Four-wheel drive system transmission shaft dormancy control method and device

Abstract

The invention provides a four-wheel-drive system transmission shaft dormancy control method and device, and the method comprises the steps: determining whether a four-wheel-drive system exit request sent by an ESP can be obtained or not based on a CAN bus; based on the obtained quit request of the four-wheel-drive system, according to the quit request of the four-wheel-drive system, a power takeoff is controlled to be separated, and a differential mechanism is controlled to be separated, so that a transmission shaft is controlled to enter And based on the fact that the request for quitting the four-wheel drive system is not obtained, a vehicle speed signal sent by the ESP and an accelerator opening signal sent by an engine controller EMS are obtained through a CAN bus, it is determined that the vehicle speed signal and the accelerator opening signal meet the preset dormancy condition, a power takeoff is controlled to be separated, a differential mechanism is controlled to be separated, and therefore the transmission shaft is controlled to enter the dormancy state. According to the invention, accurate control of the four-wheel drive system is realized, unnecessary energy consumption is avoided, the energy utilization efficiency is improved, the running cost of the vehicle is reduced, and the service life of the vehicle is prolonged.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a method and device for controlling a transmission shaft dormancy of a four-wheel drive system. Background Art

[0002] As a multi-functional vehicle, light pickup trucks have become increasingly popular in the market in recent years. With the continuous advancement of technology, the performance and comfort of pickup trucks are also gradually improving. Light pickup trucks with a front transverse engine and timely four-wheel drive combine the passability of the four-wheel drive system and the fuel economy of the two-wheel drive system, meeting the needs of consumers under different road conditions.

[0003] However, due to the long length of the pickup truck, the traditional four-wheel drive system requires the drive shaft to be fully involved in the operation, which not only increases energy consumption, but may also cause NVH (noise, vibration and harshness) problems, affecting the driving experience. Summary of the invention

[0004] The present invention provides a four-wheel drive system drive shaft sleep control method and device, which are used to solve the defects of the prior art that the pickup truck drive shaft enters a sleep state to save energy and avoid NVH, realizes precise control of the four-wheel drive system, avoids unnecessary energy consumption, and improves energy utilization efficiency.

[0005] The present invention provides a sleep control method for a transmission shaft of a four-wheel drive system, comprising: determining whether a four-wheel drive system exit request sent by an electronic stability system ESP can be obtained based on a CAN bus; based on obtaining the four-wheel drive system exit request, controlling the separation of a power take-off and a differential according to the four-wheel drive system exit request, so as to control the transmission shaft to enter a sleep state; based on not obtaining the exit request of the four-wheel drive system, using the CAN bus to obtain a vehicle speed signal sent by the ESP and a throttle opening signal sent by an engine controller EMS, and determining that the vehicle speed signal and the throttle opening signal meet preset sleep conditions, controlling the separation of the power take-off and the differential, so as to control the transmission shaft to enter a sleep state.

[0006] According to a sleep control method for a transmission shaft of a four-wheel drive system provided by the present invention, determining whether a vehicle speed signal and a throttle opening signal meet a preset sleep condition includes: determining whether the throttle opening is less than or equal to a first preset ratio based on the throttle opening signal; if the throttle opening is less than or equal to the first preset ratio, judging whether the vehicle speed is greater than or equal to a first speed threshold based on the vehicle speed signal, and determining that the vehicle speed signal and the throttle opening signal meet the preset sleep condition based on the vehicle speed being greater than or equal to the first speed threshold; if the throttle opening is greater than the first preset ratio, judging whether the vehicle speed is greater than or equal to a second speed threshold based on the vehicle speed signal, and determining that the vehicle speed signal and the throttle opening signal meet the preset sleep condition based on the vehicle speed being greater than or equal to the second speed threshold; wherein the second speed threshold is greater than the first speed threshold.

