Driving control method of wheeled vehicle and wheeled vehicle

Abstract

The present invention discloses a driving control method for a wheeled vehicle and a wheeled vehicle. The driving control method for a wheeled vehicle comprises the following steps: obtaining the current working state of a differential, the current working state includes a release state and an engagement state; obtaining a request instruction for controlling the differential, the request instruction includes a release instruction and an engagement instruction; and controlling the action of a steering mechanism according to the current working state of the differential and the request instruction. The driving control method of the present invention comprehensively considers the current working state of the differential and the request instruction for the differential when steering the steering mechanism. For example, when the differential is in an engagement state, the steering mechanism is controlled to steer within a limited range to reduce problems such as abnormal tire damage caused by steering in the differential engagement state, thereby improving the reliability of the vehicle.

Description

Technical Field

[0001] The invention relates to a travel control method of a wheeled vehicle and the wheeled vehicle. Background Art

[0002] When heavy-duty wheeled construction machinery vehicles are driving, drivers often engage the transfer case differential, axle differential, and wheel differential to improve the vehicle's driving ability and solve problems such as slippage of the single-side drive wheel. However, in this case, if the vehicle turns, it may cause wheel damage, abnormal tire wear, steering failure, and failure to turn. Therefore, how to coordinate the differential and steering of wheeled vehicles is an urgent problem to be solved.

[0003] It should be noted that the statements in this background technology section only provide background technology related to the present invention and do not necessarily constitute prior art. Summary of the invention

[0004] The invention provides a travel control method of a wheeled vehicle and a wheeled vehicle, so as to improve the reliability of the wheeled vehicle.

[0005] A first aspect of the present invention provides a driving control method for a wheeled vehicle, wherein a drive axle of the wheeled vehicle includes a differential and a steering mechanism, the differential includes at least one of an inter-wheel differential and an inter-axle differential, and the driving control method includes the following steps:

[0006] Get the current working state of the differential, which includes the release state and the engagement state;

[0007] Obtaining a request instruction for controlling the differential, the request instruction including a release instruction and an engagement instruction;

[0008] The steering mechanism action is controlled according to the current working state of the differential and the requested instruction.

[0009] In some embodiments, controlling the action of the steering mechanism according to the current working state of the differential and the request instruction includes: if the differential is currently in an engaged state, controlling the action of the steering mechanism to make the drive axle turn within a limited angle range.

[0010] In some embodiments, controlling the steering mechanism action according to the current working state of the differential and the request instruction includes: if the differential is currently in a released state, controlling the steering mechanism and the differential action according to the request instruction and the current steering angle of the drive axle.

[0011] In some embodiments, controlling the action of the steering mechanism according to the request instruction and the current steering angle of the steering mechanism includes: if the request instruction is an engagement instruction and the current steering angle of the drive axle is less than the first steering angle limit, then controlling the differential to engage according to the engagement instruction, and controlling the drive axle to steer within a limited angle range; if the request instruction is an engagement instruction and the current steering angle of the drive axle is greater than the first steering angle limit, then controlling the differential to continue to be in a released state; during this process, if the current steering angle of the steering mechanism is less than the first steering angle limit and the engagement instruction is still valid, then controlling the differential to engage and controlling the drive axle to steer within the limited angle range.

[0012] In some embodiments, controlling the drive axle to steer within a limited angle range includes: calculating and obtaining a theoretical steering angle of the drive axle of the wheeled vehicle under a current driving state; if the theoretical steering angle is less than a second steering angle limit, and the second steering angle limit is less than the first steering angle limit, then controlling the drive axle to maintain the current driving state; if the theoretical steering angle is greater than the second steering angle limit, then controlling the differential to enter a released state so that the drive axle steers in a non-differential state.

[0013] In some embodiments, the driving control method includes the following steps:

[0014] Obtain the current working status of the inter-wheel differential and the inter-axle differential, which includes the release state and the engagement state;

[0015] Obtaining a request instruction for controlling an inter-wheel differential and an inter-axle differential, wherein the request instruction includes a release instruction and an engagement instruction;

[0016] The steering mechanism action is controlled according to the current working status of the inter-wheel differential and the inter-axle differential and the request instructions to the inter-wheel differential and the inter-axle differential.

[0017] In some embodiments, controlling the action of the steering mechanism according to the current working status of the inter-wheel differential and the inter-axle differential and the request instructions for the inter-wheel differential and the inter-axle differential includes: if at least one of the inter-wheel differential and the inter-axle differential is currently in an engaged state, controlling the action of the steering mechanism so that the drive axle turns within a limited angle range.

