Automobile differential control system, control method and device thereof and storage medium

Abstract

The application discloses a kind of automobile differential control systems and its control method, device and storage medium, including IEBS control unit, steering angle and yaw rate sensor, IEBS brake master valve, electronic differential lock, mechanical differential lock and engine, electronic differential lock includes front axle Hall type wheel speed sensor, single-channel IEBS valve, rear axle Hall type wheel speed sensor, double-channel IEBS valve and front axle ABS electromagnetic valve, IEBS control unit is used to determine whether to enable mechanical differential lock or electronic differential lock according to received steering wheel steering angle and vehicle body posture information, wheel speed information of front wheel and wheel speed information of rear wheel, and according to brake input signal, the control signal of mechanical differential lock or electronic differential lock controls the drive torque of engine.The embodiment of the application meets the automatic control of vehicle differential lock under different road conditions, reduces misoperation, improves the safety and stability of vehicle, and can be widely applied in the field of automobile control technology.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automobile control technology, and in particular to an automobile differential control system, a control method and device thereof, and a storage medium. BACKGROUND

[0002] The differential lock control system in the current commercial vehicle market includes mechanical differential lock and electronic differential lock, both of which have certain shortcomings. For example, the existing mechanical differential lock is inconvenient to operate and use, and needs to be manually operated to open or close, requiring the driver to master the correct operation method, otherwise, the vehicle differential system and related components may be damaged due to the driver's misoperation, and even the vehicle driving safety may be endangered. The electronic differential lock is currently mostly a function extended based on the ESC and IEBS system, which is realized according to the wheel speed difference, but since the wheel speed sensor used by the commercial vehicle is a magneto electric wheel speed sensor, the wheel speed accuracy cannot be guaranteed, especially in the process of low-speed driving, the wheel speed deviation is too large, resulting in inaccurate identification of the starting and exiting conditions of the electronic differential lock, and affecting the comfort and stability of the vehicle. SUMMARY

[0003] Therefore, the purpose of the embodiments of the present application is to provide an automobile differential control system, a control method and device thereof, and a storage medium, which can improve the safety and stability of the vehicle.

[0004] In a first aspect, the embodiments of the present application provide an automobile differential control system, comprising an IEBS control unit, a steering angle and yaw rate sensor, an IEBS brake master valve, an electronic differential lock, a mechanical differential lock, and an engine. The electronic differential lock comprises a front axle Hall wheel speed sensor, a single-channel IEBS valve, a rear axle Hall wheel speed sensor, a double-channel IEBS valve, and a front axle ABS electromagnetic valve. The steering angle and yaw rate sensor, the IEBS brake master valve, the front axle ABS electromagnetic valve, the mechanical differential lock, and the engine are all connected to the IEBS control unit. The front axle Hall wheel speed sensor is connected to the control unit through the single-channel IEBS valve, and the rear axle Hall wheel speed sensor is connected to the control unit through the double-channel IEBS valve. Wherein,

[0005] The IEBS brake master valve is used to input a brake input signal to the IEBS control unit.

[0006] The steering angle and yaw rate sensor is used to monitor the steering angle of the steering wheel and the attitude information of the vehicle body, and send the steering angle of the steering wheel and the attitude information of the vehicle body to the IEBS control unit.

[0007] The front axle Hall wheel speed sensor is used for monitoring wheel speed information of the front wheel and sending the wheel speed information of the front wheel to the IEBS control unit through the single-channel IEBS valve.

[0008] The rear axle Hall wheel speed sensor is used for monitoring wheel speed information of the rear wheel and sending the wheel speed information of the rear wheel to the IEBS control unit through the double-channel IEBS valve.

[0009] The IEBS control unit is used for determining whether to enable the mechanical differential lock or the electronic differential lock according to the received steering wheel steering angle and vehicle body posture information, the wheel speed information of the front wheel and the wheel speed information of the rear wheel, and controlling driving torque of the engine according to the brake input signal and the control signal of the mechanical differential lock or the electronic differential lock.

[0010] Optionally, one or more of the engine, the steering angle and yaw rate sensor, the single-channel IEBS valve and the double-channel IEBS valve are connected with the IEBS control unit through a CAN bus.

