Vehicle control method and system, readable storage medium and vehicle

Abstract

The invention provides a vehicle control method and system, a readable storage medium and computer equipment. The method comprises the steps that an all-terrain mode request signal and a driving mode request signal are received; based on the driving mode request signal, the vehicle is controlled to be switched into a driving mode corresponding to the driving mode request signal; acquiring a current driving mode of the vehicle, and judging whether a driving mode corresponding to the all-terrain mode request signal is matched with the current driving mode or not; if yes, the electronic unit is controlled to be switched into a working mode associated with the driving mode corresponding to the all-terrain mode request signal; if not, the electronic unit is controlled to be switched into the preset working mode according to the current driving mode and the current driving mode of the vehicle and the driving mode corresponding to the all-terrain mode request signal. Adaptability adjustment can be carried out according to the all-terrain mode request signal and the driving mode request signal sent by the user, and the user can correctly match the whole vehicle four-wheel drive state and the all-terrain mode according to different use scenes.

Description

Technical Field

[0001] The present invention belongs to the field of vehicle technology, and specifically relates to a vehicle control method, system, readable storage medium and vehicle. Background Art

[0002] All-Terrain System (ATS) is an advanced vehicle drive and control technology, usually used in four-wheel drive vehicles, which allows the vehicle to automatically adjust its power distribution, suspension settings, traction control, etc. according to different road conditions to provide the best vehicle performance and passability. This system usually integrates multiple electronic units and can optimize the dynamic behavior of the vehicle according to the terrain mode selected by the user or the road conditions automatically detected by the system.

[0003] All-terrain systems usually include a variety of preset driving modes, such as Normal, ECO, Sport, Snow, Wet Mud, Sand, Rock, etc. Each driving mode adjusts multiple systems of the vehicle to adapt to specific terrain challenges. For example, in sand mode, the system will increase the engine's torque output and adjust the power distribution to reduce wheel slippage and improve passability; for example, in wet mud mode, the system will optimize the vehicle's traction control and lower the suspension to improve grip. Four-wheel drive vehicles usually have multiple driving modes to adapt to different driving conditions and road conditions. For example, part-time four-wheel drive vehicles usually include 2H (high-speed two-wheel drive), 4H (high-speed four-wheel drive), 4L (low-speed four-wheel drive) and other driving modes.

[0004] Currently, the ATS system is usually integrated into the ESP electronic unit, and the switching of driving modes is arbitrated by the ESP electronic unit. However, the driving mode of the part-time four-wheel drive vehicles on the market is in a one-to-one correspondence with the all-terrain driving mode. Users cannot control the four-wheel drive state alone, and only support the selection of the all-terrain driving mode. For example, the current all-terrain mode is in ECO mode and the driving mode is 2H, but in ECO mode, the user needs to switch the vehicle to 4H, but the current four-wheel drive vehicles cannot complete this switch. Summary of the invention

[0005] Based on this, an embodiment of the present invention provides a vehicle control method, system, readable storage medium and vehicle, which can perform adaptive adjustments according to the all-terrain mode request signal and drive mode request signal sent by the user, so as to enable the user to correctly match the four-wheel drive state of the vehicle with the all-terrain mode according to different usage scenarios.

[0006] A first aspect of an embodiment of the present invention provides a vehicle control method, which is applied to a vehicle equipped with an ATS system. The vehicle control method includes:

[0007] receiving an all-terrain mode request signal and a drive mode request signal;

[0008] Based on the driving mode request signal, controlling the vehicle to switch to a driving mode corresponding to the driving mode request signal;

[0009] Acquiring a current driving mode of the vehicle, and determining whether a driving mode corresponding to the all-terrain mode request signal matches the current driving mode;

[0010] If yes, control the electronic units of the vehicle to switch to the working mode associated with the driving mode corresponding to the all-terrain mode request signal, wherein the electronic units include an ESP electronic unit, an EMS electronic unit and a TCU electronic unit;

[0011] If not, the electronic unit is controlled to switch to a preset working mode according to the current driving mode of the vehicle, the current driving mode and the driving mode corresponding to the all-terrain mode request signal.

[0012] Further, when it is determined that the driving mode corresponding to the all-terrain mode request signal matches the current driving mode, the step of controlling the electronic unit related to the vehicle to switch to the working mode associated with the driving mode corresponding to the all-terrain mode request signal includes:

[0013] Acquiring an execution state of the electronic unit, and obtaining an arbitration result according to the execution state and the current driving mode;

[0014] Determining whether the arbitration result is consistent with the preset arbitration result;

[0015] If so, the electronic unit is controlled to switch to a working mode associated with the driving mode corresponding to the all-terrain mode request signal.

