Vehicle control method, device, storage medium and vehicle

Abstract

The application discloses a vehicle control method and device, a storage medium and a vehicle. The method is as follows: when the vehicle is in a 4A driving mode, the tire condition of the vehicle is determined based on wheel operation parameters; if the tire condition indicates that there is a difference in the tire size of each wheel, the working state of an electromagnetic coil in a friction plate type differential distributor is controlled based on vehicle power parameters, so that a temperature monitoring index of the friction plate type differential distributor does not exceed an alarm threshold. The method uses wheel operation parameters to identify the tire working condition of the vehicle, and controls the working state of the electromagnetic coil in combination with vehicle power parameters, so as to ensure that, when the tire is misused, the electromagnetic coil is placed in a powered-off state, the fluctuation value of the temperature monitoring index associated with the target torque is placed in a preset value range, the temperature monitoring index is prevented from exceeding the alarm threshold, friction plate overheating alarm of the friction plate type differential distributor in the vehicle driving process is avoided, and normal driving of the vehicle is maintained.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle control, and in particular to a vehicle control method and device, a storage medium and a vehicle. BACKGROUND

[0002] At present, with the improvement of the performance-price ratio of off-road vehicles, more and more people advocate freedom and are keen on outdoor off-road and deep off-road activities. Vehicle manufacturers also develop off-road driving modes for vehicles in response to this trend. The vehicle can intelligently identify whether it is in an off-road working condition under the off-road driving mode, and apply torque to the auxiliary drive wheels under the off-road working condition to enhance the power of the auxiliary drive wheels of the vehicle, thereby improving the off-road power.

[0003] However, the driving skills of drivers vary greatly. For drivers who lack off-road experience or have low driving skills, tire replacement of different brands or different models may occur after tire burst or excessive wear. The sizes of the four front and rear tires of the vehicle are not completely the same. For off-road vehicles equipped with a friction plate type differential, the friction plate type differential will issue an overheating alarm during vehicle driving, which will cause the vehicle to be unable to continue driving. SUMMARY

[0004] The present application provides a vehicle control method, device, storage medium and vehicle, which aims to prevent the friction plate type differential from issuing an overheating alarm during vehicle driving and maintain normal driving of the vehicle.

[0005] To achieve the above purpose, the present application provides the following technical solutions:

[0006] A vehicle control method, comprising:

[0007] In the case that the vehicle is in a 4A driving mode, based on wheel operating parameters, determining the tire condition of the vehicle;

[0008] If the tire condition indicates that there is a difference in the tire size of each wheel, based on vehicle power parameters, controlling the working state of an electromagnetic coil in the friction plate type differential to make the temperature monitoring index of the friction plate type differential not exceed an alarm threshold; wherein when the working state of the electromagnetic coil is a power-off state, a target torque no longer obtains torque distribution, and a fluctuation value of the temperature monitoring index associated with the target torque is placed within a preset value range, the target torque being a front axle torque or a rear axle torque of the vehicle; the temperature monitoring index is used to represent the difference between the estimated value and the monitoring value of the friction plate temperature.

[0009] Optionally, the wheel operating parameters include the wheel speed of each wheel, and based on the wheel operating parameters, determining the tire condition of the vehicle comprises:

[0010] determining a rotational speed difference between front and rear axles of the vehicle based on wheel speeds of the wheels;

[0011] if the rotational speed difference remains unchanged for a specified time and is less than or equal to a first threshold value, determining that the tire condition of the vehicle is that tire sizes of the wheels have a first difference; the first difference representing that a maximum size difference between the tire sizes of the wheels is less than a specified threshold value;

[0012] if the rotational speed difference remains unchanged for the specified time and is greater than the first threshold value, determining that the tire condition of the vehicle is that tire sizes of the wheels have a second difference; the second difference representing that a maximum size difference between the tire sizes of the wheels is greater than or equal to the specified threshold value.

[0013] Optionally, the vehicle power parameter is determined based on at least one of vehicle speed, engine torque, and accelerator pedal depth, and if the tire condition indicates that the tire sizes of the wheels have a difference, controlling an operating state of an electromagnetic coil in the friction plate differential to make a temperature monitoring index of the friction plate differential not exceed an alarm threshold value based on the vehicle power parameter, including:

[0014] if the tire condition indicates that the tire sizes of the wheels have a difference, when at least one of the vehicle speed, the engine torque, and the accelerator pedal depth meets a corresponding trigger condition, controlling the electromagnetic coil in the friction plate differential to be placed in a power-off state to make the temperature monitoring index of the friction plate differential not exceed the alarm threshold value.

[0015] Optionally, the method further includes:

[0016] when at least one of the vehicle speed, the engine torque, and the accelerator pedal depth does not meet the corresponding trigger condition, controlling the electromagnetic coil to be placed in a power-on state; wherein when the electromagnetic coil is placed in the power-on state, the temperature monitoring index does not exceed the alarm threshold value.

[0017] Optionally, when at least one of the vehicle speed, the engine torque, and the accelerator pedal depth meets a corresponding trigger condition, controlling the electromagnetic coil in the friction plate differential to be placed in a power-off state to make the temperature monitoring index of the friction plate differential not exceed an alarm threshold value, including:

[0018] when at least one of the vehicle speed, the engine torque, and the accelerator pedal depth meets a corresponding trigger condition, reducing driving power of the electromagnetic coil in the friction plate differential according to a specified decreasing gradient until the electromagnetic coil is placed in a power-off state to make the temperature monitoring index of the friction plate differential not exceed the alarm threshold value.

[0019] Optionally, in a case where the tire condition indicates that there is a first difference in tire sizes of the vehicle wheels, if the vehicle speed is greater than or equal to a first designated vehicle speed, it is determined that the vehicle speed meets a corresponding triggering condition;

[0020] In a case where the tire condition indicates that there is a second difference in tire sizes of the vehicle wheels, if the vehicle speed is greater than or equal to a second designated vehicle speed, it is determined that the vehicle speed meets a corresponding triggering condition;

[0021] wherein the first difference represents that a maximum size difference between the tire sizes of the vehicle wheels is less than a designated threshold, the second difference represents that a maximum size difference between the tire sizes of the vehicle wheels is greater than or equal to the designated threshold, and the second designated vehicle speed is less than the first designated vehicle speed.

