Method, device and vehicle for determining mechanical zero of a special profile cam in a transfer assembly

Abstract

The application discloses a method and device for determining a special-shaped cam mechanical zero position in a transfer assembly and a vehicle. The method comprises the following steps: obtaining a rotation angle of a special-shaped cam in a transmission mechanism; controlling a motor to perform a target action, so that the rotation angle is within a first range; in the case that the rotation angle is within the first range, controlling the motor to move, so that the rotation angle is monotonously transformed within a second range, and angle transformation information and torque transformation information are obtained; and determining a target angle corresponding to the mechanical zero position of the special-shaped cam according to the angle transformation information and the torque transformation information. The application solves the technical problem that the mechanical zero position of the special-shaped cam cannot be accurately determined due to assembly errors in the transfer assembly provided by the related art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile transfer, in particular to a method and device for determining mechanical zero position of a special-shaped cam in a transfer assembly and a vehicle. BACKGROUND

[0002] The automobile transfer is used for controlling the valve and ignition system of an engine, so that the engine can run smoothly. The special-shaped cam is one of the core components of the automobile transfer. When the engine runs normally, the special-shaped cam can compress the spring and the waist shaft along with the rotation of the engine, so that the slider of the transfer slides outward to open the valve. Meanwhile, the shape and position of the special-shaped cam can affect the ignition timing in the ignition system, so that the ignition system can ignite at the best time, thereby improving the efficiency and performance of the engine.

[0003] In the prior art, the rotation angle of the special-shaped cam is detected and fed back by using an angle sensor, so as to control the starting of the automobile based on the rotation angle. However, due to the assembly error in the assembly process of the transfer assembly, it is impossible to ensure that the zero position of the angle sensor corresponds to the mechanical zero position (such as the center of the groove of the special-shaped cam) of the special-shaped cam accurately, so that the accuracy of the rotation angle fed back by the angle sensor is poor, thereby resulting in that the starting of the automobile cannot be controlled accurately.

[0004] In view of the problem that the assembly error of the transfer assembly provided by the related art leads to that the mechanical zero position of the special-shaped cam cannot be determined accurately, no effective solution has been proposed at present. SUMMARY

[0005] The embodiments of the present application provide a method and device for determining the mechanical zero position of a special-shaped cam in a transfer assembly and a vehicle, so as to at least solve the technical problem that the assembly error of the transfer assembly provided by the related art leads to that the mechanical zero position of the special-shaped cam cannot be determined accurately.

[0006] According to an aspect of the embodiments of the present application, a method for determining the mechanical zero position of a special-shaped cam in a transfer assembly is provided, comprising:

[0007] Obtaining a rotation angle of a special-shaped cam in a transmission mechanism, wherein the rotation angle is determined by a current matching position between a motor and the special-shaped cam, and the special-shaped cam is used for assisting a transfer assembly to control a time-sharing four-wheel drive of a vehicle; controlling the motor to perform a target action, so that the rotation angle is in a first range, wherein the first range is determined in advance by size information of the special-shaped cam; in a case where the rotation angle is in the first range, controlling the motor to move, so that the rotation angle is monotonously transformed in a second range, to obtain angle transformation information and torque transformation information, wherein the second range set in advance is used for limiting a transformation range of the rotation angle when a target angle is detected, the angle transformation information is the rotation angle corresponding to each time period in a monotonous transformation process, and the torque transformation information is a torque change amount of the motor in each time period in the monotonous transformation process; and determining a target angle corresponding to a mechanical zero of the special-shaped cam according to the angle transformation information and the torque transformation information.

[0008] Optionally, the target action is determined by a first adjustment speed and a first adjustment direction, and the controlling the motor to perform the target action, so that the rotation angle is in the first range, comprises: in response to the rotation angle not being in the first range, determining the first adjustment speed and the first adjustment direction according to the rotation angle; and controlling the motor to move in the first adjustment direction at the first adjustment speed, until the rotation angle collected in real time is in the first range.

[0009] Optionally, at least one groove is arranged on the special-shaped cam, and the at least one groove is used for controlling the transfer assembly to switch between at least one preset control gear to realize time-sharing four-wheel drive of the vehicle, and before the determining the first adjustment speed and the first adjustment direction according to the rotation angle, the method further comprises: determining a target groove from the at least one groove according to the mechanical zero of the special-shaped cam; determining a numerical upper limit and a numerical lower limit of the first range according to a size of the target groove; and in response to the rotation angle being less than the numerical lower limit of the first range or the rotation angle being greater than the numerical upper limit of the first range, determining that the rotation angle is not in the first range.

[0010] Optionally, before the controlling the motor to move, so that the rotation angle is monotonously transformed in the second range to obtain the angle transformation information and the torque transformation information, the method further comprises: determining a second adjustment speed and a second adjustment direction according to the rotation angle collected in real time; controlling the motor to move in the second adjustment direction at the second adjustment speed, until the current matching position between the motor and the special-shaped cam reaches a preset waiting position to enter a waiting process; and in response to the motor not having an action within a preset time range, ending the waiting process.

[0011] Optionally, the angle transformation information comprises first angle transformation data and second angle transformation data, the torque transformation information comprises first torque transformation data and second torque transformation data, the control of the motor to move so that the rotation angle monotonously transforms in the second range to obtain the angle transformation information and the torque transformation information comprises: control of the motor to move in the first direction so that the rotation angle transforms from the numerical upper limit of the second range to the numerical lower limit of the second range to obtain the first angle transformation data and the first torque transformation data; control of the motor to move in the second direction so that the rotation angle transforms from the numerical lower limit of the second range to the numerical upper limit of the second range to obtain the second angle transformation data and the second torque transformation data, wherein the second direction is opposite to the first direction.

[0012] Optionally, the determination of the target angle corresponding to the mechanical zero of the special-shaped cam according to the angle transformation information and the torque transformation information comprises: determination of a first candidate angle corresponding to the mechanical zero of the special-shaped cam according to the first angle transformation data and the first torque transformation data; determination of a second candidate angle corresponding to the mechanical zero of the special-shaped cam according to the second angle transformation data and the second torque transformation data; mean calculation of the first candidate angle and the second candidate angle to obtain the target angle corresponding to the mechanical zero of the special-shaped cam.

[0013] Optionally, the determination of the first candidate angle corresponding to the mechanical zero of the special-shaped cam according to the first angle transformation data and the first torque transformation data comprises: in the process of control of the motor to move in the first direction, determination of the current real-time collected rotation angle as the first candidate angle according to the first angle transformation data and the first torque transformation data when it is determined that the torque change amount of the motor in the preset number of continuous time periods first exceeds the preset threshold value; and the determination of the second candidate angle corresponding to the mechanical zero of the special-shaped cam according to the second angle transformation data and the second torque transformation data comprises: in the process of control of the motor to move in the second direction, determination of the current real-time collected rotation angle as the second candidate angle according to the second angle transformation data and the second torque transformation data when it is determined that the torque change amount of the motor in the preset number of continuous time periods first exceeds the preset threshold value.

