An electronically controlled differential lock control system and method for autonomous escape of unmanned vehicles

Abstract

The present invention discloses an electronically controlled differential lock control system and method for autonomous escape of unmanned vehicles. The system comprises: a parameter acquisition unit, an operation processing unit, and a differential lock control unit; the parameter acquisition unit is used to acquire the status data of the unmanned vehicle and send it to the operation processing unit; the operation processing unit is used to generate electronically controlled differential lock control parameters according to the status data of the unmanned vehicle and send them to the differential lock control unit; the differential lock control unit is used to control the electronically controlled differential lock according to the electronically controlled differential lock control parameters. The present invention controls the electronically controlled differential locks for different wheel axles according to the status data of the unmanned vehicle without human intervention, thereby achieving autonomous escape of unmanned vehicles with high efficiency and low energy consumption.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle control, and in particular relates to an electronically controlled differential lock control system and method for autonomously escaping an unmanned vehicle. Background Art

[0002] The distributed drive unmanned vehicle includes multiple wheel axles, each of which is provided with a differential, and the motor output end transmits power to the wheel through the reducer and the differential. During autonomous driving, the operator is generally far away from the vehicle, and the vehicle is in an inaccessible position or environment. If it encounters difficulties and cannot escape by itself, it will affect the mission execution of the vehicle. In the prior art, the vehicle is generally rescued by an electronically controlled differential lock, but the rescue process requires human intervention, which is inefficient and cannot control the electronically controlled differential lock separately for different wheel axles, resulting in high energy consumption. Therefore, how to achieve autonomous rescue of unmanned vehicles with high efficiency and low energy consumption is a technical problem that needs to be solved urgently in this field. Summary of the invention

[0003] The present invention provides an electronically controlled differential lock control system for autonomously escaping an unmanned vehicle, the system comprising: a parameter acquisition unit, an operation processing unit, and a differential lock control unit;

[0004] The parameter acquisition unit is used to collect the status data of the unmanned vehicle and send it to the operation processing unit;

[0005] The processing unit is used to generate the electronically controlled differential lock control parameters according to the state data of the unmanned vehicle and send them to the differential lock control unit;

[0006] The differential lock control unit is used to control the electronically controlled differential lock according to the electronically controlled differential lock control parameters.

[0007] Furthermore, the parameter acquisition unit collects the status data of the unmanned vehicle, including the number of wheel axles , vehicle quality , the center of mass of the vehicle to the direction from the front to the rear of the vehicle Distance between wheel axles , vehicle center of mass height , No. Radius of the left wheel on each axle , No. Radius of the right wheel on the axle , and, the vehicle longitudinal speed , vehicle longitudinal acceleration , from the front to the rear of the vehicle The speed of the left wheel on each axle , right wheel speed .

[0008] Furthermore, the number of wheel axles , vehicle quality , the center of mass of the vehicle to the direction from the front to the rear of the vehicle Distance between wheel axles , vehicle center of mass height , No. Radius of the left wheel on each axle , No. Radius of the right wheel on the axle Input into the parameter acquisition unit through an external device;

[0009] The parameter acquisition unit includes a GNSS module for acquiring the longitudinal speed of the vehicle. and longitudinal acceleration , and also includes an angular velocity sensor installed on each wheel to obtain the first The speed of the left wheel on each axle , right wheel speed .

[0010] Further, the operation processing unit includes a slip rate calculation module, a load calculation module, and a control parameter calculation module;

[0011] The slip rate calculation module is used to calculate the slip rate of each wheel, specifically:

[0012]

[0013] in, From the front to the rear of the vehicle The slip rate of the left wheel on each wheel axle is From the front to the rear of the vehicle The slip rate of the right wheel on each wheel axle is From the front to the rear of the vehicle The angular velocity of the left wheel on each wheel axle is From the front to the rear of the vehicle The angular velocity of the right wheel on the wheel axle is From the front to the rear of the vehicle The radius of the left wheel on the axle, From the front to the rear of the vehicle The radius of the right wheel on each wheel axle;

[0014] The slip ratio calculation module sends the slip ratio of each wheel to the load calculation module;

[0015] The load calculation module is used to calculate the load of each wheel axle, specifically:

[0016]