[0007] According to a four-wheel drive system drive shaft sleep control method provided by the present invention, the power take-off separation and the differential separation are controlled to control the drive shaft to enter a sleep state, including: sending a power take-off separation request to a power take-off controller CDD through a CAN bus to control the power take-off separation using CDD; controlling the differential separation; based on the power take-off separation and the differential separation, the drive shaft enters a sleep state.

[0008] According to a four-wheel drive system transmission shaft sleep control method provided by the present invention, the vehicle speed signal is obtained by ESP based on the conversion of the wheel speed signal collected from the CAN bus, and the wheel speed signal is detected by the wheel speed sensor and sent to the CAN bus; the throttle opening signal is a signal collected by the EMS from the CAN bus and sent by the accelerator pedal.

[0009] According to a four-wheel drive system transmission shaft sleep control method provided by the present invention, the four-wheel drive system exit request is sent after ESP determines that the vehicle is in an out-of-control state based on the actual yaw rate collected by the sensor and the wheel speed signal and steering angle signal collected from the CAN bus; the wheel speed signal is detected by the wheel speed sensor and sent to the CAN bus; the steering angle signal is detected by the steering angle sensor SAS and sent to the CAN bus.

[0010] According to a four-wheel drive system transmission shaft sleep control method provided by the present invention, ESP determines that the vehicle is in an out-of-control state based on the actual yaw rate collected by the sensor and the wheel speed signal and the steering angle signal collected from the CAN bus, including: converting the wheel speed signal collected from the CAN bus to obtain a vehicle speed signal; determining the yaw rate range according to the vehicle speed signal and the steering angle signal collected from the CAN bus; determining that the actual yaw rate exceeds the yaw rate range, and determining that the vehicle is out of control.

[0011] According to a four-wheel drive system transmission shaft sleep control method provided by the present invention, a yaw rate range is determined according to a vehicle speed signal and a steering angle signal collected from a CAN bus, including: determining a yaw rate gain according to the vehicle speed signal and a pre-acquired vehicle wheelbase and a preset stability factor; determining a front wheel steering angle according to a steering angle signal collected from the CAN bus and a pre-acquired preset steering ratio; obtaining a theoretical yaw rate according to the yaw rate gain and the front wheel steering angle; and obtaining a yaw rate range according to the theoretical yaw rate in combination with a preset deviation.

[0012] The present invention also provides a sleep control device for a transmission shaft of a four-wheel drive system, comprising: a request acquisition module, based on a CAN bus, determining whether a four-wheel drive system exit request sent by an electronic stability system ESP can be obtained; a passive separation control module, based on obtaining the four-wheel drive system exit request, controls the separation of a power take-off and controls the separation of a differential according to the four-wheel drive system exit request, so as to control the transmission shaft to enter a sleep state; an active separation control module, based on not obtaining the exit request of the four-wheel drive system, uses the CAN bus to obtain a vehicle speed signal sent by ESP and a throttle opening signal sent by an engine controller EMS, and determines that the vehicle speed signal and the throttle opening signal meet preset sleep conditions, controls the separation of the power take-off and controls the separation of the differential, so as to control the transmission shaft to enter a sleep state.

[0013] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the four-wheel drive system transmission shaft sleep control method as described in any one of the above is implemented.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the four-wheel drive system transmission shaft sleep control method as described in any one of the above is implemented.

[0015] The present invention also provides a computer program product, including a computer program, and when the computer program is executed by a processor, the computer program implements any of the above-mentioned four-wheel drive system transmission shaft sleep control methods.

