A differential lock control method and device, a vehicle-mounted controller and a storage medium

Abstract

The application is suitable for the field of automobile technology, and provides a differential lock control method and device, a vehicle-mounted controller and a computer readable storage medium. The method comprises the following steps: when detecting that the central differential lock of a target vehicle is locked, acquiring vehicle parameters of the target vehicle; determining the vehicle state of the target vehicle according to the vehicle parameters; and controlling the operation of the front axle differential lock and / or the rear axle differential lock of the target vehicle according to the vehicle state. The differential lock control method provided by the application does not need to control the differential lock according to manual button operation after detecting that the central differential lock is locked, but determines the vehicle state of the target vehicle according to the real-time acquired vehicle parameters, and controls the front axle differential lock and the rear axle differential lock in real time according to the vehicle state of the target vehicle, which not only is simple in operation, but also improves the control efficiency. Meanwhile, through the linkage control of the central differential lock, the front axle differential lock and / or the rear axle differential lock, the success rate and efficiency of vehicle escape can be improved, and the energy consumption of the vehicle can be reduced.

Description

Technical Field

[0001] This application belongs to the field of automotive technology, and in particular relates to a differential lock control method, device, vehicle controller and computer-readable storage medium. Background Technology

[0002] A differential lock is a differential with an automatic locking function. Its purpose is to improve a vehicle's ability to pass through rough roads. When one of the vehicle's drive axles is spinning freely, the differential can be quickly locked, making the two drive axles rigidly connected, thereby solving the problem of power transmission when one wheel slips.

[0003] However, existing differential lock control methods typically require the driver to manually control the differential lock via buttons. Therefore, existing differential lock control methods are cumbersome and inefficient. Summary of the Invention

[0004] This application provides a differential lock control method, device, vehicle controller, and computer-readable storage medium, which can solve the problems of cumbersome operation and low efficiency in the prior art.

[0005] In a first aspect, embodiments of this application provide a differential lock control method, including:

[0006] Once the center differential lock of the target vehicle is detected to be engaged, the vehicle parameters of the target vehicle are obtained.

[0007] The vehicle status of the target vehicle is determined based on the vehicle parameters;

[0008] Control the operation of the front axle differential lock and / or rear axle differential lock of the target vehicle according to the vehicle status.

[0009] Optionally, the vehicle parameters include the vehicle body tilt angle and the rotational speed of each wheel of the target vehicle; determining the vehicle state of the target vehicle based on the vehicle parameters includes:

[0010] The tilt direction of the target vehicle is determined based on the vehicle body tilt angle;

[0011] The left and right wheel speed difference of the target vehicle is calculated based on the rotational speed of each wheel. The left and right wheel speed difference is the difference between the rotational speed of the left wheel and the rotational speed of the right wheel of the target vehicle.

[0012] The vehicle state of the target vehicle is determined based on the vehicle body tilt angle, the tilt direction, and the speed difference between the left and right wheels.

[0013] Optionally, the operation of controlling the front axle differential lock and / or rear axle differential lock of the target vehicle according to the vehicle state includes:

[0014] If the target vehicle is detected to be in a state of forward tilt and slippage, the rear axle differential lock is locked.

[0015] If the target vehicle is detected to be in a state of rearward tilt and slippage, the front axle differential lock is locked.

[0016] If the target vehicle is detected to be in a state of body tilt and vehicle slippage, the front axle differential lock or the rear axle differential lock is locked according to preset conditions.

[0017] If the target vehicle is detected to be in a state where the vehicle body is not tilted but the vehicle is slipping, then both the rear axle differential lock and the front axle differential lock are locked.

[0018] Optionally, determining the vehicle status of the target vehicle based on the vehicle parameters includes:

[0019] If the angle of the target vehicle tilting forward is determined to be greater than a first preset angle based on the vehicle body tilt angle and tilt direction, then the target vehicle body is determined to be tilted forward. When the speed difference between the left and right wheels is detected to be greater than the first preset difference, the vehicle state of the target vehicle is determined to be tilted forward and the vehicle is slipping.

[0020] If the angle at which the target vehicle tilts backward is determined to be greater than the first preset angle based on the vehicle body tilt angle and the tilt direction, then the target vehicle is determined to be tilted backward. And when the speed difference between the left and right wheels is detected to be greater than the first preset difference, the vehicle state of the target vehicle is determined to be tilted backward and the vehicle is slipping.

[0021] If the angle at which the target vehicle tilts to the left or to the right is greater than the second preset angle, based on the vehicle body tilt angle and the tilt direction, then the vehicle body of the target vehicle is determined to be tilted. And when the difference in speed between the left and right wheels is detected to be greater than the first preset difference, the vehicle state of the target vehicle is determined to be tilted and the vehicle is slipping.

[0022] If, based on the vehicle body tilt angle and the tilt direction, it is determined that the forward tilt angle and the backward tilt angle of the target vehicle are both less than the first preset angle, and the left tilt angle and the right tilt angle are both less than the second preset angle, then it is determined that the target vehicle body is not tilted, and when the left and right wheel speed difference is detected to be greater than the first preset difference, it is determined that the target vehicle's vehicle state is that the vehicle body is not tilted and the vehicle is slipping.

[0023] Optionally, controlling the locking of the front axle differential lock or the rear axle differential lock according to preset conditions includes:

[0024] If the speed difference between the left and right front wheels of the target vehicle is detected to be greater than the speed difference between the left and right rear wheels of the target vehicle, then the rear axle differential lock is locked.

[0025] If the speed difference between the left and right front wheels is detected to be less than the speed difference between the left and right rear wheels, the front axle differential lock is locked.

[0026] Optionally, after controlling the front axle differential lock and / or rear axle differential lock of the target vehicle according to the vehicle state, the method further includes:

[0027] If the angle at which the target vehicle tilts forward is detected to be greater than the first preset angle, then the front axle differential lock is locked.

[0028] If the angle at which the target vehicle tilts backward is detected to be greater than the first preset angle, then the rear axle differential lock is locked.

[0029] If the angle at which the target vehicle tilts to the left or to the right is greater than the second preset angle, then both the front axle differential lock and the rear axle differential lock are locked.