[0017] in, From the front to the rear of the vehicle The load on each wheel axle, is the vehicle mass, is the longitudinal velocity of the vehicle, is the longitudinal acceleration of the vehicle, The distance from the center of mass of the vehicle to the direction from the front to the rear of the vehicle. The distance between the wheel axles, is the height of the vehicle's center of mass, that is, the distance from the vehicle's center of mass to the ground, is the number of wheel axles;

[0018] The control parameter calculation module is used to calculate the intermediate parameters, specifically:

[0019]

[0020]

[0021]

[0022]

[0023]

[0024]

[0025] in, , , is the road surface coefficient, From the front to the rear of the vehicle The slip rate of the left wheel on each wheel axle is From the front to the rear of the vehicle The slip rate of the right wheel on each wheel axle is From the front to the rear of the vehicle On each wheel axle, the adhesion rate of the left wheel is From the front to the rear of the vehicle On each wheel axle, the adhesion rate of the right wheel is From the front to the rear of the vehicle The load on each wheel axle, From the front to the rear of the vehicle The traction of the left wheel on each axle is From the front to the rear of the vehicle The traction of the right wheel on each axle, From the front to the rear of the vehicle On each wheel axle, the torque of the left wheel is released. From the front to the rear of the vehicle On each wheel axle, the right wheel's breakaway torque is From the front to the rear of the vehicle The radius of the left wheel on the axle, From the front to the rear of the vehicle The radius of the right wheel on the axle, is the transmission efficiency constant for escape;

[0026] The control parameter calculation module further calculates the control parameters according to the calculated intermediate parameters, specifically:

[0027]

[0028] in, is the input torque, From the front to the rear of the vehicle On each wheel axle, the torque of the left wheel is released. From the front to the rear of the vehicle On each wheel axle, the right wheel's breakaway torque is is the transmission efficiency of the electronically controlled differential lock, is the ratio of the hydraulic cylinder oil pressure area to the friction plate area, is the number of friction plates, is the friction coefficient of the friction plate, is the friction torque equivalent radius, From the front to the rear of the vehicle Oil pressure control value of the electronically controlled differential lock on each wheel axle;

[0029] The processing unit sends the oil pressure control value of the electronically controlled differential lock on each wheel axle to the differential lock control unit, and the differential lock control unit controls the electronically controlled differential lock according to the oil pressure control value of the electronically controlled differential lock on each wheel axle.

[0030] Furthermore, the pavement coefficients correspond to different pavements. For dry paved pavement, , , The values ​​are 1.25, 24.01, and 0.55 respectively. For slippery roads, , , The values ​​are 0.47, 83.77, and 0.20 respectively. For icy and snowy roads, , , The values ​​are 0.04, 310.28, and 0.01 respectively.

[0031] The present invention also relates to a method for controlling an electronically controlled differential lock for autonomously escaping an unmanned vehicle. The method is applied to the electronically controlled differential lock control system for autonomously escaping an unmanned vehicle, and the method comprises the following steps:

[0032] S1. The parameter collection unit collects the status data of the unmanned vehicle, including the number of wheel axles , vehicle quality , the center of mass of the vehicle to the direction from the front to the rear of the vehicle Distance between wheel axles , vehicle center of mass height , No. Radius of the left wheel on each axle , No. Radius of the right wheel on the axle , and, the vehicle longitudinal speed , vehicle longitudinal acceleration , from the front to the rear of the vehicle The speed of the left wheel on each axle , right wheel speed ;

[0033] S2. The slip rate calculation module of the computing processing unit calculates the slip rate of each wheel, specifically:

[0034]

[0035] in, From the front to the rear of the vehicle The slip rate of the left wheel on each wheel axle is From the front to the rear of the vehicle The slip rate of the right wheel on each wheel axle is From the front to the rear of the vehicle The angular velocity of the left wheel on each wheel axle is From the front to the rear of the vehicle The angular velocity of the right wheel on the wheel axle is From the front to the rear of the vehicle The radius of the left wheel on the axle, From the front to the rear of the vehicle The radius of the right wheel on each wheel axle;

[0036] The slip ratio calculation module sends the slip ratio of each wheel to the load calculation module;

[0037] S3. The load calculation module of the computing processing unit is used to calculate the load of each wheel axle, specifically:

[0038]