[0011] In a second aspect, an embodiment of the present application provides a control method of an automobile differential control system, comprising:

[0012] receiving steering wheel steering angle and vehicle body posture information, wheel speed information of the front wheel and wheel speed information of the rear wheel;

[0013] determining a turning state of the vehicle according to the steering wheel steering angle and vehicle body posture information, and determining a slip rate according to the wheel speed information of the front wheel and the wheel speed information of the rear wheel; the turning state includes a sharp turning state and a non-sharp turning state;

[0014] if the vehicle is in the non-sharp turning state and the slip rate is outside a preset threshold range, determining to start the differential lock;

[0015] if the electronic differential lock is in a normal state, controlling the electronic differential lock to start;

[0016] if the slip rate returns to the preset threshold range within a preset time range, controlling the electronic differential lock to stop;

[0017] if the slip rate does not return to the preset threshold range within the preset time range, controlling the mechanical differential lock to start.

[0018] Optionally, the method further comprises:

[0019] if the vehicle is in the sharp turning state or the slip rate is within the preset threshold range, continuing to receive the steering wheel steering angle and vehicle body posture information, the wheel speed information of the front wheel and the wheel speed information of the rear wheel.

[0020] Optionally, the method further comprises:

[0021] if the electronic differential lock is in the abnormal state, controlling the mechanical differential lock to start.

[0022] Optionally, the method further comprises:

[0023] if the vehicle is in the sharp turning state, determining a speed difference between the front wheels according to the wheel speed information of the front wheels;

[0024] determining a compensation coefficient according to the speed difference between the front wheels;

[0025] compensating the turning of the wheels according to the compensation coefficient.

[0026] In a third aspect, an embodiment of the present application provides an automobile differential control system, comprising:

[0027] a first module configured to receive a steering wheel turning angle and vehicle body posture information, wheel speed information of front wheels and wheel speed information of rear wheels;

[0028] a second module configured to determine a turning state of the vehicle according to the steering wheel turning angle and the vehicle body posture information, and determine a slip rate according to the wheel speed information of the front wheels and the wheel speed information of the rear wheels; the turning state comprises a sharp turning state and a non-sharp turning state;

[0029] a third module configured to determine to start a differential lock if the vehicle is in the non-sharp turning state and the slip rate is out of a preset threshold range;

[0030] a fourth module configured to control the electronic differential lock to start if the electronic differential lock is in a normal state;

[0031] a fifth module configured to control the electronic differential lock to close if the slip rate returns to the preset threshold range within a preset time range;

[0032] a sixth module configured to control a mechanical differential lock to start if the slip rate does not return to the preset threshold range within the preset time range.

[0033] In a fourth aspect, an embodiment of the present application provides an automobile differential control device, comprising:

[0034] at least one processor;

[0035] at least one memory configured to store at least one program;

[0036] when the at least one program is executed by the at least one processor, the at least one processor implements the method described above.

[0037] In a fifth aspect, an embodiment of the present application provides a computer readable storage medium, wherein a processor executable program is stored, and the processor executable program is used for executing the method described above when executed by a processor.

[0038] The implementation of the embodiment of the present application has the following beneficial effects: in the embodiment, the IEBS control unit is connected with a steering angle and yaw rate sensor, an IEBS brake valve, a mechanical differential lock, an electronic differential lock and an engine, the steering angle and the attitude information of the vehicle body are obtained through the steering angle and yaw rate sensor, the wheel speed information of the front wheel is obtained through the front axle Hall wheel speed sensor, the wheel speed information of the rear wheel is obtained through the rear axle Hall wheel speed sensor, and the opening or closing of the mechanical differential lock or the electronic differential lock is controlled according to the steering angle, the attitude information of the vehicle body, the wheel speed information of the front wheel and the wheel speed information of the rear wheel, so as to meet the automatic control of the differential lock of the vehicle under different road conditions, reduce the misoperation, and improve the safety and stability of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 is a structural block diagram of an automobile differential control system provided by an embodiment of the present application;

[0040] Figure 2 is a step flowchart of a control method of an automobile differential control system provided by an embodiment of the present application;