[0030] Optionally, the operation of controlling the front axle differential lock and / or rear axle differential lock of the target vehicle according to the vehicle state includes:

[0031] The front and rear wheel speed difference of the target vehicle is detected, where the front and rear wheel speed difference is the difference between the rotational speed of the front wheel and the rotational speed of the rear wheel of the target vehicle.

[0032] If the speed difference between the front and rear wheels is less than a second preset difference, then both the front axle differential lock and the rear axle differential lock will be unlocked.

[0033] Secondly, embodiments of this application provide a differential lock control device, comprising:

[0034] The first acquisition unit is used to acquire vehicle parameters of the target vehicle after detecting that the center differential lock of the target vehicle is locked.

[0035] The first determining unit is used to determine the vehicle status of the target vehicle based on the vehicle parameters;

[0036] A first control unit is used to control the operation of the front axle differential lock and / or the rear axle differential lock of the target vehicle according to the vehicle status.

[0037] Thirdly, embodiments of this application provide an on-board controller, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the differential lock control method as described in any one of the first aspects above.

[0038] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the differential lock control method as described in any one of the first aspects above.

[0039] Fifthly, embodiments of this application provide a computer program product that, when run on an on-board controller, enables the on-board controller to execute the differential lock control method described in any of the first aspects above.

[0040] The beneficial effects of the embodiments of this application compared with the prior art are:

[0041] This application provides a differential lock control method that, after detecting that the central differential lock of a target vehicle is locked, acquires the vehicle parameters of the target vehicle; then, the vehicle state of the target vehicle can be determined based on the vehicle parameters; finally, the operation of the front axle differential lock and / or rear axle differential lock of the target vehicle is controlled based on the vehicle state. The differential lock control method provided in this application eliminates the need for the driver to manually control other differential locks after detecting that the central differential lock is locked. Instead, it determines the vehicle state of the target vehicle based on the real-time acquired vehicle parameters and controls the front axle differential lock and / or rear axle differential lock in real time based on the vehicle state. This not only simplifies operation but also improves control efficiency. Furthermore, the coordinated control of the central differential lock with the front axle differential lock and / or rear axle differential lock can improve the vehicle's success rate and efficiency in getting out of trouble, while reducing vehicle energy consumption. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a flowchart illustrating the implementation of a differential lock control method provided in an embodiment of this application;

[0044] Figure 2 This is a flowchart illustrating the specific implementation of S102 in a differential lock control method provided in an embodiment of this application.

[0045] Figure 3 This is a flowchart illustrating the implementation of a differential lock control method according to another embodiment of this application;

[0046] Figure 4 This is a flowchart illustrating the implementation of a differential lock control method provided in another embodiment of this application;

[0047] Figure 5 This is a flowchart illustrating the implementation of a differential lock control method according to another embodiment of this application;

[0048] Figure 6 This is a flowchart illustrating the implementation of a differential lock control method according to another embodiment of this application;

[0049] Figure 7 This is a schematic diagram of the differential lock control device provided in one embodiment of this application;

[0050] Figure 8 This is a schematic diagram of the structure of an on-board controller provided in one embodiment of this application. Detailed Implementation

[0051] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0052] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0053] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0054] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0055] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0056] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0057] Please see Figure 1 , Figure 1 This is a flowchart illustrating the implementation of a differential lock control method according to an embodiment of this application. In this embodiment, the execution entity of the differential lock control method is an on-board controller.

[0058] like Figure 1 As shown, a differential lock control method provided in one embodiment of this application may include S101 to S103, which are described in detail below:

[0059] In S101, when the central differential lock of the target vehicle is detected to be locked, the vehicle parameters of the target vehicle are obtained.

[0060] In this embodiment, when a target person encounters a special situation while driving the target vehicle, such as wheel slippage, wheel spin, or a wheel getting stuck in a deep pit due to uneven road surface, the target person can lock the central differential lock by clicking a preset button in the target vehicle to help the target vehicle get out of trouble. Here, "target person" refers to the person driving the target vehicle, and "target vehicle" refers to the vehicle requiring differential lock control.

[0061] After detecting that the central differential lock is engaged, the vehicle controller can obtain vehicle parameters of the target vehicle through other devices connected to it wirelessly. These other devices can be wheel speed sensors, vehicle attitude sensors, etc.

[0062] Among them, the central differential lock is also known as the central differential lock.

[0063] It should be noted that vehicle parameters include, but are not limited to, the vehicle tilt angle and the rotational speed of each wheel.

[0064] Based on this, in one implementation of the present application, the vehicle controller can obtain the rotational speed of each wheel of the target vehicle through the wheel speed sensor and obtain the vehicle body tilt angle of the target vehicle through the vehicle body attitude sensor.

[0065] In S102, the vehicle status of the target vehicle is determined based on the vehicle parameters.

[0066] In this embodiment, to determine the current vehicle state of the target vehicle and thus achieve precise control of the differential locks other than the central differential lock, the on-board controller can determine the current vehicle state of the target vehicle based on vehicle parameters. The vehicle state describes the vehicle's tilt and slippage conditions.

[0067] Specifically, in one embodiment of this application, the vehicle controller can be configured as follows: Figure 2 S201 to S203, as shown, determine the vehicle status of the target vehicle, as detailed below:

[0068] In S201, the tilt direction of the target vehicle is determined based on the vehicle body tilt angle.

[0069] In practical applications, the tilt angles of the target vehicle include, but are not limited to: the angle of forward tilt, the angle of backward tilt, the angle of left tilt, and the angle of right tilt. Here, "front" refers to the side where the front of the target vehicle is located, and "rear" refers to the side where the rear of the target vehicle is located.

[0070] Therefore, the tilting directions of the target vehicle include, but are not limited to: tilting forward, tilting backward, tilting to the left, and tilting to the right. Among these, tilting to the left and tilting to the right can be collectively referred to as roll.

[0071] In this embodiment, the target vehicle is equipped with body attitude sensors at the front, rear, left, and right. Therefore, the vehicle controller can determine the angles of the target vehicle tilting forward, backward, to the left, and to the right based on the body attitude sensors at the front, rear, left, and right. Based on these angles, the controller can finally determine the tilt direction of the target vehicle.