[0014] According to another aspect of the embodiment of the present application, a device for determining the mechanical zero of a special-shaped cam in a transfer case assembly is further provided, characterized in that comprising:

[0015] The acquisition module is configured to acquire a rotation angle of the special-shaped cam in the transmission mechanism, wherein the rotation angle is determined by a current matching position between the motor and the special-shaped cam, and the special-shaped cam is used to assist the transfer case assembly in performing the time-sharing four-wheel drive control on the vehicle; the adjustment module is configured to control the motor to perform a target action, so that the rotation angle is within a first range, wherein the first range is determined in advance by size information of the special-shaped cam; the transformation module is configured to, in a case where the rotation angle is within the first range, control the motor to move, so that the rotation angle is monotonously transformed within a second range, to obtain angle transformation information and torque transformation information, wherein the second range that is set in advance is used to limit a transformation range of the rotation angle when a target angle is detected, the angle transformation information is the rotation angle corresponding to each time period in a plurality of time periods of the monotonous transformation process, and the torque transformation information is a torque change amount of the motor in each time period of the plurality of time periods; and the determination module is configured to determine a target angle corresponding to a mechanical zero position of the special-shaped cam according to the angle transformation information and the torque transformation information.

[0016] Optionally, the target action is determined by a first adjustment speed and a first adjustment direction, and the adjustment module is further configured to: in response to the rotation angle not being within the first range, determine the first adjustment speed and the first adjustment direction according to the rotation angle; and control the motor to move in the first adjustment direction at the first adjustment speed, until the rotation angle that is collected in real time is within the first range.

[0017] Optionally, at least one groove is arranged on the special-shaped cam, and the at least one groove is used to control the transfer case assembly to switch between at least one preset control gear to achieve the time-sharing four-wheel drive of the vehicle, and before the determination of the first adjustment speed and the first adjustment direction according to the rotation angle, the method for determining the mechanical zero position of the special-shaped cam in the transfer case assembly further includes: a first determination module configured to determine a target groove from the at least one groove according to the mechanical zero position of the special-shaped cam; determine a numerical upper limit and a numerical lower limit of the first range according to a size of the target groove; and in response to the rotation angle being less than the numerical lower limit of the first range or the rotation angle being greater than the numerical upper limit of the first range, determine that the rotation angle is not within the first range.

[0018] Optionally, before the control of the motor to move, so that the rotation angle is monotonously transformed within the second range to obtain the angle transformation information and the torque transformation information, the method for determining the mechanical zero position of the special-shaped cam in the transfer case assembly further includes: a second adjustment module configured to determine a second adjustment speed and a second adjustment direction according to the rotation angle that is collected in real time; control the motor to move in the second adjustment direction at the second adjustment speed, until a current matching position between the motor and the special-shaped cam reaches a preset waiting position and enters a waiting process; and in response to the motor not having an action within a preset time range, end the waiting process.

[0019] Optionally, the angle transformation information includes first angle transformation data and second angle transformation data, and the torque transformation information includes first torque transformation data and second torque transformation data, and the transformation module is further configured to: control the motor to move in the first direction, so that the rotation angle is transformed from the upper limit of the second range to the lower limit of the second range, to obtain the first angle transformation data and the first torque transformation data; control the motor to move in the second direction, so that the rotation angle is transformed from the lower limit of the second range to the upper limit of the second range, to obtain the second angle transformation data and the second torque transformation data, wherein the second direction is opposite to the first direction.

[0020] Optionally, the determination module is further configured to: determine a first candidate angle corresponding to the mechanical zero position of the special-shaped cam according to the first angle transformation data and the first torque transformation data; determine a second candidate angle corresponding to the mechanical zero position of the special-shaped cam according to the second angle transformation data and the second torque transformation data; and perform mean value calculation on the first candidate angle and the second candidate angle to obtain the target angle corresponding to the mechanical zero position of the special-shaped cam.

[0021] Optionally, the determination module is further configured to: during the process of controlling the motor to move in the first direction, determine the first candidate angle as the current rotation angle when it is determined for the first time that the torque change amount of the motor exceeds a preset threshold in a preset number of continuous time periods according to the first angle transformation data and the first torque transformation data; and during the process of controlling the motor to move in the second direction, determine the second candidate angle as the current rotation angle when it is determined for the first time that the torque change amount of the motor exceeds a preset threshold in a preset number of continuous time periods according to the second angle transformation data and the second torque transformation data.

[0022] According to another aspect of the embodiments of the present application, a vehicle part-time four-wheel drive control method is also provided, which comprises: obtaining a rotation angle and a target angle, wherein the rotation angle is determined by a current matching position between a motor and a special-shaped cam in a transmission mechanism, the rotation angle is collected by an angle sensor in a transfer assembly, the special-shaped cam is used to assist the transfer assembly in performing part-time four-wheel drive control on a vehicle, and the target angle is obtained by the method for determining the mechanical zero position of the special-shaped cam in any one of the foregoing transfer assemblies; determining a target gear from at least one preset control gear according to the rotation angle, the target angle, and a setting position of at least one groove on the special-shaped cam; and controlling the vehicle to perform one of the following drive operations according to the target gear: compressing a clutch, and transmitting engine torque to a front differential and a rear differential; compressing the clutch, and transmitting engine torque to one of the front differential and the rear differential; and locking the transmission mechanism, and transmitting engine torque to the front differential and the rear differential.

[0023] According to a further aspect of the embodiments of the present application, a vehicle is also provided, which comprises an in-vehicle memory and an in-vehicle processor, the in-vehicle memory stores a computer program, and the in-vehicle processor is configured to execute the computer program to perform the method for determining the mechanical zero position of the special-shaped cam in the transfer assembly or the vehicle part-time four-wheel drive control method.

[0024] In the embodiments of the present application, the rotation angle of the special-shaped cam in the transmission mechanism is first acquired, then the motor is controlled to perform a target action so that the rotation angle is within a first range, and then the motor is controlled to move so that the rotation angle is monotonously transformed within a second range to obtain angle transformation information and torque transformation information, and finally, the target angle corresponding to the mechanical zero position of the special-shaped cam is determined according to the angle transformation information and the torque transformation information.

[0025] It can be understood that the above method provided by the present application determines the target angle corresponding to the mechanical zero position of the special-shaped cam based on the angle transformation information and the torque transformation information acquired when the rotation angle is transformed under the condition that the motor performs a target action, so as to accurately determine the mechanical zero position of the special-shaped cam, thereby improving the accuracy of the target angle corresponding to the mechanical zero position of the special-shaped cam, reducing the influence of the assembly error of the transfer assembly on the target angle corresponding to the mechanical zero position of the special-shaped cam, and further solving the technical problem that the assembly error of the transfer assembly provided by the related art causes the mechanical zero position of the special-shaped cam to be unable to be accurately determined. BRIEF DESCRIPTION OF DRAWINGS

[0026] The accompanying drawings, which are included to provide a further understanding of the present application, form a part of the present application and illustrate the illustrative embodiments of the present application and the explanation of the present application, and do not constitute improper limitations on the present application. In the drawings:

[0027] Figure 1 is a hardware structure block diagram of an optional vehicle terminal for a method for determining a mechanical zero position of a special-shaped cam in a transfer assembly according to an embodiment of the present application;

[0028] Figure 2 is a flowchart of a method for determining a mechanical zero position of a special-shaped cam in a transfer assembly according to an embodiment of the present application;

[0029] Figure 3 is a schematic diagram of an optional transfer assembly according to an embodiment of the present application;

[0030] Figure 4 is a schematic diagram of a process for determining a mechanical zero position of a special-shaped cam in an optional transfer assembly according to an embodiment of the present application;

[0031] Figure 5is a structural schematic diagram of an optional special-shaped cam according to an embodiment of the present application;

[0032] Figure 6 is a structural block diagram of a mechanical zero position device for determining a special-shaped cam in a transfer assembly according to an embodiment of the present application. DETAILED DESCRIPTION

[0033] In order to make the personnel in the technical field better understand the present application scheme, the technical scheme in the embodiment of the present application will be described clearly and completely in the following by combining the drawings in the embodiment of the present application. Obviously, the described embodiment is only a part of the embodiment of the present application, not all. Based on the embodiment in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the scope of protection of the present application.