[0039] in, From the front to the rear of the vehicle The load on each wheel axle, is the vehicle mass, is the longitudinal velocity of the vehicle, is the longitudinal acceleration of the vehicle, The distance from the center of mass of the vehicle to the direction from the front to the rear of the vehicle. The distance between the wheel axles, is the height of the vehicle's center of mass, that is, the distance from the vehicle's center of mass to the ground, is the number of wheel axles;

[0040] S4. The control parameter calculation module of the operation processing unit is used to calculate the intermediate parameters, specifically calculating:

[0041]

[0042]

[0043]

[0044]

[0045]

[0046]

[0047] in, , , is the road surface coefficient, From the front to the rear of the vehicle The slip rate of the left wheel on each wheel axle is From the front to the rear of the vehicle The slip rate of the right wheel on each wheel axle is From the front to the rear of the vehicle On each wheel axle, the adhesion rate of the left wheel is From the front to the rear of the vehicle On each wheel axle, the adhesion rate of the right wheel is From the front to the rear of the vehicle The load on each wheel axle, From the front to the rear of the vehicle The traction of the left wheel on each axle is From the front to the rear of the vehicle The traction of the right wheel on each axle, From the front to the rear of the vehicle On each wheel axle, the torque of the left wheel is released. From the front to the rear of the vehicle On each wheel axle, the right wheel's breakaway torque is From the front to the rear of the vehicle The radius of the left wheel on the axle, From the front to the rear of the vehicle The radius of the right wheel on the axle, is the transmission efficiency constant for escape;

[0048] The control parameter calculation module of the operation processing unit further calculates the control parameters according to the calculated intermediate parameters, specifically calculating:

[0049]

[0050] in, is the input torque, From the front to the rear of the vehicle On each wheel axle, the torque of the left wheel is released. From the front to the rear of the vehicle On each wheel axle, the right wheel's breakaway torque is is the transmission efficiency of the electronically controlled differential lock, is the ratio of the hydraulic cylinder oil pressure area to the friction plate area, is the number of friction plates, is the friction coefficient of the friction plate, is the friction torque equivalent radius, From the front to the rear of the vehicle Oil pressure control value of the electronically controlled differential lock on each wheel axle;

[0051] S5. The processing unit sends the oil pressure control value of the electronically controlled differential lock on each wheel axle to the differential lock control unit, and the differential lock control unit controls the electronically controlled differential lock according to the oil pressure control value of the electronically controlled differential lock on each wheel axle.

[0052] Further, in step S1:

[0053] The number of wheel axles , vehicle quality , the center of mass of the vehicle to the direction from the front to the rear of the vehicle Distance between wheel axles , vehicle center of mass height , No. Radius of the left wheel on each axle , No. Radius of the right wheel on the axle Input into the parameter acquisition unit through an external device;

[0054] The longitudinal speed of the vehicle is obtained through the GNSS module included in the parameter acquisition unit and longitudinal acceleration The parameter acquisition unit includes an angular velocity sensor installed on each wheel to obtain the first The speed of the left wheel on each axle , right wheel speed .

[0055] Further, in step S4:

[0056] The road surface coefficients described above correspond to different road surfaces. For dry paved roads, , , The values ​​are 1.25, 24.01, and 0.55 respectively. For slippery roads, , , The values ​​are 0.47, 83.77, and 0.20 respectively. For icy and snowy roads, , , The values ​​are 0.04, 310.28, and 0.01 respectively.

[0057] The present invention also relates to a computer program product, which includes a computer program. The computer program is executed by a processor and is used to execute the above-mentioned electronically controlled differential lock control method for autonomous escape of an unmanned vehicle.

[0058] The present invention also relates to a computer-readable storage medium, which is used to store a computer program. The computer program is executed by a processor to execute the above-mentioned electronically controlled differential lock control method for autonomous escape of an unmanned vehicle.

[0059] The technical solution of the present invention can control the electronically controlled differential locks for different wheel axles according to the status data of the unmanned vehicle without human intervention, thereby achieving high-efficiency, low-energy consumption, autonomous escape of the unmanned vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 The present invention is a structural block diagram of an electronically controlled differential lock control system for autonomous escape of an unmanned vehicle. DETAILED DESCRIPTION

[0061] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the scope of protection of the present invention. It should be pointed out that the following detailed description is exemplary and is intended to provide further explanation of the present invention.