[0072] In S202, the left and right wheel speed difference of the target vehicle is calculated based on the rotational speed of each wheel. The left and right wheel speed difference is the difference between the rotational speed of the left wheel and the rotational speed of the right wheel of the target vehicle.

[0073] It should be noted that the left-right wheel speed difference specifically refers to the difference in rotational speed between the left and right wheels on the same axle. Therefore, the left-right wheel speed difference of the target vehicle includes the left-right wheel speed difference of the front wheels and the left-right wheel speed difference of the rear wheels. Specifically, the left-right wheel speed difference of the front wheels describes the difference in rotational speed between the left and right wheels at the front of the target vehicle, while the left-right wheel speed difference of the rear wheels describes the difference in rotational speed between the left and right wheels at the rear of the target vehicle.

[0074] In S203, the vehicle state of the target vehicle is determined based on the vehicle body tilt angle, the tilt direction, and the speed difference between the left and right wheels.

[0075] In this embodiment, the vehicle controller can determine the vehicle tilt state of the target vehicle based on the vehicle tilt angle and tilt direction, and can determine the slippage of the target vehicle based on the speed difference between the left and right wheels. Therefore, in order to accurately determine the vehicle state of the target vehicle, the vehicle controller can specifically determine the vehicle state of the target vehicle based on the vehicle tilt angle, tilt direction and speed difference between the left and right wheels.

[0076] It is understandable that when the vehicle controller determines the vehicle status of the target vehicle based on the vehicle body tilt angle, tilt direction and left and right wheel speed difference, the left and right wheel speed difference can be the left and right wheel speed difference of the front wheels or the left and right wheel speed difference of the rear wheels, and there is no restriction here.

[0077] It should be noted that the vehicle controller can determine the larger of the left and right wheel speed differences between the front and rear wheels as the left and right wheel speed differences that can determine the vehicle status of the target vehicle.

[0078] In this embodiment, the vehicle state of the target vehicle includes, but is not limited to: the vehicle body tilting forward and the vehicle slipping, the vehicle body tilting backward and the vehicle slipping, the vehicle body tilting to the side and the vehicle slipping, and the vehicle body not tilting and the vehicle slipping.

[0079] After determining the vehicle's tilt angle, tilt direction, and left-right wheel speed difference, the vehicle controller can determine a preset angle corresponding to the tilt direction, compare the target vehicle's tilt angle with the preset angle, and compare the left-right wheel speed difference with a first preset difference. The first preset difference can be set according to actual needs and is not limited here; for example, it can be set to 200 r / min.

[0080] In some possible embodiments, the first preset difference can be set according to the model of the target vehicle.

[0081] In this embodiment, the preset angles include, but are not limited to, a first preset angle and a second preset angle. For example, the vehicle controller can set the preset angles corresponding to tilting directions as forward (i.e., tilting forward) and backward (i.e., tilting backward) as the first preset angle, and the preset angles corresponding to tilting directions as left (tilting left) and right (tilting right), i.e., side tilting, as the second preset angle. Both the first and second preset angles can be set according to actual needs and are not limited here. For example, the first preset angle can be set to 5 degrees, and the second preset angle can be set to 6 degrees.

[0082] Based on this, after determining that the target vehicle's body tilt angle is a forward tilt angle based on the vehicle's body tilt angle and tilt direction, the vehicle controller can compare the forward tilt angle of the target vehicle with a first preset angle; after determining that the target vehicle's body tilt angle is a backward tilt angle based on the vehicle's body tilt angle and tilt direction, the vehicle controller can compare the backward tilt angle of the target vehicle with a first preset angle; after determining that the target vehicle's body tilt angle is a left tilt angle based on the vehicle's body tilt angle and tilt direction, the vehicle controller can compare the left tilt angle of the target vehicle with a second preset angle; after determining that the target vehicle's body tilt angle is a right tilt angle based on the vehicle's body tilt angle and tilt direction, the vehicle controller can compare the right tilt angle of the target vehicle with a second preset angle.

[0083] Based on this, in one embodiment of this application, when the vehicle controller detects that the angle of the target vehicle's forward tilt is greater than a first preset angle and the difference in speed between the left and right wheels is greater than a first preset difference, the vehicle controller can perform the following: Figure 4 The step S401 shown.

[0084] In another embodiment of this application, when the vehicle controller detects that the target vehicle is tilted backward at an angle greater than a first preset angle and the speed difference between the left and right wheels is greater than a first preset difference, the vehicle controller may perform the following actions: Figure 4 The step S402 shown.

[0085] In another embodiment of this application, when the vehicle controller detects that the target vehicle tilts to the left or right at an angle greater than a second preset angle, and the difference in wheel speed between the left and right wheels is greater than a first preset difference, the vehicle controller can perform the following... Figure 4 Step S403 is shown.

[0086] In another embodiment of this application, when the vehicle controller detects that the angles of the target vehicle's forward tilt and backward tilt are both less than a first preset angle, and the angles of its left and right tilt are both less than a second preset angle, and the difference in speed between the left and right wheels is greater than a first preset difference, the vehicle controller can execute the following... Figure 4 Step S404 is shown.

[0087] In S103, the operation of the front axle differential lock and / or rear axle differential lock of the target vehicle is controlled according to the vehicle status.

[0088] In this embodiment of the application, the front axle differential lock is also referred to as the front axle differential lock, and the rear axle differential lock is also referred to as the rear axle differential lock.

[0089] It should be noted that controlling the front axle differential lock and / or the rear axle differential lock can be either locking the front axle differential lock and / or unlocking the rear axle differential lock.

[0090] In one embodiment of this application, since the vehicle state of the target vehicle includes, but is not limited to: the vehicle body tilting forward and slipping, the vehicle body tilting backward and slipping, the vehicle body tilting sideways and slipping, and the vehicle body not tilting but slipping, the vehicle controller can specifically be configured as follows: Figure 3 The operation of S301 to S304, which control the front axle differential lock and / or the rear axle differential lock, is described in detail below:

[0091] In S301, if the target vehicle is detected to be in a state where the vehicle body is tilted forward and the vehicle is slipping, the rear axle differential lock is locked.