[0022] Optionally, the wheel operating parameter includes a tire pressure of each vehicle wheel, and the tire condition of the vehicle is determined based on the wheel operating parameter, including:

[0023] determining a first tire pressure and a second tire pressure based on the tire pressures of the vehicle wheels; the first tire pressure is a maximum value among the tire pressures of the vehicle wheels, and the second tire pressure is a minimum value among the tire pressures of the vehicle wheels;

[0024] determining a pressure difference between the first tire pressure and the second tire pressure;

[0025] if the pressure difference remains unchanged within a designated time and is less than or equal to a second threshold, it is determined that the tire condition of the vehicle is that there is a first difference in tire sizes of the vehicle wheels; the first difference represents that a maximum size difference between the tire sizes of the vehicle wheels is less than a designated threshold;

[0026] if the pressure difference remains unchanged within the designated time and is greater than the second threshold, it is determined that the tire condition of the vehicle is that there is a second difference in tire sizes of the vehicle wheels; the second difference represents that a maximum size difference between the tire sizes of the vehicle wheels is greater than or equal to the designated threshold.

[0027] A vehicle control device, comprising:

[0028] a tire monitoring unit configured to determine a tire condition of the vehicle based on a wheel operating parameter in a case where the vehicle is in a 4A driving mode;

[0029] The state control unit is configured to, if the tire condition indicates that the tire sizes of the wheels are different, control an operating state of an electromagnetic coil in a friction plate type differential transfer based on a vehicle power parameter, so that a temperature monitoring index of the friction plate type differential transfer does not exceed an alarm threshold; when the operating state of the electromagnetic coil is a power-off state, a target torque no longer obtains torque distribution, and a fluctuation value of the temperature monitoring index associated with the target torque is placed in a preset value range, the target torque being a front axle torque or a rear axle torque of the vehicle; the temperature monitoring index is used to represent a difference between an estimated value and a monitored value of a friction plate temperature.

[0030] Optionally, the wheel operation parameter includes wheel speeds of the wheels, and the tire monitoring unit is specifically configured to:

[0031] determine a rotational speed difference between the front axle and the rear axle of the vehicle based on the wheel speeds of the wheels;

[0032] if the rotational speed difference remains unchanged within a specified time and is less than or equal to a first threshold value, determine that the tire condition of the vehicle is that the tire sizes of the wheels have a first difference; the first difference represents that a maximum size difference between the tire sizes of the wheels is less than a specified threshold value;

[0033] if the rotational speed difference remains unchanged within the specified time and is greater than the first threshold value, determine that the tire condition of the vehicle is that the tire sizes of the wheels have a second difference; the second difference represents that the maximum size difference between the tire sizes of the wheels is greater than or equal to the specified threshold value.

[0034] Optionally, the vehicle power parameter is determined based on at least one of a vehicle speed, an engine torque, and a depth of an accelerator pedal, and the state control unit is specifically configured to:

[0035] if the tire condition indicates that the tire sizes of the wheels are different, when at least one of the vehicle speed, the engine torque, and the depth of the accelerator pedal meets a corresponding trigger condition, control the electromagnetic coil in the friction plate type differential transfer to be in a power-off state, so that the temperature monitoring index of the friction plate type differential transfer does not exceed the alarm threshold.

[0036] Optionally, the state control unit is further configured to:

[0037] when at least one of the vehicle speed, the engine torque, and the depth of the accelerator pedal does not meet the corresponding trigger condition, control the electromagnetic coil to be in a power-on state; when the electromagnetic coil is in the power-on state, the temperature monitoring index does not exceed the alarm threshold.

[0038] Optionally, the state control unit is specifically configured to:

[0039] When at least one of the vehicle speed, the engine torque, the accelerator pedal depth meets a corresponding trigger condition, the driving electric energy of the electromagnetic coil in the friction plate differential is reduced in a specified decreasing gradient until the electromagnetic coil is placed in a power-off state, so that the temperature monitoring index of the friction plate differential does not exceed an alarm threshold.

[0040] Optionally, the state control unit is specifically used for:

[0041] In a case where the tire condition indicates that the tire sizes of the vehicle wheels have a first difference, if the vehicle speed is greater than or equal to a first calibration vehicle speed, it is determined that the vehicle speed meets a corresponding trigger condition.

[0042] In a case where the tire condition indicates that the tire sizes of the vehicle wheels have a second difference, if the vehicle speed is greater than or equal to a second calibration vehicle speed, it is determined that the vehicle speed meets a corresponding trigger condition.

[0043] The first difference represents that the maximum size difference between the tire sizes of the vehicle wheels is less than a specified threshold, the second difference represents that the maximum size difference between the tire sizes of the vehicle wheels is greater than or equal to the specified threshold, and the second calibration vehicle speed is less than the first calibration vehicle speed.

[0044] Optionally, the wheel operating parameter includes the tire pressure of each vehicle wheel, and the tire monitoring unit is specifically used for:

[0045] determining a first tire pressure and a second tire pressure based on the tire pressures of the vehicle wheels; the first tire pressure is the maximum value of the tire pressures of the vehicle wheels, and the second tire pressure is the minimum value of the tire pressures of the vehicle wheels.

[0046] determining a pressure difference between the first tire pressure and the second tire pressure.

[0047] if the pressure difference remains unchanged within a specified time and is less than or equal to a second threshold, it is determined that the tire condition of the vehicle is that the tire sizes of the vehicle wheels have a first difference; the first difference represents that the maximum size difference between the tire sizes of the vehicle wheels is less than a specified threshold.

[0048] if the pressure difference remains unchanged within the specified time and is greater than the second threshold, it is determined that the tire condition of the vehicle is that the tire sizes of the vehicle wheels have a second difference; the second difference represents that the maximum size difference between the tire sizes of the vehicle wheels is greater than or equal to the specified threshold.

[0049] A storage medium, the storage medium comprising a stored program, wherein the program is executed by a processor to perform the vehicle control method.

[0050] A vehicle, comprising: a processor, a memory and a bus; the processor is connected with the memory through the bus;

[0051] The memory is used for storing a program, and the processor is used for running the program, wherein the program performs the vehicle control method when being run by the processor.

[0052] The technical scheme provided in the application determines the tire condition of the vehicle based on the wheel operation parameter when the vehicle is in the 4A driving mode. If the tire condition indicates that there is a difference in the tire size of each wheel, the working state of the electromagnetic coil in the friction plate type differential distributor is controlled based on the vehicle power parameter, so that the temperature monitoring index of the friction plate type differential distributor does not exceed the alarm threshold. The application uses the wheel operation parameter to identify the tire working condition of the vehicle, and controls the working state of the electromagnetic coil in combination with the vehicle power parameter, so as to ensure that when the tire is misused, the fluctuation value of the temperature monitoring index associated with the target torque is placed in the preset value range by placing the electromagnetic coil in the power-off state, avoiding the temperature monitoring index exceeding the alarm threshold, thereby avoiding the friction plate type differential distributor issuing a friction plate overheating alarm during vehicle driving, and maintaining normal driving of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0054] Figure 1 A flowchart of a vehicle control method provided by an embodiment of the application;

[0055] Figure 2 A flowchart of another vehicle control method provided by an embodiment of the application;

[0056] Figure 3 A flowchart of another vehicle control method provided by an embodiment of the application;

[0057] Figure 4 A flowchart of another vehicle control method provided by an embodiment of the application;

[0058] Figure 5 A schematic diagram of the architecture of a vehicle control device provided by an embodiment of the application;

[0059] Figure 6 A schematic diagram of the structure of a differential provided by an embodiment of the application;

[0060] Figure 7 A temperature change curve schematic diagram provided by an embodiment of the present application;

[0061] Figure 8 Another temperature change curve schematic diagram provided by an embodiment of the present application. DETAILED DESCRIPTION

[0062] The technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0063] In the present application, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between the entities or operations. The terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or equipment including the element.