[0062] Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those generally understood by those of ordinary skill in the art to which the present invention belongs. It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0063] Embodiment 1 of the present invention relates to an electronically controlled differential lock control system for autonomously escaping an unmanned vehicle, as shown in the attached Figure 1 As shown, the system includes: a parameter acquisition unit, an operation processing unit, and a differential lock control unit. The parameter acquisition unit is used to collect the state data of the unmanned vehicle and send it to the operation processing unit; the operation processing unit is used to generate the electronically controlled differential lock control parameters according to the state data of the unmanned vehicle and send them to the differential lock control unit; the differential lock control unit is used to control the electronically controlled differential lock according to the electronically controlled differential lock control parameters.

[0064] The electronically controlled differential lock is an electro-hydraulic control device that locks the differential by setting multiple friction plates in the differential and applying pressure to the friction plates with the help of pressure-controllable hydraulic oil.

[0065] The parameter acquisition unit collects the status data of the unmanned vehicle, including the number of wheel axles , vehicle quality , the center of mass of the vehicle to the direction from the front to the rear of the vehicle Distance between wheel axles , vehicle center of mass height , No. Radius of the left wheel on each axle , No. Radius of the right wheel on the axle , and, the vehicle longitudinal speed , vehicle longitudinal acceleration , from the front to the rear of the vehicle The speed of the left wheel on each axle , right wheel speed .

[0066] The number of wheel axles , vehicle quality , the center of mass of the vehicle to the direction from the front to the rear of the vehicle Distance between wheel axles , vehicle center of mass height , No. Radius of the left wheel on each axle , No. Radius of the right wheel on the axle The parameters are input into the parameter acquisition unit through an external device, thereby improving the accuracy.

[0067] The parameter acquisition unit includes a GNSS module for acquiring the longitudinal speed of the vehicle. and longitudinal acceleration , and also includes an angular velocity sensor installed on each wheel to obtain the first The speed of the left wheel on each axle , right wheel speed .

[0068] The calculation processing unit includes a slip rate calculation module, a load calculation module, and a control parameter calculation module.

[0069] The slip rate calculation module is used to calculate the slip rate of each wheel, specifically:

[0070]

[0071] in, From the front to the rear of the vehicle The slip rate of the left wheel on each wheel axle is From the front to the rear of the vehicle The slip rate of the right wheel on each wheel axle is From the front to the rear of the vehicle The angular velocity of the left wheel on each wheel axle is From the front to the rear of the vehicle The angular velocity of the right wheel on the wheel axle is From the front to the rear of the vehicle The radius of the left wheel on the axle, From the front to the rear of the vehicle The radius of the right wheel on each axle.

[0072] The slip ratio calculation module sends the slip ratio of each wheel to the load calculation module.

[0073] The load calculation module is used to calculate the load of each wheel axle, specifically:

[0074]

[0075] in, From the front to the rear of the vehicle The load on each wheel axle, is the vehicle mass, is the longitudinal velocity of the vehicle, is the longitudinal acceleration of the vehicle, The distance from the center of mass of the vehicle to the direction from the front to the rear of the vehicle. The distance between the wheel axles, is the height of the vehicle's center of mass, that is, the distance from the vehicle's center of mass to the ground, is the number of wheel axles.

[0076] The control parameter calculation module is used to calculate the intermediate parameters, specifically:

[0077]

[0078]

[0079]

[0080]

[0081]

[0082]

[0083] in, , , is the road surface coefficient, From the front to the rear of the vehicle The slip rate of the left wheel on each wheel axle is From the front to the rear of the vehicle The slip rate of the right wheel on each wheel axle is From the front to the rear of the vehicle On each wheel axle, the adhesion rate of the left wheel is From the front to the rear of the vehicle On each wheel axle, the adhesion rate of the right wheel is From the front to the rear of the vehicle The load on each wheel axle, From the front to the rear of the vehicle The traction of the left wheel on each axle is From the front to the rear of the vehicle The traction of the right wheel on each axle, From the front to the rear of the vehicle On each wheel axle, the torque of the left wheel is released. From the front to the rear of the vehicle On each wheel axle, the right wheel's breakaway torque is From the front to the rear of the vehicle The radius of the left wheel on the axle, From the front to the rear of the vehicle The radius of the right wheel on the axle, is the transmission efficiency constant for escape from trouble.