[0092] In S302, if the target vehicle is detected to be in a state of rearward tilt and vehicle slippage, the front axle differential lock is locked.

[0093] In S303, if the target vehicle is detected to be in a state of body tilt and vehicle slippage, the front axle differential lock or the rear axle differential lock is locked according to preset conditions.

[0094] In S304, if the vehicle status of the target vehicle is detected to be that the vehicle body is not tilted and the vehicle is slipping, then the rear axle differential lock and the front axle differential lock are both locked.

[0095] In this embodiment, when the vehicle controller detects that the target vehicle is tilted forward and slipping, it indicates that the angle of the target vehicle's forward tilt is too large. In order to reduce the front axle load of the target vehicle, reduce the impact on the front axle transmission system, and at the same time help the target vehicle get out of trouble and improve the success rate of getting out of trouble, the vehicle controller can control the rear axle differential lock to lock.

[0096] When the vehicle controller detects that the target vehicle is tilted backward and slipping, it indicates that the target vehicle is tilting backward at an excessive angle. In order to reduce the rear axle load of the target vehicle, reduce the impact on the rear axle transmission system, and help the target vehicle get out of trouble, thereby increasing the success rate of getting out of trouble, the vehicle controller can control the front axle differential lock to lock.

[0097] When the vehicle controller detects that the target vehicle is not tilted but is slipping, in order to improve the success rate of getting out of trouble, the vehicle controller can simultaneously lock both the front axle differential lock and the rear axle differential lock.

[0098] When the vehicle controller detects that the target vehicle is tilted and slipping, it indicates that the tilt angle of the target vehicle is too large, that is, the target vehicle tilts to the left or to the right at too large an angle. At this time, the vehicle controller can control the front axle differential lock or the rear axle differential lock to lock according to preset conditions.

[0099] The preset conditions can be the magnitude of the speed difference between the left and right front wheels and the speed difference between the left and right rear wheels.

[0100] Based on this, in one embodiment of this application, when the vehicle controller detects that the target vehicle is in a state of body tilt and vehicle slippage, it can specifically control the operation of other differential locks according to the following steps, detailed below:

[0101] If the speed difference between the left and right front wheels is detected to be greater than the speed difference between the left and right rear wheels, then the rear axle differential lock is locked.

[0102] If the speed difference between the left and right front wheels is detected to be less than the speed difference between the left and right rear wheels, the front axle differential lock is locked.

[0103] In this embodiment, in order to help the target vehicle get out of trouble with minimal energy consumption, the vehicle controller can control other differential locks to lock based on the smaller left-right wheel speed difference between the left and right wheel speed differences in the front wheels and the left and right wheel speed differences in the rear wheels.

[0104] Specifically, when the vehicle controller detects that the speed difference between the left and right front wheels of the target vehicle is greater than the speed difference between the left and right rear wheels, the vehicle controller can lock the rear axle differential lock on the same side as the rear wheels; when the vehicle controller detects that the speed difference between the left and right front wheels of the target vehicle is less than the speed difference between the left and right rear wheels, the vehicle controller can lock the front axle differential lock on the same side as the front wheels.

[0105] As can be seen from the above, the differential lock control method provided in this application embodiment obtains the vehicle parameters of the target vehicle after detecting that the central differential lock of the target vehicle is locked; determines the vehicle state of the target vehicle based on the vehicle parameters; and finally controls the operation of other differential locks of the target vehicle other than the central differential lock based on the vehicle state. The differential lock control method provided in this application embodiment eliminates the need for the driver to manually control other differential locks after detecting that the central differential lock is locked. Instead, it determines the vehicle state of the target vehicle based on the real-time acquired vehicle parameters and controls other differential locks (excluding the central differential lock) in real-time based on the vehicle state. This not only simplifies operation but also improves control efficiency. Furthermore, the coordinated control of the central differential lock and other differential locks can improve the vehicle's success rate and efficiency in getting out of trouble, while reducing vehicle energy consumption.

[0106] Please see Figure 4 , Figure 4 This is a flowchart illustrating the implementation of a differential lock control method according to another embodiment of this application. Figure 4 As shown, in the differential lock control method provided in this embodiment, S102 may specifically include steps S401 to S404, which are detailed below:

[0107] In S401, if the angle at which the target vehicle tilts forward is greater than a first preset angle based on the vehicle body tilt angle and tilt direction, then the target vehicle is determined to be tilted forward. When the speed difference between the left and right wheels is detected to be greater than the first preset difference, the vehicle state of the target vehicle is determined to be tilted forward and the vehicle is slipping.

[0108] In S402, if the angle at which the target vehicle tilts backward is determined to be greater than the first preset angle based on the vehicle body tilt angle and the tilt direction, then the target vehicle is determined to be tilted backward. When the difference in speed between the left and right wheels is detected to be greater than the first preset difference, the vehicle state of the target vehicle is determined to be tilted backward and the vehicle is slipping.

[0109] In S403, if the angle at which the target vehicle tilts to the left or to the right is greater than a second preset angle based on the vehicle body tilt angle and the tilt direction, then the vehicle body of the target vehicle is determined to be tilted, and when the difference in speed between the left and right wheels is detected to be greater than the first preset difference, the vehicle state of the target vehicle is determined to be tilted and the vehicle is slipping.

[0110] In S404, if it is determined that the forward tilt angle and the backward tilt angle of the target vehicle are both less than the first preset angle, and the left tilt angle and the right tilt angle are both less than the second preset angle, based on the vehicle body tilt angle and the tilt direction, then it is determined that the target vehicle body is not tilted, and when the left and right wheel speed difference is detected to be greater than the first preset difference, it is determined that the target vehicle's vehicle state is that the vehicle body is not tilted and the vehicle is slipping.

[0111] In this embodiment, when the vehicle controller detects that the angle of the target vehicle tilting forward is greater than the first preset angle and the speed difference between the left and right wheels of the target vehicle is greater than the first preset difference, it indicates that the target vehicle is tilting forward and that the target vehicle is slipping. Therefore, the vehicle controller can determine that the target vehicle is tilting forward and slipping at this time.