[0064] Embodiment one

[0065] As shown in the flowchart of the vehicle control method provided by an embodiment of the present application, the method can be applied in the transfer case (or electronic control unit, micro control unit) of the vehicle, and includes the following steps. Figure 1 S101: In the case that the vehicle is in the 4A driving mode, the tire condition of the vehicle is determined based on the wheel operation parameter.

[0066] Among them, 4A in the 4A driving mode represents the 4-wheel drive automatic mode. In the 4A mode, the friction plate type differential transfer case will automatically adjust the distribution ratio of the power according to the road conditions (determine the torque distributed to the auxiliary drive wheel (auxiliary drive shaft) based on the speed difference between the front axle and the rear axle, to improve the overall power performance of the vehicle), so that the vehicle can maintain good driving performance in various situations.

[0067] In some examples, the vehicle also includes other driving modes, such as 4L driving mode and 4H driving mode.

[0068] In some examples, the vehicle also includes other driving modes, such as 4L driving mode and 4H driving mode.

[0069] 4L in the 4L driving mode, which represents 4-wheel drive low gear. When the vehicle is in the 4L mode, the friction plate differential will transmit the power of the engine to all wheels at a low speed, so that the vehicle has better climbing ability and traction in bad road conditions.

[0070] 4H in the 4H driving mode, which represents 4-wheel drive high gear. When the vehicle is in the 4H mode, the friction plate differential will distribute power to the wheels at a high speed, so that the vehicle has higher driving speed and stability on good road surfaces.

[0071] In possible implementations, the driving mode of the vehicle can be obtained by querying the corresponding driving mode signal.

[0072] It should be noted that during the driving of the vehicle, the tire condition of the vehicle changes, and accordingly, the change of the tire condition will affect the wheel operating parameter. Therefore, the tire condition of the vehicle can be derived based on the direction of the wheel operating parameter.

[0073] In some examples, the wheel operating parameter includes, but is not limited to, the wheel speed, tire pressure, tire temperature, etc. of each wheel.

[0074] Optionally, based on the wheel speed of each wheel, the implementation process of determining the tire condition of the vehicle can be referred to the steps shown in Figure 2 and the explanation of the steps.

[0075] Optionally, based on the tire pressure of each wheel, the implementation process of determining the tire condition of the vehicle can be referred to the steps shown in Figure 3 and the explanation of the steps.

[0076] S102: If the tire condition indicates that there is a difference in the tire size of each wheel, based on the vehicle power parameter, the working state of the electromagnetic coil in the friction plate differential is controlled to make the temperature monitoring index of the friction plate differential not exceed the alarm threshold.

[0077] Wherein, when the working state of the electromagnetic coil is the power-off state, the target torque no longer obtains the torque distribution, and the fluctuation value of the temperature monitoring index associated with the target torque is placed in the preset value range. The target torque is the front axle torque or the rear axle torque of the vehicle, and the temperature monitoring index is used to represent the difference between the estimated value and the monitoring value of the friction plate temperature.

[0078] It should be noted that if the temperature monitoring index exceeds the alarm threshold, the friction plate differential will issue a friction plate overheating alarm, causing the vehicle to be unable to continue driving. Therefore, in order to ensure that the vehicle can normally drive, it is necessary to avoid the temperature monitoring index exceeding the alarm threshold.

[0079] In addition, the structure of the friction plate type differential mechanism shown in the embodiments of the present application can refer to Figure 6 The degree of combination of the friction plate shown in FIG. 6 can be effectively controlled by controlling the working state of the electromagnetic coil. Figure 6

[0080] In possible implementations, if the main drive axle of the vehicle is the front axle and the auxiliary drive axle is the rear axle, the target torque is the rear axle torque. If the main drive axle of the vehicle is the rear axle and the auxiliary drive axle is the front axle, the target value is the front axle torque.

[0081] It can be understood that when the electromagnetic coil is in the powered-on state, the target torque can obtain a torque distribution determined based on the friction plate type differential mechanism identifying the speed difference between the front axle and the rear axle, for increasing the torque of the auxiliary drive axle to improve the power performance of the vehicle. With the increase of the torque of the auxiliary drive axle, the degree of combination of the friction plate in the friction plate type differential mechanism is deepened, resulting in an increase in the temperature rise rate of the friction plate, so that the temperature monitoring index has a large fluctuation change. With the long-time maintenance of the target torque distribution torque, the temperature monitoring index can exceed the alarm threshold. Therefore, it is necessary to timely control the electromagnetic coil to be in the powered-off state, so that the target torque no longer obtains the torque distribution, and the fluctuation value of the temperature monitoring index associated with the target torque is within the preset value range, to prevent the temperature monitoring index from exceeding the alarm threshold.

[0082] In some examples, the vehicle power parameters include but are not limited to vehicle speed, engine torque, accelerator pedal depth, etc. Generally, the engine torque can be equivalent to the engine output power and engine speed, and in addition, the engine can be a fuel engine, a natural gas engine, and an electric motor, etc.

[0083] Optionally, the implementation process of controlling the working state of the electromagnetic coil based on the vehicle power parameters such as vehicle speed, engine torque, accelerator pedal depth, etc. can refer to the steps shown in Figure 4 and the explanation of the steps.

[0084] It should be noted that the estimated value of the friction plate temperature is the temperature value calculated by the friction plate type differential mechanism based on the target torque, and the monitoring value is the temperature value obtained by monitoring the temperature of the lubricating oil of the friction plate by the pre-set temperature sensor.

[0085] ​In some examples, based on the wheel speeds of the respective wheels, a rotational speed difference between the front axle and the rear axle is determined, and the rotational speed difference is used to determine the tire condition of the vehicle in combination with the vehicle speed as the vehicle power parameter, and the control logic of the working state of the electromagnetic coil is achieved. The vehicle control process under the control logic can be: when the vehicle is in the 4A driving mode, the rotational speed difference remains unchanged at m% within the last 60S, and the vehicle speed is greater than or equal to 80km / h, the electromagnetic coil can be controlled to be in the powered-off state. Wherein, m is a positive integer less than or equal to 3.