[0084] Different road surface coefficients correspond to different road surfaces. For example, for dry paved roads, , , The values ​​are 1.25, 24.01, and 0.55 respectively. For slippery roads, , , The values ​​are 0.47, 83.77, and 0.20 respectively. For icy and snowy roads, , , The values ​​are 0.04, 310.28, and 0.01 respectively.

[0085] The control parameter calculation module further calculates the control parameters according to the calculated intermediate parameters, specifically:

[0086]

[0087] in, is the input torque, From the front to the rear of the vehicle On each wheel axle, the torque of the left wheel is released. From the front to the rear of the vehicle On each wheel axle, the right wheel's breakaway torque is is the transmission efficiency of the electronically controlled differential lock, is the ratio of the hydraulic cylinder oil pressure area to the friction plate area, is the number of friction plates, is the friction coefficient of the friction plate, is the friction torque equivalent radius, , , , is the inherent parameter of the electronically controlled differential lock, From the front to the rear of the vehicle The oil pressure control value of the electronically controlled differential lock on each wheel axle.

[0088] The processing unit sends the oil pressure control value of the electronically controlled differential lock on each wheel axle to the differential lock control unit, and the differential lock control unit controls the electronically controlled differential lock according to the oil pressure control value of the electronically controlled differential lock on each wheel axle.

[0089] Embodiment 2 of the present invention relates to a method for controlling an electronically controlled differential lock for autonomously escaping an unmanned vehicle. The method is implemented by the system of embodiment 1 and comprises the following steps:

[0090] S1. The parameter collection unit collects the status data of the unmanned vehicle, including the number of wheel axles , vehicle quality , the center of mass of the vehicle to the direction from the front to the rear of the vehicle Distance between wheel axles , vehicle center of mass height , No. Radius of the left wheel on each axle , No. Radius of the right wheel on the axle , and, the vehicle longitudinal speed , vehicle longitudinal acceleration , from the front to the rear of the vehicle The speed of the left wheel on each axle , right wheel speed .

[0091] The number of wheel axles , vehicle quality , the center of mass of the vehicle to the direction from the front to the rear of the vehicle Distance between wheel axles , vehicle center of mass height , No. Radius of the left wheel on each axle , No. Radius of the right wheel on the axle The parameters are input into the parameter acquisition unit through an external device, thereby improving the accuracy.

[0092] The longitudinal speed of the vehicle is obtained through the GNSS module included in the parameter acquisition unit and longitudinal acceleration The parameter acquisition unit includes an angular velocity sensor installed on each wheel to obtain the first The speed of the left wheel on each axle , right wheel speed .

[0093] S2. The slip rate calculation module of the computing processing unit calculates the slip rate of each wheel, specifically:

[0094]

[0095] in, From the front to the rear of the vehicle The slip rate of the left wheel on each wheel axle is From the front to the rear of the vehicle The slip rate of the right wheel on each wheel axle is From the front to the rear of the vehicle The angular velocity of the left wheel on each wheel axle is From the front to the rear of the vehicle The angular velocity of the right wheel on the wheel axle is From the front to the rear of the vehicle The radius of the left wheel on the axle, From the front to the rear of the vehicle The radius of the right wheel on each wheel axle;

[0096] The slip ratio calculation module sends the slip ratio of each wheel to the load calculation module.

[0097] S3. The load calculation module of the computing processing unit is used to calculate the load of each wheel axle, specifically:

[0098]

[0099] in, From the front to the rear of the vehicle The load on each wheel axle, is the vehicle mass, is the longitudinal velocity of the vehicle, is the longitudinal acceleration of the vehicle, The distance from the center of mass of the vehicle to the direction from the front to the rear of the vehicle. The distance between the wheel axles, is the height of the vehicle's center of mass, that is, the distance from the vehicle's center of mass to the ground, is the number of wheel axles.