[0016] Further, when it is determined that the driving mode corresponding to the all-terrain mode request signal matches the current driving mode, the step of controlling the electronic unit related to the vehicle to switch to the working mode associated with the driving mode corresponding to the all-terrain mode request signal further includes:

[0017] If the arbitration result is inconsistent with the preset arbitration result, the electronic unit is controlled to switch to a working mode corresponding to the normal driving mode.

[0018] Further, the step of determining whether the driving mode corresponding to the all-terrain mode request signal matches the current driving mode, and if not, controlling the electronic unit to switch to a preset working mode according to the current driving mode of the vehicle, the current driving mode and the driving mode corresponding to the all-terrain mode request signal comprises:

[0019] determining whether the current driving mode is a non-mountain driving mode, whether the current driving mode is a non-low-speed four-wheel drive mode, and whether the driving mode corresponding to the all-terrain mode request signal is a mountain driving mode;

[0020] If so, the electronic unit is controlled to maintain the current working mode.

[0021] Further, the step of determining whether the driving mode corresponding to the all-terrain mode request signal matches the current driving mode, and if not, controlling the electronic unit to switch to a preset working mode according to the current driving mode of the vehicle, the current driving mode and the driving mode corresponding to the all-terrain mode request signal comprises:

[0022] Determining whether the current driving mode is a mountain driving mode, whether the current driving mode is a non-low-speed four-wheel drive mode, and whether the driving mode corresponding to the all-terrain mode request signal is a mountain driving mode;

[0023] If so, the electronic unit is controlled to switch to a working mode corresponding to the normal driving mode.

[0024] Furthermore, the all-terrain mode request signal is generated by triggering an ATCM switch and is forwarded to the ESP electronic unit through the BCM electronic unit.

[0025] Further, when the arbitration result is inconsistent with the preset arbitration result, after the step of controlling the electronic unit to switch to the working mode associated with the driving mode corresponding to the all-terrain mode request signal, the step further includes:

[0026] The BCM electronic unit sends an all-terrain mode request signal corresponding to the arbitration result to the ESP electronic unit.

[0027] The beneficial effects of the present application include at least: according to the above-mentioned vehicle control method, by judging whether the requested all-terrain mode matches the driving mode status, the switching of the driving mode and the driving mode is safely completed, and the correct matching of the driving mode and the driving mode is achieved; at the same time, when the driving mode status corresponding to the requested all-terrain mode does not match, the vehicle can be automatically switched to the corresponding driving mode so that the vehicle can be used normally.

[0028] A second aspect of an embodiment of the present invention provides a vehicle control system, which is applied to a vehicle equipped with an ATS system, and the vehicle control system includes:

[0029] A receiving module, used for receiving an all-terrain mode request signal and a driving mode request signal;

[0030] A first control module, configured to control the vehicle to switch to a driving mode corresponding to the driving mode request signal based on the driving mode request signal;

[0031] An acquisition module, used for acquiring the current driving mode of the vehicle;

[0032] The second control module is used to determine whether the driving mode corresponding to the all-terrain mode request signal matches the current driving mode; if so, control the electronic unit of the vehicle to switch to a working mode associated with the driving mode corresponding to the all-terrain mode request signal, wherein the electronic unit includes an ESP electronic unit, an EMS electronic unit and a TCU electronic unit; if not, control the electronic unit to switch to a preset working mode according to the current driving mode of the vehicle, the current driving mode and the driving mode corresponding to the all-terrain mode request signal.

[0033] A third aspect of an embodiment of the present invention provides a readable storage medium, which stores one or more programs, and when the program is executed by a processor, the aforementioned vehicle control method is implemented.

[0034] A fourth aspect of an embodiment of the present invention provides a vehicle, the vehicle comprising a memory and a processor, wherein:

[0035] The memory is used to store computer programs;

[0036] When the processor is used to execute the computer program stored in the memory, the aforementioned vehicle control method is implemented.

[0037] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description or will be learned through embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a flow chart of a vehicle control method proposed in Embodiment 1 of the present invention;

[0039] Figure 2 This is a flow chart of a vehicle control method proposed in Embodiment 2 of the present invention;

[0040] Figure 3 This is a schematic diagram of the structure of a vehicle control system proposed in Embodiment 5 of the present invention.