[0034] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0035] According to an embodiment of the present application, a method embodiment of a method for determining a mechanical zero position of a special-shaped cam in a transfer assembly is provided. It should be noted that the steps shown in the flowchart of the drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that shown herein.

[0036] Figure 1 is a hardware structural block diagram of a vehicle terminal for a method for determining a mechanical zero position of a special-shaped cam in a transfer assembly according to an embodiment of the present application, such as Figure 1As shown, the vehicle terminal 10 (or a mobile device 10 that communicates with the vehicle) may include one or more processors 102 (processors 102 may include, but are not limited to, processing devices such as microprocessors (MCUs) or field-programmable gate arrays (FPGAs),) a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may also include: a display device 110, an input / output device 108 (i.e., I / O devices), a universal serial bus (USB) port (which may be included as one of the ports of a BUS bus, not shown in the figure), a network interface (not shown in the figure), a power supply (not shown in the figure), and / or a camera (not shown in the figure). Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the vehicle terminal 1 described above. For example, the vehicle terminal 10 may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0037] It should be noted that the aforementioned one or more processors 102 and / or other data processing circuits may be embodied, in whole or in part, as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the vehicle terminal 10 (or mobile device).

[0038] The memory 104 can be used to store software programs and modules for application software, such as the program instructions / data storage device corresponding to the method for determining the mechanical zero position of the irregular cam in the transfer case assembly of this embodiment. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the aforementioned method for determining the mechanical zero position of the irregular cam in the transfer case assembly. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the vehicle terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0039] The transmission device 106 is configured to receive or send data via a network. The network can include a wireless network provided by a communication provider of the vehicle terminal 10. In one example, the transmission device 106 includes a network interface controller (NIC) that can be connected to other network devices through a base station to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module that is configured to communicate with the Internet wirelessly.

[0040] In the above operating environment, the embodiment of the present application provides a method for determining the mechanical zero position of a special-shaped cam in a transfer assembly, as shown in Figure 2 Figure 2 is a flow chart of a method for determining the mechanical zero position of a special-shaped cam in a transfer assembly according to the embodiment of the present application, as shown in Figure 2 Figure 2 The embodiment shown in

[0041] In step S21, the rotation angle of the special-shaped cam in the transmission mechanism is obtained, wherein the rotation angle is determined by the current matching position between the motor and the special-shaped cam, and the special-shaped cam is used to assist the transfer assembly in performing the time-sharing four-wheel drive control on the vehicle.

[0042] Figure 3 is a schematic diagram of an optional transfer assembly according to the embodiment of the present application, as shown in Figure 3 The engine 301 is configured to provide power for the vehicle. The transmission 302 is configured to change the transmission ratio of the vehicle, so as to change the driving speed of the vehicle and the size of the torque on the driving wheels of the vehicle. The input shaft 303 is configured to input the power output by the transmission 302 to the transfer assembly 315. The transfer assembly 315 is configured to distribute the power output by the transmission 302 to each driving axle, and also functions as a sub-transmission. The motor 304 is configured to convert mechanical energy into electrical energy, and provide a power source for each mechanical device of the vehicle. The controller 305 is configured to comprehensively control the vehicle, including but not limited to: starting and stopping, gear shifting, fault diagnosis, and vehicle state monitoring. The transmission mechanism 306 is configured to transmit power. The planetary gear set 307 is configured to process the input power to output power with different transmission ratios.

[0043] Still as Figure 3 ​​The clutch 308 is used to cut off or transmit the power output by the engine 301, the front output shaft 308 and the rear output shaft 309 are used to transmit the power output by the transfer assembly 315 to the front differential 313 and the rear differential 310 respectively, the front differential 313 and the rear differential 310 are used to adjust the rotating speeds of the front wheels and the rear wheels respectively, and the front wheels and the rear wheels roll at different rotating speeds under different working conditions of the vehicle, and the sprocket 311 and the chain 312 are meshed with each other and are used to transmit the power inside the transfer assembly 315.

[0044] In an optional solution provided by the present application, it should be noted that the present application is based on the motor 304 driving the cam disc with the fork arm, so that the torque changes when the matching position of the fork arm and the special-shaped cam is at the mechanical zero position (such as the center of the groove), and the mechanical zero position of the special-shaped cam is accurately determined.

[0045] In an optional solution provided by the above step S21, the transmission mechanism (306) can be used to transmit the power generated by the power equipment (such as the generator 301) to other equipment (such as the wheels) of the vehicle. Figure 3 The special-shaped cam is one of the core components of the transfer assembly (315) of the vehicle, and can be a non-circular cam and can have a complex and diverse profile shape. Figure 3 Figure 3 In an optional solution provided by the above step S21, the motor (304) is used to drive the cam disc with the fork arm, so that the matching position of the fork arm and the special-shaped cam is at different positions (such as the center of the groove, the left side of the groove, and the right side of the groove), thereby controlling the vehicle to operate under different working conditions.

[0046] In an optional solution provided by the above step S21, the motor (304) is used to drive the cam disc with the fork arm, so that the matching position of the fork arm and the special-shaped cam is at different positions (such as the center of the groove, the left side of the groove, and the right side of the groove), thereby controlling the vehicle to operate under different working conditions. Figure 3 The part-time four-wheel drive is a driving mode of the four-wheel drive vehicle, and specifically, the user of the vehicle can realize the two-wheel drive or four-wheel drive mode by turning on or off the transfer assembly (315) according to the road surface condition. Figure 3

[0047] In an optional solution provided by the present application, the rotating angle of the special-shaped cam in the transmission mechanism is obtained, and the specific method can be that an angle sensor is assembled in the transmission mechanism of the vehicle, and the rotating angle of the special-shaped cam is directly detected by using the angle sensor.

[0048] In step S22, the motor is controlled to perform a target action, so that the rotating angle is in a first range, and the first range is determined in advance by the size information of the special-shaped cam.

[0049] ​​In an optional solution of the step S22, the target action can be that the motor rotates in a specific direction (e.g., positive direction or negative direction, clockwise direction or counterclockwise direction) at a specific speed (which can be a preset speed). The first range can be a range of angles that is determined in advance according to the size or position of the special-shaped cam (the size information), and specifically, for example, the first range can be (-10°, 10°).