[0016] The four-wheel drive system transmission shaft sleep control method and device provided by the present invention realize efficient communication between different systems through the design of CAN bus, making the control system of the entire vehicle more intelligent. Through the CAN bus, it is possible to quickly and accurately determine whether the four-wheel drive system exit request sent by the electronic stability system ESP can be obtained, thereby improving the system's response speed and decision-making accuracy; when the four-wheel drive system exit request can be obtained, the power take-off and the differential can be quickly controlled to separate according to the request, so that the transmission shaft enters a sleep state, thereby realizing precise control of the four-wheel drive system, avoiding unnecessary energy consumption, and improving energy utilization efficiency; when the exit request of the four-wheel drive system is not obtained, by obtaining the vehicle speed signal sent by ESP and the throttle opening signal sent by the engine controller EMS, and judging according to the preset sleep conditions, it is ensured that under different driving conditions, the sleep state of the transmission shaft can be accurately controlled, thereby improving the reliability of the system, reducing the operating cost of the vehicle, reducing unnecessary mechanical wear, and extending the service life of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a flow chart of a sleep control method for a transmission shaft of a four-wheel drive system provided by the present invention; Figure 2 It is a schematic diagram of the architecture of the four-wheel drive system transmission shaft sleep control method provided by the present invention; Figure 3 It is a structural schematic diagram of a transmission shaft dormancy control device for a four-wheel drive system provided by the present invention; Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Figure 1 The figure is a flow chart of a method for controlling the dormancy of a transmission shaft of a four-wheel drive system provided by the present invention. The method is performed by a four-wheel drive controller (Torque On Demand System, referred to as TOD). The method includes: S11, based on the CAN bus, determining whether a four-wheel drive system exit request sent by the electronic stability system ESP can be obtained; S12, based on obtaining a four-wheel drive system exit request, controlling the power take-off to be disengaged and the differential to be disengaged according to the four-wheel drive system exit request, so as to control the transmission shaft to enter a dormant state; S13, based on not obtaining the request to exit the four-wheel drive system, using the CAN bus to obtain the vehicle speed signal sent by the ESP and the throttle opening signal sent by the engine controller EMS, and determining that the vehicle speed signal and the throttle opening signal meet the preset sleep conditions, controlling the power take-off to disengage and controlling the differential to disengage, so as to control the drive shaft to enter the sleep state.

[0021] It should be noted that the step numbers "S1N" in this manual do not represent the order of the four-wheel drive system transmission shaft sleep control method. Figure 2The present invention describes a four-wheel drive system transmission shaft sleep control method.

[0022] Step S11, based on the CAN bus, determining whether a four-wheel drive system exit request sent by the electronic stability system ESP can be obtained.

[0023] In this embodiment, the four-wheel drive system exit request is sent by the Electronic Stability Program (ESP) after determining that the vehicle is in an out-of-control state based on the actual yaw rate collected by the sensor and the wheel speed signal and steering angle signal collected from the CAN bus; the wheel speed signal is detected by the wheel speed sensor and sent to the CAN bus; the steering angle signal is detected by the steering angle sensor (SAS) and sent to the CAN bus.

[0024] In other words, the wheel speed sensor detects the wheel speed signal and sends it to the CAN bus; the SAS detects the steering angle signal and sends it to the CAN bus; the ESP collects the wheel speed signal and steering angle signal on the CAN bus, and determines whether the vehicle is out of control based on the actual yaw rate collected by the sensor. If it is determined that the vehicle is out of control, a four-wheel drive system exit request is sent to the CAN bus, so that the four-wheel drive controller (Torque On Demand Systerm, TOD for short) can collect the four-wheel drive system exit request on the CAN bus, thereby facilitating the subsequent passive control of the power take-off and differential separation based on the four-wheel drive system exit request.

[0025] Furthermore, ESP determines that the vehicle is in an out-of-control state based on the actual yaw rate collected by the sensor and the wheel speed signal and the steering angle signal collected from the CAN bus, including: converting the wheel speed signal collected from the CAN bus to obtain a vehicle speed signal; determining a yaw rate range according to the vehicle speed signal and the steering angle signal collected from the CAN bus; and determining that the actual yaw rate exceeds the yaw rate range, thereby determining that the vehicle is out of control.