[0086] In possible implementations, the vehicle control process can also be: when the vehicle is in the 4A driving mode, the rotational speed difference remains unchanged at m% within the last 60S, and the vehicle speed is less than 80km / h, the electromagnetic coil can be controlled to be in the powered-on state.

[0087] In possible implementations, the vehicle control process can also be: when the vehicle is in the 4A driving mode, the rotational speed difference is changing within the last 60S and the value after each change is greater than m%, and the vehicle speed is greater than or equal to 80km / h, the electromagnetic coil can be controlled to be in the powered-on state.

[0088] In possible implementations, the vehicle control process can also be: when the vehicle is in the 4A driving mode, the rotational speed difference remains unchanged at n% within the last 60S, and the vehicle speed is greater than or equal to 10km / h, the electromagnetic coil can be controlled to be in the powered-off state. Wherein, n is a positive integer greater than 3.

[0089] In possible implementations, the vehicle control process can also be: when the vehicle is in the 4A driving mode, the rotational speed difference remains unchanged at n% within the last 60S, and the vehicle speed is less than 10km / h, the electromagnetic coil can be controlled to be in the powered-on state.

[0090] In possible implementations, the vehicle control process can also be: when the vehicle is in the 4A driving mode, the rotational speed difference remains unchanged at n% within the last 60S, and the vehicle speed is less than 10km / h, the electromagnetic coil can be controlled to be in the powered-on state.

[0091] In some examples, by controlling the electromagnetic coil to be in the powered-off state, when there is a risk that the temperature monitoring index exceeds the alarm threshold, the fluctuation value of the temperature monitoring index is placed within a preset value range to eliminate the risk. Wherein, when there is a risk that the temperature monitoring index exceeds the alarm threshold, the control electromagnetic coil is not controlled to be in the powered-off state, and the change curve of the estimated value and the monitored value of the friction plate temperature can be seen in Figure 7 . When the temperature monitoring index is controlled to be in the powered-off state, the control electromagnetic coil is controlled to be in the powered-off state, and the change curve of the estimated value and the monitored value of the friction plate temperature can be seen in Figure 8 .

[0092] The above-mentioned flow S101-S102 utilizes the wheel running parameter to identify the tire working condition of the vehicle, and controls the working state of the electromagnetic coil in combination with the vehicle power parameter, so as to ensure that when the tire is misused (i.e., the tire sizes of the wheels are different), the electromagnetic coil is placed in the power-off state, the fluctuation value of the temperature monitoring index associated with the target torque is placed in the preset value range, the temperature monitoring index is prevented from exceeding the alarm threshold, the friction plate type differential mechanism is prevented from issuing the friction plate overheating alarm during the vehicle driving, and the normal driving of the vehicle is maintained.

[0093] Embodiment Two

[0094] As Figure 2 shown, a flowchart of another vehicle control method provided by the embodiment of the application is shown, which includes the following steps.

[0095] S201: Determine the rotational speed difference between the front axle and the rear axle of the vehicle based on the wheel speeds of the wheels.

[0096] The wheel speeds of the wheels can include the wheel speeds of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel, and the wheel speeds of the wheels can be obtained by querying the wheel speed signals of the corresponding wheels, which are collected based on the sensors corresponding to the wheels.

[0097] In some examples, the front wheels can be regarded as the main drive wheels, and the rear wheels can be regarded as the auxiliary drive wheels. Generally, the difference between the rotational speeds of the front axle shaft and the rear axle shaft can be regarded as the rotational speed difference between the front axle and the rear axle.

[0098] It should be noted that when the vehicle is replaced with tires of different sizes (which can also be different brands), the wheel speeds of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel will be different, so that the rotational speed difference between the front axle and the rear axle is generated.

[0099] Optionally, the implementation process of determining the rotational speed difference between the front axle and the rear axle of the vehicle based on the wheel speeds of the wheels can be: obtaining a first average value between the wheel speeds of the left front wheel and the right front wheel, and a second average value between the wheel speeds of the left rear wheel and the right rear wheel, and determining the rotational speed difference according to the absolute value of the ratio of the difference between the first average value and the second average value to a target value. The target value can be the first average value or the second average value.

[0100] In possible embodiments, if the main drive shaft of the vehicle is the front axle and the auxiliary drive shaft is the rear axle, the target value is the second average value. If the main drive shaft of the vehicle is the rear axle and the auxiliary drive shaft is the front axle, the target value is the first average value.

[0101] In possible implementations, the calculation of the speed difference can be: speed difference = |(main drive wheel speed-auxiliary drive wheel speed) / main drive wheel speed|. Generally, the main drive wheel speed is the average wheel speed of the wheels connected to the main drive shaft, and the auxiliary drive wheel speed is the average wheel speed of the wheels connected to the auxiliary drive shaft.

[0102] In possible implementations, the calculation of the speed difference can also be: speed difference = |(left front wheel speed+right front wheel speed)-(left rear wheel speed+right rear wheel speed)| / 2.

[0103] It should be emphasized that the wheel speed of each wheel is monitored in real time, and accordingly, the speed difference at each monitoring time can be obtained, and the change trend of the speed difference in a specified time can be determined using the speed difference at each monitoring time. The so-called specified time can be understood as a recent period of time, for example, the last 60S, etc.

[0104] S202: If the speed difference remains unchanged in the specified time and is less than or equal to the first threshold value, it is determined that the tire condition of the vehicle is that the tire sizes of each wheel have a first difference.

[0105] Among them, the first difference represents that the maximum size difference between the tire sizes of each wheel is less than a specified threshold value.

[0106] It should be noted that the speed difference remains unchanged in the specified time and is less than or equal to the first threshold value, which can determine that there are some wheels in each wheel that have replaced tires of different sizes, and the difference between the size of the replaced tire of different sizes and the size of the other tire that has not been replaced is small.

[0107] Generally, the tire sizes of each wheel have a first difference, which can be considered that the vehicle has replaced some tires of different sizes, and the size of the replaced tire is relatively small compared to the size of the other tire that has not been replaced.

[0108] In some examples, the specified time can be set to the last 60S, and the first threshold value can be set to 3%. If the speed difference remains unchanged in the last 60S and the speed difference is less than or equal to 3%, it is determined that the tire condition of the vehicle is that the tire sizes of each wheel have a first difference.

[0109] In some examples, if the speed difference is changing in the specified time, it is determined that the tire condition of the vehicle is that the tire sizes of each wheel do not have a difference. In possible implementations, the speed difference is changing in the last 60S, which can determine that the tire sizes of each wheel do not have a difference.