[0041] Figure 3 is a step flowchart of another control method of an automobile differential control system provided by an embodiment of the present application;

[0042] Figure 4 is a step flowchart of another control method of an automobile differential control system provided by an embodiment of the present application;

[0043] Figure 5 is a structural block diagram of another automobile differential control system provided by an embodiment of the present application;

[0044] Figure 6 is a structural block diagram of an automobile differential control device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0045] The present application will be further described in detail below in combination with the drawings and specific embodiments. For the step numbers in the following embodiments, only the setting for facilitating the description is provided, and the order between the steps is not limited in any way, and the execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0046] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments, but which can be understood as a same or different subset of all possible embodiments, and which can be combined with each other without conflict.

[0047] In the following description, the terms "first\second\third" are only to distinguish similar objects, and do not represent a specific order of the objects. It can be understood that the "first\second\third" can be interchanged in a specific order or sequence as allowed, so that the embodiments of the application described herein can be implemented in an order other than that illustrated or described herein.

[0048] Unless otherwise defined, all technical and scientific terms used in the embodiments of the application have the same meanings as commonly understood by one of ordinary skill in the art to which the embodiments of the application belong. The terms used in the embodiments of the application are only for the purpose of describing the embodiments of the application and are not intended to limit the application.

[0049] Before the embodiments of the application are further described in detail, the terms and phrases involved in the embodiments of the application are explained, and the terms and phrases involved in the embodiments of the application are applicable to the following explanations.

[0050] Referring to Figure 1 , the embodiments of the application provide a differential control system for a vehicle, comprising an IEBS control unit, a steering angle and yaw rate sensor, an IEBS brake master valve, an electronic differential lock, a mechanical differential lock and an engine, the electronic differential lock comprising a front axle Hall wheel speed sensor, a single-channel IEBS valve, a rear axle Hall wheel speed sensor, a double-channel IEBS valve and a front axle ABS solenoid valve, the steering angle and yaw rate sensor, the IEBS brake master valve, the front axle ABS solenoid valve, the mechanical differential lock and the engine are connected with the IEBS control unit, the front axle Hall wheel speed sensor is connected with the control unit through the single-channel IEBS valve, and the rear axle Hall wheel speed sensor is connected with the control unit through the double-channel IEBS valve; wherein,

[0051] The IEBS brake master valve is used to input a brake input signal to the IEBS control unit.

[0052] The steering angle and yaw rate sensor is used to monitor the steering angle of the steering wheel and the attitude information of the vehicle body, and send the steering angle of the steering wheel and the attitude information of the vehicle body to the IEBS control unit.

[0053] The front axle Hall wheel speed sensor is used to monitor the wheel speed information of the front wheel, and send the wheel speed information of the front wheel to the IEBS control unit through the single-channel IEBS valve.

[0054] The rear axle Hall wheel speed sensor is configured to monitor wheel speed information of the rear wheel and transmit the wheel speed information of the rear wheel to the IEBS control unit through the double-channel IEBS valve.

[0055] The IEBS control unit is configured to determine whether to enable the mechanical differential lock or the electronic differential lock according to the received steering wheel angle and vehicle body attitude information, the wheel speed information of the front wheel and the wheel speed information of the rear wheel, and control the driving torque of the engine according to the brake input signal and the control signal of the mechanical differential lock or the electronic differential lock.

[0056] Specifically, the IEBS (Intelligent Electronic Brake Systems) control unit is a controller, including but not limited to a processor, etc.; the engine provides power for the vehicle, the mechanical differential lock and the electronic differential lock are used to adjust the inner and outer layer rotational speed of the vehicle, the steering angle and yaw rate sensor is used to monitor the steering wheel angle and vehicle body attitude information, the IEBS brake master valve is used to provide brake signal information; the front axle Hall wheel speed sensor in the electronic differential lock is used to monitor the wheel speed information of the front wheel, the rear axle Hall wheel speed sensor in the electronic differential lock is used to monitor the wheel speed information of the rear wheel, and the front axle ABS electromagnetic valve in the electronic differential lock is used to adjust the brake pressure of the front wheel; the IEBS control unit controls the opening or closing of the mechanical differential lock and the electronic differential lock according to the received information and the preset processing mode.

