Specifically, the fourth unlocking information may, for example, include a switch signal of the inter-wheel differential lock of the front axle and a state of the inter-wheel differential lock of the middle axle. Correspondingly, the fourth preset unlocking information may, for example, be that the switch signal of the inter-wheel differential lock of the front axle indicates to unlock the inter-wheel differential lock of the front axle, or the inter-wheel differential lock of the middle axle is in an unlocked state.

[0139] In another application scenario, one implementation manner of step 1021 can be:

[0140] The switch signal of the first inter-axle differential lock is acquired, and it is determined whether the vehicle receives the switch signal of the first inter-axle differential lock.

[0141] For example, the first unlocking information may include the switch signal of the first inter-axle differential lock, and the first preset unlocking information may be that the switch signal of the first inter-axle differential lock indicates to unlock the first inter-axle differential lock. After the first inter-axle differential lock is locked, the switch signal of the first inter-axle differential lock can be acquired. If the vehicle receives the switch signal of the first inter-axle differential lock, and the switch signal of the first inter-axle differential lock indicates to unlock the first inter-axle differential lock, it can be determined that the first unlocking information meets the first preset unlocking information, and the first inter-axle differential lock can be controlled to be unlocked.

[0142] In another application scenario, one implementation manner of step 1022 can be:

[0143] The switch signal of the second inter-axle differential lock and the state of the first inter-axle differential lock are acquired, and it is determined whether the vehicle receives the switch signal of the second inter-axle differential lock or whether the first inter-axle differential lock is in an unlocked state.

[0144] For example, the second unlocking information can include a switch signal of the second inter-axle differential lock and a state of the first inter-axle differential lock, and the second preset unlocking information can be that the switch signal of the second inter-axle differential lock indicates to unlock the second inter-axle differential lock, or the first inter-axle differential lock is in an unlocked state. After the second inter-axle differential lock is locked, the switch signal of the second inter-axle differential lock can be acquired, and if the vehicle receives the switch signal of the second inter-axle differential lock, it can be determined whether the switch signal of the second inter-axle differential lock indicates to unlock the second inter-axle differential lock. If the switch signal of the second inter-axle differential lock indicates to unlock the second inter-axle differential lock, or the first inter-axle differential lock is in an unlocked state, it can be determined that the second unlocking information meets the second preset unlocking information, and the second inter-axle differential lock can be controlled to be unlocked.

[0145] In another application scenario, an implementation manner of step 1023 can be:

[0146] The switch signals of the middle inter-axle differential lock and the rear inter-axle differential lock, the state of the first inter-axle differential lock, the state of the second inter-axle differential lock, and the vehicle speed signal of the vehicle are acquired, and it is determined whether the vehicle receives the switch signal of the middle inter-axle differential lock, or the first inter-axle differential lock is in an unlocked state, or the second inter-axle differential lock is in an unlocked state, or the vehicle speed is greater than a preset sixth vehicle speed threshold.

[0147] For example, the third unlocking information can include the switch signal of the middle inter-axle differential lock, the switch signal of the rear inter-axle differential lock, the state of the first inter-axle differential lock, and the state of the second inter-axle differential lock, and the third preset unlocking information can be that the switch signal of the middle inter-axle differential lock indicates to unlock the middle inter-axle differential lock, or the switch signal of the rear inter-axle differential lock indicates to unlock the rear inter-axle differential lock, or the first inter-axle differential lock is in an unlocked state, or the second inter-axle differential lock is in an unlocked state, or the vehicle speed is greater than the sixth vehicle speed threshold. For example, the sixth vehicle speed threshold can be 40 km / h.