[0110] It should be noted that when the vehicle is in the 4A driving mode, the vehicle is off-road driving (i.e., driving on road conditions), a speed difference between the front axle and the rear axle occurs, and the friction plate differential distributor automatically allocates corresponding torque to the auxiliary drive shaft according to the speed difference. However, the speed difference remains unchanged within a specified time and is less than or equal to the first threshold value. It can be considered that the speed difference is caused by the misuse of the vehicle tires (i.e., replacing tires of different sizes) and not by the off-road driving of the vehicle.

[0111] S203: If the speed difference remains unchanged within a specified time and is greater than the first threshold value, it is determined that the tire condition of the vehicle is that the tire sizes of the respective wheels have a second difference.

[0112] Among them, the second difference represents that the maximum size difference between the tire sizes of the respective wheels is greater than or equal to a specified threshold value.

[0113] It should be noted that the speed difference remains unchanged within a specified time and is greater than the first threshold value, which can determine that part of the respective wheels have replaced tires of different sizes, and the difference between the replaced tire sizes of different sizes and the sizes of other non-replaced tires is large.

[0114] Generally, the tire sizes of the respective wheels have a second difference, which can be considered that the vehicle has replaced part of the tires of different sizes, and the size of the replaced tires has a large difference compared to the size of the other non-replaced tires.

[0115] In some examples, the specified time can be set to the last 60S, the first threshold value can be set to 3%, and if the speed difference remains unchanged within the last 60S and the speed difference is greater than 3%, it is determined that the tire condition of the vehicle is that the tire sizes of the respective wheels have a second difference.

[0116] It should be noted that when the vehicle is in the 4A driving mode, the vehicle is slipping, and a speed difference between the front axle and the rear axle also occurs. The friction plate differential distributor will automatically allocate corresponding torque to the auxiliary drive shaft according to the speed difference. However, the speed difference remains unchanged within a specified time and is greater than the first threshold value. It can be considered that the speed difference is caused by the misuse of the vehicle tires and not by the slipping of the vehicle.

[0117] The above-mentioned S201-S203 flow is based on the wheel speed of the respective wheels to determine the speed difference between the front axle and the rear axle, and to determine the tire condition of the vehicle by using the speed difference, to monitor the tire condition, and to effectively identify whether the vehicle has replaced tires of different sizes.

[0118] Embodiment three

[0119] As Figure 3As shown, a flowchart of another vehicle control method provided by the embodiments of the present application is shown, which includes the following steps.

[0120] S301: Determine a first tire pressure and a second tire pressure based on the tire pressures of the wheels.

[0121] The first tire pressure is the maximum value among the tire pressures of the wheels, and the second tire pressure is the minimum value among the tire pressures of the wheels.

[0122] It should be noted that the tire pressures of the wheels can include the left front tire pressure, the right front tire pressure, the left rear tire pressure, and the right rear tire pressure. The tire pressures of the wheels can be obtained by querying the tire pressure signals of the corresponding wheels, which are collected based on the pressure sensors corresponding to the wheels.

[0123] S302: Determine a pressure difference between the first tire pressure and the second tire pressure.

[0124] The difference between the first tire pressure and the second tire pressure can be calculated as the pressure difference.

[0125] S303: If the pressure difference remains unchanged within a specified time and is less than or equal to a second threshold value, determine that the tire condition of the vehicle is that the tire sizes of the wheels have a first difference.

[0126] The first difference indicates that the maximum size difference between the tire sizes of the wheels is less than a specified threshold value.

[0127] It should be noted that if the pressure difference remains unchanged within a specified time and is less than or equal to a second threshold value, it can be determined that some of the wheels have been replaced with different size tires, and the difference between the size of the replaced different size tires and the size of the other non-replaced tires is small.

[0128] Generally, if the tire sizes of the wheels have a first difference, it can be considered that the vehicle has replaced some different size tires, and the size of the replaced tires has a small difference compared to the size of the other non-replaced tires.

[0129] In some examples, the specified time can be set to the last 60 seconds, and the second threshold value can be set to 50 kPa. If the pressure difference remains unchanged within the last 60 seconds and the pressure difference is less than or equal to 50 kPa, it is determined that the tire condition of the vehicle is that the tire sizes of the wheels have a first difference.

[0130] In some examples, if the pressure difference is changing within a specified time, it is determined that the tire condition of the vehicle is that the tire sizes of the wheels have no difference. In possible implementations, if the pressure difference is changing within the last 60 seconds, it can be determined that the tire sizes of the wheels have no difference.

[0131] S304: If the pressure difference remains unchanged for a specified time and is greater than a second threshold value, it is determined that the tire condition of the vehicle is that the tire sizes of the respective wheels have a second difference.

[0132] wherein the second difference represents that the maximum size difference between the tire sizes of the respective wheels is greater than or equal to a specified threshold value.

[0133] It should be noted that the pressure difference remains unchanged for a specified time and is greater than a second threshold value, which can determine that part of the wheels in the respective wheels are replaced with different size tires, and the difference between the size of the replaced different size tires and the size of the other non-replaced tires is large.

[0134] Generally, the tire sizes of the respective wheels have a second difference, which can be considered that the vehicle replaces part of the different size tires, and the size of the replaced tires has a large difference compared to the size of the other non-replaced tires.

[0135] In some examples, the specified time can be set to the last 60S, and the second threshold value can be set to 50kpa. If the pressure difference remains unchanged for the last 60S and the pressure difference is greater than 50kpa, it is determined that the tire condition of the vehicle is that the tire sizes of the respective wheels have a second difference.

[0136] The above-mentioned S301-S304 shows the flow, which determines the pressure difference between the first tire pressure and the second tire pressure based on the tire pressure of the respective wheels, and determines the tire condition of the vehicle by using the pressure difference, realizes the monitoring of the tire condition, and effectively identifies whether the vehicle replaces the different size tires.

[0137] Embodiment four

[0138] As shown in Figure 4 Another flowchart of a vehicle control method provided by the embodiment of the application is shown, which includes the following steps.

[0139] S401: If the tire condition indicates that the tire sizes of the respective wheels have a difference, obtain the vehicle speed, engine torque, and accelerator pedal depth of the vehicle.

[0140] Wherein, the vehicle speed, engine torque and accelerator pedal depth at the same time can be obtained from the electronic control unit of the vehicle.

[0141] In some examples, a corresponding warning module can be set for the tire condition. When the tire condition indicates that the tire sizes of the respective wheels have a difference, the warning module is placed in a reminder state, and the vehicle speed, engine torque, and accelerator pedal depth when the warning module is placed in the reminder state are monitored.

[0142] S402: When at least one of the vehicle speed, the engine torque, and the accelerator pedal depth meets the corresponding trigger condition, the electromagnetic coil in the friction plate type differential transfer case is controlled to be in the powered-off state, so that the temperature monitoring index of the friction plate type differential transfer case does not exceed the alarm threshold.