[0050] In the step S23, when the rotation angle is within the first range, the motor is controlled to move so that the rotation angle monotonously changes within a second range to obtain angle change information and torque change information, where the second range is preset to define a change range of the rotation angle when the target angle is detected, the angle change information is the rotation angle corresponding to each time period in the monotonous change process, and the torque change information is the torque change amount of the motor in each time period in the monotonous change process.

[0051] In an optional solution of the step S23, the second range can be a range of angles that is preset by a technician, and specifically, for example, the second range can be (-5°, 5°). It can be understood that the second range is smaller than the first range. The target angle can be an angle corresponding to the mechanical zero position of the special-shaped cam, and it is also to be noted that, when the differential assembly is assembled, the angle zero position of the angle sensor corresponds to the mechanical zero position of the special-shaped cam in the case that there is no assembly error of the angle sensor, that is, the rotation angle measured by the angle sensor at the angle zero position can be used as the target angle corresponding to the mechanical zero position of the special-shaped cam.

[0052] In the step S24, the target angle corresponding to the mechanical zero position of the special-shaped cam is determined according to the angle change information and the torque change information.

[0053] In an optional solution of the present application, the target angle corresponding to the mechanical zero position of the special-shaped cam is determined according to the angle change information and the torque change information, and the specific method can be that the angle change condition and the torque change condition are preset, the multiple feedback angles measured by the angle sensor are recorded when the angle change information satisfies the angle change condition and the torque change information satisfies the torque change condition, and further, the average of the multiple feedback angles is calculated to obtain the target angle corresponding to the mechanical zero position of the special-shaped cam.

[0054] In the embodiment of the present application, the rotation angle of the special-shaped cam in the transmission mechanism is first acquired, then the motor is controlled to perform a target action so that the rotation angle is within a first range, and then the motor is controlled to move so that the rotation angle is monotonously transformed within a second range to obtain angle transformation information and torque transformation information, and finally, the target angle corresponding to the mechanical zero position of the special-shaped cam is determined according to the angle transformation information and the torque transformation information.

[0055] It can be understood that the above method provided by the present application determines the target angle corresponding to the mechanical zero position of the special-shaped cam based on the angle transformation information and the torque transformation information acquired when the rotation angle is transformed under the condition that the motor performs the target action, so that the purpose of accurately determining the mechanical zero position of the special-shaped cam is achieved, thereby realizing the purposes of improving the accuracy of the target angle corresponding to the mechanical zero position of the special-shaped cam, reducing the influence of the assembly error of the transfer case assembly on the target angle corresponding to the mechanical zero position of the special-shaped cam, and further solving the technical problem that the assembly error of the transfer case assembly provided by the related art causes the mechanical zero position of the special-shaped cam to be unable to be accurately determined.

[0056] The above method of the embodiment of the present application will be further described below.

[0057] In an optional embodiment, before the rotation angle of the special-shaped cam in the transmission mechanism is acquired, the above transfer case assembly is initialized, and the initialization process can include but is not limited to: initializing the angle sensor so that the initial angle value measured by the angle sensor is 0; initializing the state parameter of the transmission mechanism so that the initial transmission torque is 0; initializing the time parameter so that it is consistent with the actual time; and initializing the command of the motor (such as rotating in a specific direction).

[0058] In an optional embodiment, in the step S22, the target action is determined by a first adjustment speed and a first adjustment direction, and the motor is controlled to perform the target action so that the rotation angle is within the first range, which includes:

[0059] In step S221, the first adjustment speed and the first adjustment direction are determined according to the rotation angle in response to the rotation angle not being within the first range;

[0060] In step S222, the motor is controlled to move in the first adjustment direction at the first adjustment speed until the real-time collected rotation angle is within the first range.

[0061] In an optional solution provided by the above step S221 to step S222, the first adjustment angle can be the rotation speed of the motor corresponding to the first adjustment direction. The first adjustment direction can be positive rotation or negative movement. It should be noted that when the motor is in the initial state and the rotation angle is within the first range, the first adjustment angle is determined byFigure 3 The controller 305 shown controls the motor to maintain its current operating condition.

[0062] The following combination Figure 4 The above methods will be further explained.

[0063] Figure 4 This is a schematic diagram illustrating the process of determining the mechanical zero position of an irregularly shaped cam in an optional transfer case assembly according to an embodiment of the present invention, as shown below. Figure 4 As shown, when it is necessary to detect the mechanical zero position of an irregularly shaped cam, the following method is used: Figure 3 The controller 305 shown controls the transfer case assembly 315 to enter the mechanical zero-position learning mode and performs initialization processing on the transfer case assembly. At this time, the initial rotation angle of the mechanical zero position of the irregular cam in the transmission mechanism 306 is obtained by using the angle sensor.

[0064] Still as Figure 4 As shown, it is determined whether the initial angle meets the first range (-10°, 10°). When the initial angle meets the first range, the motor is kept in the current operating condition, that is, it moves towards the preset detection point (CheckPoint) at the current speed (CheckSpeed). When the initial angle does not meet the first range, it is determined whether the initial angle meets the first adjustment range (i.e., the rotation angle is less than -10°). When the initial angle meets the first adjustment range, the first adjustment speed is determined to be PosReturnSpeed ​​and the first adjustment direction is positive. Then, the motor is controlled to move along the first adjustment direction at the first adjustment speed until the rotation angle detected by the angle sensor is within the first range. When the initial angle does not meet the first adjustment range, it is determined whether the initial angle meets the second adjustment range (i.e., the rotation angle is greater than 10°). When the initial angle meets the second adjustment range, the first adjustment speed is determined to be NegReturnSpeed ​​and the first adjustment direction is negative. Then, the motor is controlled to move along the first adjustment direction at the first adjustment speed until the rotation angle detected by the angle sensor is within the first range.

[0065] In an optional embodiment, the irregularly shaped cam is provided with at least one groove, the at least one groove being used to control the transfer case assembly to switch between at least one preset control gear to achieve part-time four-wheel drive of the vehicle. Before determining the first adjustment speed and the first adjustment direction based on the rotation angle, the method for determining the mechanical zero position of the irregularly shaped cam in the transfer case assembly further includes:

[0066] Step S51: Determine the target groove from at least one groove based on the mechanical zero position of the irregular cam;

[0067] Step S52: Determine the upper and lower limits of the first range based on the size of the target groove.

[0068] Step S53, in response to the rotation angle being less than the lower limit of the first range or the rotation angle being greater than the upper limit of the first range, determining that the rotation angle is not in the first range.

[0069] In an optional solution of the present application, the preset control gear can be one or more control gears that the vehicle transfer can achieve, different control gears can be used to drive the vehicle in different modes, and the preset control gear can include but is not limited to: four-wheel drive high gear, two-wheel drive high gear, four-wheel drive low gear. The target groove can be a groove corresponding to the mechanical zero position of the special-shaped cam. It should be noted that, assuming that the target groove has a groove left end and a groove right end, when the motor drives the cam disc with the fork arm, the matching position of the fork arm and the special-shaped cam is at the groove left end, the rotation angle obtained by the angle sensor at this time can be determined as the lower limit of the first range. Similarly, when the motor drives the cam disc with the fork arm, the matching position of the fork arm and the special-shaped cam is at the groove right end, the rotation angle obtained by the angle sensor at this time can be determined as the upper limit of the first range.

