Differential lock control method, vehicle control unit and medium

Abstract

The invention provides a differential lock control method, a vehicle control unit and a medium, and relates to the technical field of vehicle control. The method comprises the steps that the current state of a differential lock rocker switch and vehicle state information are obtained, and the vehicle state information comprises one or more of the motor rotating speed, the steering wheel rotating angle, the accelerator opening degree and the wheel slip rate; according to the current state of the differential lock rocker switch, differential lock control modes are determined, and the differential lock control modes comprise an automatic control mode, a manual control mode and a closed state mode; according to the vehicle state information, whether a locking condition / unlocking condition corresponding to the differential lock control mode is met or not is determined; and if the locking condition / unlocking condition corresponding to the differential lock control mode is met, the locking operation / unlocking operation of the differential lock is executed. According to the method provided by the invention, the damage probability of the differential lock is reduced, and the control accuracy of the differential lock is improved, so that the use requirements of users are met.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a differential lock control method, a vehicle controller and a medium. Background Art

[0002] A differential lock is a device used in a vehicle's drivetrain that is primarily used to limit or lock the differential function between the vehicle's drive wheels. Differential locks are commonly used in off-road vehicles, four-wheel drive vehicles, and some heavy trucks and specialty vehicles to enhance their performance in complex terrain and harsh conditions.

[0003] In the related art, the control of the differential lock is relatively simple. Usually, the state of the differential lock rocker switch, vehicle speed, wheel speed difference, throttle opening and other signals are used as the locking / unlocking conditions of the differential lock, and the automatic locking / unlocking of the differential lock is controlled accordingly.

[0004] However, the locking / unlocking conditions of the above differential locks are not comprehensive and do not fully take into account the various irregular operations of the driver on the differential locks and the requirements of different working conditions, resulting in that the differential lock control cannot meet the user's usage requirements and the differential lock is prone to damage. Summary of the invention

[0005] The embodiments of the present application provide a differential lock control method, a vehicle controller, and a medium, which can reduce the damage probability of the differential lock and improve the accuracy of the differential lock control, thereby meeting the usage requirements of users.

[0006] In a first aspect, an embodiment of the present application provides a differential lock control method, comprising:

[0007] Acquire the current state of the differential lock rocker switch and vehicle state information, wherein the vehicle state information includes one or more of motor speed, steering wheel angle, throttle opening, and wheel slip rate;

[0008] Determining a differential lock control mode according to a current state of the differential lock rocker switch, wherein the differential lock control mode includes an automatic control mode, a manual control mode, and an off state mode;

[0009] Determining, according to the vehicle state information, whether a locking condition / unlocking condition corresponding to the differential lock control mode is met;

[0010] If the locking condition / unlocking condition corresponding to the differential lock control mode is met, the locking operation / unlocking operation of the differential lock is performed.

[0011] In a possible implementation manner, determining the differential lock control mode according to the current state of the differential lock rocker switch includes:

[0012] Determining whether the current state of the differential lock rocker switch is an enabled state;

[0013] If the current state of the differential lock rocker switch is a disabled state, determining that the differential lock control mode is an off state mode;

[0014] If the current state of the differential lock rocker switch is an enabled state, determine whether the enabled state is turned on by a preset manual control instruction; if it is turned on by a preset manual control instruction, determine that the differential lock control mode is a manual control mode; if it is not turned on by a preset manual control instruction, determine that the differential lock control mode is an automatic control mode.

[0015] In a possible implementation manner, when the differential lock control mode is the automatic control mode, determining whether a locking condition / unlocking condition corresponding to the differential lock control mode is met according to the vehicle state information includes:

[0016] Determine whether the vehicle status information satisfies the following conditions simultaneously: the motor speed is less than or equal to the motor speed threshold, the steering wheel angle is less than or equal to the steering wheel angle threshold, the throttle opening is less than or equal to the throttle opening threshold, and the target wheel slip rate is greater than or equal to the wheel slip rate threshold; if all of the conditions are satisfied at the same time, the locking condition corresponding to the differential lock automatic control mode is satisfied; if all of the conditions are not satisfied at the same time, the locking condition corresponding to the differential lock automatic control mode is not satisfied;