[0143] In some examples, the drive energy can be determined based on a drive current, a drive voltage, or a drive power.

[0144] In general, controlling the fluctuation value of the temperature monitoring index to be within the preset value range can ensure that the temperature monitoring index does not exceed the alarm threshold. In possible implementations, the alarm threshold can be set as [10°C, ∞), and the preset value range can be set as (-10°C, 10°C).

[0145] It can be understood that, during the driving of the vehicle, if the electromagnetic coil in the friction plate type differential transfer case is suddenly switched from the powered-on state to the powered-off state, it can cause the vehicle to have a jerk, affecting the user's driving experience. Therefore, in order to ensure that the user has a better driving experience, when at least one of the vehicle speed, the engine torque, and the accelerator pedal depth meets the corresponding trigger condition, the electromagnetic coil can be gradually controlled to be in the powered-off state.

[0146] Optionally, the implementation process of controlling the electromagnetic coil in the friction plate type differential transfer case to be in the powered-off state so that the temperature monitoring index of the friction plate type differential transfer case does not exceed the alarm threshold can be: when at least one of the vehicle speed, the engine torque, and the accelerator pedal depth meets the corresponding trigger condition, the drive energy of the electromagnetic coil in the friction plate type differential transfer case is reduced according to a specified decreasing gradient, until the electromagnetic coil is in the powered-off state, so that the temperature monitoring index of the friction plate type differential transfer case does not exceed the alarm threshold.

[0147] It should be noted that, during the process of reducing the drive energy of the electromagnetic coil in the friction plate type differential transfer case according to the specified decreasing gradient, if the friction plate type differential transfer case is operating to distribute torque in response to the speed difference between the front axle and the rear axle, as the drive energy decreases, the degree of combination of the friction plate will gradually decrease with the decrease of the drive energy (for example, the degree of combination of the friction plate gradually decreases from 50% to 0%), until the drive energy is zero, the electromagnetic coil is in the powered-off state, and the friction plate type differential transfer case no longer operates to distribute torque (i.e., the target torque no longer obtains torque distribution).

[0148] In some examples, the drive energy can be determined based on a drive current, a drive voltage, or a drive power.

[0149] It can be understood that, as the degree of combination of the friction plate gradually decreases with the decrease of the driving electric energy, the vehicle does not have a jerk feeling during driving, thereby ensuring a good driving experience for the user.

[0150] It should be noted that the tire sizes of the wheels are different, and the difference affects the triggering conditions of the vehicle power parameters such as vehicle speed, engine torque, and accelerator pedal depth.

[0151] Optionally, the difference in the tire sizes of the wheels can be classified into a first difference and a second difference, the first difference representing that the maximum size difference between the tire sizes of the wheels is less than a specified threshold, and the second difference representing that the maximum size difference between the tire sizes of the wheels is greater than or equal to the specified threshold.

[0152] Optionally, in a case where the tire condition indicates that the tire sizes of the wheels have the first difference, if the vehicle speed is greater than or equal to a first specified vehicle speed, it is determined that the vehicle speed meets the corresponding triggering condition, and in a case where the tire condition indicates that the tire sizes of the wheels have the second difference, if the vehicle speed is greater than or equal to a second specified vehicle speed, it is determined that the vehicle speed meets the corresponding triggering condition, where the second specified vehicle speed is less than the first specified vehicle speed.

[0153] In a possible implementation, the first specified vehicle speed is set to 80 km / h, and the second specified vehicle speed is set to 10 km / h. In a case where the tire condition indicates that the tire sizes of the wheels have the first difference, if the vehicle speed is greater than or equal to 80 km / h, it is determined that the vehicle speed meets the corresponding triggering condition. In a case where the tire condition indicates that the tire sizes of the wheels have the second difference, if the vehicle speed is greater than or equal to 10 km / h, it is determined that the vehicle speed meets the corresponding triggering condition.

[0154] Optionally, in a case where the tire condition indicates that the tire sizes of the wheels have the first difference, if the engine torque is greater than or equal to a first specified torque, it is determined that the engine torque meets the corresponding triggering condition, and in a case where the tire condition indicates that the tire sizes of the wheels have the second difference, if the engine torque is greater than or equal to a second specified torque, it is determined that the engine torque meets the corresponding triggering condition, where the second specified torque is less than the first specified torque.

[0155] In a possible implementation, the first specified torque is set to 800 NM, and the second specified torque is set to 100 NM. In a case where the tire condition indicates that the tire sizes of the wheels have the first difference, if the engine torque is greater than or equal to 800 NM, it is determined that the engine torque meets the corresponding triggering condition. In a case where the tire condition indicates that the tire sizes of the wheels have the second difference, if the engine torque is greater than or equal to 100 NM, it is determined that the engine torque meets the corresponding triggering condition.

[0156] Optionally, in a case where the tire condition indicates that the tire sizes of the respective wheels have the first difference, if the accelerator pedal depth is greater than or equal to a first calibration depth, it is determined that the accelerator pedal depth meets the corresponding trigger condition, and in a case where the tire condition indicates that the tire sizes of the respective wheels have the second difference, if the accelerator pedal depth is greater than or equal to a second calibration depth, it is determined that the accelerator pedal depth meets the corresponding trigger condition, wherein the second calibration depth is less than the first calibration depth.

[0157] In a possible implementation, the first calibration depth is set to 18 mm, and the second calibration depth is set to 5 mm. In a case where the tire condition indicates that the tire sizes of the respective wheels have the first difference, if the accelerator pedal depth is greater than or equal to 18 mm, it is determined that the accelerator pedal depth meets the corresponding trigger condition. In a case where the tire condition indicates that the tire sizes of the respective wheels have the second difference, if the accelerator pedal depth is greater than or equal to 5 mm, it is determined that the accelerator pedal depth meets the corresponding trigger condition.

[0158] S403: When the vehicle speed, the engine torque, and the accelerator pedal depth do not meet the corresponding trigger condition, the electromagnetic coil is controlled to be in the powered-on state.

[0159] Wherein, when the electromagnetic coil is in the powered-on state, the temperature monitoring index does not exceed the alarm threshold.

[0160] It should be noted that when the vehicle speed, the engine torque, and the accelerator pedal depth do not meet the corresponding trigger condition, it can be considered that there is no risk of the temperature monitoring index exceeding the alarm threshold, and therefore the electromagnetic coil can be controlled to be in the powered-on state to enable the vehicle to obtain stronger power performance. It should also be noted that when the electromagnetic coil is in the powered-on state, the temperature monitoring index does not exceed the alarm threshold.

[0161] The above-mentioned S401-S403 flow is based on vehicle power parameters such as vehicle speed, engine torque, and accelerator pedal depth to control the working state of the electromagnetic coil, which can timely control the electromagnetic coil to be in the powered-off state when there is a risk of the temperature monitoring index exceeding the alarm threshold, so as to place the fluctuation value of the temperature monitoring index within a preset value range, and avoid the friction plate type differential to issue a friction plate overheating alarm during vehicle driving.