[0070] The above method is further described below. Figure 3 , Figure 5 The above method is further described below.

[0071] Figure 5 is a structural schematic diagram of an optional special-shaped cam according to an embodiment of the present application, as Figure 5As shown, the special-shaped cam is provided with a first position, a second position, and a third position. As an optional embodiment, the second position can be a target groove corresponding to the mechanical zero position of the special-shaped cam. When the motor 304 drives the cam disc with the fork arm, and the matching position of the fork arm and the special-shaped cam rotates from the leftmost end of the second position to the rightmost end, the rotation angle measured when the motor is at the leftmost end of the second position is determined as the lower limit of the first range (for example, -10°), and the rotation angle measured when the motor is at the rightmost end of the second position is determined as the upper limit of the first range (for example, 10°). It should be noted here that since the above-mentioned method provided by the present application aims to determine the mechanical zero position of the special-shaped cam in the transfer assembly, the effective angle range corresponding to the rotation angle of the special-shaped cam obtained by the angle sensor is the above-mentioned first range. When the rotation angle of the special-shaped cam obtained by the angle sensor does not satisfy the above-mentioned first range, for example, the rotation angle obtained when the special-shaped cam rotates between the first position and the second position, the rotation angle obtained when the special-shaped cam rotates between the second position and the third position, and the rotation angle obtained when the special-shaped cam rotates between the first position and the third position, at this time, the motor 304 needs to be continuously driven by the controller 305 to change the matching position of the fork arm and the special-shaped cam to different positions, so that the rotation angle of the special-shaped cam obtained by the angle sensor is within the above-mentioned first range.

[0072] In an optional embodiment, before the motor is controlled to move so that the rotation angle monotonically changes within the second range to obtain the angle transformation information and the torque transformation information, the method for determining the mechanical zero position of the special-shaped cam in the transfer assembly further comprises:

[0073] Step S61, determining the second adjustment speed and the second adjustment direction according to the real-time collected rotation angle;

[0074] Step S62, controlling the motor to move in the second adjustment direction at the second adjustment speed until the current matching position between the motor and the special-shaped cam reaches the preset waiting position, and entering a waiting process;

[0075] Step S63, in response to the motor not having any action within the preset time range, ending the waiting process.

[0076] In an optional solution provided by the above-mentioned steps S61 to S63, the second adjustment speed and the second adjustment direction can be the rotation speed and the rotation direction of the motor corresponding to the rotation of the special-shaped cam within the second range, which are preset by the technician. It should be noted here that the second adjustment speed is usually smaller than the first adjustment speed. Specifically, when the special-shaped cam is not rotating within the second range, the motor is controlled to rotate at a higher speed, and when the special-shaped cam is rotating within the second range, the motor is controlled to rotate at a lower speed.

[0077] In an optional solution of the steps S61-S63, the preset waiting position can be a position to be detected corresponding to the mechanical zero position of the profiled cam. The preset waiting position can be a specific position or a specific position range. The preset time range can be a specific time range (e.g., 5 s) determined by the technician based on the normal operation state of the motor. The preset time range can avoid the problem of low detection efficiency or failure to detect the mechanical zero position of the profiled cam caused by the long time of the motor in the waiting process.

[0078] As shown in FIG. 3, Figure 3 5 When the rotation angle of the profiled cam obtained by the angle sensor is within the first range, it is determined whether the profiled cam reaches the preset waiting position (CheckPoint). When the profiled cam reaches the preset waiting position, the controller 305 controls the motor 304 to enter the waiting process. At this time, the motor 304 stops moving. Then, when the waiting time of the motor 304 meets the preset time range (TimeDelay), the motor 304 is controlled to end the waiting process and enter the subsequent detection process of the mechanical zero position of the profiled cam.

[0079] In the optional embodiment, the second adjustment speed is less than the first adjustment speed, which can improve the execution efficiency of the method for determining the mechanical zero position of the profiled cam in the transfer case assembly and avoid the problem of inaccurate determination of the mechanical zero position of the profiled cam caused by the inconsistency between the rotation angle obtained by the angle sensor and the actual rotation angle due to the excessively high rotation speed of the motor. In addition, when the current matching position between the motor and the profiled cam reaches the preset waiting position, the motor is controlled to enter the waiting process, which can avoid the influence of the torque mutation of the motor caused by the sudden change of the rotation speed of the motor due to the change of the rotation direction of the motor, thereby avoiding the problem of inaccurate determination of the mechanical zero position of the profiled cam caused by the torque mutation of the motor and improving the execution efficiency of the method for determining the mechanical zero position of the profiled cam in the transfer case assembly.

[0080] In an optional embodiment, in the step S23, the angle transformation information includes first angle transformation data and second angle transformation data, and the torque transformation information includes first torque transformation data and second torque transformation data. The motor is controlled to move such that the rotation angle monotonously transforms within the second range, and the angle transformation information and the torque transformation information include:

[0081] In step S231, the motor is controlled to move in the first direction such that the rotation angle transforms from the upper limit of the second range to the lower limit of the second range, and the first angle transformation data and the first torque transformation data are obtained.

[0082] ​Step S232, control the motor to move in the second direction, so that the rotation angle is transformed from the lower limit of the second range to the upper limit of the second range, to obtain the second angle transformation data and the second torque transformation data, wherein the second direction is opposite to the first direction;

[0083] As an optional implementation, the first direction is positive, and the second direction is negative. At this time, the motor is controlled to move in the positive direction, so that the rotation angle is transformed from the upper limit of the second range to the lower limit of the second range (for example, from 5° to -5°), to obtain the positive direction angle transformation data (the first angle transformation data) and the positive direction torque transformation data (the first torque transformation data), and the motor is controlled to move in the negative direction, so that the rotation angle is transformed from the lower limit of the second range to the upper limit of the second range (for example, from -5° to 5°), to obtain the negative direction angle transformation data (the second angle transformation data) and the negative direction torque transformation data (the second torque transformation data).

[0084] In an optional embodiment, in the step S24, the target angle corresponding to the mechanical zero of the profiled cam is determined according to the angle transformation information and the torque transformation information, including:

[0085] Step S241, determining the first candidate angle corresponding to the mechanical zero of the profiled cam according to the first angle transformation data and the first torque transformation data;

[0086] Step S242, determining the second candidate angle corresponding to the mechanical zero of the profiled cam according to the second angle transformation data and the second torque transformation data;

[0087] Step S243, performing mean value calculation on the first candidate angle and the second candidate angle to obtain the target angle corresponding to the mechanical zero of the profiled cam.

[0088] As an optional implementation, the first direction is positive, and the second direction is negative. Correspondingly, the first angle transformation data is the positive direction angle transformation data, the first torque transformation data is the positive direction torque transformation data, and the first candidate angle is the positive direction candidate angle. The second angle transformation data is the negative direction angle transformation data, the second torque transformation data is the negative direction torque transformation data, and the second candidate angle is the negative direction candidate angle. It can be understood that performing mean value calculation on the positive direction candidate angle and the negative direction candidate angle can obtain the target angle corresponding to the mechanical zero of the profiled cam.