[0057] It should be noted that the Hall wheel speed sensor can more accurately measure the wheel speed information of the vehicle.

[0058] Optionally, one or more of the engine, the steering angle and yaw rate sensor, the single-channel IEBS valve and the double-channel IEBS valve are connected to the IEBS control unit through a CAN bus.

[0059] Specifically, one or more of the engine, the steering angle and yaw rate sensor, the single-channel IEBS valve and the double-channel IEBS valve are connected with the IEBS control unit through the CAN bus, and the connection between the engine, the steering angle and yaw rate sensor, the single-channel IEBS valve, the double-channel IEBS valve, the IEBS brake master valve, the mechanical differential lock and the front axle ABS solenoid valve and the IEBS control unit can be in a wired or wireless manner, the wired manner including CAN bus or I2C and the like, and the wireless manner including Bluetooth or WIFI and the like. CAN (Controller Area Network) is an ISO international standardized serial communication protocol, which meets the requirements of safety, comfort, convenience, low power consumption and low cost of vehicles. The CAN bus adopts a multi-master contention bus structure, has a multi-master operation and a decentralized arbitration serial bus and the characteristics of broadcast communication; any node on the CAN bus can actively send information to other nodes on the network at any time without distinction, so that free communication can be realized between the nodes.

[0060] The implementation of the embodiment of the present application has the following beneficial effects: in the embodiment, the IEBS control unit is connected with the steering angle and yaw rate sensor, the IEBS brake master valve, the mechanical differential lock, the electronic differential lock and the engine, the steering wheel steering angle and the vehicle body posture information are obtained through the steering angle and yaw rate sensor, the wheel speed information of the front wheel is obtained through the front axle Hall type wheel speed sensor, the wheel speed information of the rear wheel is obtained through the rear axle Hall type wheel speed sensor, and the opening or closing of the mechanical differential lock or the electronic differential lock is controlled according to the steering wheel steering angle and the vehicle body posture information, the wheel speed information of the front wheel and the wheel speed information of the rear wheel, so that the automatic control of the differential lock of the vehicle under different road conditions is met, the misoperation is reduced, and the safety and stability of the vehicle are improved.

[0061] Referring to Figure 2 The embodiment of the present application provides a control method of an automobile differential control system, which is applied to an IEBS control unit and includes steps S100 to S600.

[0062] S100, receiving the steering wheel steering angle and the vehicle body posture information, the wheel speed information of the front wheel and the wheel speed information of the rear wheel.

[0063] The IEBS control unit receives the steering wheel steering angle and the vehicle body posture information sent by the steering angle and yaw rate sensor; in addition, the IEBS control unit receives the wheel speed information of the front wheel sent by the front axle Hall type wheel speed sensor through the single-channel IEBS valve, and receives the wheel speed information of the rear wheel sent by the rear axle Hall type wheel speed sensor through the double-channel IEBS valve.

[0064] S200, determining a turning state of the vehicle according to the steering wheel steering angle and the vehicle body posture information, and determining a slip ratio according to the wheel speed information of the front wheel and the wheel speed information of the rear wheel; the turning state includes a sharp turning state and a non-sharp turning state.

[0065] Specifically, the size of the steering wheel steering angle and the acceleration of the vehicle body posture information determine the turning state of the vehicle, the larger the steering wheel steering angle and the greater the acceleration of the vehicle body posture information, the sharper the turning of the vehicle; when the steering wheel steering angle and the acceleration of the vehicle body posture information both exceed a preset value, it is determined that the vehicle is in a sharp turning state, otherwise it is in a non-sharp turning state. Slip ratio = (vehicle speed - wheel speed) / vehicle speed, the slip ratio is measured in percentage.

[0066] S300, if the vehicle is in a non-sharp turning state and the slip ratio is outside a preset threshold range, determining to start the differential lock.