[0148] After the middle inter-axle differential lock is locked, the switch signal of the middle inter-axle differential lock can be acquired, and if the vehicle receives the switch signal of the middle inter-axle differential lock, it can be determined whether the switch signal of the middle inter-axle differential lock indicates to unlock the middle inter-axle differential lock. If the switch signal of the middle inter-axle differential lock indicates to unlock the middle inter-axle differential lock, or the first inter-axle differential lock is in an unlocked state, or the second inter-axle differential lock is in an unlocked state, or the vehicle speed is greater than the sixth vehicle speed threshold, it can be determined that the third unlocking information meets the third preset unlocking information, and the middle inter-axle differential lock can be controlled to be unlocked.

[0149] After the rear axle inter-wheel differential lock is locked, the switch signal of the rear axle inter-wheel differential lock can be acquired. If the vehicle receives the switch signal of the rear axle inter-wheel differential lock, it can be determined whether the switch signal of the rear axle inter-wheel differential lock indicates unlocking the rear axle inter-wheel differential lock. If the switch signal of the rear axle inter-wheel differential lock indicates unlocking the rear axle inter-wheel differential lock, or the first inter-axle differential lock is in an unlocked state, or the second inter-axle differential lock is in an unlocked state, or the vehicle speed is greater than the sixth vehicle speed threshold, it can also be determined that the third unlocking information meets the third preset unlocking information, and the rear axle inter-wheel differential lock can be controlled to be unlocked.

[0150] In another application scenario, an implementation manner of step 1024 can be:

[0151] The switch signal of the front axle inter-wheel differential lock, the state of the first inter-axle differential lock, the state of the second inter-axle differential lock, the state of the middle axle inter-wheel differential lock, the state of the rear axle inter-wheel differential lock, and the vehicle speed signal are acquired, and it is determined whether the vehicle receives the switch signal of the front axle inter-wheel differential lock, or the first inter-axle differential lock is in an unlocked state, or the second inter-axle differential lock is in an unlocked state, or the middle axle inter-wheel differential lock is in an unlocked state, or the rear axle inter-wheel differential lock is in an unlocked state, or the vehicle speed is greater than a preset seventh vehicle speed threshold.

[0152] For example, the fourth unlocking information can include the switch signal of the front axle inter-wheel differential lock, the state of the first inter-axle differential lock, the state of the second inter-axle differential lock, the state of the middle axle inter-wheel differential lock, and the state of the middle axle inter-wheel differential lock, and the fourth preset unlocking information can be that the switch signal of the front axle inter-wheel differential lock indicates unlocking the front axle inter-wheel differential lock, or the first inter-axle differential lock is in an unlocked state, or the second inter-axle differential lock is in an unlocked state, or the middle axle inter-wheel differential lock is in an unlocked state, or the rear axle inter-wheel differential lock is in an unlocked state, or the vehicle speed is greater than the seventh vehicle speed threshold. For example, the seventh vehicle speed threshold can be 40 km / h.

[0153] After the front axle inter-wheel differential lock is locked, the switch signal of the front axle inter-wheel differential lock can be acquired. If the vehicle receives the switch signal of the front axle inter-wheel differential lock, it can be determined whether the switch signal of the front axle inter-wheel differential lock indicates unlocking the front axle inter-wheel differential lock. If the switch signal of the front axle inter-wheel differential lock indicates unlocking the front axle inter-wheel differential lock, or the first inter-axle differential lock is in an unlocked state, or the second inter-axle differential lock is in an unlocked state, or the middle axle inter-wheel differential lock is in an unlocked state, or the rear axle inter-wheel differential lock is in an unlocked state, or the vehicle speed is greater than the seventh vehicle speed threshold, it can be determined that the fourth unlocking information meets the fourth preset unlocking information, and the front axle inter-wheel differential lock can be controlled to be unlocked.