[0089] In an optional embodiment, the first candidate angle corresponding to the mechanical zero of the profiled cam is determined according to the first angle transformation data and the first torque transformation data, including:

[0090] Step S2411, during the process of controlling the motor to move in the first direction, according to the first angle conversion data and the first torque conversion data, when it is determined that the torque variation of the motor exceeds a preset threshold for the first time in a preset number of continuous time periods, the current rotation angle collected in real time is determined as the first candidate angle.

[0091] According to the second angle conversion data and the second torque conversion data, the second candidate angle corresponding to the mechanical zero of the special-shaped cam is determined.

[0092] Step S2422, during the process of controlling the motor to move in the second direction, according to the second angle conversion data and the second torque conversion data, when it is determined that the torque variation of the motor exceeds a preset threshold for the first time in a preset number of continuous time periods, the current rotation angle collected in real time is determined as the second candidate angle.

[0093] In an optional solution of the above steps S2411 and S2422, the preset number of continuous time periods can be five periods, and the preset threshold can be a torque threshold (such as 0.02) meeting the determination of the mechanical zero of the special-shaped cam.

[0094] The above method is further described below. Figure 3 , 5 The above method is further described below.

[0095] Still as shown in Figure 3 , 5 , when the motor 304 ends the above waiting process, the controller 305 is used to control the motor 304 to move in the first direction at a CheckSpeed speed, and a flag bit Check is set. Under this condition, it is judged whether the rotation angle obtained by the angle sensor is outside the lower limit of the above first range (for example, the rotation angle is less than or equal to -10°).

[0096] Still as shown in Figure 3 , 5As shown, further, when the rotation angle acquired by the angle sensor is within the lower limit of the first range (e.g., the rotation angle is greater than -10°), the control motor 304 maintains the current rotation direction as the first direction. When the torque change of the motor within five cycles (the aforementioned preset number of consecutive time cycles) is greater than or equal to 0.02 (the aforementioned preset threshold), and the rotation angle is less than or equal to the upper limit of the set detection angle (denoted as CheckMax, e.g., 5°), the current rotation angle acquired by the angle sensor is recorded as the aforementioned first candidate angle (denoted as Pos1). And, when the rotation angle acquired by the angle sensor is outside the lower limit of the first range, the control motor 304 switches the rotation direction to the second direction. When the torque change of the motor within five cycles (the aforementioned preset number of consecutive time cycles) is greater than or equal to 0.02 (the aforementioned preset threshold), and the rotation angle is greater than or equal to the lower limit of the set detection angle (denoted as CheckMin, e.g., -5°), the flag bit is kept at Check = 1, and the current rotation angle acquired by the angle sensor is recorded as the aforementioned second candidate angle (denoted as Pos2).

[0097] Still as Figure 3 , 5 As shown, further, by averaging the first candidate angle and the second candidate angle, the target angle (denoted as Pos) corresponding to the mechanical zero position of the irregular cam can be obtained as shown in the following formula (1):

[0098]

[0099] The technical effects that can be achieved in the above optional embodiments are as follows:

[0100] (1) Set the upper limit of the detection angle CheckMax and the upper limit of the detection angle CheckMin, and set the range of the detection angle [CheckMin, CheckMax] to be less than the first range. Within this detection angle range, the target angle of the mechanical zero position of the irregular cam is detected. This can avoid the error of identifying the position corresponding to the torque change of the motor when entering the first range as the mechanical zero position of the irregular cam when the first range is directly used as the detection angle, which leads to the error of the judgment of the mechanical zero position of the irregular cam. That is, the method for determining the mechanical zero position of the irregular cam in the transfer case assembly provided by the present invention improves the accuracy of the target angle of the mechanical zero position of the irregular cam.

[0101] (2) In the detection of the target angle of the mechanical zero of the special-shaped cam, a flag bit Check is set, and the state of the motor rotating in a specific direction (such as the first direction) after the reuse of the motor ending waiting process can be obtained. Specifically, when the motor enters the rotating state corresponding to the specific direction multiple times, and the corresponding candidate angle is retained when the flag bit satisfies the preset value (such as Check = 1), the problem of low detection efficiency caused by the long time of the motor in the rotating state in the specific direction can be avoided.

[0102] (3) Based on the mean value of the first candidate angle obtained when the motor moves in the first direction and the second candidate angle obtained when the motor moves in the second direction, the mechanical zero of the special-shaped cam is determined, which can eliminate the error of using a single direction to obtain the candidate angle as the mechanical zero of the special-shaped cam, thereby improving the accuracy of the mechanical zero of the special-shaped cam.

[0103] According to the embodiment, a device for determining the mechanical zero of a special-shaped cam in a transfer assembly is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and will not be described again. As used below, a "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware or a combination of software and hardware is also possible and contemplated.

[0104] Figure 6 A device for determining the mechanical zero of a special-shaped cam in a transfer assembly according to an embodiment of the present application is shown in the structural block diagram as Figure 6 The device comprises:

[0105] The acquisition module 601 is configured to acquire a rotating angle of the special-shaped cam in the transmission mechanism, wherein the rotating angle is determined by a current matching position between the motor and the special-shaped cam, and the special-shaped cam is used to assist the transfer assembly in performing time-sharing four-wheel drive control on the vehicle.

[0106] The adjustment module 602 is configured to control the motor to perform a target action, so that the rotating angle is within a first range, wherein the first range is determined in advance by size information of the special-shaped cam.

[0107] The transformation module 603 is configured to control the motor to move when the rotating angle is within the first range, so that the rotating angle is monotonously transformed within a second range to obtain angle transformation information and torque transformation information, wherein the second range is set in advance to limit the transformation range of the rotating angle when detecting the target angle, the angle transformation information is the rotating angle corresponding to each time period in the monotonous transformation process, and the torque transformation information is the torque change amount of the motor in each time period in the monotonous transformation process.

[0108] The determining module 604 is configured to determine a target angle corresponding to the mechanical zero position of the special-shaped cam according to the angle transformation information and the torque transformation information.

[0109] Optionally, the target action is determined by a first adjustment speed and a first adjustment direction, and the adjusting module 602 is further configured to: in response to the rotation angle not being in the first range, determine the first adjustment speed and the first adjustment direction according to the rotation angle; and control the motor to move in the first adjustment direction at the first adjustment speed until the real-time collected rotation angle is in the first range.

[0110] Optionally, the special-shaped cam is provided with at least one groove, and the at least one groove is used to control the transfer assembly to switch between at least one preset control gear to realize the part-time four-wheel drive of the vehicle. Before the first adjustment speed and the first adjustment direction are determined according to the rotation angle, the method for determining the mechanical zero position of the special-shaped cam in the transfer assembly further comprises: a first determining module (not shown in the figure) configured to determine a target groove from the at least one groove according to the mechanical zero position of the special-shaped cam; determine the upper limit and the lower limit of the first range according to the size of the target groove; and in response to the rotation angle being less than the lower limit of the first range or the rotation angle being greater than the upper limit of the first range, determine that the rotation angle is not in the first range.

