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

Abstract

This invention relates to a vehicle differential lock control method, terminal device, and storage medium. The method includes: S1: constructing a first fuzzy membership function, a second fuzzy membership function, and a fuzzy rule inference table; S2: real-time acquisition of environmental values, road grade, and road curvature values, obtaining the maximum value of road curvature; S3: obtaining all corresponding first fuzzy intervals and fuzzy values ​​from the first fuzzy membership function based on the road curvature ratio; S4: obtaining all corresponding second fuzzy intervals and fuzzy values ​​from the second fuzzy membership function based on the environmental values; S5: matching the first fuzzy intervals with the second fuzzy intervals to obtain a combined fuzzy value of the fuzzy interval combination; S6: taking the fuzzy interval combination corresponding to the maximum value as the fuzzy decision combination, and obtaining the decision result from the fuzzy rule inference table; S7: controlling the differential lock based on the decision result. This invention achieves timely differential locking of the vehicle in weather conditions such as rain and snow when slight slippage occurs during normal driving.

Description

Technical Field

[0001] This invention relates to the field of vehicle control, and more particularly to a vehicle differential lock control method, terminal device, and storage medium. Background Technology

[0002] A differential is a device that allows the left and right wheels on the same axle of a vehicle to rotate at different speeds. During driving, the distance traveled by the left and right wheels in the same amount of time may not be equal. The most obvious example is when a car is turning; to meet kinematic requirements, the outer wheel rotates faster than the inner wheel, and its total travel is also longer. However, the disadvantage of a differential is that it can distribute speed but not torque. When one side of the vehicle slips, due to the differential, the drive wheel with higher friction rotates slowly or stops, while the drive wheel on the slipping side rotates at high speed. As a result, most or all of the driving force is transferred to the slipping wheel, causing the car to lack power, wasting fuel, and even making it unable to traverse slippery surfaces.

[0003] A differential lock is a control device that locks the two half-shafts of a car together when severe slippage is detected, temporarily disabling the differential and allowing both drive wheels to rotate at the same speed. This distributes the car's driving force evenly between the two drive wheels, maximizing traction and preventing slippage on one side of the vehicle.

[0004] Traditional differential locks typically engage when a vehicle is traveling at low speeds and experiencing severe slippage, and disengage when significant steering wheel rotation is detected. However, they fail to engage in timely action when a vehicle is experiencing slight slippage at high speeds in rain or snow. This results in a significant portion of engine torque being wasted on slippage, reducing energy efficiency. Furthermore, traditionally, differential locks are unsuitable for high-speed driving because future road conditions are unknown, making it impossible to predict cornering maneuvers. Otherwise, during high-speed turns, the differential lock may not disengage in time, leading to instability during cornering. Summary of the Invention

[0005] To address the aforementioned problems, this invention proposes a vehicle differential lock control method, a terminal device, and a storage medium.

[0006] The specific plan is as follows:

[0007] A vehicle differential lock control method includes the following steps:

[0008] S1: Construct the first fuzzy membership function f1(x) corresponding to different road curvature ratios and the second fuzzy membership function f2(x) corresponding to different environmental values, and at the same time construct a fuzzy rule inference table;

[0009] S2: During vehicle operation, environmental values ​​and road grade and road curvature values ​​at a rated distance in front of the vehicle are collected in real time, and the maximum value of road curvature is obtained according to the road grade.

[0010] S3: Based on the road curvature ratio of the road curvature value to the maximum road curvature value, obtain all the corresponding first fuzzy intervals and the fuzzy values ​​of each fuzzy interval from the first fuzzy membership function f1(x);

[0011] S4: Based on the environmental value, obtain all the corresponding second fuzzy intervals and the fuzzy values ​​of each fuzzy interval from the second fuzzy membership function f2(x);

[0012] S5: Match any first fuzzy interval with any second fuzzy interval to obtain the corresponding fuzzy interval combination, and then obtain the combined fuzzy value of the fuzzy interval combination.

[0013] S6: Take the fuzzy interval combination corresponding to the maximum value among all combined fuzzy values ​​as the fuzzy decision combination, and obtain the decision result from the fuzzy rule inference table according to the fuzzy decision combination;

[0014] S7: Control the differential lock based on the decision result.

[0015] Furthermore, the first fuzzy membership function f1(x) includes three types: small-scale, intermediate-scale, and large-scale, and their calculation formulas are as follows:

[0016] Smaller in size:

[0017]

[0018] Intermediate type:

[0019]

[0020] Larger size:

[0021]

[0022] Furthermore, the second fuzzy membership function f2(x) includes three types: small-scale, intermediate-scale, and large-scale, and their calculation formulas are as follows:

[0023] Smaller in size:

[0024]

[0025] Intermediate type:

[0026]

[0027] Larger size:

[0028]

[0029] Furthermore, environmental values, which characterize the severity of rain and snow weather, are collected through environmental sensors.

[0030] Furthermore, the road grade and road curvature values ​​at the rated distance in front of the vehicle are obtained using electronic horizon technology.