[0112] When the vehicle controller detects that the target vehicle is tilted backward at an angle greater than a first preset angle and the speed difference between the left and right wheels of the target vehicle is greater than a first preset difference, it indicates that the target vehicle is tilted backward and is slipping. Therefore, the vehicle controller can determine that the target vehicle is tilted backward and is slipping at this time.

[0113] When the vehicle controller detects that the angle of the target vehicle tilting to the left or to the right is greater than the second preset angle, that is, the angle of the target vehicle tilting is greater than the second preset angle, and the difference in speed between the left and right wheels of the target vehicle is greater than the first preset difference, it indicates that the target vehicle is in a tilting state and that the target vehicle is slipping. Therefore, the vehicle controller can determine that the target vehicle is in a tilting state and is slipping at this time.

[0114] When the vehicle controller detects that the angles of the target vehicle tilting forward and backward are both less than the first preset angle, and the angles of tilting to the left and right are both less than the second preset angle, and the difference in speed between the left and right wheels of the target vehicle is greater than the first preset difference, it indicates that the target vehicle is not tilting, that is, the target vehicle is in a tilted state and the target vehicle is slipping. Therefore, the vehicle controller can determine that the vehicle state of the target vehicle at this time is that the vehicle body is not tilted and the vehicle is slipping.

[0115] It should be noted that in practical applications, the consequences of a vehicle tilting forward or backward are greater than those of a vehicle tilting to the left or right. Therefore, in one embodiment of this application, when the vehicle controller detects that the tilt angle of the target vehicle includes the angle of tilting forward or backward, and the angle of tilting to the left or right, i.e., the tilt state of the target vehicle has a conflict between forward and backward, left and right, and the difference in wheel speed between the left and right is greater than a first preset difference, the vehicle controller can directly determine the vehicle state of the target vehicle according to steps S401 to S402.

[0116] Specifically, when the vehicle controller detects that the tilt angle of the target vehicle includes the angle of tilting forward and the angle of tilting to the left or to the right, and the difference in speed between the left and right wheels is greater than a first preset difference, it can execute step S401.

[0117] When the vehicle controller detects that the target vehicle's body tilt angle includes the angle of tilting backward, the angle of tilting to the left, or the angle of tilting to the right, and the difference in speed between the left and right wheels is greater than a first preset difference, it can execute step S402.

[0118] As can be seen from the above, the differential lock control method provided in this embodiment can determine the tilt state of the target vehicle by the vehicle tilt angle, tilt direction and first preset angle. Then, it can determine whether the target vehicle is slipping based on the speed difference between the left and right wheels and the first preset difference, thereby accurately determining the vehicle state of the target vehicle, improving the accuracy of determining the vehicle state, and thus improving the accuracy of subsequent differential lock control.

[0119] In one embodiment of this application, after the vehicle controller controls the operation of the front axle differential lock and / or rear axle differential lock of the target vehicle according to the vehicle status, the vehicle controller can obtain the tilt angle of the target vehicle at this time, and determine whether the target vehicle is out of trouble based on the tilt angle of the target vehicle at this time.

[0120] Specifically, in conjunction with S401, after the vehicle controller controls the front axle differential lock to lock, if it detects that the angle of the target vehicle tilting forward is still greater than the first preset angle, it indicates that the tilt state of the target vehicle has not changed significantly. At this time, the vehicle controller can determine that the target vehicle has not successfully escaped the predicament.

[0121] In conjunction with S402, after the vehicle controller locks the rear axle differential lock, if it detects that the angle of the target vehicle's backward tilt is still greater than the first preset angle, it indicates that the tilt state of the target vehicle has not changed significantly. At this time, the vehicle controller can determine that the target vehicle has not successfully escaped the predicament.

[0122] In conjunction with S403, after the vehicle controller locks the front axle differential lock or the rear axle differential lock, if it detects that the angle of the target vehicle tilting to the left or right is still greater than the second preset angle, it indicates that the tilt state of the target vehicle has not changed significantly. At this time, the vehicle controller can determine that the target vehicle has not successfully escaped the predicament.

[0123] Therefore, to further improve the success rate of the target vehicle's extrication, please refer to [link / reference needed]. Figure 5 , Figure 5 This is a flowchart illustrating the implementation of a differential lock control method according to another embodiment of this application. Figure 5 As shown, the differential lock control method provided in this embodiment may further include S104 to S106 after S103, as detailed below:

[0124] In S104, if the angle at which the target vehicle tilts forward is detected to be greater than the first preset angle, the front axle differential lock is controlled to lock.

[0125] In this embodiment, in conjunction with S401, when the vehicle controller detects that the angle of the target vehicle tilting forward is still greater than the first preset angle, it indicates that the target vehicle has not successfully escaped the predicament. Therefore, in order to help the target vehicle escape the predicament and improve the success rate of the target vehicle escaping the predicament, the vehicle controller can control the front axle differential lock to lock.

[0126] In S105, if the angle at which the target vehicle tilts backward is detected to be greater than the first preset angle, the rear axle differential lock is controlled to lock.

[0127] In this embodiment, in conjunction with S402, when the vehicle controller detects that the angle of the target vehicle tilting backward is still greater than the first preset angle, it indicates that the target vehicle has not successfully escaped the predicament. Therefore, in order to help the target vehicle escape the predicament and improve the success rate of the target vehicle escaping the predicament, the vehicle controller can control the rear axle differential lock to lock.

[0128] In S106, if the angle at which the target vehicle tilts to the left or to the right is detected to be greater than the second preset angle, then the front axle differential lock and the rear axle differential lock are both locked.

[0129] In this embodiment, in conjunction with S403, when the vehicle controller detects that the angle of the target vehicle tilting to the left or to the right is still greater than the second preset angle, it indicates that the target vehicle has not successfully escaped the predicament. Therefore, in order to help the target vehicle escape the predicament and improve the success rate of the target vehicle escaping the predicament, the vehicle controller can control both the front axle differential lock and the rear axle differential lock to lock.