[0111] Optionally, before the motor is controlled to move so that the rotation angle monotonously transforms in the second range to obtain the angle transformation information and the torque transformation information, the method for determining the mechanical zero position of the special-shaped cam in the transfer assembly further comprises: a second adjusting module (not shown in the figure) configured to determine a second adjustment speed and a second adjustment direction according to the real-time collected rotation angle; control the motor to move in the second adjustment direction at the second adjustment speed until the current matching position between the motor and the special-shaped cam reaches a preset waiting position to enter a waiting process; and in response to the motor not having any action within a preset time range, end the waiting process.

[0112] Optionally, the angle transformation information comprises first angle transformation data and second angle transformation data, and the torque transformation information comprises first torque transformation data and second torque transformation data, and the transforming module 603 is further configured to: control the motor to move in a first direction so that the rotation angle transforms from the upper limit of the second range to the lower limit of the second range to obtain the first angle transformation data and the first torque transformation data; and control the motor to move in a second direction so that the rotation angle transforms from the lower limit of the second range to the upper limit of the second range to obtain the second angle transformation data and the second torque transformation data, wherein the second direction is opposite to the first direction.

[0113] Optionally, the determination module 604 is further configured to: determine a first candidate angle corresponding to the mechanical zero position of the special-shaped cam according to the first angle transformation data and the first torque transformation data; determine a second candidate angle corresponding to the mechanical zero position of the special-shaped cam according to the second angle transformation data and the second torque transformation data; and perform mean value calculation on the first candidate angle and the second candidate angle to obtain a target angle corresponding to the mechanical zero position of the special-shaped cam.

[0114] Optionally, the determination module 604 is further configured to: during the process of controlling the motor to move in the first direction, determine the first candidate angle according to the first angle transformation data and the first torque transformation data, when it is determined that the torque variation of the motor exceeds the preset threshold for the first time in a preset number of continuous time periods, and the current rotation angle collected in real time is determined as the first candidate angle; and during the process of controlling the motor to move in the second direction, determine the second candidate angle according to the second angle transformation data and the second torque transformation data, when it is determined that the torque variation of the motor exceeds the preset threshold for the first time in a preset number of continuous time periods, and the current rotation angle collected in real time is determined as the second candidate angle.

[0115] It should be noted that each of the above modules can be implemented by software or hardware, and for the latter, the following implementation manners can be used, but are not limited thereto: all of the above modules are located in the same processor; or the above modules are located in different processors in any combination.

[0116] According to another aspect of the embodiments of the present application, a vehicle part-time four-wheel drive control method is also provided, which comprises: obtaining a rotation angle and a target angle, wherein the rotation angle is determined by the current matching position between a motor and a special-shaped cam in a transmission mechanism, the rotation angle is collected by an angle sensor in a transfer assembly, the special-shaped cam is used to assist the transfer assembly in performing part-time four-wheel drive control on a vehicle, and the target angle is obtained by the method for determining the mechanical zero position of the special-shaped cam in any one of the above-mentioned transfer assemblies; determining a target gear from at least one preset control gear according to the rotation angle, the target angle, and the setting position of at least one groove on the special-shaped cam; and controlling the vehicle to perform one of the following drive operations according to the target gear: compressing a clutch, and transmitting engine torque to a front differential and a rear differential; compressing the clutch, and transmitting engine torque to one of the front differential and the rear differential; and locking the transmission mechanism, and transmitting engine torque to the front differential and the rear differential.

[0117] Still as shown in Figure 3 , 5 , as an optional implementation manner, Figure 5Position 3 shown corresponds to the high gear position of four-wheel drive. Specifically, when the motor 304 drives the cam disc with the fork arm, so that the engagement position of the fork arm and the irregular cam is in position 3, the clutch 308 is engaged according to the torque requirement. The vehicle's power reaches the input shaft 303 of the transfer case assembly 315 through the engine 301 and the transmission 302. At this time, the vehicle's shift gear is in the high gear position. Part of the torque is transmitted to the front output shaft 314 through the clutch 308, sprocket 311 and chain 312, and another part of the torque is transmitted to the rear differential 310 through the rear output shaft 309, thereby realizing the four-wheel drive function of the vehicle.

[0118] Still as Figure 3 , 5 As shown, as another optional implementation, Figure 5 Position 2 shown can correspond to the high gear position of two-wheel drive. Specifically, when the motor 304 drives the cam disc with the fork arm, so that the engagement position of the fork arm and the irregular cam is in position 2, the vehicle's power reaches the input shaft 303 of the transfer case assembly 315 through the engine 301 and the transmission 302. At this time, the vehicle's shift gear is in the high gear position, and the vehicle's power is directly transmitted to the rear differential 310 through the rear output shaft 309, or the vehicle's power is directly transmitted to the front differential 313 through the front output shaft 314, thereby realizing the two-wheel drive function of the vehicle.

[0119] Still as Figure 3 , 5 As shown, as another optional implementation, Figure 5 Position 1 shown corresponds to the low gear of four-wheel drive. Specifically, when the motor 304 drives the cam disc with the fork arm, so that the engagement position of the fork arm and the irregular cam is in position 1, the vehicle's power reaches the input shaft 303 of the transfer case assembly 315 through the engine 301 and the transmission 302. At this time, the vehicle's shift gear is in the low gear. Part of the torque is directly transmitted to the front output shaft 314 through the sprocket 311 and the chain 312, and another part of the torque is transmitted to the rear differential 310 through the rear output shaft 309, thereby realizing the four-wheel drive function of the vehicle.

[0120] According to another aspect of the present invention, a vehicle is also provided, including an on-board memory and an on-board processor. The on-board memory stores a computer program, and the on-board processor is configured to run the computer program to execute the method for determining the mechanical zero position of the irregular cam in the transfer case assembly or the aforementioned vehicle part-time four-wheel drive control method.

[0121] Optionally, in this embodiment, the on-board processor can be configured to perform the following steps via a computer program:

[0122] In step S1, the rotation angle of the special-shaped cam in the transmission mechanism is acquired, wherein the rotation angle is determined by the current matching position between the motor and the special-shaped cam, and the special-shaped cam is used for assisting the transfer assembly to control the time-sharing four-wheel drive of the vehicle.

[0123] In step S2, the motor is controlled to perform a target action, so that the rotation angle is in a first range, wherein the first range is determined in advance by the size information of the special-shaped cam.

[0124] In step S3, when the rotation angle is in the first range, the motor is controlled to move, so that the rotation angle is monotonously transformed in a second range to obtain angle transformation information and torque transformation information, wherein the second range is set in advance to limit the transformation range of the rotation angle when the target angle is detected, the angle transformation information is the rotation angle corresponding to each time period in the monotonous transformation process, and the torque transformation information is the torque change amount of the motor in each time period in the monotonous transformation process.

[0125] In step S4, the target angle corresponding to the mechanical zero position of the special-shaped cam is determined according to the angle transformation information and the torque transformation information.

[0126] Optionally, specific examples in the embodiment can refer to the examples described in the above embodiments and optional implementation manners thereof, and the embodiment will not be described here.

[0127] The above embodiment numbers of the application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0128] In the above embodiments of the application, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0129] In the several embodiments of the present application, it should be understood that the disclosed technology can be implemented in other ways. Of course, the device embodiment described above is only schematic. For example, the division of units can be a logical function division, and there can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, unit or module, and can be electrical or other forms.