[0031] Furthermore, step S7, which controls the differential lock based on the decision result, also includes: determining whether the steering wheel angle of the vehicle is greater than a preset steering wheel angle threshold; if it is, forcibly releasing the differential lock; otherwise, controlling the differential lock to be released or locked based on the decision result.

[0032] A vehicle differential lock control terminal device includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the method described above in the embodiments of the present invention.

[0033] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method described above in the embodiments of the present invention.

[0034] The present invention adopts the above technical solution, combined with environmental values ​​and road curvature, to achieve timely differential locking when the vehicle is prone to slight slippage during normal driving in rainy or snowy weather, which can improve torque utilization and reduce vehicle energy consumption. Attached Figure Description

[0035] Figure 1 The diagram shown is a flowchart of Embodiment 1 of the present invention.

[0036] Figure 2 The diagram shown is a schematic of the first fuzzy membership function in this embodiment.

[0037] Figure 3 The diagram shown is a schematic of the second fuzzy membership function in this embodiment. Detailed Implementation

[0038] To further illustrate the various embodiments, the present invention provides accompanying drawings. These drawings are part of the disclosure of the present invention, primarily used to illustrate the embodiments, and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these drawings, those skilled in the art should be able to understand other possible implementations and the advantages of the present invention.

[0039] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0040] Example 1:

[0041] This invention provides a vehicle differential lock control method, such as... Figure 1 As shown, the method includes the following steps:

[0042] S1: Construct the first fuzzy membership function f1(x) corresponding to different road curvature ratios and the second fuzzy membership function f2(x) corresponding to different environmental values, and simultaneously construct a fuzzy rule inference table.

[0043] The first fuzzy membership function f1(x) is used to perform fuzzy classification on the proportion of road curvature, referencing... Figure 2 As shown, in this embodiment, the proportion of road curvature is divided into three categories: small-scale (L), medium-scale (M), and large-scale (H), with the calculation formulas as follows:

[0044] Smaller in size:

[0045]

[0046] Intermediate type:

[0047]

[0048] Larger size:

[0049]

[0050] Here, x represents the percentage of road curvature.

[0051] The second fuzzy membership function f2(x) is used for fuzzy classification of environmental values, as referenced. Figure 3 As shown, in this embodiment, environmental values ​​are divided into three categories: small-scale (S), medium-scale (B), and large-scale (G), with calculation formulas as follows:

[0052] Smaller in size:

[0053]

[0054] Intermediate type:

[0055]

[0056] Larger size:

[0057]

[0058] Here, 'x' represents the environment value.

[0059] The fuzzy rule inference table constructed in this embodiment is shown in Table 1.

[0060] Table 1

[0061] L M H S Unlock Unlock Unlock B Lock Unlock Unlock G Lock Lock Unlock

[0062] UnLock indicates unlocking, and Lock indicates locking, corresponding to the two states of the differential lock respectively.

[0063] S2: During vehicle operation, environmental values ​​and road grade and road curvature values ​​at a rated distance in front of the vehicle are collected in real time, and the maximum value of road curvature is obtained according to the road grade.

[0064] Because roads become slippery during rain and snow, differential locks need to be activated. Therefore, in this embodiment, environmental values, such as rain and snow density, characterize the severity of rain and snow conditions and can be collected using environmental sensors, such as rain gauges and video recognition.

[0065] The road grade and road curvature value at the rated distance ahead of the vehicle can be obtained from the electronic horizon map based on the vehicle's GNSS positioning information. When the road curvature increases, it indicates that the vehicle has turned, and the differential lock needs to be unlocked in advance to ensure the vehicle can safely and stably navigate the turn.

[0066] S3: Based on the road curvature ratio of the road curvature value to the maximum road curvature value, obtain all the corresponding first fuzzy intervals and the fuzzy values ​​of each fuzzy interval from the first fuzzy membership function f1(x).

[0067] The first fuzzy interval obtained from the first fuzzy membership function f1(x) may be one or more. For example, in this embodiment, when the road curvature ratio is 0.35, the first fuzzy interval includes two, and the corresponding fuzzy value a of the smaller L-shaped fuzzy interval is... L =0.64; the corresponding fuzzy value a in the intermediate M-type fuzzy interval. M =0.36.

[0068] S4: Based on the environment value, obtain all the corresponding second fuzzy intervals and the fuzzy values ​​of each fuzzy interval from the second fuzzy membership function f2(x).

[0069] Similar to the first fuzzy membership function f1(x), the second fuzzy interval obtained from the second fuzzy membership function f2(x) may be one or more. For example, in this embodiment, when the environment value is 0.75, the second fuzzy interval includes two, and the corresponding intermediate type B fuzzy interval has a fuzzy value w. B =0.25; the corresponding fuzzy value w in the larger G-type fuzzy interval. G =0.75.

[0070] S5: Match any first fuzzy interval with any second fuzzy interval to obtain the corresponding fuzzy interval combination, and then obtain the combined fuzzy value of the fuzzy interval combination.