[0017] or,

[0018] Determine whether the vehicle status information satisfies one of the following: the differential lock rocker switch is in a disabled state, the motor speed is greater than a motor speed threshold, the steering wheel angle is greater than a steering wheel angle threshold, and the target wheel slip rate is less than a wheel slip rate threshold; if one of the following is satisfied, the unlocking condition corresponding to the differential lock automatic control mode is satisfied; if one of the following is not satisfied, the unlocking condition corresponding to the differential lock automatic control mode is not satisfied;

[0019] Among them, when the differential lock is an inter-wheel differential lock, the target wheel slip rate is the maximum wheel slip rate of the vehicle; when the differential lock is an inter-axle differential lock, the target wheel slip rate is the absolute value of the difference between the average value of the wheel slip rates on both sides of the center axle and the average value of the wheel slip rates on both sides of the rear axle.

[0020] In a possible implementation manner, when the differential lock control mode is a manual control mode, determining whether a locking condition / unlocking condition corresponding to the differential lock control mode is met according to the vehicle state information includes:

[0021] Determine whether the vehicle status information satisfies the following conditions simultaneously: the motor speed is less than or equal to the motor speed threshold, the steering wheel angle is less than or equal to the steering wheel angle threshold, and the throttle opening is less than or equal to the throttle opening threshold; if all of the conditions are satisfied at the same time, the locking condition corresponding to the manual control mode of the differential lock is satisfied; if all of the conditions are not satisfied at the same time, the locking condition corresponding to the manual control mode of the differential lock is not satisfied;

[0022] or,

[0023] Determine whether the vehicle status information satisfies one of the following: the differential lock rocker switch is in a non-enabled state, and the vehicle fault level is greater than the vehicle fault level threshold; if one of the following is satisfied, the unlocking condition corresponding to the differential lock manual control mode is satisfied; if one of the following is not satisfied, the unlocking condition corresponding to the differential lock manual control mode is not satisfied.

[0024] In a possible implementation manner, after performing the locking operation / unlocking operation of the differential lock, the method further includes:

[0025] Acquiring a differential lock state feedback signal, and generating differential lock state information and driving prompt information according to the differential lock state feedback signal;

[0026] Outputting the differential lock status information through a vehicle dashboard, and outputting driving prompt information through a vehicle voice system, wherein the driving prompt information includes locking driving prompt information or unlocking driving prompt information;

[0027] The differential lock state feedback signal includes one of a differential lock locking signal, a differential lock locking success signal, a differential lock locking failure signal, a differential lock unlocking signal, a differential lock unlocking success signal, and a differential lock unlocking failure signal.

[0028] In a possible implementation manner, when the differential lock control mode is in the closed state mode, the method further includes:

[0029] Determine whether the vehicle status information satisfies the following conditions simultaneously: the vehicle fault level is less than or equal to the vehicle fault level threshold, and the target wheel slip rate is greater than or equal to the wheel slip rate threshold;

[0030] If both conditions are met, the differential lock locking prompt information is output through the vehicle instrument panel and the vehicle voice system respectively.

[0031] In a possible implementation, it further includes:

[0032] Acquire abnormal locking information of the differential lock within a preset time period, wherein the abnormal locking information includes the number of times the differential lock fails to lock in the automatic control mode and the reason for the failure, the number of times the differential lock fails to lock in the manual control mode and the reason for the failure, and the number of times the differential lock is requested to lock in the closed state mode;

[0033] A corresponding differential lock operation specification is generated according to the abnormal locking information, and the abnormal locking information and the differential lock operation specification are output.

[0034] In a second aspect, an embodiment of the present application provides a vehicle controller, including:

[0035] An acquisition module, used to acquire the current state of the differential lock rocker switch and vehicle state information, wherein the vehicle state information includes one or more of motor speed, steering wheel angle, throttle opening, and wheel slip rate;

[0036] A processing module is used to determine a differential lock control mode according to a current state of the differential lock rocker switch, wherein the differential lock control mode includes an automatic control mode, a manual control mode, and an off state mode; determine whether a locking condition / unlocking condition corresponding to the differential lock control mode is met according to the vehicle state information; and if the locking condition / unlocking condition corresponding to the differential lock control mode is met, perform a locking operation / unlocking operation of the differential lock.