[0041] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0042] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0043] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0045] The vehicle control method of the present invention is based on an all-terrain control system on a part-time drive vehicle, wherein part-time four-wheel drive is a mode of a four-wheel drive vehicle drive system, which allows the user to manually select a two-wheel drive or four-wheel drive mode according to road conditions. In this system, the output power of the engine is distributed to the front and rear drive shafts through a transfer case, and the two-wheel drive or four-wheel drive mode is selected by connecting or disconnecting the transfer case.

[0046] Embodiment 1

[0047] See also Figure 1 , Figure 1 A flow chart of a vehicle control method provided by a first embodiment of the present invention is shown. The method specifically includes steps S01 to S03.

[0048] Step S01, receiving an all-terrain mode request signal and a driving mode request signal;

[0049] Step S02: Based on the driving mode request signal, controlling the vehicle to switch to the driving mode corresponding to the driving mode request signal;

[0050] When the user uses a time-sharing drive vehicle, the user can trigger different all-terrain mode request signals by operating the ATCM switch. The all-terrain control system receives the all-terrain mode request signal and controls the vehicle to switch to the corresponding driving mode. The driving modes corresponding to the all-terrain mode request signal include: Normal (normal mode), ECO (economic mode), Sport (sports mode), Snow (snow mode), Wet Mud (wet mud mode), Sand (sand mode), and Rock (mountain driving mode). Specifically, Normal mode: suitable for most daily roads and road conditions, the vehicle's suspension, power output and brake system remain at normal levels; ECO mode: optimizes fuel efficiency, usually achieved by limiting power output and adjusting transmission logic; Sport mode: improves the vehicle's acceleration performance and handling response, usually achieved by increasing power output and adjusting suspension settings; Snow mode: increases the vehicle's traction and prevents wheels from slipping, usually achieved by adjusting power output and traction control systems; Wet Mud mode: improves the vehicle's passability on slippery and muddy ground by adjusting power output and suspension settings; Sand mode: helps the vehicle drive on loose sand surfaces and reduces tire sinking by adjusting suspension settings and increasing power output; Rock mode: optimizes the vehicle's performance on rugged rocky roads by adjusting suspension settings and reducing power output to protect the vehicle from damage. Among them, the ATCM switch does not have a memory function, that is, the ATCM switch generates an all-terrain mode request signal of the Normal mode by default after each power-on.

[0051] At the same time, the user can also trigger the generation of a drive mode request signal by operating the four-wheel drive switch. At this time, the vehicle's all-terrain control system receives the drive mode request signal and controls the transfer case to switch to the corresponding drive mode. The drive modes corresponding to the drive mode request signal include: 2H (high-speed two-wheel drive): Under good road conditions, the vehicle runs in two-wheel drive, usually rear-wheel drive, to improve fuel economy; 4H (high-speed four-wheel drive): On slippery, snowy or other roads that require additional traction, the vehicle runs in four-wheel drive, and the front and rear wheels share power to provide better stability and traction; 4L (low-speed four-wheel drive): Under extreme off-road conditions, such as steep slopes or deep trenches, the vehicle runs in low-speed four-wheel drive mode, at which time the engine torque is amplified to enhance the vehicle's climbing ability and passability. Among them, the drive mode sequence is 2H-4H-4L, and the default drive mode of the part-time four-wheel drive is 2H.

[0052] Step S03, obtaining the current driving mode of the vehicle, and determining whether the driving mode corresponding to the all-terrain mode request signal matches the current driving mode;

[0053] If yes, control the electronic units of the vehicle to switch to a working mode associated with the driving mode corresponding to the all-terrain mode request signal, wherein the electronic units include an ESP electronic unit, an EMS electronic unit, and a TCU electronic unit;

[0054] If not, the electronic unit is controlled to switch to a preset working mode according to the current driving mode of the vehicle, the current drive mode and the driving mode corresponding to the all-terrain mode request signal.

[0055] In this embodiment, the all-terrain control system can be integrated in the ESP electronic unit, and the all-terrain mode request signal and the drive mode request signal are collected by the BCM electronic unit. During the specific connection, the ATCM switch and the four-wheel drive switch BCM can be electrically connected to the ESP electronic unit through a hard wire or a bus, and the ESP electronic unit can be electrically connected to the EMS electronic unit and the TCU electronic unit through a hard wire or a bus.

[0056] Exemplarily, when the user operates the ATCM switch, the ATCM switch sends the corresponding all-terrain mode request signal BCM_Driving_mode_req_BCM to the BCM electronic unit through the LIN line, and the BCM electronic unit forwards it to the ESP electronic unit for corresponding all-terrain mode processing logic control. When the user operates the four-wheel drive switch, the four-wheel drive switch sends the corresponding driving mode request signal BCM_PTCaseMod to the BCM electronic unit through the LIN line, and the BCM electronic unit forwards it to the ESP electronic unit for corresponding driving mode processing logic control.