[0018] A second aspect of the present invention provides a wheeled vehicle, comprising a drive axle and a controller, wherein the drive axle comprises an inter-wheel differential, an inter-axle differential and a steering mechanism, and the controller is configured to execute the above-mentioned driving control method.

[0019] In some embodiments, the controller includes a first controller for controlling the actions of the inter-wheel differential and the inter-axle differential and a second controller for controlling the actions of the steering mechanism, and the first controller and the second controller are signal-connected.

[0020] In some embodiments, the wheeled vehicle includes a detection device, the controller includes a differential drive control module for controlling the action of the inter-wheel differential and the inter-axle differential and a steering control module for controlling the action of the steering mechanism, and the detection device is configured to detect the engagement state of the inter-wheel differential and / or the inter-axle differential.

[0021] Based on the technical solution provided by the present invention, the driving control method of a wheeled vehicle includes the following steps: obtaining the current working state of the differential, the current working state includes a release state and an engagement state; obtaining a request instruction for controlling the differential, the request instruction includes a release instruction and an engagement instruction; and controlling the action of the steering mechanism according to the current working state of the differential and the request instruction. The driving control method of the present invention comprehensively considers the current working state of the differential and the request instruction for the differential when steering the steering mechanism. For example, when the differential is in an engagement state, the steering mechanism is controlled to steer within a limited range to reduce problems such as abnormal tire damage caused by steering in the differential engagement state, thereby improving the reliability of the vehicle.

[0022] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figure 1 It is a schematic structural diagram of a drive axle of a wheeled vehicle according to an embodiment of the present invention.

[0025] Figure 2 1 is a schematic diagram of the steps of the driving control method according to an embodiment of the present invention.

[0026] Figure 3 It is a schematic structural diagram of a control device for a wheeled vehicle according to a specific embodiment of the present invention.

[0027] Figure 4 The schematic diagram is a driving control method for a wheeled vehicle according to a specific embodiment of the present invention. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0030] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" may include both "above" and "below". The device may also be positioned in other different ways, and the spatially relative descriptions used here are interpreted accordingly.

[0031] like Figure 1 As shown, the wheeled vehicle of some embodiments includes a final drive 101 , an inter-wheel differential 102 , an inter-axle differential 103 , a steering mechanism 104 , a first wheel rim 105 , and a second wheel rim 106 .

[0032] When the wheeled vehicle is traveling, the driver often engages the inter-wheel differential 102 and the inter-axle differential 103 in order to improve the driving ability of the vehicle and solve the problem of slippage of the unilateral driving wheel. In this case, if the vehicle turns, it may cause wheel damage, abnormal tire wear, steering failure, and failure to turn.

[0033] In order to solve the above problems, the present invention provides a driving control method, which implements coordinated control of differential and steering on the drive axle. On the one hand, it can meet the requirements of heavy-loaded engineering machinery vehicles for driving force and climbing ability during heavy-load transfer, and on the other hand, it can meet the steering requirements of the vehicle and reduce the probability of problems such as wheel edge damage, abnormal tire wear, steering failure, and no steering.

[0034] An embodiment of the present invention provides a driving control method for a wheeled vehicle. The drive axle of the wheeled vehicle includes a differential and a steering mechanism. The differential includes at least one of an inter-wheel differential and an inter-axle differential. Figure 2 , the driving control method comprises the following steps:

[0035] S210, obtaining the current working state of the differential, where the current working state includes a released state and an engaged state;

[0036] S220, obtaining a request instruction for controlling the differential, where the request instruction includes a release instruction and an engagement instruction;

[0037] S230, controlling the steering mechanism action according to the current working state of the differential and the request instruction.

[0038] The driving control method of the embodiment of the present invention comprehensively considers the current working state of the differential and the request instruction for the differential when controlling the steering mechanism. For example, when the differential is in the engaged state, the steering mechanism is controlled to steer within a limited range to reduce problems such as abnormal tire damage caused by steering in the differential engaged state, thereby improving the reliability of the vehicle.