[0130] As can be seen from the above, the differential lock control method provided in this embodiment controls the front axle differential lock to lock when the angle of the target vehicle tilting forward is greater than a first preset angle; controls the rear axle differential lock to lock when the angle of the target vehicle tilting backward is greater than a first preset angle; and controls both the front axle differential lock and the rear axle differential lock to lock when the angle of the target vehicle tilting to the left or right is greater than a second preset angle. This allows the vehicle controller to control other unlocked differential locks to lock when it detects that the target vehicle has failed to get out of trouble, thereby enabling the target vehicle to successfully get out of trouble and further improving the success rate of the target vehicle's escape from trouble.

[0131] In another embodiment of this application, after the vehicle controller controls the operation of the differential locks other than the central differential lock of the target vehicle according to the vehicle status of the target vehicle, the vehicle controller can obtain the vehicle body tilt angle and the left and right wheel speed difference of the target vehicle at this time. When it detects that there is a significant change in the vehicle body tilt angle, that is, the forward tilt angle changes from greater than a first preset angle to less than a first preset angle, or the backward tilt angle changes from greater than a first preset angle to less than a first preset angle, or the left / right tilt angle changes from greater than a second preset angle to less than a first preset angle, and the left and right wheel speed difference changes from greater than a first preset difference to less than a first preset difference, it indicates that the target vehicle has temporarily escaped the predicament. However, in order to avoid the target vehicle being in a false escape state, that is, being tilted and slipping again in a short period of time, the vehicle controller still needs to keep the central differential lock and other differential locks in the locked state at this time, so as to avoid frequent locking and unlocking of the central differential lock and other differential locks, thereby shortening the service life of the central differential lock and other differential locks.

[0132] In another embodiment of this application, to prevent other differential locks from remaining locked after the target vehicle has successfully escaped from trouble, thus affecting the normal operation of the target vehicle, please refer to... Figure 6 , Figure 6 This is a flowchart illustrating the implementation of a differential lock control method according to another embodiment of this application. Figure 6 As shown, the differential lock control method provided in this embodiment may further include S107 to S108 after S103, as detailed below:

[0133] In S107, the front and rear wheel speed difference of the target vehicle is detected. The front and rear wheel speed difference is the difference between the rotational speed of the front wheel and the rotational speed of the rear wheel of the target vehicle.

[0134] In S108, if the speed difference between the front and rear wheels is less than a second preset difference, then both the front axle differential lock and the rear axle differential lock are unlocked.

[0135] In this embodiment, after executing step S103, the vehicle controller can obtain the rotational speed of the front wheel and the rotational speed of the rear wheel of the target vehicle through wheel speed sensors installed on each wheel of the target vehicle, and calculate the front and rear wheel speed difference of the target vehicle based on the obtained rotational speeds of the front wheel and the rear wheel of the target vehicle.

[0136] It is understandable that the aforementioned front and rear wheel speed difference can be the wheel speed difference between the front and rear left wheels or the wheel speed difference between the front and rear right wheels; there is no restriction here.

[0137] It should be noted that the vehicle controller can determine the larger of the left and right wheel speed differences between the front and rear wheels as the required front-to-rear wheel speed difference for the target vehicle.

[0138] In this embodiment, after obtaining the front and rear wheel speed difference of the target vehicle, the vehicle controller can compare the front and rear wheel speed difference with a second preset difference value. The second preset difference value can be set according to actual needs and is not limited here; for example, the second preset difference value can be set to 100 r / min.

[0139] When the vehicle controller detects that the speed difference between the front and rear wheels of the target vehicle is less than the second preset difference value, it indicates that the target vehicle has successfully escaped the predicament. Therefore, the vehicle controller can control the unlocking of the other differential locks of the target vehicle, that is, control the unlocking of both the front axle differential lock and the rear axle differential lock of the target vehicle.

[0140] It should be noted that after the vehicle controller unlocks other differential locks on the target vehicle, it can also unlock the central differential lock.

[0141] In one embodiment of this application, when the vehicle controller detects that the speed difference between the front and rear wheels of the target vehicle is greater than a second preset difference, it indicates that the target vehicle has not yet successfully escaped the predicament. Therefore, the vehicle controller needs to control the other differential locks of the target vehicle, namely the front axle differential lock and the rear axle differential lock, to continue to lock.

[0142] As can be seen from the above, the differential lock control method provided in this embodiment obtains the front-to-rear wheel speed difference of the target vehicle, which is the difference between the rotational speeds of the front and rear wheels of the target vehicle; and when the front-to-rear wheel speed difference is detected to be less than a second preset difference, it indicates that the target vehicle has successfully escaped the predicament, at which point the other differential locks of the target vehicle can be unlocked. The differential lock control method provided in this embodiment can unlock the other differential locks of the target vehicle after detecting that the target vehicle has successfully escaped the predicament, preventing other differential locks from remaining locked for extended periods, thus affecting the normal driving of the target vehicle and reducing the target vehicle's energy consumption.

[0143] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0144] Corresponding to the differential lock control method described in the above embodiments, Figure 7 A structural block diagram of a differential lock control device according to an embodiment of this application is shown. For ease of explanation, only the parts related to the embodiment of this application are shown. (Refer to...) Figure 7 The differential lock control device 700 includes: a first acquisition unit 71, a first determination unit 72, and a first control unit 73. Wherein:

[0145] The first acquisition unit 71 is used to acquire the vehicle parameters of the target vehicle after detecting that the center differential lock of the target vehicle is locked.

[0146] The first determining unit 72 is used to determine the vehicle status of the target vehicle based on the vehicle parameters.

[0147] The first control unit 73 is used to control the operation of the front axle differential lock and / or the rear axle differential lock of the target vehicle according to the vehicle status.

[0148] In one embodiment of this application, the vehicle parameters include the vehicle body tilt angle and the rotational speed of each wheel of the target vehicle; the first determining unit 72 specifically includes: a second determining unit, a calculation unit, and a third determining unit. Wherein:

[0149] The second determining unit is used to determine the tilt direction of the target vehicle based on the vehicle body tilt angle.

[0150] The calculation unit is used to calculate the left and right wheel speed difference of the target vehicle based on the rotational speed of each wheel. The left and right wheel speed difference is the difference between the rotational speed of the left wheel and the rotational speed of the right wheel of the target vehicle.

[0151] The third determining unit is used to determine the vehicle state of the target vehicle based on the vehicle body tilt angle, the tilt direction, and the difference in speed between the left and right wheels.