[0067] The preset threshold range is determined according to actual application, which is not specifically limited in the embodiment; for example, the preset threshold range of the slip ratio is 10%-30%. Specifically, when the vehicle is in a non-sharp turning state and the slip ratio is less than or greater than a preset threshold boundary value, it is determined to start the electronic differential lock or the mechanical differential lock.

[0068] S400, if the electronic differential lock is in a normal state, controlling the electronic differential lock to start.

[0069] The state of the electronic differential lock needs to be monitored, and the electronic differential lock is preferentially controlled to start when the electronic differential lock is in a normal state. The electronic differential lock may be unable to be enabled due to system failure (such as valve module failure), and then the system directly enables the mechanical differential lock.

[0070] S500, if the slip ratio recovers to the preset threshold range within a preset time range, controlling the electronic differential lock to be closed.

[0071] If the slip ratio recovers to the preset threshold range within a preset time range, it indicates that the vehicle is unstuck on the current road surface, and the electronic differential lock is controlled to be closed. The preset time range is determined according to actual application, which is not specifically limited in the embodiment.

[0072] S600, if the slip ratio does not recover to the preset threshold range within a preset time range, controlling the mechanical differential lock to start.

[0073] If the slip ratio does not recover to the preset threshold range within a preset time range, it indicates that the electronic differential lock cannot make the vehicle unstuck, and the mechanical differential lock is started, which provides double protection for the entire differential control function and realizes function redundancy.

[0074] Optionally, the method further comprises:

[0075] S310, if the vehicle is in a sharp turning state or the slip ratio is within the preset threshold range, continue to receive the steering wheel turning angle and vehicle body posture information, the front wheel speed information and the rear wheel speed information.

[0076] Specifically, if the vehicle is in a sharp turning state or the slip ratio is within the preset threshold range, it indicates that the vehicle does not need to start the differential lock at present, and the monitored steering wheel turning angle and vehicle body posture information, front wheel speed information and rear wheel speed information are continued to be received to prepare data for subsequent control.

[0077] Optionally, the method further comprises:

[0078] S410, if the electronic differential lock is in an abnormal state, controlling the mechanical differential lock to start.

[0079] When the electronic differential lock is in an abnormal state and the vehicle needs to start the differential lock, the mechanical differential lock is controlled to start.

[0080] In one specific embodiment, referring to Figure 3 , after the IEBS control unit starts, the wheel speed and steering and other related information are collected, the vehicle is determined to be in a non-sharp turning state and the slip ratio meets the set threshold value according to the wheel speed and steering and other related information, the differential lock is started, if the vehicle is in a sharp turning state or the slip ratio does not meet the set threshold value, the wheel speed and steering and other related information are continued to be collected; when the electronic differential lock is normal, the electronic differential lock is preferentially started, when the slip ratio returns to the normal range, the electronic differential lock is closed; when the electronic differential lock is in an abnormal state or the slip ratio does not return to the normal range after the electronic differential lock is opened for a certain time, the mechanical differential lock is started.

[0081] Optionally, the method further comprises:

[0082] S710, if the vehicle is in a sharp turning state, determining the speed difference between the front wheels according to the wheel speed information of the front wheels;

[0083] S720, determining a compensation coefficient according to the speed difference between the front wheels;

[0084] S730, compensating the turning of the wheels according to the compensation coefficient.

[0085] Specifically, if the vehicle is in a turning state, the system adjusts the brake pressure of the outer wheels, that is, the brake pressure of the side with higher wheel speed needs to be reduced by a preset proportion according to the compensation coefficient, so as to help the vehicle better complete the turning, thereby realizing turning compensation.

[0086] In one specific embodiment, referring to Figure 4After the IEBS control unit is started, the system performs self-checking, and when the self-checking determines that the system has no fault, wheel speed and steering and other related information are collected, whether the vehicle speed exceeds a set threshold is determined according to the wheel speed and steering and other related information, if the vehicle speed does not exceed the set threshold, whether the wheel speed meets the set threshold is continuously determined, if the wheel speed meets the set threshold, whether the vehicle is in a sharp turn is determined, the vehicle is in a sharp turn, the vehicle is compensated for turning to obtain a compensation braking force, and the engine is requested to limit the torque, and the specific wheels are braked; if the vehicle speed exceeds the set threshold or the wheel speed does not meet the set threshold, the wheel speed and steering and other related information are continuously collected.