[0037] In a third aspect, an embodiment of the present application provides another vehicle controller, including:

[0038] A processor, and a memory communicatively connected to the processor;

[0039] Memory is used to store computer executable instructions;

[0040] The processor is used to execute the computer-executable instructions stored in the memory, so that the processor executes the above-mentioned first aspect and / or various possible implementations of the first aspect.

[0041] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the above-mentioned first aspect and / or various possible implementation methods of the first aspect.

[0042] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the above-mentioned first aspect and / or various possible implementation methods of the first aspect.

[0043] The embodiment of the present application provides a differential lock control method, a vehicle controller and a medium, which can determine the differential lock control mode according to the state of the differential lock rocker switch, and determine whether the locking condition / unlocking condition corresponding to the differential lock control mode is met according to the vehicle state information such as the motor speed, the steering wheel angle, the throttle opening, and the wheel slip rate, and perform the locking operation / unlocking operation of the differential lock when the locking condition / unlocking condition is met. Through such a setting, different differential lock control modes such as automatic control mode, manual control mode and closed state mode can be provided, so as to adapt to the needs of different working conditions when the vehicle is driving, and improve the accuracy of differential lock control. In addition, the vehicle state information such as the motor speed, the steering wheel angle, the throttle opening, and the wheel slip rate can also be used to comprehensively and fully consider the control requirements of the differential lock in various operating scenarios, avoid the damage of the differential lock caused by various irregular operations of the driver on the differential lock, reduce the probability of damage to the differential lock, and further improve the accuracy of differential lock control, so as to meet the user's use needs in different scenarios and working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0045] Figure 1 A system architecture diagram of an embodiment of the present application;

[0046] Figure 2 This is a flow chart of a differential lock control method according to an embodiment of the present application;

[0047] Figure 3 This is a schematic diagram of the structure of a vehicle controller according to an embodiment of the present application;

[0048] Figure 4 This is a schematic structural diagram of a vehicle controller according to another embodiment of the present application.

[0049] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0050] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0051] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0052] In the technical solution of this application, the collection, storage, use, processing, transmission, provision and disclosure of information such as financial data or user data involved shall comply with the provisions of relevant laws and regulations and shall not violate public order and good morals.

[0053] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0054] It should also be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0055] The differential lock control method, vehicle controller and medium of the present application can be used in the field of vehicle control technology, and can also be used in any field outside the field of vehicle control technology, such as differential lock control technology, etc. The application field of the differential lock control method, vehicle controller and medium of the present application is not limited.

[0056] The differential lock control method, vehicle controller and medium of the present application can be applied to scenarios where differential lock control is performed during vehicle driving. Any related scenarios involving vehicle differential lock control, such as off-road vehicles, four-wheel drive vehicles and heavy trucks, can all be applied to the differential lock control method, vehicle controller and medium of the present application.

[0057] First, the terms involved in this application are explained:

[0058] The inter-wheel differential lock is used to lock the differential between the two wheels on the same axle. This differential lock is usually used on the rear axle or front axle to ensure that the two wheels on the same axle rotate at the same speed. When driving off-road or on low-grip roads, if one wheel loses traction and starts to slip, the inter-wheel differential lock can lock both wheels so that the power is evenly distributed to the two wheels, thereby improving the vehicle's traction and passing ability.

[0059] Axle differential locks are used to lock the differential between the different axles of a vehicle. They are usually used in the center differential of a four-wheel drive vehicle to ensure that the front and rear axles rotate at the same speed. Axle differential locks distribute power between the front and rear axles of a vehicle. Under normal driving conditions, the center differential allows the front and rear axles to rotate at different speeds to accommodate situations such as cornering. However, in low-traction conditions, axle differential locks can lock the center differential to ensure that power is evenly distributed to the front and rear axles, improving the vehicle's traction.

[0060] Wheel Slip Ratio is a parameter that describes the relative motion between the wheel and the road surface, and is usually used in vehicle dynamics and control systems. The slip ratio is an indicator of whether the wheel is slipping, which is very important for the vehicle's traction control system (such as ABS anti-lock braking system and TCS traction control system).