[0154] In summary, the differential lock system in the present disclosure comprises a first inter-axle differential lock, a second inter-axle differential lock, a front axle inter-wheel differential lock, a middle axle inter-wheel differential lock, and a rear axle inter-wheel differential lock. The first inter-axle differential lock is arranged between the front axle and the middle axle of the vehicle, and the second inter-axle differential lock is arranged in the middle axle of the vehicle. First, in response to a target locking instruction, it is determined whether the vehicle satisfies a target locking condition corresponding to the target locking instruction. If the vehicle satisfies the target locking condition, the target differential lock corresponding to the target locking instruction is controlled to be locked. The target locking condition comprises a preset locking sequence, and the locking sequence is used to indicate the locking priority of each differential lock in the differential lock system. If the vehicle satisfies a target unlocking condition corresponding to the target locking instruction, the target differential lock is controlled to be unlocked. The present disclosure controls the target differential lock to be locked when the vehicle satisfies the target locking condition, and controls the target differential lock to be unlocked when the target unlocking condition is satisfied, thereby avoiding the problem of safety accidents of the vehicle caused by improper use of the differential lock system, and improving the safety of the differential lock system.

[0155] Figure 5 is a block diagram of a control device of a differential lock system according to an exemplary embodiment, as shown in Figure 5 The differential lock system comprises a first inter-axle differential lock, a second inter-axle differential lock, a front axle inter-wheel differential lock, a middle axle inter-wheel differential lock, and a rear axle inter-wheel differential lock. The first inter-axle differential lock is arranged between the front axle and the middle axle of the vehicle, and the second inter-axle differential lock is arranged in the middle axle of the vehicle. The device 200 comprises:

[0156] A determination module 201 is configured to, in response to a target locking instruction, determine whether the vehicle satisfies a target locking condition corresponding to the target locking instruction, and control a target differential lock corresponding to the target locking instruction to be locked if the vehicle satisfies the target locking condition. The target locking condition comprises a preset locking sequence, and the locking sequence is used to indicate the locking priority of each differential lock in the differential lock system.

[0157] A control module 202 is configured to control the target differential lock to be unlocked if the vehicle satisfies a target unlocking condition corresponding to the target locking instruction.

[0158] In an application scenario, the determination module 201 is configured to:

[0159] Obtain first locking information, determine whether the first locking information satisfies first preset locking information, and lock the first inter-axle differential lock if the first locking information satisfies the first preset locking information.

[0160] Obtain second locking information, determine whether the second locking information satisfies second preset locking information, and determine whether the first inter-axle differential lock is locked, and lock the second inter-axle differential lock if the second locking information satisfies the second preset locking information and the first inter-axle differential lock is locked.

[0161] acquire third locking information, determine whether the third locking information meets third preset locking information, and determine whether the first inter-axle differential lock and the second inter-axle differential lock are locked, and if the third locking information meets the third preset locking information and the first inter-axle differential lock and the second inter-axle differential lock are locked, lock the inter-mid-axle differential lock.

[0162] acquire fourth locking information, determine whether the fourth locking information meets fourth preset locking information, and determine whether the first inter-axle differential lock and the second inter-axle differential lock are locked, and if the fourth locking information meets the fourth preset locking information and the first inter-axle differential lock and the second inter-axle differential lock are locked, lock the inter-rear-axle differential lock.

[0163] acquire fifth locking information, determine whether the fifth locking information meets fifth preset locking information, and determine whether the first inter-axle differential lock, the second inter-axle differential lock, the inter-mid-axle differential lock, and the inter-rear-axle differential lock are locked, and if the fifth locking information meets the fifth preset locking information and the first inter-axle differential lock, the second inter-axle differential lock, the inter-mid-axle differential lock, and the inter-rear-axle differential lock are locked, lock the inter-front-axle differential lock.

[0164] In another application scenario, the determination module 201 is configured to:

[0165] acquire a switching signal of the first inter-axle differential lock, a vehicle speed signal, and a gear signal, and determine whether the vehicle receives the switching signal of the first inter-axle differential lock, whether the vehicle speed is less than a preset first vehicle speed threshold, and whether the gear is a neutral gear.