[0087] Implementing the embodiment of the present application has the following beneficial effects: in the embodiment, the IEBS control unit is connected with a steering angle and yaw rate sensor, an IEBS brake valve, a mechanical differential lock, an electronic differential lock and an engine, the steering wheel steering angle and vehicle body posture information are obtained through the steering angle and yaw rate sensor, the wheel speed information of the front wheels is obtained through the front axle Hall type wheel speed sensor, the wheel speed information of the rear wheels is obtained through the rear axle Hall type wheel speed sensor, and the opening or closing of the mechanical differential lock or the electronic differential lock is controlled according to the steering wheel steering angle and vehicle body posture information, the wheel speed information of the front wheels and the wheel speed information of the rear wheels, so that the automatic control of the differential lock of the vehicle under different road conditions is met, the misoperation is reduced, and the safety and stability of the vehicle are improved.

[0088] Referring to Figure 5 The embodiment of the present application provides a differential control system of an automobile, which is applied to an IEBS control unit and includes:

[0089] A first module is used for receiving the steering wheel steering angle and vehicle body posture information, the wheel speed information of the front wheels and the wheel speed information of the rear wheels;

[0090] A second module is used for determining the turning state of the vehicle according to the steering wheel steering angle and vehicle body posture information, and determining the slip rate according to the wheel speed information of the front wheels and the wheel speed information of the rear wheels; the turning state includes a sharp turning state and a non-sharp turning state;

[0091] A third module is used for determining to start the differential lock if the vehicle is in the non-sharp turning state and the slip rate is out of a preset threshold range.

[0092] A fourth module is used for controlling the electronic differential lock to start if the electronic differential lock is in a normal state.

[0093] A fifth module is used for controlling the electronic differential lock to close if the slip rate recovers to the preset threshold range within a preset time range.

[0094] A sixth module is used for controlling the mechanical differential lock to start if the slip rate does not recover to the preset threshold range within the preset time range.

[0095] It can be seen that the contents in the method embodiments are applicable to the system embodiments, the system embodiments specifically implement the functions same as the method embodiments, and achieve the beneficial effects same as the method embodiments.

[0096] Referring to Figure 6 The embodiment of the present application provides an automobile differential control device, which comprises:

[0097] at least one processor;

[0098] at least one memory for storing at least one program;

[0099] When the at least one program is executed by the at least one processor, the at least one processor implements the above method.

[0100] The memory is a non-transitory computer readable storage medium, which can be used to store non-transitory software programs and non-transitory computer executable programs. The memory can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory can optionally include remote memories arranged remotely relative to the processor, which can be connected to the processor through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0101] It can be seen that the contents in the method embodiments are applicable to the device embodiments, the device embodiments specifically implement the functions same as the method embodiments, and achieve the beneficial effects same as the method embodiments.

[0102] In addition, the embodiment of the present application also discloses a computer program product or a computer program, which is stored in a computer readable storage medium. The processor of the computer device can read the computer program from the computer readable storage medium, and the processor executes the computer program, so that the computer device executes the above method. Similarly, the contents in the method embodiments are applicable to the storage medium embodiments, the storage medium embodiments specifically implement the functions same as the method embodiments, and achieve the beneficial effects same as the method embodiments.

[0103] The embodiment of the present application also provides a computer readable storage medium, which stores a program executable by a processor, and the program executable by the processor is used to implement the above method when executed by the processor.

[0104] It is to be understood that all or some of the steps, systems, etc. in the methods disclosed above can be performed by software, firmware, hardware, and / or any suitable combination thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a micro-processing unit, as hardware, or as an integrated circuit, such as an application- specific integrated circuit. Such software can be distributed on computer readable media, which can comprise computer storage media (or non-transitory media), and communication media (or transitory media). As is well known to those of ordinary skill in the art, computer storage media includes all computer-readable media in which data, computer executable instructions, or other computer readable data is / are publicized, embodied, or otherwise accessed. Computer storage media does not include communication media unless the communication media embodies computer readable instructions, data structures, program modules or other data. Computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Further, it should be appreciated that communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.