[0026] It should be noted that by directly based on the actual motion data of the vehicle to accurately reflect the vehicle speed, a reliable basis is provided for the subsequent yaw rate calculation, so as to determine the yaw rate range by combining the vehicle speed signal and the turning angle signal, thereby comprehensively considering the two key factors in vehicle driving, improving the calculation accuracy of the yaw rate, and then improving the accuracy of vehicle loss of control judgment, avoiding misjudgment caused by single signal judgment.

[0027] Furthermore, a yaw rate range is determined according to a vehicle speed signal and a steering angle signal collected from a CAN bus, including: determining a yaw rate gain according to the vehicle speed signal and a pre-acquired vehicle wheelbase and a preset stability factor; determining a front wheel steering angle according to a steering angle signal collected from the CAN bus and a pre-acquired preset steering ratio; obtaining a theoretical yaw rate according to the yaw rate gain and the front wheel steering angle; and obtaining a yaw rate range according to the theoretical yaw rate in combination with a preset deviation.

[0028] It should be noted that the theoretical yaw rate is expressed as:

[0029] in, represents the theoretical yaw rate; represents the yaw rate gain; Indicates the front wheel turning angle.

[0030] In addition, the yaw rate gain is expressed as:

[0031] in, Indicates the wheelbase of the vehicle; Represents the preset stability factor, which is usually a constant; For vehicle speed.

[0032] In addition, the front wheel steering angle is expressed as:

[0033] in, Indicates the preset steering ratio, which is usually a constant; Indicates the steering wheel angle, obtained based on the steering angle signal.

[0034] In addition, the preset deviation can be set based on prior experience or actual design requirements. For example, when yaw rate is x, the obtained yaw rate range is the theoretical yaw rate ±x, which is not further limited here.

[0035] Step S12, based on being able to obtain the four-wheel drive system exit request, control the power take-off to be disengaged and the differential to be disengaged according to the four-wheel drive system exit request, so as to control the transmission shaft to enter a dormant state.

[0036] Specifically, according to the four-wheel drive system exit request, the power take-off is controlled to be separated and the differential is controlled to be separated to control the drive shaft to enter the sleep state, including: according to the four-wheel drive system exit request, a power take-off separation request is sent to the power take-off controller CDD through the CAN bus to control the power take-off separation by using CDD; and a differential separation signal is sent to the differential through the CAN bus to separate the differential; based on the power take-off separation and the differential separation, the drive shaft enters the sleep state.

[0037] Step S13, based on the failure to obtain the request to exit the four-wheel drive system, the CAN bus is used to obtain the vehicle speed signal sent by the ESP and the throttle opening signal sent by the engine management system (EMS), and it is determined that the vehicle speed signal and the throttle opening signal meet the preset sleep conditions, and the power take-off and the differential are controlled to be disengaged, so as to control the drive shaft to enter the sleep state.

[0038] In the present embodiment, determining whether the vehicle speed signal and the throttle opening signal meet the preset sleep condition includes: determining whether the throttle opening is less than or equal to a first preset ratio based on the throttle opening signal; if the throttle opening is less than or equal to the first preset ratio, judging whether the vehicle speed is greater than or equal to a first speed threshold based on the vehicle speed signal, and determining that the vehicle speed signal and the throttle opening signal meet the preset sleep condition based on the vehicle speed being greater than or equal to the first speed threshold; if the throttle opening is greater than the first preset ratio, judging whether the vehicle speed is greater than or equal to a second speed threshold based on the vehicle speed signal, and determining that the vehicle speed signal and the throttle opening signal meet the preset sleep condition based on the vehicle speed being greater than or equal to the second speed threshold; wherein the second speed threshold is greater than the first speed threshold.

[0039] It should be noted that the first preset ratio, the first speed threshold and the second speed threshold may be set according to vehicle performance, driving environment and driving requirements. For example, vehicle performance may be considered based on engine power characteristics and transmission system efficiency, the driving environment may be considered based on road conditions and climatic conditions, and driving requirements may be considered based on user driving habits and whether the vehicle is mainly used for transportation or long-distance travel, etc. No further limitation is made here.

