Differential lock automatic control method and system and vehicle

Abstract

According to the differential lock automatic control method and system and the vehicle, whether the vehicle is in a special road condition or not is recognized through navigation and a camera, a vehicle suspension jumping signal is obtained through an air suspension sensor, and the vehicle wheel speed difference, the vehicle speed, the front-back inclination angle and the left-right inclination angle are combined; if it is judged that the vehicle is located on the specified special road surface, the vehicle speed is lower than the set threshold value and the left and right wheel speed difference is smaller than the set threshold value, the differential lock automatically intervenes, if it is judged that the vehicle leaves the specified special road surface or the vehicle speed exceeds the preset value, the differential lock automatically exits, intelligent differential lock control is achieved, and the driving experience of customers is effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of differential lock control, and in particular to a differential lock automatic control method and system, and a vehicle. Background Art

[0002] Most of the current mainstream differential lock control methods are based on manual mode or by judging the specific driving mode of the whole vehicle to decide whether to intervene or exit the differential lock. This method lacks intelligence and cannot automatically adjust the working state of the differential lock according to the road conditions or vehicle status. In the prior art, in order to improve the success rate of locking and unlocking the differential lock, during the process of locking or unlocking the differential lock of the vehicle, the target torque output by at least one target motor of the vehicle is controlled so that the torque difference of the wheel end torque of the two wheels connected to the differential lock is a non-zero value, and the torque difference makes the rotation speed of the two wheels different, thereby assisting the differential lock to perform locking or unlocking; in addition, there is also a method for monitoring the communication transmission state of the differential lock switch state and the vehicle operation state signal. If the vehicle operation state signal is not received for multiple consecutive times, it is judged as a fault state, and the user is reminded that the differential lock function is faulty. This method helps to improve the user experience and avoid fault alarms caused by not using the differential lock function. Patent CN202410560041.X proposes to determine the state of the differential lock (including unlocked, locked, successfully locked, unlocked, etc.) based on multiple factors such as vehicle information, terrain mode, differential lock control instructions, and actual drive current signals of the differential lock. This method monitors the differential lock state through multiple indicators and can more accurately control the operation of the differential lock.

[0003] Although the existing technology can assist the control of the differential lock by different means, the above control method is still relatively mechanical and lacks adaptive ability. It cannot automatically adjust the intervention or exit of the differential lock according to the actual road conditions or vehicle status, and the intelligence and automation level is low. Therefore, it is urgent to propose a differential lock automatic intervention method that overcomes the above problems. Summary of the invention

[0004] In view of the defects in the prior art, the purpose of the present invention is to provide a differential lock automatic control method and system, and a vehicle, which automatically determines whether to intervene or exit the differential lock through road conditions, the jumping state of the air suspension and the basic state of the vehicle identified by navigation and cameras, so as to enhance the customer's driving experience.

[0005] In order to achieve the above technical effects, the present invention adopts the following technical solutions:

[0006] According to a first aspect of the present invention, there is provided a method for automatic control of a differential lock, comprising the following steps:

[0007] Step S1: The navigation system identifies the current position of the vehicle, and the camera system identifies the road surface state in real time to obtain the initial road surface condition. If the navigation system identifies that the vehicle is on a special road surface, and the camera identifies that the actual initial road surface condition is consistent with the navigation system, the differential lock enters the ready state ①; the special road surface includes snow, mud, sand or rocky road surface;

[0008] Step S2: In the ready state ①, the differential lock enters the ready state ② according to the suspension bounce signal fed back by the air suspension sensor being consistent with the special road condition calibrated in step S1;

[0009] Step S3: In the ready state ②, further analyze the wheel speed difference, vehicle speed, front and rear caster angle and left and right caster angle of the vehicle. If the state of the front and rear caster angle and left and right caster angle of the vehicle matches the special road condition calibrated in step S1, and the vehicle speed is lower than the set threshold, and the left and right wheel speed difference is less than the set threshold, the rear differential lock automatically intervenes and enters the locking state, and the front differential lock also intervenes synchronously;

[0010] Step S4: If the navigation and camera recognize that the vehicle has left the special road surface and the air suspension sensor recognizes that the vehicle has left the special road surface, the differential lock automatically exits; if the vehicle speed exceeds a preset value, the differential lock automatically exits.

[0011] Preferably, the information provided by the navigation system includes the geographical location of the vehicle, the type of road, and terrain features.

[0012] Preferably, if the navigation and camera recognize that the vehicle has left the special road surface and the air suspension sensor recognizes that the vehicle has left the special road surface, the front differential lock is exited first, and then the rear differential lock is exited.

[0013] Preferably, if the vehicle speed exceeds a preset value, the front / rear differential locks are automatically exited at the same time.