[0100] S4. The control parameter calculation module of the operation processing unit is used to calculate the intermediate parameters, specifically calculating:

[0101]

[0102]

[0103]

[0104]

[0105]

[0106]

[0107] in, , , is the road surface coefficient, From the front to the rear of the vehicle The slip rate of the left wheel on each wheel axle is From the front to the rear of the vehicle The slip rate of the right wheel on each wheel axle is From the front to the rear of the vehicle On each wheel axle, the adhesion rate of the left wheel is From the front to the rear of the vehicle On each wheel axle, the adhesion rate of the right wheel is From the front to the rear of the vehicle The load on each wheel axle, From the front to the rear of the vehicle The traction of the left wheel on each axle is From the front to the rear of the vehicle The traction of the right wheel on each axle, From the front to the rear of the vehicle On each wheel axle, the torque of the left wheel is released. From the front to the rear of the vehicle On each wheel axle, the right wheel's breakaway torque is From the front to the rear of the vehicle The radius of the left wheel on the axle, From the front to the rear of the vehicle The radius of the right wheel on the axle, is the transmission efficiency constant for escape from trouble.

[0108] Different road surface coefficients correspond to different road surfaces. For example, for dry paved roads, , , The values ​​are 1.25, 24.01, and 0.55 respectively. For slippery roads, , , The values ​​are 0.47, 83.77, and 0.20 respectively. For icy and snowy roads, , , The values ​​are 0.04, 310.28, and 0.01 respectively.

[0109] The control parameter calculation module of the operation processing unit further calculates the control parameters according to the calculated intermediate parameters, specifically calculating:

[0110]

[0111] in, is the input torque, From the front to the rear of the vehicle On each wheel axle, the torque of the left wheel is released. From the front to the rear of the vehicle On each wheel axle, the right wheel's breakaway torque is is the transmission efficiency of the electronically controlled differential lock, is the ratio of the hydraulic cylinder oil pressure area to the friction plate area, is the number of friction plates, is the friction coefficient of the friction plate, is the friction torque equivalent radius, From the front to the rear of the vehicle The oil pressure control value of the electronically controlled differential lock on each wheel axle.

[0112] S5. The processing unit sends the oil pressure control value of the electronically controlled differential lock on each wheel axle to the differential lock control unit, and the differential lock control unit controls the electronically controlled differential lock according to the oil pressure control value of the electronically controlled differential lock on each wheel axle.

[0113] Embodiment 3 of the present invention relates to a computer program product, which includes a computer program. The computer program is executed by a processor and is used to execute an electronically controlled differential lock control and method for autonomously escaping an unmanned vehicle according to embodiment 2.

[0114] Embodiment 4 of the present invention relates to a computer-readable storage medium, which is used to store a computer program. The computer program is executed by a processor to execute an electronically controlled differential lock control method for autonomously escaping an unmanned vehicle according to embodiment 2.