[0166] In another application scenario, the determination module 201 is configured to:

[0167] acquire a switching signal of the second inter-axle differential lock, a vehicle speed signal of the vehicle, and a rotational speed difference signal between the mid-axle and the rear axle, and determine whether the vehicle receives the switching signal of the second inter-axle differential lock, whether the vehicle speed is less than a preset second vehicle speed threshold, and whether the rotational speed difference between the mid-axle and the rear axle is less than a preset first rotational speed threshold.

[0168] In another application scenario, the determination module 201 is configured to:

[0169] acquire a switching signal of the inter-mid-axle differential lock, a vehicle speed signal of the vehicle, a state signal of a steering assistance function, and a rotational speed difference signal between the left mid-wheel and the right mid-wheel, and determine whether the vehicle receives the switching signal of the inter-mid-axle differential lock, whether the vehicle speed is less than a preset third vehicle speed threshold, and whether the rotational speed difference between the left mid-wheel and the right mid-wheel is less than a preset second rotational speed threshold.

[0170] In another application scenario, the determination module 201 is configured to:

[0171] The switch signal of the rear axle differential lock, the vehicle speed signal of the vehicle, the state signal of the steering assist function, and the rotation speed difference signal between the left rear wheel and the right rear wheel are acquired, and it is determined whether the vehicle receives the switch signal of the rear axle differential lock, whether the vehicle speed is less than a fourth preset vehicle speed threshold, and whether the rotation speed difference between the left rear wheel and the right rear wheel is less than a third preset rotation speed threshold.

[0172] In another application scenario, the determination module 201 is configured to:

[0173] The switch signal of the front axle differential lock, the vehicle speed signal of the vehicle, and the rotation speed difference signal between the left front wheel and the right front wheel are acquired, and it is determined whether the vehicle receives the switch signal of the front axle differential lock, whether the vehicle speed is less than a fifth preset vehicle speed threshold, and whether the rotation speed difference between the left front wheel and the right front wheel is less than a fourth preset rotation speed threshold.

[0174] In another application scenario, the control module 202 is configured to:

[0175] The first unlocking information is acquired, it is determined whether the first unlocking information meets the first preset unlocking information, if the first unlocking information meets the first preset unlocking information, the first axle differential lock is unlocked, and / or

[0176] The second unlocking information is acquired, it is determined whether the second unlocking information meets the second preset unlocking information, if the second unlocking information meets the second preset unlocking information, the second axle differential lock is unlocked, and / or

[0177] The third unlocking information is acquired, it is determined whether the third unlocking information meets the third preset unlocking information, if the third unlocking information meets the third preset unlocking information, the middle axle differential lock and / or the rear axle differential lock is unlocked, and / or

[0178] The fourth unlocking information is acquired, it is determined whether the fourth unlocking information meets the fourth preset unlocking information, if the fourth unlocking information meets the fourth preset unlocking information, the front axle differential lock is unlocked.

[0179] In another application scenario, the control module 202 is configured to:

[0180] The switch signal of the first axle differential lock is acquired, and it is determined whether the vehicle receives the switch signal of the first axle differential lock.

[0181] In another application scenario, the control module 202 is configured to:

[0182] The switch signal of the second axle differential lock and the state of the first axle differential lock are acquired, and it is determined whether the vehicle receives the switch signal of the second axle differential lock or whether the first axle differential lock is in an unlocked state.

[0183] In another application scenario, the control module 202 is configured to:

[0184] The switch signal of the inter-axle differential lock of the middle axle, the switch signal of the inter-axle differential lock of the rear axle, the state of the first inter-axle differential lock, the state of the second inter-axle differential lock and the vehicle speed signal of the vehicle are acquired, and it is determined whether the vehicle receives the switch signal of the inter-axle differential lock of the middle axle, or whether the first inter-axle differential lock is in the unlocked state, or whether the state of the second inter-axle differential lock is in the unlocked state, or whether the vehicle speed is greater than the preset sixth vehicle speed threshold.