[0152] In one embodiment of this application, the first control unit 73 specifically includes: a second control unit, a third control unit, a fourth control unit, and a fifth control unit. Wherein:

[0153] The second control unit is used to control the rear axle differential lock to lock if it detects that the target vehicle is in a state of forward tilt and vehicle slippage.

[0154] The third control unit is used to control the front axle differential lock to lock if it detects that the target vehicle is in a state of rearward tilt and vehicle slippage.

[0155] The fourth control unit is used to lock the front axle differential lock or the rear axle differential lock according to preset conditions if it detects that the vehicle state of the target vehicle is that the vehicle body is tilted and the vehicle is slipping.

[0156] The fifth control unit is used to lock both the rear axle differential lock and the front axle differential lock if it detects that the vehicle state of the target vehicle is that the vehicle body is not tilted and the vehicle is slipping.

[0157] In one embodiment of this application, the first determining unit specifically includes: a first state determining subunit, a second state determining subunit, a third state determining subunit, a fourth state determining subunit, and a fifth state determining subunit. Wherein:

[0158] The first state determination subunit is used to determine that the target vehicle is tilted forward if the angle of forward tilt of the target vehicle is greater than a first preset angle based on the vehicle tilt angle and tilt direction, and to determine that the vehicle state of the target vehicle is tilted forward and the vehicle is slipping when the speed difference between the left and right wheels is detected to be greater than a first preset difference.

[0159] The second state determination subunit is used to determine that the target vehicle is tilted backward if the angle of backward tilt of the target vehicle is greater than the first preset angle based on the vehicle tilt angle and the tilt direction, and to determine that the vehicle state of the target vehicle is tilted backward and the vehicle is slipping when the difference between the left and right wheel speeds is detected to be greater than the first preset difference.

[0160] The third state determination subunit is used to determine the vehicle body tilt if the angle of the target vehicle tilting to the left or to the right is greater than a second preset angle based on the vehicle body tilt angle and the tilt direction. When the difference in speed between the left and right wheels is detected to be greater than the first preset difference, the subunit determines the vehicle state of the target vehicle to be that the vehicle body is tilted and the vehicle is slipping.

[0161] The fourth state determination subunit is used to determine that the target vehicle has no tilt if, based on the vehicle tilt angle and the tilt direction, the forward tilt angle and the backward tilt angle of the target vehicle are both less than the first preset angle, and the left tilt angle and the right tilt angle are both less than the second preset angle. When the left and right wheel speed difference is detected to be greater than the first preset difference, the target vehicle's state is determined to be that the vehicle body has no tilt and the vehicle is slipping.

[0162] In one embodiment of this application, the fourth control unit specifically includes: a first control subunit and a second control subunit. Wherein:

[0163] The first control subunit is used to control the rear axle differential lock to lock if it detects that the speed difference between the left and right front wheels of the target vehicle is greater than the speed difference between the left and right rear wheels of the target vehicle.

[0164] The second control subunit is used to control the front axle differential lock to lock if it is detected that the speed difference between the left and right front wheels is less than the speed difference between the left and right rear wheels.

[0165] In one embodiment of this application, the differential lock control device 700 further includes: a sixth control unit, a seventh control unit, and an eighth control unit. Wherein:

[0166] The sixth control unit is used to control the front axle differential lock to lock if it detects that the angle of the target vehicle tilting forward is greater than the first preset angle.

[0167] The seventh control unit is used to control the rear axle differential lock to lock if it detects that the angle of the target vehicle tilting backward is greater than the first preset angle.

[0168] The eighth control unit is used to lock both the front axle differential lock and the rear axle differential lock if the angle at which the target vehicle tilts to the left or to the right is greater than the second preset angle.

[0169] In one embodiment of this application, the differential lock control device 700 further includes: a second acquisition unit and a ninth control unit. Wherein:

[0170] The second acquisition unit is used to detect the front and rear wheel speed difference of the target vehicle, which is the difference between the rotational speed of the front wheel and the rotational speed of the rear wheel of the target vehicle.

[0171] The ninth control unit is used to unlock both the front axle differential lock and the rear axle differential lock if the speed difference between the front and rear wheels is less than a second preset difference value.

[0172] As can be seen from the above, the differential lock control device provided in this application embodiment acquires the vehicle parameters of the target vehicle after detecting that the central differential lock of the target vehicle is locked; determines the vehicle state of the target vehicle based on the vehicle parameters; and finally controls the operation of the front axle differential lock and / or rear axle differential lock of the target vehicle based on the vehicle state. The differential lock control method provided in this application embodiment, after detecting that the central differential lock is locked, eliminates the need for the driver to manually control other differential locks by pressing buttons. Instead, it determines the vehicle state of the target vehicle based on the real-time acquired vehicle parameters and controls the front axle differential lock and / or rear axle differential lock in real time based on the vehicle state. This not only simplifies operation but also improves control efficiency. Furthermore, through the coordinated control of the central differential lock with the front axle differential lock and / or rear axle differential lock, the success rate and efficiency of vehicle extrication from difficult situations can be improved, while reducing vehicle energy consumption.

[0173] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0174] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0175] Figure 8 This is a schematic diagram of the structure of an on-board controller provided in one embodiment of this application. Figure 8 As shown, the vehicle controller 8 of this embodiment includes: at least one processor 80 ( Figure 8 (Only one is shown) a processor, a memory 81, and a computer program 82 stored in the memory 81 and executable on the at least one processor 80, wherein the processor 80 executes the computer program 82 to implement the steps in any of the above-described differential lock control method embodiments.

[0176] The vehicle controller may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art will understand that... Figure 8 The vehicle controller 8 is merely an example and does not constitute a limitation on it. It may include more or fewer components than shown, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0177] The processor 80 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0178] In some embodiments, the memory 81 may be an internal storage unit of the vehicle controller 8, such as the memory of the vehicle controller 8. In other embodiments, the memory 81 may be an external storage device of the vehicle controller 8, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the vehicle controller 8. Furthermore, the memory 81 may include both internal storage units and external storage devices of the vehicle controller 8. The memory 81 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 81 can also be used to temporarily store data that has been output or will be output.