[0115] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. An electronically controlled differential lock control system for autonomous escape of an unmanned vehicle, characterized in that: The system comprises: a parameter acquisition unit, a calculation processing unit, and a differential lock control unit; The parameter acquisition unit is used to collect the status data of the unmanned vehicle, including the number of wheel axles , Vehicle Quality , the center of mass of the vehicle to the direction from the front to the rear of the vehicle Distance between wheel axles , vehicle center of mass height , No. Radius of the left wheel on each axle , No. Radius of the right wheel on the axle , and, the vehicle longitudinal speed , vehicle longitudinal acceleration , from the front to the rear of the vehicle The speed of the left wheel on each axle , right wheel speed , and send it to the operation processing unit; The processing unit is used to generate the electronically controlled differential lock control parameters according to the state data of the unmanned vehicle and send them to the differential lock control unit; The differential lock control unit is used to control the electronically controlled differential lock according to the electronically controlled differential lock control parameters; The operation processing unit includes a slip rate calculation module, a load calculation module, and a control parameter calculation module; The slip rate calculation module is used to calculate the slip rate of each wheel, specifically: ； ； in, From the front to the rear of the vehicle The slip rate of the left wheel on each wheel axle is From the front to the rear of the vehicle The slip rate of the right wheel on each wheel axle is From the front to the rear of the vehicle The angular velocity of the left wheel on each wheel axle is From the front to the rear of the vehicle The angular velocity of the right wheel on the wheel axle is From the front to the rear of the vehicle The radius of the left wheel on the axle, From the front to the rear of the vehicle The radius of the right wheel on each wheel axle; The slip ratio calculation module sends the slip ratio of each wheel to the load calculation module; The load calculation module is used to calculate the load of each wheel axle, specifically: ； in, From the front to the rear of the vehicle The load on each wheel axle, is the vehicle mass, is the longitudinal velocity of the vehicle, is the longitudinal acceleration of the vehicle, The distance from the center of mass of the vehicle to the direction from the front to the rear of the vehicle. The distance between the wheel axles, is the height of the vehicle's center of mass, that is, the distance from the vehicle's center of mass to the ground, is the number of wheel axles; The control parameter calculation module is used to calculate the intermediate parameters, specifically: ； ； ； ； ； ； in, , , is the road surface coefficient, From the front to the rear of the vehicle The slip rate of the left wheel on each wheel axle is From the front to the rear of the vehicle The slip rate of the right wheel on each wheel axle is From the front to the rear of the vehicle On each wheel axle, the adhesion rate of the left wheel is From the front to the rear of the vehicle On each wheel axle, the adhesion rate of the right wheel is From the front to the rear of the vehicle The load on each wheel axle, From the front to the rear of the vehicle The traction of the left wheel on each axle is From the front to the rear of the vehicle The traction of the right wheel on each axle, From the front to the rear of the vehicle On each wheel axle, the torque of the left wheel is released. From the front to the rear of the vehicle On each wheel axle, the right wheel's breakaway torque is From the front to the rear of the vehicle The radius of the left wheel on the axle, From the front to the rear of the vehicle The radius of the right wheel on the axle, is the transmission efficiency constant for escape; The control parameter calculation module further calculates the control parameters according to the calculated intermediate parameters, specifically: ； in, is the input torque, From the front to the rear of the vehicle On each wheel axle, the torque of the left wheel is released. From the front to the rear of the vehicle On each wheel axle, the right wheel's breakaway torque is is the transmission efficiency of the electronically controlled differential lock, is the ratio of the hydraulic cylinder oil pressure area to the friction plate area, is the number of friction plates, is the friction coefficient of the friction plate, is the friction torque equivalent radius, From the front to the rear of the vehicle Oil pressure control value of the electronically controlled differential lock on each wheel axle; The processing unit sends the oil pressure control value of the electronically controlled differential lock on each wheel axle to the differential lock control unit, and the differential lock control unit controls the electronically controlled differential lock according to the oil pressure control value of the electronically controlled differential lock on each wheel axle.

2. The electronically controlled differential lock control system for autonomous escape of an unmanned vehicle according to claim 1, characterized in that: The number of wheel axles , Vehicle Quality , the center of mass of the vehicle to the direction from the front to the rear of the vehicle Distance between wheel axles , vehicle center of mass height , No. Radius of the left wheel on each axle , No. Radius of the right wheel on the axle Input into the parameter acquisition unit through an external device; The parameter acquisition unit includes a GNSS module for acquiring the longitudinal speed of the vehicle. and longitudinal acceleration , and also includes an angular velocity sensor installed on each wheel to obtain the first The speed of the left wheel on each axle , right wheel speed .

3. The electronically controlled differential lock control system for autonomous escape of an unmanned vehicle according to claim 1, characterized in that: The road surface coefficients described above correspond to different road surfaces. For dry paved roads, , , The values ​​are 1.25, 24.01, and 0.55 respectively. For slippery roads, , , The values ​​are 0.47, 83.77, and 0.20 respectively. For icy and snowy roads, , , The values ​​are 0.04, 310.28, and 0.01 respectively.