[0057] In step S03, when the driving mode requested by the user is consistent with the current driving mode of the vehicle, the all-terrain control system controls the ESP electronic unit, the EMS electronic unit and the TCU electronic unit to switch to the working mode associated with the driving mode requested by the user; when the driving mode requested by the user is inconsistent with the current driving mode of the vehicle, the all-terrain control system does not respond to the user's request, but controls the ESP electronic unit, the EMS electronic unit and the TCU electronic unit to switch to the preset working mode to ensure that the vehicle is in normal operation. Among them, the BCM electronic unit can enter the cyclic sending mode request according to the signal sent by the collected four-wheel drive switch, and the default driving mode of the cyclic sending mode request is 2H. When the transfer case receives the driving mode switching request sent by the BCM electronic unit, it executes and completes the switching action, and at the same time, the working indicator light of the four-wheel drive switch is lit through hard wire or bus control to prompt the user of the current driving mode of the vehicle. The BCM electronic unit has memory, and monitors and memorizes the driving mode state of the time-sharing four-wheel drive before each power-off. After the BCM electronic unit is powered on and initialized, the BCM electronic unit sends a driving mode request signal to the ESP electronic unit, and this driving mode request signal is consistent with the driving mode request signal before the last power-off.

[0058] It should be noted that the ESP (Electronic Stability Program) electronic unit is the core component of the vehicle's body stability control system. It monitors the dynamic behavior of the vehicle by receiving data from various vehicle sensors, such as wheel speed sensors, steering angle sensors, side slip sensors, etc. When the vehicle is detected to have signs of losing control, the ESP electronic unit will automatically adjust the engine output and brake individual wheels to help users stabilize the vehicle and prevent skidding and rollover; the MS (Engine Management System) electronic unit, that is, the engine management system, is an electronic control unit that controls the performance of modern automobile engines. It is responsible for managing the engine's fuel injection, ignition timing, air-fuel ratio control, etc., to optimize the engine's operating efficiency, reduce emissions and increase power output; the TCU (Transmission Control Unit) electronic unit, also known as the transmission control unit, is the brain of the automatic transmission system. It controls the transmission's shifting logic based on user input and the vehicle's real-time data, ensuring that the transmission provides a smooth shifting experience and optimal fuel efficiency under different driving conditions; the BMS (Battery Management System) electronic unit is a system used to manage and monitor electric or hybrid vehicle battery packs. It is responsible for monitoring key parameters such as battery voltage, current, and temperature to ensure that the battery operates within a safe operating range and optimize battery performance and life.

[0059] In addition, it should be noted that the execution subject in this embodiment can be various controllers or processors suitable for configuration in a vehicle, for example, it can be a controller or processor that comes with the vehicle, and the vehicle control method in this embodiment can be implemented by making corresponding hardware and software improvements to these controllers or processors; for example, it can be a processor or controller additionally configured on the vehicle to implement the vehicle control method in this embodiment.

[0060] In summary, according to the above-mentioned vehicle control method, by judging whether the requested all-terrain mode matches the driving mode status, the switching of the driving mode and the driving mode can be safely completed, and the correct matching of the driving mode and the driving mode can be achieved; at the same time, when the driving mode status corresponding to the requested all-terrain mode does not match, the vehicle can be automatically switched to the corresponding driving mode so that the vehicle can be used normally.

[0061] Embodiment 2

[0062] See also Figure 2 , Figure 2 A flow chart of a vehicle control method provided by the second embodiment of the present invention is shown, which specifically includes steps S11 to S17.

[0063] Step S11, receiving an all-terrain mode request signal and a driving mode request signal;

[0064] Step S12: Based on the driving mode request signal, controlling the vehicle to switch to the driving mode corresponding to the driving mode request signal;

[0065] Step S13, obtaining the current driving mode of the vehicle, and determining whether the driving mode corresponding to the all-terrain mode request signal matches the current driving mode;

[0066] Step S14: if the driving mode corresponding to the all-terrain mode request signal matches the current driving mode, obtaining the execution state of the electronic unit;

[0067] Step S15, obtaining an arbitration result according to the execution state of the electronic unit and the current driving mode;

[0068] Step S16: determining whether the arbitration result is consistent with the preset arbitration result;

[0069] If so, the control electronic unit switches to an operating mode associated with the driving mode corresponding to the all-terrain mode request signal;