[0039] Specifically, for example, if the differential is an inter-wheel differential, then the driving control method includes: obtaining the current working state of the inter-wheel differential, the current working state includes a release state and an engagement state; obtaining a request instruction for the inter-wheel differential, the request instruction includes a release instruction and an engagement instruction; and controlling the steering mechanism action according to the current working state of the inter-wheel differential and the request instruction. For another example, if the differential is an inter-axle differential, then the driving method is the same as above and will not be repeated here. For another example, if the differential includes an inter-wheel differential and an inter-axle differential, then the driving control method includes obtaining the current working state of the inter-wheel differential and the inter-axle differential; obtaining a request instruction for the inter-wheel differential and the inter-axle differential; and controlling the steering mechanism action according to the current working state and request instruction of the inter-wheel differential and the current working state and request instruction of the inter-axle differential.

[0040] In some embodiments, controlling the action of the steering mechanism according to the current working state of the differential and the request instruction includes: if the differential is currently in an engaged state, controlling the action of the steering mechanism so that the drive axle steers within a limited angle range. When the differential is currently in an engaged state, then a large-range steering may cause problems such as the steering not returning to position and abnormal tire wear. Therefore, in order to effectively avoid the above problems, the drive axle may be controlled to steer at a smaller angle within the limited angle range.

[0041] In some embodiments, controlling the action of the steering mechanism according to the current working state of the differential and the request instruction includes: if the differential is currently in a released state, controlling the action of the steering mechanism and the differential according to the request instruction and the current steering angle of the steering mechanism. In other words, if the differential is currently in a released state, the steering control of the steering mechanism and the control of the differential are comprehensively judged according to the request instruction of the differential and the current steering angle of the drive axle.

[0042] Specifically, in some embodiments, controlling the steering mechanism action according to the request instruction and the current steering angle of the steering mechanism includes: if the request instruction is an engagement instruction, and the current steering angle of the drive axle is less than the first steering angle limit, controlling the differential to engage according to the engagement instruction, and controlling the drive axle to steer within a limited angle range. That is, when the engagement instruction is received, the instruction is temporarily not executed, and a comprehensive judgment is made based on the current steering angle of the drive axle. If the current steering angle of the drive axle is less than the first steering angle limit, the engagement instruction can be executed.

[0043] In other embodiments, if the request instruction is an engagement instruction, and the current steering angle of the drive axle is greater than the first steering angle limit, the differential is controlled to continue to be in a released state, and in this process, when the current steering angle of the drive axle is less than the first steering angle limit, and the engagement instruction is valid, the differential is controlled to engage according to the engagement instruction and the drive axle is controlled to steer within a limited angle range. When the engagement instruction is received, the instruction is not executed temporarily, and a comprehensive judgment is made based on the current steering angle of the drive axle. If the current steering angle of the drive axle is greater than the first steering angle limit, the differential is controlled to continue to be in a released state, that is, the drive axle is controlled to continue to travel in the current driving state, and the steering angle of the drive axle is continuously detected until the current steering angle of the drive axle is less than the first steering angle limit, and then the engagement instruction is executed, that is, the differential is controlled to engage, and at the same time, the drive axle is controlled to steer within a limited angle range.

[0044] In the above embodiments, if the engagement instruction for the differential is not obtained and the differential is in the released state, the steering mechanism can be controlled to rotate at a normal speed. Further, if the engagement instruction is obtained while the differential is in the released state, the engagement instruction is not directly executed to control the differential to be in the engaged state, but the current steering angle of the drive axle is first detected. If the current steering angle of the drive axle is less than the first steering angle limit, the engagement instruction can be executed to engage the differential. If the current angle of the drive axle is greater than the first steering angle limit, the engagement instruction is not executed to keep the differential in the released state.

[0045] If it is detected that the differential is in the engaged state and no engagement command is obtained, the drive axle is controlled to steer within a limited angle range.

[0046] In order to further perform more precise control over the steering of the drive axle, in some embodiments, controlling the steering of the drive axle within a limited angle range includes: calculating and obtaining a theoretical steering angle of the wheeled vehicle under a current driving state; if the theoretical steering angle is less than a second steering angle limit, and the second steering angle limit is less than the first steering angle limit, then controlling the drive axle to maintain the current driving state; if the theoretical steering angle is greater than the second steering angle limit, then controlling the differential to enter a released state so that the drive axle steers in a non-differential state.

[0047] According to the following Figure 3 and Figure 4 A driving control method according to a specific embodiment of the present invention is described in detail.

[0048] like Figure 3 As shown, in this embodiment, the differential includes an inter-axle differential and an inter-wheel differential.