[0185] In another application scenario, the control module 202 is configured to:

[0186] The switch signal of the inter-axle differential lock of the front axle, the state of the first inter-axle differential lock, the state of the second inter-axle differential lock, the state of the inter-axle differential lock of the middle axle, the state of the inter-axle differential lock of the rear axle and the vehicle speed signal of the vehicle are acquired, and it is determined whether the vehicle receives the switch signal of the inter-axle differential lock of the front axle, or whether the first inter-axle differential lock is in the unlocked state, or whether the state of the second inter-axle differential lock is in the unlocked state, or whether the inter-axle differential lock of the middle axle is in the unlocked state, or whether the inter-axle differential lock of the rear axle is in the unlocked state, or whether the vehicle speed is greater than the preset seventh vehicle speed threshold.

[0187] As to the apparatus in the above-mentioned embodiments, the specific manners in which various modules perform operations have been described in detail in the embodiments related to the method, and thus will not be described in detail here.

[0188] In summary, the differential lock system in the present disclosure comprises: a first inter-axle differential lock, a second inter-axle differential lock, an inter-axle differential lock of a front axle, an inter-axle differential lock of a middle axle, an inter-axle differential lock of a rear axle, the first inter-axle differential lock is arranged between the front axle and the middle axle of the vehicle, and the second inter-axle differential lock is arranged in the middle axle of the vehicle. First, in response to a target locking instruction, it is determined whether the vehicle satisfies a target locking condition corresponding to the target locking instruction, and if the vehicle satisfies the target locking condition, the target differential lock corresponding to the target locking instruction is controlled to be locked. The target locking condition comprises a preset locking sequence, and the locking sequence is used to indicate the locking priority of each differential lock in the differential lock system. If the vehicle satisfies a target unlocking condition, the target differential lock is controlled to be unlocked. The present disclosure controls the target differential lock to be locked when the vehicle satisfies the target locking condition, and controls the target differential lock to be unlocked when the target unlocking condition is satisfied, thereby avoiding the problem that the vehicle has a safety accident due to improper use of the differential lock system, and improving the safety of the differential lock system.

[0189] Figure 6 is a block diagram of a vehicle according to an exemplary embodiment, as Figure 6As shown, the vehicle 300 is provided with a differential lock system, which includes a first inter-axle differential lock, a second inter-axle differential lock, a front-axle inter-wheel differential lock, a middle-axle inter-wheel differential lock, and a rear-axle inter-wheel differential lock. The first inter-axle differential lock is arranged between the front axle and the middle axle of the vehicle, and the second inter-axle differential lock is arranged in the middle axle of the vehicle.

[0190] The vehicle 300 is configured to perform the control method of the differential lock system of any one of the above embodiments.

[0191] The specific manner in which the vehicle in the above embodiments performs the control method of the differential lock system has been described in detail in the embodiments related to the method, and will not be described in detail here.

[0192] The preferred embodiments of the present disclosure are described in detail above in combination with the accompanying drawings, but the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0193] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0194] In addition, any combination of various different embodiments of the present disclosure can also be made, as long as it does not deviate from the idea of the present disclosure, and it should also be considered as disclosed by the present disclosure.