[0070] When working, when the all-terrain mode requested by the driver matches the driving mode of the part-time four-wheel drive at this time, the ESP electronic unit responds to the driver's driving mode switching request, and initiates a driving mode switching request to the EMS electronic unit and the TCU electronic unit. The EMS electronic unit responds to the requests sent by the TCU electronic unit and the ESP electronic unit, and feedbacks the respective switching status results. At the same time, the TCU electronic unit monitors the driving mode of the part-time four-wheel drive in real time. The ESP electronic unit arbitrates according to the feedback results received from the TCU electronic unit and the ESP electronic unit, and according to the switching status results of itself and other electronic units and the current driving mode of the four-wheel drive to obtain the arbitration result. Among them, the feedback results sent by the TCU electronic unit include its own switching status and the switching status of the transfer case. In addition, if the TCU electronic unit and the ESP electronic unit cannot respond to the driving mode switching request of the ESP electronic unit, they will send a fault signal value accordingly. At this time, the TCU electronic unit and the ESP electronic unit maintain the current working mode. If the ESP electronic unit receives a fault signal sent by any one of the TCU electronic unit and the ESP electronic unit, or does not receive or detect the feedback information from the TCU electronic unit and the ESP electronic unit, the ESP electronic unit will set the all-terrain system to a fault flag and request the driving mode to be Normal mode. At this time, the TCU electronic unit and the ESP electronic unit enter their respective Normal working modes to meet the user's basic driving needs.

[0071] Table 1 shows the operating modes of the control electronic unit in an embodiment of the present invention in association with the driving modes corresponding to the all-terrain mode request signal.

[0072] Table 1

[0073]

[0074]

[0075] As can be seen from Table 1, when the driving mode requested by the user is Normal mode, ECO mode, Sport mode, Snow mode, Wet Mud mode and ECO mode, the vehicle's driving mode can be any one of 2H, 4H and 4L modes; while in Rock mode, the vehicle's driving mode can only be 4L mode. It should be noted that the Auto working mode refers to the automatic adjustment of the driving mode according to the road conditions inside the vehicle, so as to achieve the purpose of adjusting the torque ratio of the front and rear wheels. In addition, when the part-time four-wheel drive is in 4L mode, the TCU single sub-unit will preferentially enter the corresponding 4L working mode to give priority to meeting the user's road driving needs and improve the user's shift curve experience. When the arbitration result generated by the ESP electronic unit is inconsistent with the ESP arbitration result in Table 1, it means that some electronic units have not switched to the corresponding working mode, or the switching response is wrong.

[0076] Step S17: If the driving mode corresponding to the all-terrain mode request signal does not match the current driving mode, the electronic unit is controlled to switch to a preset working mode according to the current driving mode of the vehicle, the current driving mode and the driving mode corresponding to the all-terrain mode request signal.

[0077] In this embodiment, the electronic unit is controlled to operate in the corresponding working mode through the arbitration result, which can avoid the electronic unit failing to switch to the corresponding working mode or the switching response error, thereby ensuring that the user can obtain the actual driving mode of the vehicle according to the arbitration result, so that the user can make targeted switches between the all-terrain driving mode and the drive mode according to the actual situation.

[0078] In some optional embodiments, step S16 further includes the following steps S161:

[0079] Step S161: If the arbitration result is inconsistent with the preset arbitration result, the control electronic unit will switch to the working mode corresponding to the normal driving mode. Specifically, since the all-terrain system will report an error at this time and the vehicle cannot be used at this time, the ESP electronic unit will set the all-terrain system to a fault flag and request the driving mode to be the Normal mode. The TCU electronic unit and the ESP electronic unit will enter their respective Normal working modes to meet the user's basic driving needs.

[0080] In some optional embodiments, after step S16 and before step S17, the following step S162 is also included:

[0081] Step S162: The BCM electronic unit sends an all-terrain mode request signal corresponding to the arbitration result to the ESP electronic unit.

[0082] Specifically, since the vehicle will switch to the Normal mode at this time, the BCM electronic unit may always keep forwarding the all-terrain mode request signal of other driving modes sent by the ATCM switch, which may cause a conflict in the all-terrain control system signal. Therefore, the BCM electronic unit is controlled to send the all-terrain mode request signal corresponding to the arbitration result to the ESP electronic unit. For example, the user requests to switch from the ECO driving mode to the Sport driving mode, and the BCM electronic unit sends the all-terrain mode request signal corresponding to the Sport driving mode sent by the ATCM switch. Assuming that the arbitration result of the ESP electronic unit is the Sport driving mode, the BCM electronic unit keeps sending the all-terrain mode request signal corresponding to the Sport driving mode. If the arbitration result of the ESP electronic unit is not the Sport driving mode, the BCM electronic unit keeps sending the all-terrain mode request signal corresponding to the Sport driving mode. Through the operation of step S162, the BCM electronic unit sends the all-terrain mode request signal corresponding to the Normal mode to the ESP electronic unit according to the arbitration result, so that the vehicle can be used normally.