[0049] In some embodiments, the driving control method includes the following steps:

[0050] Obtain the current working status of the inter-wheel differential and the inter-axle differential, which includes the release state and the engagement state;

[0051] Obtaining request instructions for the inter-wheel differential and the inter-axle differential, the request instructions including a release instruction and an engagement instruction;

[0052] The steering mechanism action is controlled according to the current working status of the inter-wheel differential and the inter-axle differential and the request instructions to the inter-wheel differential and the inter-axle differential.

[0053] Specifically, in some embodiments, controlling the steering mechanism action according to the current working state of the inter-wheel differential and the inter-axle differential and the request instruction for the inter-wheel differential and the inter-axle differential includes: if at least one of the inter-wheel differential and the inter-axle differential is currently in an engaged state, controlling the drive axle to steer within a limited angle range. That is, if the inter-wheel differential and / or the inter-axle differential is in an engaged state, the drive axle is controlled to steer within a limited angle range.

[0054] The embodiment of the present invention further provides a wheeled vehicle, comprising an inter-wheel differential 102, an inter-axle differential 103, a steering mechanism 104 and a controller. The controller is configured to execute the above-mentioned driving control method.

[0055] like Figure 3 As shown, in some embodiments, the controller includes a first controller for controlling the action of the inter-wheel differential and the inter-axle differential and a second controller for controlling the action of the steering mechanism, and the first controller and the second controller are connected by signal. Controller I is used to receive control requests for the action of the inter-wheel differential and the inter-axle differential and the current working state of the inter-wheel differential and the inter-axle differential, for example, the control request includes an inter-axle differential engagement request, an inter-axle differential release request, an inter-wheel differential engagement request and an inter-wheel differential release request, and the current working state includes an engagement state and a release state. Controller II is used to receive a steering request for the steering mechanism and the current steering angle of the drive axle.

[0056] In some embodiments, the wheeled vehicle includes a detection device, the controller includes a differential drive control module for controlling the action of the inter-wheel differential and the inter-axle differential and a steering control module for controlling the action of the steering mechanism, and the detection device is configured to detect the engagement state of the inter-wheel differential and / or the inter-axle differential.

[0057] Specifically, Figure 3As shown, the working state of the inter-wheel differential is detected by the inter-wheel differential detection switch or sensor set on the inter-wheel differential. The working state of the inter-axle differential is detected by the inter-axle differential detection switch or sensor set on the inter-axle differential. The current steering angle of the drive axle is detected by the steering angle sensor set on the steering knuckle or the tire.

[0058] After receiving the above information, controller I analyzes and judges according to the control method described above. After analysis and judgment, it sends command signals to the inter-wheel differential and the inter-axle differential. Specifically, it sends command signals to the inter-wheel air control valve used to control the action of the inter-wheel differential, or sends command signals to the inter-axle air control valve used to control the action of the inter-axle differential to achieve control of differential engagement or release. Controller II analyzes and judges after receiving the steering request for the steering mechanism and the current steering angle of the drive axle, and sends command signals to the steering control valve after analysis and judgment. The steering control valve sends a pressure or flow control signal to the steering assist device to control the force / torque of the steering knuckle action, thereby achieving control of steering or non-steering of the drive axle.

[0059] like Figure 4 As shown, controller I collects the current steering angle of the drive axle, the current working state of the inter-axle differential, and the current working state of the inter-wheel differential.

[0060] If an inter-axle differential request signal or an inter-wheel differential request signal is detected, it is further determined whether the inter-axle differential and / or the inter-wheel differential is in an engaged state: if the inter-axle differential and / or the inter-wheel differential is in an engaged state, the controller I sends a request signal to the controller II for the steering of the drive axle within a limited angle range to limit the turning angle of the drive axle; if the inter-axle differential and / or the inter-wheel differential is in a released state, it is determined whether the steering angle of the drive axle is greater than the first angle limit. If it is greater than the first angle limit, the inter-axle differential request signal or the inter-wheel differential request is not executed, the inter-axle differential and / or the inter-wheel differential continues to be in a released state, and the drive axle turns normally. When the controller II detects that the steering angle of the drive axle is less than the first angle limit, and the inter-axle differential request signal or the inter-wheel differential request signal is still valid, the controller I sends a request signal to the controller II for the steering mechanism to turn within a limited angle range to limit the turning angle of the drive axle. If the inter-axle differential and / or inter-wheel differential is in a released state and the steering angle of the drive axle is less than the first angle limit when an inter-axle differential request signal or an inter-wheel differential request signal is received, controller I controls the corresponding differential to engage according to the differential request signal, and controller II controls the steering mechanism to steer within a limited angle range.