[0071] In this embodiment, four fuzzy interval combinations are obtained by matching two first fuzzy intervals and two second fuzzy intervals. The corresponding combined fuzzy values ​​are: LB = a L *w B =0.16、LG=a L *w G =0.48, MB=a M *w B =0.09、MG=a M *w G =0.27.

[0072] S6: Take the fuzzy interval combination corresponding to the maximum value among all combined fuzzy values ​​as the fuzzy decision combination, and obtain the decision result from the fuzzy rule inference table based on the fuzzy decision combination.

[0073] Based on the above combined fuzzy values, the maximum value is LG = a. L *w G =0.48. The decision result bit Lock is found from the fuzzy rule reasoning table in Table 1, which is the locking state of the differential lock.

[0074] S7: Control the differential lock based on the decision result.

[0075] Furthermore, since the differential lock needs to be unlocked in advance when the vehicle is turning, step S7 also includes: determining whether the steering wheel angle of the vehicle is greater than a preset steering wheel angle threshold. If it is greater, the differential lock is forcibly released; otherwise, the differential lock is controlled to be released or locked according to the decision result.

[0076] The preset steering wheel angle threshold can be set by those skilled in the art based on experience or experimental data, and no restrictions are imposed here.

[0077] This invention combines environmental values ​​and road curvature to enable timely differential locking in weather conditions such as rain and snow, where vehicles are prone to slight slippage even during normal driving. This improves torque utilization and reduces vehicle energy consumption. Furthermore, it predicts curves ahead of the vehicle using an electronic horizon indicator and performs predictive unlocking, making it suitable for high-speed driving conditions.

[0078] Example 2:

[0079] The present invention also provides a vehicle differential lock control terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps in the method embodiment described above in Embodiment 1 of the present invention.

[0080] Furthermore, as an executable solution, the vehicle differential lock control terminal device can be a computing device such as an on-board computer or a cloud server. The vehicle differential lock control terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art will understand that the above-described structure of the vehicle differential lock control terminal device is merely an example and does not constitute a limitation on the vehicle differential lock control terminal device. It may include more or fewer components than described above, or combine certain components, or different components. For example, the vehicle differential lock control terminal device may also include input / output devices, network access devices, buses, etc., and this embodiment of the invention does not limit this.

[0081] Furthermore, as an executable solution, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. This processor is the control center of the vehicle differential lock control terminal equipment, connecting all parts of the vehicle differential lock control terminal equipment via various interfaces and lines.

[0082] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the vehicle differential lock control terminal device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0083] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method described in the embodiments of the present invention.

[0084] If the modules / units integrated into the vehicle differential lock control terminal device are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), and a software distribution medium, etc.

[0085] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. A vehicle differential lock control method, characterized in that, Includes the following steps: S1: Construct the first fuzzy membership function f1(x1) corresponding to different road curvature ratios and the second fuzzy membership function f2(x2) corresponding to different environmental values, and at the same time construct a fuzzy rule inference table; S2: During vehicle operation, environmental values ​​and road grade and road curvature values ​​at a rated distance in front of the vehicle are collected in real time, and the maximum value of road curvature is obtained according to the road grade. S3: Based on the road curvature ratio of the road curvature value to the maximum road curvature value, obtain all corresponding first fuzzy intervals and the fuzzy values ​​of each fuzzy interval from the first fuzzy membership function f1(x1); the first fuzzy membership function f1(x1) includes three types: small-scale, intermediate-scale, and large-scale, and the calculation formulas are as follows: Smaller in size: Intermediate type: Larger: Where x1 represents the percentage of road curvature; S4: Based on the environmental values, obtain all corresponding second fuzzy intervals and the fuzzy values ​​of each fuzzy interval from the second fuzzy membership function f2(x2). The second fuzzy membership function f2(x2) includes three types: small-scale, intermediate-scale, and large-scale, and their calculation formulas are as follows: Smaller in size: Intermediate type: Larger: Where x2 represents the environment value; S5: Match any first fuzzy interval with any second fuzzy interval to obtain the corresponding fuzzy interval combination, and then obtain the combined fuzzy value of the fuzzy interval combination. S6: Take the fuzzy interval combination corresponding to the maximum value among all combined fuzzy values ​​as the fuzzy decision combination, and obtain the decision result from the fuzzy rule inference table according to the fuzzy decision combination; S7: Control the differential lock based on the decision result.

2. The vehicle differential lock control method according to claim 1, characterized in that: Environmental values ​​characterize the severity of rain and snow weather and are collected by environmental sensors.

3. The vehicle differential lock control method according to claim 1, characterized in that: The road grade and road curvature value at the rated distance in front of the vehicle are obtained using electronic horizon technology.

4. The vehicle differential lock control method according to claim 1, characterized in that: Step S7, which controls the differential lock based on the decision result, also includes: determining whether the steering wheel angle of the vehicle is greater than a preset steering wheel angle threshold. If it is, the differential lock is forcibly released; otherwise, the differential lock is controlled to be released or locked based on the decision result.

5. A vehicle differential lock control terminal device, characterized in that: It includes a processor, a memory, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the steps of the method as described in any one of claims 1 to 4.

6. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 4.

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