[0040] In addition, the power take-off and differential separation are controlled to control the drive shaft to enter a dormant state, including: sending a power take-off separation request to a power take-off controller CDD via a CAN bus to control the power take-off separation using CDD; controlling the differential separation; and based on the power take-off and differential separation, the drive shaft enters a dormant state.

[0041] Furthermore, the CDD sends a power take-off separation signal to the power take-off through the CAN bus according to the power take-off separation request to separate the power take-off. In addition, the differential is directly controlled by the TOD.

[0042] It should be noted that the vehicle speed signal is obtained by ESP based on the wheel speed signal collected from the CAN bus. The wheel speed signal is detected by the wheel speed sensor and sent to the CAN bus; the throttle opening signal is the signal collected by the EMS from the CAN bus and sent by the accelerator pedal.

[0043] In other words, the wheel speed sensor detects the wheel speed signal and sends it to the CAN bus; the SAS detects the steering angle signal and sends it to the CAN bus; the ESP collects the wheel speed signal on the CAN bus and converts it into a vehicle speed signal and sends it to the CAN bus, so that TOD can collect the vehicle speed signal on the CAN bus.

[0044] In addition, the accelerator pedal sends the throttle opening signal to the CAN bus. After the EMS collects the throttle opening signal, it sends it to the CAN bus so that the TOD can collect the throttle opening signal on the CAN bus.

[0045] In summary, the embodiment of the present invention realizes efficient communication between different systems through the design of the CAN bus, making the control system of the entire vehicle more intelligent. Through the CAN bus, it is possible to quickly and accurately determine whether the four-wheel drive system exit request sent by the electronic stability system ESP can be obtained, thereby improving the response speed of the system and the accuracy of decision-making; when the four-wheel drive system exit request can be obtained, the power take-off and the differential can be quickly controlled to separate according to the request, so that the drive shaft enters a dormant state, thereby realizing precise control of the four-wheel drive system, avoiding unnecessary energy consumption, and improving energy utilization efficiency; when the exit request of the four-wheel drive system is not obtained, by obtaining the vehicle speed signal sent by the ESP and the throttle opening signal sent by the engine controller EMS, and judging according to the preset dormant conditions, it is ensured that the dormant state of the drive shaft can be accurately controlled under different driving conditions, thereby improving the reliability of the system, reducing the operating cost of the vehicle, reducing unnecessary mechanical wear, and extending the service life of the vehicle.

[0046] The following is a description of the four-wheel drive system transmission shaft sleep control device provided by the present invention. The four-wheel drive system transmission shaft sleep control device described below and the four-wheel drive system transmission shaft sleep control method described above can be referenced to each other.

[0047] Figure 3 A schematic structural diagram of a four-wheel drive system transmission shaft sleep control device is shown, the device comprising: The request acquisition module 31 determines whether a four-wheel drive system exit request sent by the electronic stability system ESP can be acquired based on the CAN bus; The passive separation control module 32 controls the separation of the power take-off and the differential according to the four-wheel drive system exit request, so as to control the transmission shaft to enter a dormant state; The active separation control module 33, based on the failure to obtain the request to exit the four-wheel drive system, uses the CAN bus to obtain the vehicle speed signal sent by the ESP and the throttle opening signal sent by the engine controller EMS, and determines that the vehicle speed signal and the throttle opening signal meet the preset sleep conditions, controls the separation of the power take-off and controls the separation of the differential, so as to control the drive shaft to enter the sleep state.

[0048] In this embodiment, the four-wheel drive system exit request is sent by the Electronic Stability Program (ESP) after determining that the vehicle is in an out-of-control state based on the actual yaw rate collected by the sensor and the wheel speed signal and steering angle signal collected from the CAN bus; the wheel speed signal is detected by the wheel speed sensor and sent to the CAN bus; the steering angle signal is detected by the steering angle sensor (SAS) and sent to the CAN bus.