[0061] During the driving of off-road vehicles, four-wheel drive vehicles, some heavy trucks and special vehicles, due to the complex road conditions and harsh working conditions, many special scenarios require the use of differential locks to get out of trouble. However, since the drivers have not received professional training, sometimes they are prone to irregular operations when using differential locks, such as engaging the differential lock when the vehicle is driving at high speed, causing it to be damaged by a large impact, not releasing the differential lock in time after the vehicle is out of trouble and still driving at high speed, causing it to fail due to large torque, not releasing the differential lock in time after the vehicle is out of trouble and turning with the lock, causing it to fail due to large torque, and the failure rate remains high. Therefore, the differential lock needs to be accurately controlled during the driving of the vehicle.

[0062] In the related art, the control of the differential lock is relatively simple. Usually, the state of the differential lock rocker switch, vehicle speed, wheel speed difference, throttle opening and other signals are used as the locking / unlocking conditions of the differential lock, and the automatic locking / unlocking of the differential lock is controlled accordingly.

[0063] However, the locking / unlocking conditions of the above differential locks are not comprehensive and do not fully take into account the various irregular operations of the driver on the differential locks and the requirements of different working conditions, resulting in that the differential lock control cannot meet the user's usage requirements and the differential lock is prone to damage.

[0064] Based on the above technical problems, the inventive concept of the present application is to provide a differential lock control solution that can reduce the damage probability of the differential lock and improve the accuracy of the differential lock control, thereby meeting the user's usage needs.

[0065] The embodiment of the present application provides a differential lock control method, a vehicle controller and a medium, which can provide different differential lock control modes such as automatic control mode, manual control mode and closed state mode. During vehicle driving, the specific differential lock control mode can be determined according to the state of the differential lock rocker switch to meet the needs of different working conditions when the vehicle is driving, thereby improving the accuracy of differential lock control. Furthermore, it is also possible to determine whether the locking condition / unlocking condition corresponding to the differential lock control mode is met based on vehicle state information such as motor speed, steering wheel angle, throttle opening, wheel slip rate, etc., comprehensively and fully consider the control requirements of the differential lock in various operating scenarios, avoid the damage of the differential lock caused by various irregular operations of the driver on the differential lock, and further improve the accuracy of differential lock control, thereby meeting the user's usage requirements in different scenarios and working conditions.

[0066] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0067] Figure 1 This is a system architecture diagram of an embodiment of the present application, such as Figure 1The vehicle controller VCU shown is communicatively connected with the vehicle sensor to obtain vehicle status information. The VCU is also electrically connected with the differential lock rocker switch to obtain the current state of the differential lock rocker switch. The VCU is also electrically connected with the inter-wheel / inter-axle differential solenoid valve to control the power on / off of the inter-wheel / inter-axle differential solenoid valve. The VCU is also communicatively connected with the differential lock sensor to obtain the differential lock status feedback signal. The VCU is also communicatively connected with the vehicle instrument panel and the vehicle voice system to output the differential lock status information and driving prompt information respectively. The VCU is also communicatively connected with the vehicle network T-BOX to push abnormal locking information. During vehicle driving, the VCU obtains the current state of the differential lock rocker switch and vehicle state information, the vehicle state information includes motor speed, steering wheel angle, throttle opening, and wheel slip rate; determines the differential lock control mode according to the current state of the differential lock rocker switch, and the differential lock control mode includes automatic control mode, manual control mode, and closed state mode; determines whether the locking condition / unlocking condition corresponding to the differential lock control mode is met according to the vehicle state information; if the locking condition / unlocking condition corresponding to the differential lock control mode is met, performs the locking operation / unlocking operation of the differential lock; obtains the differential lock state feedback signal, and generates the differential lock state information and driving prompt information according to the differential lock state feedback signal; outputs the differential lock state information through the vehicle instrument panel, and outputs the driving prompt information through the vehicle voice system, the driving prompt information includes locking driving prompt information or unlocking driving prompt information.

[0068] Figure 2 Flow chart of a differential lock control method according to an embodiment of the present application. This embodiment uses the vehicle controller VCU as the execution subject to illustrate the differential lock control method. Figure 2 As shown, the differential lock control method may include the following steps:

[0069] S201: Acquire the current state of the differential lock rocker switch and vehicle state information.

[0070] In this embodiment, the vehicle status information may include one or more of motor speed, steering wheel angle, throttle opening, wheel slip rate, and the vehicle status information may also include vehicle speed, motor torque, vehicle fault level and other information.

[0071] In this embodiment, the differential lock rocker switch is used to control the locking / unlocking of the vehicle differential lock, and the differential lock rocker switch is usually arranged in the cab of the vehicle.