Claims

1. A control method for a differential lock system, characterized in that, The differential lock system includes: a first inter-axle differential lock, a second inter-axle differential lock, a front axle inter-wheel differential lock, a middle axle inter-wheel differential lock, and a rear axle inter-wheel differential lock. The first inter-axle differential lock is disposed between the front axle and the middle axle of the vehicle, and the second inter-axle differential lock is disposed within the middle axle of the vehicle. The method includes: In response to a target locking command, it is determined whether the vehicle meets the target locking conditions corresponding to the target locking command. If the vehicle meets the target locking conditions, the target differential lock corresponding to the target locking command is locked. The target locking conditions include a preset locking sequence, which indicates the locking priority of each differential lock in the differential lock system. The target locking conditions include: the differential lock with the highest locking sequence is locked. The locking sequence from front to back is: the first inter-axle differential lock, the second inter-axle differential lock, the middle axle wheel differential lock, the rear axle wheel differential lock, and the front axle wheel differential lock. The target locking command includes: first locking information, second locking information, third locking information, fourth locking information, and fifth locking information. The target locking conditions include: the first preset locking information corresponding to the first inter-axle differential lock, the second inter-axle differential lock, the second inter-axle differential lock, the third inter-axle differential lock, the fourth inter-axle differential lock, the fifth inter-axle differential lock, and the sixth inter-axle differential lock. The differential lock includes a second preset locking information, a third preset locking information, a fourth preset locking information, and a fifth preset locking information. The first locking information includes the switch signal of the first inter-axle differential lock, a vehicle speed signal, and a gear position signal. The first preset locking information is: the switch signal of the first inter-axle differential lock indicates that the first inter-axle differential lock is locked, the vehicle speed is less than a preset first vehicle speed threshold, and the gear is in neutral. The second locking information includes the switch signal of the second inter-axle differential lock, the vehicle speed signal, and a speed difference signal between the middle axle and the rear axle. The second preset locking information is: the switch signal of the second inter-axle differential lock indicates that the second inter-axle differential lock is locked, the vehicle speed is less than a preset second vehicle speed threshold, and the speed difference between the middle axle and the rear axle is less than a preset first speed threshold. When the vehicle meets the target unlocking conditions corresponding to the target locking command, the target differential lock is unlocked.

2. The method according to claim 1, characterized in that, The step of responding to a target locking command, determining whether the vehicle meets the target locking condition corresponding to the target locking command, and controlling the target differential lock corresponding to the target locking command to lock if the vehicle meets the target locking condition, includes: Obtain first locking information, determine whether the first locking information satisfies the first preset locking information, and if the first locking information satisfies the first preset locking information, then lock the first inter-bridge differential lock; Obtain second locking information, determine whether the second locking information satisfies the second preset locking information and determine whether the first inter-bridge differential lock is locked; if the second locking information satisfies the second preset locking information and the first inter-bridge differential lock is locked, then lock the second inter-bridge differential lock. Obtain third locking information, determine whether the third locking information satisfies the third preset locking information, and determine whether the first inter-axle differential lock and the second inter-axle differential lock are locked. If the third locking information satisfies the third preset locking information and the first inter-axle differential lock and the second inter-axle differential lock are locked, then lock the middle axle wheel differential lock. Obtain fourth locking information, determine whether the fourth locking information satisfies the fourth preset locking information, and determine whether the first inter-axle differential lock and the second inter-axle differential lock are locked. If the fourth locking information satisfies the fourth preset locking information and the first inter-axle differential lock and the second inter-axle differential lock are locked, then lock the rear axle wheel differential lock. Obtain the fifth locking information, determine whether the fifth locking information satisfies the fifth preset locking information, and determine whether the first inter-axle differential lock, the second inter-axle differential lock, the middle axle wheel differential lock, and the rear axle wheel differential lock are locked. If the fifth locking information satisfies the fifth preset locking information and the first inter-axle differential lock, the second inter-axle differential lock, the middle axle wheel differential lock, and the rear axle wheel differential lock are locked, then lock the front axle wheel differential lock.

3. The method according to claim 2, characterized in that, The step of obtaining the first locking information and determining whether the first locking information satisfies the first preset locking information includes: The system acquires the switch signal, vehicle speed signal, and gear position signal of the first inter-axle differential lock, and determines whether the vehicle receives the switch signal of the first inter-axle differential lock, whether the vehicle speed is less than a preset first vehicle speed threshold, and whether the gear is in neutral.

4. The method according to claim 2, characterized in that, The step of obtaining the second locking information and determining whether the second locking information satisfies the second preset locking information includes: The system acquires the switching signal of the second inter-axle differential lock, the vehicle speed signal, and the speed difference signal between the middle axle and the rear axle, and determines whether the vehicle receives the switching signal of the second inter-axle differential lock, whether the vehicle speed is less than a preset second speed threshold, and whether the speed difference between the middle axle and the rear axle is less than a preset first speed threshold.