4. A method for controlling an electronically controlled differential lock for autonomous escape of an unmanned vehicle, the method being applied to the electronically controlled differential lock control system for autonomous escape of an unmanned vehicle as claimed in any one of claims 1 to 3, characterized in that: The method comprises the following steps: S1. The parameter collection unit collects the status data of the unmanned vehicle, including the number of wheel axles , Vehicle Quality , the center of mass of the vehicle to the direction from the front to the rear of the vehicle Distance between wheel axles , vehicle center of mass height , No. Radius of the left wheel on each axle , No. Radius of the right wheel on the axle , and, the vehicle longitudinal speed , vehicle longitudinal acceleration , from the front to the rear of the vehicle The speed of the left wheel on each axle , right wheel speed ; S2. The slip rate calculation module of the computing processing unit calculates the slip rate of each wheel, specifically: ； ； in, From the front to the rear of the vehicle The slip rate of the left wheel on each wheel axle is From the front to the rear of the vehicle The slip rate of the right wheel on each wheel axle is From the front to the rear of the vehicle The angular velocity of the left wheel on each wheel axle is From the front to the rear of the vehicle The angular velocity of the right wheel on the wheel axle is From the front to the rear of the vehicle The radius of the left wheel on the axle, From the front to the rear of the vehicle The radius of the right wheel on each wheel axle; The slip ratio calculation module sends the slip ratio of each wheel to the load calculation module; S3. The load calculation module of the computing processing unit is used to calculate the load of each wheel axle, specifically: ； in, From the front to the rear of the vehicle The load on each wheel axle, is the vehicle mass, is the longitudinal velocity of the vehicle, is the longitudinal acceleration of the vehicle, The distance from the center of mass of the vehicle to the direction from the front to the rear of the vehicle. The distance between the wheel axles, is the height of the vehicle's center of mass, that is, the distance from the vehicle's center of mass to the ground, is the number of wheel axles; S4. The control parameter calculation module of the operation processing unit is used to calculate the intermediate parameters, specifically calculating: ； ； ； ； ； ； in, , , is the road surface coefficient, From the front to the rear of the vehicle The slip rate of the left wheel on each wheel axle is From the front to the rear of the vehicle The slip rate of the right wheel on each wheel axle is From the front to the rear of the vehicle On each wheel axle, the adhesion rate of the left wheel is From the front to the rear of the vehicle On each wheel axle, the adhesion rate of the right wheel is From the front to the rear of the vehicle The load on each wheel axle, From the front to the rear of the vehicle The traction of the left wheel on each axle is From the front to the rear of the vehicle The traction of the right wheel on each axle, From the front to the rear of the vehicle On each wheel axle, the torque of the left wheel is released. From the front to the rear of the vehicle On each wheel axle, the right wheel's breakaway torque is From the front to the rear of the vehicle The radius of the left wheel on the axle, From the front to the rear of the vehicle The radius of the right wheel on the axle, is the transmission efficiency constant for escape; The control parameter calculation module of the operation processing unit further calculates the control parameters according to the calculated intermediate parameters, specifically calculating: ； in, is the input torque, From the front to the rear of the vehicle On each wheel axle, the torque of the left wheel is released. From the front to the rear of the vehicle On each wheel axle, the right wheel's breakaway torque is is the transmission efficiency of the electronically controlled differential lock, is the ratio of the hydraulic cylinder oil pressure area to the friction plate area, is the number of friction plates, is the friction coefficient of the friction plate, is the friction torque equivalent radius, From the front to the rear of the vehicle Oil pressure control value of the electronically controlled differential lock on each wheel axle; S5. The processing unit sends the oil pressure control value of the electronically controlled differential lock on each wheel axle to the differential lock control unit, and the differential lock control unit controls the electronically controlled differential lock according to the oil pressure control value of the electronically controlled differential lock on each wheel axle.

5. The method for controlling an electronically controlled differential lock for autonomous escape of an unmanned vehicle according to claim 4, characterized in that: In step S1: The number of wheel axles , Vehicle Quality , the center of mass of the vehicle to the direction from the front to the rear of the vehicle Distance between wheel axles , vehicle center of mass height , No. Radius of the left wheel on each axle , No. Radius of the right wheel on the axle Input into the parameter acquisition unit through an external device; The longitudinal speed of the vehicle is obtained through the GNSS module included in the parameter acquisition unit and longitudinal acceleration The angular velocity sensors installed on each wheel included in the parameter acquisition unit are used to obtain the first The speed of the left wheel on each axle , right wheel speed .

6. The method for controlling an electronically controlled differential lock for autonomous escape of an unmanned vehicle according to claim 4, characterized in that: In step S4: The road surface coefficients described above correspond to different road surfaces. For dry paved roads, , , The values ​​are 1.25, 24.01, and 0.55 respectively. For slippery roads, , , The values ​​are 0.47, 83.77, and 0.20 respectively. For icy and snowy roads, , , The values ​​are 0.04, 310.28, and 0.01 respectively.

7. A computer program product, characterized in that The computer program product includes a computer program, which is executed by a processor and is used to execute the electronically controlled differential lock control method for autonomously escaping an unmanned vehicle as described in any one of claims 4 to 6.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and the computer program is executed by a processor to execute the electronically controlled differential lock control method for autonomously escaping an unmanned vehicle as described in any one of claims 4 to 6.

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