[0061] Specifically, how to control the steering mechanism to steer within the limited angle range requires further judgment of the theoretical steering angle under the current driving state. If the theoretical steering angle is less than the second angle limit, and the second angle limit is less than the first angle limit, it means that the current driving state is safe, and the steering can continue according to the current driving state; if the theoretical steering angle is greater than the second angle limit, the drive axle may exceed the steering angle range, and the differential will be automatically released. This setting can further improve the safety of vehicle steering.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A driving control method for a wheeled vehicle, wherein a drive axle of the wheeled vehicle comprises a differential and a steering mechanism, wherein the differential comprises at least one of an inter-wheel differential and an inter-axle differential, wherein: The driving control method comprises the following steps: Acquiring a current working state of the differential, wherein the current working state includes a released state and an engaged state; Acquiring a request instruction for controlling the differential, wherein the request instruction includes a release instruction and an engagement instruction; The steering mechanism is controlled according to the current working state of the differential and the request instruction. If the differential is currently in an engaged state, the steering mechanism is controlled to make the drive axle turn within a limited angle range.

2. The travel control method of a wheeled vehicle according to claim 1, characterized in that: Controlling the action of the steering mechanism according to the current working state of the differential and the request instruction includes: if the differential is currently in a released state, controlling the action of the steering mechanism and the differential according to the request instruction and the current steering angle of the drive axle.

3. The travel control method of a wheeled vehicle according to claim 2, characterized in that: Controlling the action of the steering mechanism according to the request instruction and the current steering angle of the steering mechanism includes: if the request instruction is an engagement instruction and the current steering angle of the drive axle is less than a first steering angle limit, controlling the differential to engage according to the engagement instruction, and controlling the drive axle to steer within a limited angle range; if the request instruction is an engagement instruction and the current steering angle of the drive axle is greater than the first steering angle limit, controlling the differential to continue to be in a released state; during this process, if the current steering angle of the steering mechanism is less than the first steering angle limit and the engagement instruction is still valid, then controlling the differential to engage and controlling the drive axle to steer within the limited angle range.

4. The travel control method of a wheeled vehicle according to claim 3, characterized in that: Controlling the drive axle to steer within a limited angle range includes: calculating and obtaining a theoretical steering angle of the drive axle of the wheeled vehicle in a current driving state; if the theoretical steering angle is less than a second steering angle limit value, and the second steering angle limit value is less than the first steering angle limit value, controlling the drive axle to maintain the current driving state; if the theoretical steering angle is greater than the second steering angle limit value, controlling the differential to enter a released state so that the drive axle steers in a non-differential state.

5. The travel control method of a wheeled vehicle according to claim 1, characterized in that: The driving control method comprises the following steps: Acquire the current working state of the inter-wheel differential and the inter-axle differential, wherein the current working state includes a release state and an engagement state; Acquire a request instruction for controlling the inter-wheel differential and the inter-axle differential, wherein the request instruction includes a release instruction and an engagement instruction; The steering mechanism action is controlled according to the current working states of the inter-wheel differential and the inter-axle differential and the request instructions for the inter-wheel differential and the inter-axle differential.

6. The travel control method of a wheeled vehicle according to claim 5, characterized in that: Controlling the action of the steering mechanism according to the current working states of the inter-wheel differential and the inter-axle differential and request instructions for the inter-wheel differential and the inter-axle differential includes: if at least one of the inter-wheel differential and the inter-axle differential is currently in an engaged state, controlling the action of the steering mechanism so that the drive axle steers within a limited angle range.

7. A wheeled vehicle, characterized in that: The invention comprises a drive axle and a controller, wherein the drive axle comprises an inter-wheel differential, an inter-axle differential and a steering mechanism, and the controller is configured to execute the driving control method according to any one of claims 1 to 6.

8. The wheeled vehicle according to claim 7, characterized in that: The controller includes a first controller for controlling the actions of the inter-wheel differential and the inter-axle differential and a second controller for controlling the actions of the steering mechanism, and the first controller and the second controller are connected by signals.

9. The wheeled vehicle according to claim 7, characterized in that: The wheeled vehicle includes a detection device, the controller includes a differential drive control module for controlling the action of the inter-wheel differential and the inter-axle differential and a steering control module for controlling the action of the steering mechanism, and the detection device is configured to detect the engagement state of the inter-wheel differential and / or the inter-axle differential.

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