5. The method according to claim 2, characterized in that, The step of obtaining the third locking information and determining whether the third locking information satisfies the third preset locking information includes: The system acquires the switch signal of the center axle wheel differential lock, the vehicle speed signal, the status signal of the steering assist function, and the speed difference signal between the left and right center wheels. It then determines whether the vehicle receives the switch signal of the center axle wheel differential lock, whether the vehicle speed is less than a preset third speed threshold, and whether the speed difference between the left and right center wheels is less than a preset second speed threshold.

6. The method according to claim 2, characterized in that, The step of obtaining the fourth locking information and determining whether the fourth locking information satisfies the fourth preset locking information includes: The system acquires the switch signal of the rear axle wheel differential lock, the vehicle speed signal, the status signal of the steering assist function, and the speed difference signal between the left and right rear wheels. It then determines whether the vehicle receives the switch signal of the rear axle wheel differential lock, whether the vehicle speed is less than a preset fourth speed threshold, and whether the speed difference between the left and right rear wheels is less than a preset third speed threshold.

7. The method according to claim 2, characterized in that, The step of obtaining the fifth locking information and determining whether the fifth locking information satisfies the fifth preset locking information includes: The system acquires the switch signal of the front axle wheel differential lock, the vehicle speed signal, and the speed difference signal between the left and right front wheels, and determines whether the vehicle receives the switch signal of the front axle wheel differential lock, whether the vehicle speed is less than a preset fifth speed threshold, and whether the speed difference between the left and right front wheels is less than a preset fourth speed threshold.

8. The method according to claim 1, characterized in that, The step of controlling the target differential lock to unlock when the vehicle meets the target unlocking condition corresponding to the target locking command includes: Obtain first unlocking information, determine whether the first unlocking information satisfies first preset unlocking information, and if the first unlocking information satisfies the first preset unlocking information, unlock the first inter-bridge differential lock; and / or Obtain second unlocking information, determine whether the second unlocking information satisfies second preset unlocking information, and if the second unlocking information satisfies the second preset unlocking information, unlock the second inter-axle differential lock; and / or Obtain third unlocking information, determine whether the third unlocking information satisfies third preset unlocking information, and if the third unlocking information satisfies the third preset unlocking information, then unlock the middle axle wheel differential lock and / or the rear axle wheel differential lock; and / or Obtain the fourth unlocking information, determine whether the fourth unlocking information satisfies the fourth preset unlocking information, and if the fourth unlocking information satisfies the fourth preset unlocking information, then unlock the front axle wheel differential lock.

9. The method according to claim 8, characterized in that, The step of obtaining the first unlocking information and determining whether the first unlocking information satisfies the first preset unlocking information includes: Obtain the switching signal of the first inter-axle differential lock and determine whether the vehicle receives the switching signal of the first inter-axle differential lock.

10. The method according to claim 8, characterized in that, The step of obtaining the second unlocking information and determining whether the second unlocking information satisfies the second preset unlocking information includes: The system acquires the switch signal of the second inter-bridge differential lock and the status of the first inter-bridge differential lock, and determines whether the vehicle has received the switch signal of the second inter-bridge differential lock or whether the first inter-bridge differential lock is in an unlocked state.

11. The method according to claim 8, characterized in that, The step of obtaining the third unlocking information and determining whether the third unlocking information satisfies the third preset unlocking information includes: The system acquires the switch signals of the middle axle wheel differential lock and the rear axle wheel differential lock, the status of the first axle differential lock, the status of the second axle differential lock, and the vehicle speed signal, and determines whether the vehicle has received the switch signal of the middle axle wheel differential lock, or whether the first axle differential lock is in an unlocked state, or whether the second axle differential lock is in an unlocked state, or whether the vehicle speed is greater than a preset sixth vehicle speed threshold.