[0083] In addition, when the ESP electronic unit is powered on and completes the system self-test, if the self-test fails, the ESP electronic unit will also set the all-terrain system replacement fault flag and request the driving mode to be Normal mode. At the same time, when the ATCM switch receives the mode request forwarded by the BCM electronic unit as a fault value, it controls the BCM electronic unit to send an all-terrain mode request signal corresponding to the Normal mode to the ESP electronic unit; if the ESP electronic unit self-test is successful, the ESP electronic unit responds to the all-terrain mode request signal forwarded by the BCM.

[0084] In summary, according to the above-mentioned vehicle control method, by judging whether the requested all-terrain mode matches the driving mode status, the switching of the driving mode and the driving mode can be safely completed, and the correct matching of the driving mode and the driving mode can be achieved; at the same time, when the driving mode status corresponding to the requested all-terrain mode does not match, the vehicle can be automatically switched to the corresponding driving mode so that the vehicle can be used normally.

[0085] Embodiment 3

[0086] The third embodiment of the present invention provides a vehicle control method, which specifically includes steps S31 to S34.

[0087] Step S31, receiving an all-terrain mode request signal and a driving mode request signal;

[0088] Step S32, based on the driving mode request signal, controlling the vehicle to switch to the driving mode corresponding to the driving mode request signal;

[0089] Step S33, obtaining the current driving mode of the vehicle, and determining whether the driving mode corresponding to the all-terrain mode request signal matches the current driving mode;

[0090] If yes, control the electronic units of the vehicle to switch to a working mode associated with the driving mode corresponding to the all-terrain mode request signal, wherein the electronic units include an ESP electronic unit, an EMS electronic unit, and a TCU electronic unit;

[0091] If not, obtaining the current driving mode of the vehicle;

[0092] Step S34, determining whether the current driving mode is a non-mountain driving mode, whether the current driving mode is a non-low-speed four-wheel drive mode, and whether the driving mode corresponding to the all-terrain mode request signal is a mountain driving mode;

[0093] If the current driving mode is not the mountain driving mode, and the current driving mode is not the low-speed four-wheel drive mode, and the driving mode corresponding to the all-terrain mode request signal is the mountain driving mode, the control electronic unit maintains the current working mode.

[0094] In this step, the ESP electronic unit does not respond to the driver's all-terrain mode request and maintains the current all-terrain mode state. In order to prompt the user to switch the driving mode, the instrument IC can be triggered to display a text reminder "Please enter the 4L driving mode before entering the Rock driving mode". In addition, after the ESP electronic unit is powered on and completes the system self-check, if the self-check fails, the ESP electronic unit will set the all-terrain system replacement fault flag and request the driving mode to be Normal mode. At the same time, when the ATCM switch receives the mode request forwarded by the BCM electronic unit as a fault value, it controls the BCM electronic unit to send the ESP electronic unit an all-terrain mode request signal corresponding to the Normal mode; if the ESP electronic unit self-checks successfully, the ESP electronic unit responds to the all-terrain mode request signal forwarded by the BCM.

[0095] In summary, according to the above-mentioned vehicle control method, by judging whether the requested all-terrain mode matches the driving mode status, the switching of the driving mode and the driving mode can be safely completed, and the correct matching of the driving mode and the driving mode can be achieved; at the same time, when the driving mode status corresponding to the requested all-terrain mode does not match, the vehicle can be automatically switched to the corresponding driving mode so that the vehicle can be used normally.

[0096] Embodiment 4

[0097] A vehicle control method provided in the fourth embodiment of the present invention specifically includes steps S41 to S44.

[0098] Step S41, receiving an all-terrain mode request signal and a driving mode request signal;

[0099] Step S42, based on the driving mode request signal, controlling the vehicle to switch to the driving mode corresponding to the driving mode request signal;

[0100] Step S43, obtaining the current driving mode of the vehicle, and determining whether the driving mode corresponding to the all-terrain mode request signal matches the current driving mode;

[0101] If yes, control the electronic units of the vehicle to switch to a working mode associated with the driving mode corresponding to the all-terrain mode request signal, wherein the electronic units include an ESP electronic unit, an EMS electronic unit, and a TCU electronic unit;

[0102] If not, obtaining the current driving mode of the vehicle;

[0103] Step S44, determining whether the current driving mode is a mountain driving mode, whether the current driving mode is a non-low-speed four-wheel drive mode, and whether the driving mode corresponding to the all-terrain mode request signal is a mountain driving mode;

[0104] If the current driving mode is the mountain driving mode, and the current driving mode is not the low-speed four-wheel drive mode, and the driving mode corresponding to the all-terrain mode request signal is the mountain driving mode, the control electronic unit switches to the working mode corresponding to the normal driving mode.