[0162] Embodiment five

[0163] Corresponding to the vehicle control method provided by each of the above embodiments, the application also provides a vehicle control device.

[0164] As Figure 5 shown, a vehicle control device architecture schematic diagram provided by an embodiment of the application includes the following units.

[0165] The tire monitoring unit 100 is configured to determine the tire condition of the vehicle based on the wheel operating parameters when the vehicle is in the 4A driving mode.

[0166] Optionally, the wheel operating parameters comprise wheel speeds of the wheels, and the tire monitoring unit 100 is specifically configured to determine a rotational speed difference between the front axle and the rear axle of the vehicle based on the wheel speeds of the wheels; determine that the tire condition of the vehicle is that the tire sizes of the wheels have a first difference if the rotational speed difference remains unchanged within a specified time and is less than or equal to a first threshold value; the first difference indicates that a maximum size difference between the tire sizes of the wheels is less than a specified threshold value; and determine that the tire condition of the vehicle is that the tire sizes of the wheels have a second difference if the rotational speed difference remains unchanged within the specified time and is greater than the first threshold value; the second difference indicates that the maximum size difference between the tire sizes of the wheels is greater than or equal to the specified threshold value.

[0167] Optionally, the wheel operating parameters comprise tire pressures of the wheels, and the tire monitoring unit 100 is specifically configured to determine a first tire pressure and a second tire pressure based on the tire pressures of the wheels; the first tire pressure is a maximum value of the tire pressures of the wheels, and the second tire pressure is a minimum value of the tire pressures of the wheels; determine a pressure difference between the first tire pressure and the second tire pressure; determine that the tire condition of the vehicle is that the tire sizes of the wheels have a first difference if the pressure difference remains unchanged within a specified time and is less than or equal to a second threshold value; the first difference indicates that a maximum size difference between the tire sizes of the wheels is less than a specified threshold value; and determine that the tire condition of the vehicle is that the tire sizes of the wheels have a second difference if the pressure difference remains unchanged within the specified time and is greater than the second threshold value; the second difference indicates that the maximum size difference between the tire sizes of the wheels is greater than or equal to the specified threshold value.

[0168] The state control unit 200 is configured to control an operating state of an electromagnetic coil in the friction plate type differential distributor based on the vehicle power parameters if the tire condition indicates that the tire sizes of the wheels have a difference, so that a temperature monitoring index of the friction plate type differential distributor does not exceed an alarm threshold value; when the operating state of the electromagnetic coil is a power-off state, a target torque no longer obtains torque distribution, and a fluctuation value of a temperature monitoring index associated with the target torque is placed in a preset value range, the target torque being a front axle torque or a rear axle torque of the vehicle; the temperature monitoring index is used to represent a difference between an estimated value and a monitored value of a friction plate temperature.

[0169] Optionally, the vehicle power parameter is determined based on at least one of the vehicle speed, the engine torque, and the accelerator pedal depth, and the state control unit 200 is specifically configured to: if the tire condition indicates that the tire sizes of the respective wheels have a difference, when at least one of the vehicle speed, the engine torque, and the accelerator pedal depth meets a corresponding trigger condition, control the electromagnetic coil in the friction plate type differential to be in a powered-off state, so that the temperature monitoring index of the friction plate type differential does not exceed the alarm threshold.

[0170] Optionally, the state control unit 200 is further configured to: when at least one of the vehicle speed, the engine torque, and the accelerator pedal depth does not meet the corresponding trigger condition, control the electromagnetic coil to be in a powered-on state; and wherein when the electromagnetic coil is in the powered-on state, the temperature monitoring index does not exceed the alarm threshold.

[0171] Optionally, the state control unit 200 is specifically configured to: when at least one of the vehicle speed, the engine torque, and the accelerator pedal depth meets the corresponding trigger condition, reduce the driving power of the electromagnetic coil in the friction plate type differential according to a specified decreasing gradient, until the electromagnetic coil is in the powered-off state, so that the temperature monitoring index of the friction plate type differential does not exceed the alarm threshold.

[0172] Optionally, the state control unit 200 is specifically configured to: in a case where the tire condition indicates that the tire sizes of the respective wheels have a first difference, if the vehicle speed is greater than or equal to a first specified vehicle speed, it is determined that the vehicle speed meets the corresponding trigger condition; and in a case where the tire condition indicates that the tire sizes of the respective wheels have a second difference, if the vehicle speed is greater than or equal to a second specified vehicle speed, it is determined that the vehicle speed meets the corresponding trigger condition; and wherein the first difference represents that a maximum size difference between the tire sizes of the respective wheels is less than a specified threshold, the second difference represents that the maximum size difference between the tire sizes of the respective wheels is greater than or equal to the specified threshold, and the second specified vehicle speed is less than the first specified vehicle speed.

[0173] The above-mentioned various units use the wheel operating parameter to identify the tire working condition of the vehicle, and control the working state of the electromagnetic coil in combination with the vehicle power parameter, so as to ensure that when the tire is misused (i.e., the tire sizes of the respective wheels have a difference), by placing the electromagnetic coil in the powered-off state, the fluctuation value of the temperature monitoring index associated with the target torque is placed in a preset value range, and the temperature monitoring index is prevented from exceeding the alarm threshold, thereby avoiding the friction plate type differential from issuing a friction plate overheating alarm during the vehicle driving process, and maintaining normal driving of the vehicle.

[0174] The application also provides a computer-readable storage medium, which comprises a stored program, wherein the program executes the vehicle control method provided by the application.

[0175] The application also provides a vehicle, comprising a processor, a memory and a bus. The processor is connected with the memory through the bus, the memory is used for storing a program, and the processor is used for running the program, wherein the program performs the vehicle control method provided by the application when running.

[0176] Furthermore, the functions described above in the embodiments of the present application can be performed at least in part by one or more hardware logic components. For example, non-limiting examples of hardware logic components that can be used include Field-programmable Gate Arrays (FPGAs), Application-specific Integrated Circuits (ASICs), Application-specific Standard Products (ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), etc.

[0177] Although the subject matter has been described in language specific to structural features and / or methodological acts, it is to be understood that the subject defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

[0178] While several inventive embodiments have been described and illustrated, it is understood that these embodiments are merely example forms of implementing the application and are not intended to limit the scope of the application. Certain features of the individually described embodiments can also be implemented in combination in a single embodiment. Conversely, various features of a single embodiment can also be implemented separately or in any suitable sub-combination.