[0049] In other words, the wheel speed sensor detects the wheel speed signal and sends it to the CAN bus; the SAS detects the steering angle signal and sends it to the CAN bus; the ESP collects the wheel speed signal and steering angle signal on the CAN bus, and determines whether the vehicle is out of control based on the actual yaw rate collected by the sensor. If it is determined that the vehicle is out of control, a four-wheel drive system exit request is sent to the CAN bus, so that the four-wheel drive controller (Torque On Demand Systerm, TOD for short) can collect the four-wheel drive system exit request on the CAN bus, thereby facilitating the subsequent passive control of the power take-off and differential separation based on the four-wheel drive system exit request.

[0050] In an optional embodiment, ESP includes: a wheel speed conversion unit, which converts the wheel speed signal collected from the CAN bus to obtain a vehicle speed signal; a yaw rate determination unit, which determines the yaw rate range according to the vehicle speed signal and the steering angle signal collected from the CAN bus; and an out-of-control judgment unit, which determines that the actual yaw rate exceeds the yaw rate range and determines that the vehicle is out of control.

[0051] Furthermore, the yaw rate determination unit includes: a gain acquisition subunit, which determines the yaw rate gain according to the vehicle speed signal and the pre-acquired vehicle wheelbase and preset stability factor; an angle acquisition subunit, which determines the front wheel angle according to the angle signal collected from the CAN bus and the pre-acquired preset steering ratio; a yaw rate acquisition subunit, which obtains the theoretical yaw rate according to the yaw rate gain and the front wheel angle; and a range determination subunit, which obtains the yaw rate range according to the theoretical yaw rate in combination with a preset deviation.

[0052] The passive separation control module 32 includes: a first control unit, which sends a power take-off separation request to the power take-off controller CDD through the CAN bus according to the four-wheel drive system exit request, so as to use CDD to control the power take-off separation; and a second control unit, which controls the differential separation; and a passive sleep unit, based on the power take-off separation and the differential separation, the drive shaft enters a sleep state.

[0053] The active separation control module 33 includes: based on the throttle opening signal, determining whether the throttle opening is less than or equal to a first preset ratio; if the throttle opening is less than or equal to the first preset ratio, judging whether the vehicle speed is greater than or equal to a first speed threshold based on the vehicle speed signal, and determining that the vehicle speed signal and the throttle opening signal meet the preset sleep condition based on the vehicle speed being greater than or equal to the first speed threshold; if the throttle opening is greater than the first preset ratio, judging whether the vehicle speed is greater than or equal to a second speed threshold based on the vehicle speed signal, and determining that the vehicle speed signal and the throttle opening signal meet the preset sleep condition based on the vehicle speed being greater than or equal to the second speed threshold; wherein the second speed threshold is greater than the first speed threshold.

[0054] In addition, the active separation control module 33 also includes: a third control unit, which sends a power take-off separation request to the power take-off controller CDD through the CAN bus to control the power take-off separation using CDD; a fourth control unit, which sends a differential separation signal to the differential through the CAN bus to separate the differential; and an active sleep unit, in which the drive shaft enters a sleep state based on the power take-off separation and the differential separation.

[0055] Furthermore, the CDD sends a power take-off separation signal to the power take-off through the CAN bus according to the power take-off separation request to separate the power take-off. In addition, the differential is directly controlled by the TOD.

[0056] In summary, the embodiment of the present invention realizes efficient communication between different systems through the design of the CAN bus, making the control system of the entire vehicle more intelligent. Through the CAN bus, it is possible to quickly and accurately determine whether the request acquisition module can obtain the four-wheel drive system exit request sent by the electronic stability system ESP, thereby improving the response speed of the system and the accuracy of decision-making; when the four-wheel drive system exit request can be obtained, the passive separation control module can quickly control the power take-off and the differential to separate according to the request, so that the drive shaft enters a dormant state, thereby realizing precise control of the four-wheel drive system, avoiding unnecessary energy consumption, and improving energy utilization efficiency; when the exit request of the four-wheel drive system is not obtained, the vehicle speed signal sent by the ESP and the throttle opening signal sent by the engine controller EMS are obtained through the active separation control module, and a judgment is made according to the preset dormant conditions to ensure that the dormant state of the drive shaft can be accurately controlled under different driving conditions, thereby improving the reliability of the system, reducing the operating cost of the vehicle, reducing unnecessary mechanical wear, and extending the service life of the vehicle.