[0105] In this step, the BCM electronic unit can also be controlled to send an all-terrain mode request signal corresponding to the Normal mode to the ESP electronic unit, so that the vehicle can be used normally. In addition, when the ESP electronic unit is powered on and the system self-check is completed, if the self-check fails, the ESP electronic unit will also set the all-terrain system replacement fault flag and request the driving mode to be the Normal mode. At the same time, when the ATCM switch receives the mode request forwarded by the BCM electronic unit as a fault value, it controls the BCM electronic unit to send an all-terrain mode request signal corresponding to the Normal mode to the ESP electronic unit; if the ESP electronic unit self-check is successful, the ESP electronic unit responds to the all-terrain mode request signal forwarded by the BCM.

[0106] In summary, according to the above-mentioned vehicle control method, by judging whether the requested all-terrain mode matches the driving mode status, the switching of the driving mode and the driving mode can be safely completed, and the correct matching of the driving mode and the driving mode can be achieved; at the same time, when the driving mode status corresponding to the requested all-terrain mode does not match, the vehicle can be automatically switched to the corresponding driving mode so that the vehicle can be used normally.

[0107] Embodiment 5

[0108] The fifth embodiment of the present invention provides a vehicle control system 300, see Figure 3 , the vehicle control system comprises:

[0109] A receiving module 310, configured to receive an all-terrain mode request signal and a driving mode request signal;

[0110] A first control module 320, configured to control the vehicle to switch to a driving mode corresponding to the driving mode request signal based on the driving mode request signal;

[0111] An acquisition module 330 is used to acquire a current driving mode of the vehicle;

[0112] The second control module 340 is used to determine whether the driving mode corresponding to the all-terrain mode request signal matches the current driving mode; if so, the electronic unit of the vehicle is controlled to switch to the working mode associated with the driving mode corresponding to the all-terrain mode request signal, wherein the electronic unit includes an ESP electronic unit, an EMS electronic unit and a TCU electronic unit; if not, the electronic unit is controlled to switch to a preset working mode according to the current driving mode of the vehicle, the current driving mode and the driving mode corresponding to the all-terrain mode request signal.

[0113] In some optional embodiments of the present invention, the second control module 340 is also used to obtain the execution status of the electronic unit when the driving mode corresponding to the all-terrain mode request signal matches the current driving mode, obtain an arbitration result based on the execution status and the current driving mode, and determine whether the arbitration result is consistent with a preset arbitration result.

[0114] In some optional embodiments of the present invention, the second control module 340 is further configured to control the electronic unit to switch to a working mode corresponding to the normal driving mode when the arbitration result is inconsistent with the preset arbitration result.

[0115] In some optional embodiments of the present invention, the second control module 340 is also used to determine whether the current driving mode is a non-mountain driving mode, whether the current driving mode is a non-low-speed four-wheel drive mode, and whether the driving mode corresponding to the all-terrain mode request signal is a mountain driving mode when the driving mode corresponding to the all-terrain mode request signal does not match the current driving mode. If so, the control electronic unit maintains the current operating mode.

[0116] In some optional embodiments of the present invention, the second control module 340 is also used to determine whether the current driving mode is a mountain driving mode, whether the current driving mode is a non-low-speed four-wheel drive mode, and whether the driving mode corresponding to the all-terrain mode request signal is a mountain driving mode when the driving mode corresponding to the all-terrain mode request signal does not match the current driving mode. If so, the control electronic unit switches to a working mode corresponding to the normal driving mode.

[0117] Embodiment 6

[0118] A sixth embodiment of the present invention provides a computer-readable storage medium on which one or more programs are stored. When the programs are executed by a processor, the above-mentioned vehicle control method is implemented.

[0119] Embodiment 7

[0120] A sixth embodiment of the present invention provides a vehicle, including a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the above-mentioned vehicle control method.