[0105] The above description is that of the preferred embodiments of the application. Various equivalents and alternatives to those preferred embodiments that are with in the spirit and scope of the application are also possible. It is to be understood that the application is not to be limited to a specific described embodiment, and that various changes and modifications can be carried out without departing from the scope and nature of the application which is defined in the following claims.

Claims

1. A control method for an automotive differential control system, characterized in that, include: It receives steering wheel angle and vehicle posture information, front wheel speed information, and rear wheel speed information; The turning state of the vehicle is determined based on the steering wheel angle and vehicle posture information, and the slip ratio is determined based on the wheel speed information of the front wheels and the wheel speed information of the rear wheels; the turning state includes sharp turning state and non-sharp turning state. If the vehicle is not in a sharp turn and the slip ratio is outside the preset threshold range, the differential lock is activated. If the electronic differential lock is in normal condition, control the electronic differential lock to start; If the slip ratio recovers to the preset threshold range within the preset time range, the electronic differential lock is controlled to close. If the slip ratio does not recover to the preset threshold range within the preset time range, the mechanical differential lock is activated. If the vehicle is making a sharp turn, the speed difference between the front wheels is determined based on the wheel speed information of the front wheels; The compensation coefficient is determined based on the speed difference between the front wheels; The braking pressure on the outer wheel is reduced by a preset ratio according to the compensation coefficient to achieve cornering compensation.

2. The control method according to claim 1, characterized in that, The method further includes: If the vehicle is in a sharp turn or the slip ratio is within the preset threshold range, the vehicle continues to receive information on the steering wheel angle and vehicle posture, the wheel speed of the front wheels, and the wheel speed of the rear wheels.

3. The control method according to claim 1, characterized in that, The method further includes: If the electronic differential lock is in an abnormal state, the mechanical differential lock will be activated.

4. A vehicle differential control system, characterized in that, The system includes an IEBS control unit, steering angle and yaw rate sensors, an IEBS master brake valve, an electronic differential lock, a mechanical differential lock, and an engine. The electronic differential lock includes front axle Hall-effect wheel speed sensors, a single-channel IEBS valve, a rear axle Hall-effect wheel speed sensors, a dual-channel IEBS valve, and a front axle ABS solenoid valve. The steering angle and yaw rate sensors, the IEBS master brake valve, the front axle ABS solenoid valve, the mechanical differential lock, and the engine are all connected to the IEBS control unit. The front axle Hall-effect wheel speed sensors are connected to the IEBS control unit via the single-channel IEBS valve, and the rear axle Hall-effect wheel speed sensors are connected to the IEBS control unit via the dual-channel IEBS valve. The IEBS master brake valve is used to input brake input signals to the IEBS control unit; The steering angle and yaw rate sensors are used to monitor the steering wheel angle and vehicle posture information, and send the steering wheel angle and vehicle posture information to the IEBS control unit; The front axle Hall effect wheel speed sensor is used to monitor the wheel speed information of the front wheels and send the wheel speed information of the front wheels to the IEBS control unit; The rear axle Hall effect wheel speed sensor is used to monitor the wheel speed information of the rear wheels and send the wheel speed information of the rear wheels to the IEBS control unit; The IEBS control unit is used to determine whether to activate the mechanical differential lock or the electronic differential lock based on the received steering wheel angle and vehicle posture information, the wheel speed information of the front wheels and the wheel speed information of the rear wheels, and to control the drive torque of the engine based on the brake input signal and the control signal of the mechanical differential lock or the electronic differential lock; the IEBS control unit is specifically used to perform the method as described in any one of claims 1-3.

5. The system according to claim 4, characterized in that, One or more of the engine, the steering angle and yaw rate sensors, the single-channel IEBS valve, and the dual-channel IEBS valve are connected to the IEBS control unit via a CAN bus.

6. A vehicle differential control device, characterized in that, include: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor performs the method as described in any one of claims 1-3.

7. A computer-readable storage medium storing a processor-executable program, characterized in that, The processor-executable program, when executed by the processor, is used to perform the method as described in any one of claims 1-3.

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