[0057] Figure 4 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 4 As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communication interface 420 and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the sleep control method of the four-wheel drive system transmission shaft, the method comprising: based on the CAN bus, determining whether the four-wheel drive system exit request sent by the electronic stability system ESP can be obtained; based on obtaining the four-wheel drive system exit request, according to the four-wheel drive system exit request, controlling the power take-off to separate and the differential to separate, so as to control the transmission shaft to enter the sleep state; based on not obtaining the exit request of the four-wheel drive system, using the CAN bus, obtaining the vehicle speed signal sent by the ESP and the throttle opening signal sent by the engine controller EMS, and determining that the vehicle speed signal and the throttle opening signal meet the preset sleep condition, controlling the power take-off to separate and the differential to separate, so as to control the transmission shaft to enter the sleep state.

[0058] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0059] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the four-wheel drive system drive shaft sleep control method provided by the above methods, the method including: based on the CAN bus, determining whether a four-wheel drive system exit request sent by an electronic stability system ESP can be obtained; based on obtaining the four-wheel drive system exit request, controlling the power take-off to separate and the differential to separate according to the four-wheel drive system exit request, so as to control the drive shaft to enter a sleep state; based on not obtaining the exit request for the four-wheel drive system, using the CAN bus to obtain the vehicle speed signal sent by the ESP and the throttle opening signal sent by the engine controller EMS, and determining that the vehicle speed signal and the throttle opening signal meet the preset sleep conditions, controlling the power take-off to separate and the differential to separate, so as to control the drive shaft to enter a sleep state.

[0060] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the four-wheel drive system drive shaft sleep control method provided by the above-mentioned methods, the method comprising: based on the CAN bus, determining whether a four-wheel drive system exit request sent by an electronic stability system ESP can be obtained; based on obtaining the four-wheel drive system exit request, controlling the power take-off to separate and the differential to separate according to the four-wheel drive system exit request, so as to control the drive shaft to enter a sleep state; based on not obtaining the exit request for the four-wheel drive system, using the CAN bus to obtain the vehicle speed signal sent by the ESP and the throttle opening signal sent by the engine controller EMS, and determining that the vehicle speed signal and the throttle opening signal meet the preset sleep conditions, controlling the power take-off to separate and the differential to separate, so as to control the drive shaft to enter a sleep state.

[0061] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0062] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A four-wheel drive system transmission shaft sleep control method, characterized in that: include: Based on the CAN bus, determine whether the four-wheel drive system exit request sent by the electronic stability system ESP can be obtained; Based on obtaining the four-wheel drive system exit request, controlling the power take-off to be disengaged and the differential to be disengaged according to the four-wheel drive system exit request, so as to control the transmission shaft to enter a dormant state; Based on the fact that the request to exit the four-wheel drive system is not obtained, the CAN bus is used to obtain the vehicle speed signal sent by the ESP and the throttle opening signal sent by the engine controller EMS, and it is determined that the vehicle speed signal and the throttle opening signal meet the preset sleep conditions, and the power take-off is controlled to be disengaged and the differential is controlled to be disengaged, so as to control the drive shaft to enter a sleep state.