[0121] Those skilled in the art will appreciate that the logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For purposes of this specification, "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0122] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0123] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0124] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0125] The above-described embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the protection scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A vehicle control method, characterized in that: Applied to a vehicle equipped with an ATS system, the vehicle control method includes: receiving an all-terrain mode request signal and a drive mode request signal; Based on the driving mode request signal, controlling the vehicle to switch to a driving mode corresponding to the driving mode request signal; Acquiring a current driving mode of the vehicle, and determining whether a driving mode corresponding to the all-terrain mode request signal matches the current driving mode; If yes, control the electronic units of the vehicle to switch to the working mode associated with the driving mode corresponding to the all-terrain mode request signal, wherein the electronic units include an ESP electronic unit, an EMS electronic unit and a TCU electronic unit; If not, the electronic unit is controlled to switch to a preset working mode according to the current driving mode of the vehicle, the current driving mode and the driving mode corresponding to the all-terrain mode request signal.

2. The vehicle control method according to claim 1, characterized in that: When it is determined that the driving mode corresponding to the all-terrain mode request signal matches the current driving mode, the step of controlling the electronic unit related to the vehicle to switch to the working mode associated with the driving mode corresponding to the all-terrain mode request signal includes: Acquiring an execution state of the electronic unit, and obtaining an arbitration result according to the execution state and the current driving mode; Determining whether the arbitration result is consistent with the preset arbitration result; If so, the electronic unit is controlled to switch to a working mode associated with the driving mode corresponding to the all-terrain mode request signal.

3. The vehicle control method according to claim 2, characterized in that: When it is determined that the driving mode corresponding to the all-terrain mode request signal matches the current driving mode, the step of controlling the electronic unit related to the vehicle to switch to the working mode associated with the driving mode corresponding to the all-terrain mode request signal further includes: If the arbitration result is inconsistent with the preset arbitration result, the electronic unit is controlled to switch to a working mode corresponding to the normal driving mode.

4. The vehicle control method according to claim 1, characterized in that: The step of controlling the electronic unit to switch to a preset working mode according to the current driving mode of the vehicle, the current drive mode and the driving mode corresponding to the all-terrain mode request signal comprises: determining whether the current driving mode is a non-mountain driving mode, whether the current driving mode is a non-low-speed four-wheel drive mode, and whether the driving mode corresponding to the all-terrain mode request signal is a mountain driving mode; If so, the electronic unit is controlled to maintain the current working mode.

5. The vehicle control method according to claim 1, characterized in that: The step of controlling the electronic unit to switch to a preset working mode according to the current driving mode of the vehicle, the current drive mode and the driving mode corresponding to the all-terrain mode request signal comprises: Determining whether the current driving mode is a mountain driving mode, whether the current driving mode is a non-low-speed four-wheel drive mode, and whether the driving mode corresponding to the all-terrain mode request signal is a mountain driving mode; If so, the electronic unit is controlled to switch to a working mode corresponding to the normal driving mode.

6. The vehicle control method according to claim 2, characterized in that: The all-terrain mode request signal is generated by triggering the ATCM switch and is forwarded to the ESP electronic unit through the BCM electronic unit.

7. The vehicle control method according to claim 6, characterized in that: When the arbitration result is inconsistent with the preset arbitration result, after the step of controlling the electronic unit to switch to the working mode associated with the driving mode corresponding to the all-terrain mode request signal, the step further includes: The BCM electronic unit sends an all-terrain mode request signal corresponding to the arbitration result to the ESP electronic unit.

8. A vehicle control system, characterized in that: Applied to a vehicle equipped with an ATS system, the vehicle control system includes: A receiving module, used for receiving an all-terrain mode request signal and a driving mode request signal; A first control module, configured to control the vehicle to switch to a driving mode corresponding to the driving mode request signal based on the driving mode request signal; An acquisition module, used for acquiring the current driving mode of the vehicle; The second control module is used to determine whether the driving mode corresponding to the all-terrain mode request signal matches the current driving mode; if so, control the electronic unit of the vehicle to switch to a working mode associated with the driving mode corresponding to the all-terrain mode request signal, wherein the electronic unit includes an ESP electronic unit, an EMS electronic unit and a TCU electronic unit; if not, control the electronic unit to switch to a preset working mode according to the current driving mode of the vehicle, the current driving mode and the driving mode corresponding to the all-terrain mode request signal.

9. A readable storage medium, characterized in that: The readable storage medium stores one or more programs, which, when executed by a processor, implement the vehicle control method according to any one of claims 1 to 6.

10. A vehicle, characterized in that: comprising a memory and a processor, wherein: The memory is used to store computer programs; When the processor is used to execute the computer program stored in the memory, the vehicle control method described in any one of claims 1 to 6 is implemented.

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