[0130] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0131] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0132] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical scheme of the present application or the part of the present application which contributes to the prior art or the whole or part of the technical scheme can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0133] The above is only the preferred embodiment of the present application. It should be noted that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be considered as the protection scope of the present application.

Claims

1. A method of determining mechanical zero of a profile cam in a transfer assembly, characterized by, The method comprises: acquiring a rotation angle of a special-shaped cam in a transmission mechanism, wherein the rotation angle is determined by a current matching position between a motor and the special-shaped cam, and the special-shaped cam is used to assist the transfer assembly in controlling time-sharing four-wheel drive of a vehicle; controlling the motor to perform a target action, so that the rotation angle is within a first range, wherein the first range is determined in advance by size information of the special-shaped cam; when the rotation angle is within the first range, controlling the motor to move so that the rotation angle monotonously changes within a second range, to obtain angle change information and torque change information, wherein the second range is set in advance to define a change range of the rotation angle when a target angle is detected, the angle change information is the rotation angle corresponding to each time period in a monotonous change process, and the torque change information is a torque change amount of the motor in each time period in the monotonous change process; determining a target angle corresponding to a mechanical zero position of the special-shaped cam according to the angle change information and the torque change information.

2. The method of claim 1, wherein, The target action is determined by a first adjustment speed and a first adjustment direction, and controlling the motor to perform the target action so that the rotation angle is within the first range comprises: in response to the rotation angle not being within the first range, determining the first adjustment speed and the first adjustment direction according to the rotation angle; controlling the motor to move in the first adjustment direction at the first adjustment speed until the rotation angle collected in real time is within the first range.

3. The method of claim 2, wherein, The special-shaped cam is provided with at least one groove, and the at least one groove is used to control the transfer assembly to switch between at least one preset control gear to realize time-sharing four-wheel drive of the vehicle, and before the first adjustment speed and the first adjustment direction are determined according to the rotation angle, the method further comprises: determining a target groove from the at least one groove according to the mechanical zero position of the special-shaped cam; determining a numerical upper limit and a numerical lower limit of the first range according to a size of the target groove; in response to the rotation angle being less than the numerical lower limit of the first range or the rotation angle being greater than the numerical upper limit of the first range, determining that the rotation angle is not within the first range.

4. The method of claim 1, wherein, Before the motor is controlled to move so that the rotation angle monotonously changes within the second range to obtain the angle change information and the torque change information, the method further comprises: determining a second adjustment speed and a second adjustment direction according to the rotation angle collected in real time; controlling the motor to move in the second adjustment direction at the second adjustment speed until a current matching position between the motor and the special-shaped cam reaches a preset waiting position to enter a waiting process; in response to the motor not having an action within a preset time range, ending the waiting process.

5. The method of claim 1, wherein, The angle transformation information includes first angle transformation data and second angle transformation data, and the torque transformation information includes first torque transformation data and second torque transformation data, and the motor is controlled to move so that the rotation angle is monotonously transformed in a second range, and the angle transformation information and the torque transformation information include: The motor is controlled to move in a first direction so that the rotation angle is transformed from a numerical upper limit of the second range to a numerical lower limit of the second range, and the first angle transformation data and the first torque transformation data are obtained; The motor is controlled to move in a second direction so that the rotation angle is transformed from the numerical lower limit of the second range to the numerical upper limit of the second range, and the second angle transformation data and the second torque transformation data are obtained, wherein the second direction is opposite to the first direction.

6. The method of claim 5, wherein, According to the angle transformation information and the torque transformation information, the target angle corresponding to the mechanical zero of the special-shaped cam is determined, including: A first candidate angle corresponding to the mechanical zero of the special-shaped cam is determined according to the first angle transformation data and the first torque transformation data; A second candidate angle corresponding to the mechanical zero of the special-shaped cam is determined according to the second angle transformation data and the second torque transformation data; The first candidate angle and the second candidate angle are averaged to obtain the target angle corresponding to the mechanical zero of the special-shaped cam.

7. The method of claim 6, wherein The first candidate angle corresponding to the mechanical zero of the special-shaped cam is determined according to the first angle transformation data and the first torque transformation data, including: during the process of controlling the motor to move in the first direction, according to the first angle transformation data and the first torque transformation data, when it is determined that the torque change amount of the motor first exceeds a preset threshold value in a preset number of continuous time periods, the current real-time collected rotation angle is determined as the first candidate angle; The second candidate angle corresponding to the mechanical zero of the special-shaped cam is determined according to the second angle transformation data and the second torque transformation data, including: during the process of controlling the motor to move in the second direction, according to the second angle transformation data and the second torque transformation data, when it is determined that the torque change amount of the motor first exceeds a preset threshold value in a preset number of continuous time periods, the current real-time collected rotation angle is determined as the second candidate angle.

8. An apparatus for determining mechanical zero of a profile cam in a transfer case assembly, comprising: including: An acquisition module is configured to acquire a rotation angle of a special-shaped cam in a transmission mechanism, wherein the rotation angle is determined by a current matching position between a motor and the special-shaped cam, and the special-shaped cam is used to assist a transfer assembly in time-sharing four-wheel drive control of a vehicle; An adjustment module is configured to control the motor to perform a target action so that the rotation angle is in a first range, wherein the first range is determined in advance by size information of the special-shaped cam. The transformation module is configured to control the motor to move such that the rotation angle is monotonously transformed within a second range to obtain angle transformation information and torque transformation information, when the rotation angle is within the first range, wherein the second range is preset to define a transformation range of the rotation angle when detecting the target angle, the angle transformation information is the rotation angle corresponding to each time period in the monotonous transformation process, and the torque transformation information is a torque change amount of the motor in each time period in the monotonous transformation process. The determination module is configured to determine the target angle corresponding to the mechanical zero position of the special-shaped cam according to the angle transformation information and the torque transformation information.

9. A vehicle part-time four-wheel drive control method characterized by comprising: The vehicle part-time four-wheel drive control method comprises: obtaining a rotation angle and a target angle, wherein the rotation angle is determined by a current matching position between a motor and a special-shaped cam in a transmission mechanism, the rotation angle is collected by an angle sensor in the transfer assembly, the special-shaped cam is used to assist the transfer assembly to perform part-time four-wheel drive control on the vehicle, and the target angle is obtained by the method for determining the mechanical zero position of the special-shaped cam in the transfer assembly of any one of claims 1 to 7. determining a target gear from at least one preset control gear according to the rotation angle, the target angle and a setting position of at least one groove on the special-shaped cam; controlling the vehicle to perform one of the following drive operations according to the target gear: compressing a clutch, transmitting engine torque to a front differential and a rear differential; compressing the clutch, transmitting engine torque to one of the front differential and the rear differential; locking the transmission mechanism, and transmitting engine torque to the front differential and the rear differential.

10. A vehicle characterized by comprising: The vehicle comprises an on-board memory and an on-board processor, the on-board memory stores a computer program, and the on-board processor is configured to run the computer program to execute the method for determining the mechanical zero position of the special-shaped cam in the transfer assembly of any one of claims 1 to 7 or the vehicle part-time four-wheel drive control method of claim 9.

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