[0179] The above description is merely exemplary of the application and the application principles that are employed. It is understood that the disclosure of the application is not limited to the particular implementation described above, but rather is applicable to any implementation that utilizes the principles disclosed above. For example, the features described above can be interchanged among the disclosed embodiments or with other features disclosed herein (but not limited to) that serve similar functions.

Claims

1. A vehicle control method characterized by, The method comprises: determining a tire condition of the vehicle based on wheel operating parameters, if the vehicle is in a 4A driving mode; the 4A driving mode represents a 4-wheel drive automatic mode, in which a friction plate differential automatically adjusts a distribution ratio of power according to road conditions, if the vehicle is in the 4-wheel drive automatic mode; if the tire condition indicates that there is a difference in tire sizes of each wheel, controlling an operating state of an electromagnetic coil in the friction plate differential to make a temperature monitoring index of the friction plate differential not exceed an alarm threshold based on vehicle power parameters, wherein the vehicle power parameters are determined based on at least one of a vehicle speed, an engine torque, and a depth of an accelerator pedal, and if the tire condition indicates that there is a difference in tire sizes of each wheel, when at least one of the vehicle speed, the engine torque, and the depth of the accelerator pedal meets a corresponding trigger condition, controlling the electromagnetic coil in the friction plate differential to be in a powered-off state to make the temperature monitoring index of the friction plate differential not exceed the alarm threshold; when the operating state of the electromagnetic coil is the powered-off state, a target torque no longer obtains torque distribution, and a fluctuation value of the temperature monitoring index associated with the target torque is placed in a preset value range, the target torque being a front axle torque or a rear axle torque of the vehicle; the temperature monitoring index is used to represent a difference between an estimated value and a monitored value of a friction plate temperature.

2. The method of claim 1, wherein, The wheel operating parameters include wheel speeds of each wheel, and the tire condition of the vehicle is determined based on the wheel operating parameters, which comprises: determining a rotational speed difference between a front axle and a rear axle of the vehicle based on the wheel speeds of each wheel; if the rotational speed difference remains unchanged within a specified time and is less than or equal to a first threshold, determining that the tire condition of the vehicle is that there is a first difference in tire sizes of each wheel; the first difference represents that a maximum size difference between the tire sizes of each wheel is less than a specified threshold; if the rotational speed difference remains unchanged within the specified time and is greater than the first threshold, determining that the tire condition of the vehicle is that there is a second difference in tire sizes of each wheel; the second difference represents that the maximum size difference between the tire sizes of each wheel is greater than or equal to the specified threshold.

3. The method of claim 1, wherein, The method further comprises: controlling the electromagnetic coil to be in a powered-on state when at least one of the vehicle speed, the engine torque, and the depth of the accelerator pedal does not meet the corresponding trigger condition; wherein when the electromagnetic coil is in the powered-on state, the temperature monitoring index does not exceed the alarm threshold.

4. The method of claim 1, wherein, controlling the electromagnetic coil in the friction plate differential to be in the powered-off state to make the temperature monitoring index of the friction plate differential not exceed the alarm threshold when at least one of the vehicle speed, the engine torque, and the depth of the accelerator pedal meets the corresponding trigger condition, comprises: When at least one of the vehicle speed, the engine torque, and the accelerator pedal depth meets a corresponding trigger condition, the driving power of the electromagnetic coil in the friction plate differential is reduced according to a specified decreasing gradient until the electromagnetic coil is placed in a powered-off state, so that the temperature monitoring index of the friction plate differential does not exceed an alarm threshold.

5. The method of claim 2, wherein, In a case where the tire condition indicates that the tire sizes of the vehicle wheels have the first difference, if the vehicle speed is greater than or equal to a first calibration vehicle speed, it is determined that the vehicle speed meets a corresponding trigger condition; In a case where the tire condition indicates that the tire sizes of the vehicle wheels have the second difference, if the vehicle speed is greater than or equal to a second calibration vehicle speed, it is determined that the vehicle speed meets a corresponding trigger condition; The second calibration vehicle speed is less than the first calibration vehicle speed.

6. The method of claim 1, wherein, The tire condition of the vehicle is determined based on the tire pressure of each vehicle wheel, including: The first tire pressure and the second tire pressure are determined based on the tire pressure of each vehicle wheel; the first tire pressure is the maximum value among the tire pressures of the vehicle wheels, and the second tire pressure is the minimum value among the tire pressures of the vehicle wheels; The pressure difference between the first tire pressure and the second tire pressure is determined; If the pressure difference remains unchanged within a specified time and is less than or equal to a second threshold value, it is determined that the tire condition of the vehicle is that the tire sizes of the vehicle wheels have a first difference; the first difference represents that the maximum size difference between the tire sizes of the vehicle wheels is less than a specified threshold value; If the pressure difference remains unchanged within the specified time and is greater than the second threshold value, it is determined that the tire condition of the vehicle is that the tire sizes of the vehicle wheels have a second difference; the second difference represents that the maximum size difference between the tire sizes of the vehicle wheels is greater than or equal to the specified threshold value.

7. A vehicle control device characterized by comprising: It includes: A tire monitoring unit is configured to determine a tire condition of the vehicle based on the tire pressure of each vehicle wheel when the vehicle is in a 4A driving mode; The 4A driving mode represents a 4-wheel drive automatic mode, in which the friction plate differential automatically adjusts the distribution ratio of power according to the road conditions; A state control unit is configured to control the working state of the electromagnetic coil in the friction plate differential based on the vehicle power parameter if the tire condition indicates that there is a difference in the tire sizes of the vehicle wheels, so that the temperature monitoring index of the friction plate differential does not exceed an alarm threshold value; when the working state of the electromagnetic coil is a powered-off state, the target torque no longer obtains torque distribution, the fluctuation value of the temperature monitoring index associated with the target torque is placed in a preset value range, and the target torque is the front axle torque or the rear axle torque of the vehicle; the temperature monitoring index is used to represent the difference between the estimated value and the monitoring value of the friction plate temperature. The vehicle power parameter is determined based on at least one of a vehicle speed, an engine torque, and an accelerator pedal depth, and the state control unit is specifically configured to: if the tire condition indicates that there is a difference in tire size of each of the wheels, when at least one of the vehicle speed, the engine torque, and the accelerator pedal depth meets a corresponding trigger condition, control an electromagnetic coil in a friction plate type differential to be in a powered-off state, so that a temperature monitoring index of the friction plate type differential does not exceed an alarm threshold.

8. A storage medium, characterized by The storage medium comprises a stored program, wherein the program is executed by the processor to perform the vehicle control method of any one of claims 1-6.

9. A vehicle characterized by comprising: Comprise: a processor, a memory and a bus; The processor and the memory are connected through the bus; The memory is used to store a program, and the processor is used to run the program, wherein the program is executed by the processor to perform the vehicle control method of any one of claims 1-6.

Images