12. The method according to claim 8, characterized in that, The step of obtaining the fourth unlocking information and determining whether the fourth unlocking information satisfies the fourth preset unlocking information includes: The system acquires the switch signal of the front axle wheel differential lock, the status of the first axle wheel differential lock, the status of the second axle wheel differential lock, the status of the middle axle wheel differential lock, the status of the rear axle wheel differential lock, and the vehicle speed signal. It then determines whether the vehicle has received the switch signal of the front axle wheel differential lock, whether the first axle wheel differential lock is unlocked, whether the second axle wheel differential lock is unlocked, whether the middle axle wheel differential lock is unlocked, whether the rear axle wheel differential lock is unlocked, or whether the vehicle speed is greater than a preset seventh vehicle speed threshold.

13. A control device for a differential lock system, characterized in that, The differential lock system includes: a first inter-axle differential lock, a second inter-axle differential lock, a front axle inter-wheel differential lock, a middle axle inter-wheel differential lock, and a rear axle inter-wheel differential lock. The first inter-axle differential lock is disposed between the front axle and the middle axle of the vehicle, and the second inter-axle differential lock is disposed within the middle axle of the vehicle. The device includes: A determining module is configured to, in response to a target locking command, determine whether the vehicle meets the target locking conditions corresponding to the target locking command, and, if the vehicle meets the target locking conditions, control the target differential lock corresponding to the target locking command to lock; the target locking conditions include a preset locking sequence, which is used to indicate the locking priority of each differential lock in the differential lock system; the target locking conditions include: the differential lock with the highest locking sequence is in a locked state; the locking sequence from front to back is: the first inter-axle differential lock, the second inter-axle differential lock, the middle axle wheel differential lock, the rear axle wheel differential lock, and the front axle wheel differential lock; the target locking command includes: first locking information, second locking information, third locking information, fourth locking information, and fifth locking information; the target locking conditions include: the first preset locking information corresponding to the first inter-axle differential lock, the second inter-axle differential lock, the third inter-axle differential lock, the fourth inter-axle differential lock, the fifth inter-axle differential lock, the sixth inter-axle differential lock, the seventh inter-axle differential lock, the eighth inter-axle differential lock, the ninth inter-axle differential lock, the eleventh ... The system includes: second preset locking information corresponding to the inter-axle differential lock; third preset locking information corresponding to the front axle inter-wheel differential lock; fourth preset locking information corresponding to the middle axle inter-wheel differential lock; and fifth preset locking information corresponding to the rear axle inter-wheel differential lock. The first locking information includes the switch signal of the first inter-axle differential lock, a vehicle speed signal, and a gear position signal. The first preset locking information is: the switch signal of the first inter-axle differential lock indicates that the first inter-axle differential lock is locked, the vehicle speed is less than a preset first vehicle speed threshold, and the gear position is neutral. The second locking information includes the switch signal of the second inter-axle differential lock, the vehicle speed signal, and a speed difference signal between the middle axle and the rear axle. The second preset locking information is: the switch signal of the second inter-axle differential lock indicates that the second inter-axle differential lock is locked, the vehicle speed is less than a preset second vehicle speed threshold, and the speed difference between the middle axle and the rear axle is less than a preset first speed threshold. The control module is used to control the unlocking of the target differential lock when the vehicle meets the target unlocking conditions corresponding to the target locking command.

14. A vehicle, characterized in that, The vehicle is equipped with a differential lock system, which includes: a first inter-axle differential lock, a second inter-axle differential lock, a front axle wheel differential lock, a middle axle wheel differential lock, and a rear axle wheel differential lock. The first inter-axle differential lock is located between the front axle and the middle axle of the vehicle, and the second inter-axle differential lock is located in the middle axle of the vehicle. The vehicle is used to execute the control method of the differential lock system according to any one of claims 1-12.

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