[0014] According to a second aspect of the present invention, a differential lock automatic control system is provided, which is used to implement the above-mentioned differential lock automatic control method, and specifically includes the following modules:

[0015] Information collection module: This module includes a vehicle camera system, a navigation system, an air suspension sensor and a vehicle basic information collection system. The camera system is used to identify road conditions, the navigation system is used to identify the vehicle's location, the air suspension sensor is used to obtain the vehicle's suspension bounce signal, and the vehicle basic information collection system is used to obtain the vehicle's wheel speed difference, vehicle speed, front and rear caster angles, and left and right caster angles;

[0016] Differential lock intervention condition judgment module: This module mainly includes the vehicle central processing module, which receives the road conditions provided by the camera system and navigation system, as well as the vehicle-related information provided by the air suspension sensor and the vehicle basic information collection system, to judge and confirm whether the vehicle is in a special road condition, whether the vehicle speed is lower than the preset value and whether the left and right wheel speed difference is less than the preset value, and then judge whether the differential lock actively intervenes;

[0017] Differential lock exit condition judgment module: This module mainly includes the vehicle central processing module, which receives road condition information provided by the camera and navigation system, as well as vehicle information provided by the air suspension sensor and the vehicle basic information collection system, to judge and confirm whether the vehicle has left the special road condition and whether the vehicle speed exceeds the preset value, and then judge whether the differential lock is actively exited;

[0018] Differential lock control module: This module is responsible for actually controlling the intervention and exit of the differential lock;

[0019] The special road conditions include snow, mud, sand or rocky road conditions.

[0020] According to a third aspect of the present invention, there is provided a vehicle comprising the above-mentioned differential lock automatic control system.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The differential lock automatic control method provided by the present invention can automatically determine whether to intervene or exit the differential lock through the road conditions, the jumping state of the air suspension and the basic state of the vehicle identified by navigation and the camera, thereby realizing intelligent differential lock control, solving the defects of the existing differential lock control method that is relatively mechanical, not intelligent enough, and cannot automatically switch the working state of the differential lock according to the actual road conditions, thereby effectively improving the customer's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0024] Figure 1 is a flow chart of the method for automatic control of the differential lock described in the first embodiment;

[0025] Figure 2 is a flowchart of the method for automatic control of the differential lock described in the first embodiment;

[0026] Figure 3 It is a structural block diagram of the system for automatic control of the differential lock described in the second embodiment. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0029] First Embodiment

[0030] like Figure 1 , Figure 2 As shown, this embodiment provides a method for automatic control of differential locks, which automatically determines whether the vehicle needs to engage the differential lock through the collaborative work of multiple sensors, and releases the differential lock at an appropriate time. The process is based on information such as navigation, camera, air suspension sensor, and vehicle dynamic status to achieve intelligent differential lock control and effectively improve the customer's driving experience. Specifically, it includes the following steps:

[0031] Step S1: Navigation and camera work together to identify road conditions: The vehicle's navigation system identifies the vehicle's current location. The navigation data provides information including geographic location, road type (such as snow, mud, sand, rocky roads, etc.), and terrain features. Subsequently, the camera system scans the road ahead and identifies the road conditions in real time. If the navigation and camera recognition results match, and the vehicle is in a special working condition (such as snow, mud, sand or rocky roads), the system puts the differential lock in the ready state①, indicating that the system is ready to perform differential lock control.

[0032] Step S2: Matching the air suspension sensor with the special working condition: After entering the ready state ①, the air suspension sensor monitors the suspension state of the vehicle. The air suspension sensor can sense the body bounce and vibration of the vehicle in real time, especially the suspension feedback when the vehicle is driving on complex terrain (such as uneven snow, mud, etc.), and transmit the feedback to the vehicle central processor. If the suspension bounce signal fed back by the air suspension sensor matches the special working condition (snow, mud, sand or rocky road condition) initially calibrated in step S1, the differential lock enters the ready state ②.

[0033] Step S3: Basic dynamic state of the vehicle and determination of differential lock intervention: In the ready state ②, the vehicle central processing module further analyzes the basic state of the vehicle, such as wheel speed difference, vehicle speed (especially when driving at low speed), front and rear caster angle and left and right caster angle, especially the front and rear caster angle and left and right caster angle. If the state of the front and rear caster angle and left and right caster angle of the vehicle matches the special working condition (snow, mud, sand or rock road condition) initially calibrated in step S1, and the vehicle speed is lower than the set threshold, and the left and right wheel speed difference is less than the set threshold, it means that the vehicle is experiencing a low traction condition, and the rear differential lock automatically intervenes and enters the locked state, and the front differential lock also intervenes synchronously to ensure the traction balance of the two axles and improve the vehicle's passability and stability.

[0034] Step S4: The differential lock automatically exits when the following two situations exist: 1. When the navigation and camera recognize that the vehicle has left the special road surface and the air suspension sensor recognizes that the vehicle has left the special road surface, the front differential lock exits first, and then the rear differential lock exits; 2. When the vehicle speed exceeds a certain preset value, the front / rear differential locks automatically exit at the same time.