[0179] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0180] This application provides a computer program product that, when run on an in-vehicle controller, enables the in-vehicle controller to perform the steps described in the above-described method embodiments.

[0181] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to the vehicle controller, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0182] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0183] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0184] In the embodiments provided in this application, it should be understood that the disclosed differential lock control device and method can be implemented in other ways. For example, the differential lock control device / vehicle controller embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0185] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0186] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A differential lock control method, characterized in that, include: Once the center differential lock of the target vehicle is detected to be engaged, the vehicle parameters of the target vehicle are obtained. The vehicle status of the target vehicle is determined based on the vehicle parameters; Control the operation of the front axle differential lock and / or rear axle differential lock of the target vehicle according to the vehicle status; The operation of controlling the front axle differential lock and / or rear axle differential lock of the target vehicle according to the vehicle state includes: If the target vehicle is detected to be in a state of forward tilt and slippage, the rear axle differential lock is locked. If the target vehicle is detected to be in a state of rearward tilt and slippage, the front axle differential lock is locked. If the target vehicle is detected to be in a state of body tilt and vehicle slippage, the front axle differential lock or the rear axle differential lock is locked according to preset conditions. If the target vehicle is detected to be in a state where the vehicle body is not tilted but the vehicle is slipping, then both the rear axle differential lock and the front axle differential lock are locked.

2. The differential lock control method as described in claim 1, characterized in that, The vehicle parameters include the vehicle body tilt angle and the rotational speed of each wheel of the target vehicle; determining the vehicle state of the target vehicle based on the vehicle parameters includes: The tilt direction of the target vehicle is determined based on the vehicle body tilt angle; The left and right wheel speed difference of the target vehicle is calculated based on the rotational speed of each wheel. The left and right wheel speed difference is the difference between the rotational speed of the left wheel and the rotational speed of the right wheel of the target vehicle. The vehicle state of the target vehicle is determined based on the vehicle body tilt angle, the tilt direction, and the speed difference between the left and right wheels.

3. The differential lock control method as described in claim 1, characterized in that, Determining the vehicle status of the target vehicle based on the vehicle parameters includes: If the angle of the target vehicle tilting forward is determined to be greater than a first preset angle based on the vehicle body tilt angle and tilt direction, then the target vehicle body is determined to be tilted forward. When the speed difference between the left and right wheels is detected to be greater than the first preset difference, the vehicle state of the target vehicle is determined to be tilted forward and the vehicle is slipping. If the angle at which the target vehicle tilts backward is determined to be greater than the first preset angle based on the vehicle body tilt angle and the tilt direction, then the target vehicle is determined to be tilted backward. And when the speed difference between the left and right wheels is detected to be greater than the first preset difference, the vehicle state of the target vehicle is determined to be tilted backward and the vehicle is slipping. If the angle at which the target vehicle tilts to the left or to the right is greater than the second preset angle, based on the vehicle body tilt angle and the tilt direction, then the vehicle body of the target vehicle is determined to be tilted. And when the difference in speed between the left and right wheels is detected to be greater than the first preset difference, the vehicle state of the target vehicle is determined to be tilted and the vehicle is slipping. If, based on the vehicle body tilt angle and the tilt direction, it is determined that the forward tilt angle and the backward tilt angle of the target vehicle are both less than the first preset angle, and the left tilt angle and the right tilt angle are both less than the second preset angle, then it is determined that the target vehicle body is not tilted, and when the left and right wheel speed difference is detected to be greater than the first preset difference, it is determined that the target vehicle's vehicle state is that the vehicle body is not tilted and the vehicle is slipping.

4. The differential lock control method as described in claim 1, characterized in that, The step of controlling the locking of the front axle differential lock or the rear axle differential lock according to preset conditions includes: If the speed difference between the left and right front wheels of the target vehicle is detected to be greater than the speed difference between the left and right rear wheels of the target vehicle, then the rear axle differential lock is locked. If the speed difference between the left and right front wheels is detected to be less than the speed difference between the left and right rear wheels, the front axle differential lock is locked.

5. The differential lock control method as described in claim 3, characterized in that, After the operation of controlling the front axle differential lock and / or rear axle differential lock of the target vehicle according to the vehicle state, the method further includes: If the angle at which the target vehicle tilts forward is detected to be greater than the first preset angle, then the front axle differential lock is controlled to lock. If the angle at which the target vehicle tilts backward is detected to be greater than the first preset angle, then the rear axle differential lock is locked. If the angle at which the target vehicle tilts to the left or to the right is greater than the second preset angle, then both the front axle differential lock and the rear axle differential lock are locked.

6. The differential lock control method according to any one of claims 1-5, characterized in that, The operation of controlling the front axle differential lock and / or rear axle differential lock of the target vehicle according to the vehicle state includes: The front and rear wheel speed difference of the target vehicle is detected, where the front and rear wheel speed difference is the difference between the rotational speed of the front wheel and the rotational speed of the rear wheel of the target vehicle. If the speed difference between the front and rear wheels is less than a second preset difference, then both the front axle differential lock and the rear axle differential lock will be unlocked.

7. A differential lock control device, characterized in that, include: The first acquisition unit is used to acquire vehicle parameters of the target vehicle after detecting that the center differential lock of the target vehicle is locked. The first determining unit is used to determine the vehicle status of the target vehicle based on the vehicle parameters; A first control unit is configured to control the operation of the front axle differential lock and / or rear axle differential lock of the target vehicle according to the vehicle status. The first control unit specifically includes: The second control unit is used to control the rear axle differential lock to lock if the target vehicle is detected to be in a state of forward tilt and slippage. The third control unit is used to control the front axle differential lock to lock if the target vehicle is detected to be tilted backward and slipping. The fourth control unit is used to control the front axle differential lock or the rear axle differential lock to lock according to preset conditions if the vehicle state of the target vehicle is detected to be tilted and slipping. The fifth control unit is used to lock both the rear axle differential lock and the front axle differential lock if it is detected that the target vehicle is in a state of no tilt and the vehicle is slipping.

8. An on-board controller, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the differential lock control method as described in any one of claims 1 to 6.

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

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