2. The four-wheel drive system transmission shaft sleep control method according to claim 1, characterized in that: Determining that the vehicle speed signal and the throttle opening signal meet a preset sleep condition includes: Based on the throttle opening signal, determining whether the throttle opening is less than or equal to a first preset ratio; If the throttle opening is less than or equal to the first preset ratio, judging whether the vehicle speed is greater than or equal to a first speed threshold based on the vehicle speed signal, and determining that the vehicle speed signal and the throttle opening signal meet a preset sleep condition based on the vehicle speed being greater than or equal to the first speed threshold; If the throttle opening is greater than the first preset ratio, based on the vehicle speed signal, it is determined whether the vehicle speed is greater than or equal to a second speed threshold, and based on the vehicle speed being greater than or equal to the second speed threshold, it is determined that the vehicle speed signal and the throttle opening signal meet the preset sleep condition; wherein the second speed threshold is greater than the first speed threshold.

3. The four-wheel drive system transmission shaft dormancy control method according to claim 1, characterized in that: Controlling the power take-off to be disengaged and controlling the differential to be disengaged, so as to control the transmission shaft to enter a dormant state, comprises: Sending a power take-off separation request to a power take-off controller CDD via the CAN bus, so as to control the power take-off separation by using the CDD; Control differential disengagement; Based on the power take-off being disengaged and the differential being disengaged, the transmission shaft enters a dormant state.

4. The four-wheel drive system transmission shaft sleep control method according to claim 1, characterized in that: The vehicle speed signal is obtained by the ESP based on the wheel speed signal acquired from the CAN bus, and the wheel speed signal is detected by the wheel speed sensor and sent to the CAN bus; The throttle opening signal is a signal sent by the accelerator pedal and collected by the EMS from the CAN bus.

5. The four-wheel drive system transmission shaft sleep control method according to claim 1, characterized in that: The four-wheel drive system exit request is sent after the ESP determines that the vehicle is in an out-of-control state based on the actual yaw rate collected by the sensor and the wheel speed signal and the steering angle signal collected from the CAN bus; The wheel speed signal is detected by the wheel speed sensor and sent to the CAN bus; The steering angle signal is detected by a steering angle sensor SAS and sent to the CAN bus.

6. The four-wheel drive system transmission shaft dormancy control method according to claim 5, characterized in that: The ESP determines that the vehicle is in an out-of-control state based on the actual yaw rate collected by the sensor and the wheel speed signal and the steering angle signal collected from the CAN bus, including: Converting the wheel speed signal collected from the CAN bus to obtain a vehicle speed signal; determining a yaw rate range according to the vehicle speed signal and a steering angle signal collected from the CAN bus; It is determined that the actual yaw rate exceeds the yaw rate range, and the vehicle is determined to be out of control.

7. The four-wheel drive system transmission shaft dormancy control method according to claim 6, characterized in that: Determining a yaw rate range according to the vehicle speed signal and the steering angle signal collected from the CAN bus includes: Determining a yaw rate gain according to the vehicle speed signal, a pre-acquired vehicle wheelbase, and a preset stability factor; Determine the front wheel steering angle according to the steering angle signal collected from the CAN bus and the preset steering ratio obtained in advance; Obtaining a theoretical yaw rate according to the yaw rate gain and the front wheel turning angle; According to the theoretical yaw rate and in combination with the preset deviation, a yaw rate range is obtained.

8. A four-wheel drive system transmission shaft dormancy control device, characterized in that: include: A request acquisition module determines whether a four-wheel drive system exit request sent by the electronic stability system ESP can be obtained based on the CAN bus; A passive separation control module, based on obtaining the four-wheel drive system exit request, controls the power take-off to be separated and controls the differential to be separated according to the four-wheel drive system exit request, so as to control the transmission shaft to enter a dormant state; The active separation control module, based on not obtaining the request to exit the four-wheel drive system, utilizes the CAN bus to obtain the vehicle speed signal sent by the ESP and the throttle opening signal sent by the engine controller EMS, and determines that the vehicle speed signal and the throttle opening signal meet the preset sleep conditions, controls the separation of the power take-off and controls the separation of the differential, so as to control the drive shaft to enter a sleep state.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the four-wheel drive system transmission shaft sleep control method as described in any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the four-wheel drive system transmission shaft sleep control method as described in any one of claims 1 to 7 is implemented.

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