[0035] Second Embodiment

[0036] like Figure 2 As shown, this embodiment provides a system for automatic control of a differential lock, which is used to implement the method for automatic control of a differential lock described in the first embodiment, and specifically includes the following modules:

[0037] Information collection module: This module includes a vehicle camera system, a navigation system, an air suspension sensor and a vehicle basic information collection system. The camera system is used to identify the initial road conditions, the navigation system is used to identify the vehicle's position, the air suspension sensor is used to obtain the vehicle's suspension bounce signal, and the vehicle basic information collection system is used to obtain the vehicle's wheel speed difference, vehicle speed, front and rear caster angles, and left and right caster angles.

[0038] Differential lock intervention condition judgment module: This module mainly includes the vehicle central processing module, which receives road conditions provided by the camera and navigation system and vehicle-related information provided by the air suspension sensor and the vehicle basic information collection system to determine and confirm whether the vehicle is in a specified special condition (snow, mud, sand or rocky road conditions) and whether the vehicle speed is lower than the preset value and whether the left and right wheel speed difference is less than the preset value, and then determines whether the differential lock actively intervenes.

[0039] Differential lock exit condition judgment module: This module mainly includes the vehicle central processing module, which receives road conditions provided by the camera and navigation system, as well as vehicle-related information provided by the air suspension sensor and the vehicle basic information collection system, to determine and confirm whether the vehicle has left the specified special conditions (snow, mud, sand or rocky road conditions) and whether the vehicle speed exceeds the preset value, and then determine whether the differential lock is actively exited.

[0040] Differential lock control module: This module is responsible for actually controlling the intervention and exit of the differential lock.

[0041] Embodiment 3

[0042] This embodiment provides a vehicle including the system for automatic control of the differential lock described in the second embodiment.

[0043] The above describes the specific embodiments of the present invention. Based on the above description, relevant personnel can make various changes and modifications without departing from the technical concept of the present invention.

Claims

1. A method for automatic control of a differential lock, characterized in that: The following steps are involved: Step S1: The navigation system identifies the current position of the vehicle, and the camera system identifies the road surface state in real time to obtain the initial road surface condition. If the navigation system identifies that the vehicle is on a special road surface, and the camera identifies that the actual initial road surface condition is consistent with the navigation system, the differential lock enters the ready state ①; the special road surface includes snow, mud, sand or rocky road surface; Step S2: In the ready state ①, the differential lock enters the ready state ② according to the suspension bounce signal fed back by the air suspension sensor being consistent with the special road condition calibrated in step S1; Step S3: In the ready state ②, further analyze the wheel speed difference, vehicle speed, front and rear caster angle and left and right caster angle of the vehicle. If the state of the front and rear caster angle and left and right caster angle of the vehicle matches the special road condition calibrated in step S1, and the vehicle speed is lower than the set threshold, and the left and right wheel speed difference is less than the set threshold, the rear differential lock automatically intervenes and enters the locking state, and the front differential lock also intervenes synchronously; Step S4: If the navigation and camera recognize that the vehicle has left the special road surface and the air suspension sensor recognizes that the vehicle has left the special road surface, the differential lock is automatically exited; If the vehicle speed exceeds the preset value, the differential lock will automatically exit.

2. The method for automatic control of differential lock according to claim 1, characterized in that: The information provided by the navigation system includes the vehicle's geographical location, road type and terrain characteristics.

3. The method for automatic control of differential lock according to claim 1, characterized in that: In step S4, if the navigation and camera recognize that the vehicle has left the special road surface and the air suspension sensor recognizes that the vehicle has left the special road surface, the front differential lock is exited first, and then the rear differential lock is exited.

4. The method for automatic control of differential lock according to claim 1, characterized in that: In step S4, if the vehicle speed exceeds a preset value, the front / rear differential locks are automatically exited at the same time.

5. A differential lock automatic control system, characterized in that: The method for implementing the automatic control of the differential lock described in claims 1 to 4 specifically comprises the following modules: Information collection module: This module includes a vehicle camera system, a navigation system, an air suspension sensor and a vehicle basic information collection system. The camera system is used to identify road conditions, the navigation system is used to identify the vehicle's location, the air suspension sensor is used to obtain the vehicle's suspension bounce signal, and the vehicle basic information collection system is used to obtain the vehicle's wheel speed difference, vehicle speed, front and rear caster angles, and left and right caster angles; Differential lock intervention condition judgment module: This module mainly includes the vehicle central processing module, which receives the road conditions provided by the camera system and navigation system, as well as the vehicle-related information provided by the air suspension sensor and the vehicle basic information collection system, to judge and confirm whether the vehicle is in a special road condition, whether the vehicle speed is lower than the preset value and whether the left and right wheel speed difference is less than the preset value, and then judge whether the differential lock actively intervenes; Differential lock exit condition judgment module: This module mainly includes the vehicle central processing module, which receives road condition information provided by the camera and navigation system, as well as vehicle information provided by the air suspension sensor and the vehicle basic information collection system, to judge and confirm whether the vehicle has left the special road condition and whether the vehicle speed exceeds the preset value, and then judge whether the differential lock is actively exited; Differential lock control module: This module is responsible for actually controlling the intervention and exit of the differential lock; The special road conditions include snow, mud, sand or rocky road conditions.

6. A vehicle, characterized in that: Includes the differential lock automatic control system described in claim 5.

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