[0072] In this embodiment, the differential lock rocker switch may include two states: enabled and disabled. When the driver presses the differential lock rocker switch, the differential lock rocker switch is in the enabled state; when the driver does not press the differential lock rocker switch, the differential lock rocker switch is in the disabled state.

[0073] In this embodiment, the VCU can obtain vehicle status information such as vehicle speed, motor speed, motor torque, steering wheel angle, throttle opening, vehicle fault level, wheel slip rate, etc. through various sensors or CAN bus.

[0074] It should be noted that the differential lock mentioned in this embodiment can be an inter-wheel differential lock or an inter-axle differential lock (central differential lock), and no limitation is made here.

[0075] S202: Determine a differential lock control mode according to a current state of the differential lock rocker switch.

[0076] In this embodiment, the differential lock control mode may include an automatic control mode, a manual control mode and a closed state mode to meet the padlock requirements under different working conditions when the vehicle is driving.

[0077] In this embodiment, when the driver presses the differential lock rocker switch to put the differential lock rocker switch in the enabled state, the differential lock control mode is the automatic control mode; when the driver does not press the differential lock rocker switch to put the differential lock rocker switch in the disabled state, the differential lock control mode is the closed state mode; when the driver presses the differential lock rocker switch through a preset manual control command (press and release three times in quick succession) to put the differential lock rocker switch in the enabled state (enabled-disabled-enabled-disabled-enabled-disabled-enabled), the differential lock control mode is the manual control mode.

[0078] S203: Determine whether a locking condition / unlocking condition corresponding to the differential lock control mode is met according to the vehicle state information.

[0079] In this embodiment, a person skilled in the art can pre-set the locking conditions / unlocking conditions corresponding to each differential lock control mode and store them in the VCU. After the VCU obtains vehicle status information such as vehicle speed, motor speed, motor torque, steering wheel angle, throttle opening, vehicle fault level, wheel slip rate, etc., it compares it with the pre-stored locking conditions / unlocking conditions to determine whether the current vehicle driving meets the locking conditions / unlocking conditions corresponding to the differential lock control mode.

[0080] S204: If the locking condition / unlocking condition corresponding to the differential lock control mode is met, a locking operation / unlocking operation of the differential lock is performed.

[0081] In this embodiment, if the locking condition / unlocking condition corresponding to the differential lock control mode is not met, the above step S203 is repeatedly performed: determining whether the locking condition / unlocking condition corresponding to the differential lock control mode is met according to the vehicle state information.

[0082] In this embodiment, if the locking conditions corresponding to the differential lock control mode are met, the VCU can control the inter-wheel differential solenoid valve / inter-axle differential solenoid valve to power on, so that the inter-wheel differential lock / inter-axle differential lock is locked; if the unlocking conditions corresponding to the differential lock control mode are met, the VCU can control the inter-wheel differential solenoid valve / inter-axle differential solenoid valve to power off, so that the inter-wheel differential lock / inter-axle differential lock is unlocked.

[0083] In this embodiment, the differential lock control mode can be determined according to the state of the differential lock rocker switch, and the locking condition / unlocking condition corresponding to the differential lock control mode can be determined according to the vehicle state information such as the motor speed, steering wheel angle, throttle opening, wheel slip rate, etc., and when the locking condition / unlocking condition is met, the locking operation / unlocking operation of the differential lock is performed. Through such a setting, different differential lock control modes such as automatic control mode, manual control mode and closed state mode can be provided, so as to adapt to the needs of different working conditions when the vehicle is driving, and improve the accuracy of differential lock control. In addition, the vehicle state information such as motor speed, steering wheel angle, throttle opening, wheel slip rate, etc. can also be used to comprehensively and fully consider the control requirements of the differential lock in various operating scenarios, avoid the damage of the differential lock caused by various irregular operations of the driver on the differential lock, reduce the probability of damage to the differential lock, and further improve the accuracy of differential lock control, so as to meet the user's use needs in different scenarios and working conditions.

[0084] In a possible implementation, the above step S202 determines the differential lock control mode according to the current state of the differential lock rocker switch, which may include:

[0085] S11: Determine whether the current state of the differential lock rocker switch is an enabled state.

[0086] S12: If the current state of the differential lock rocker switch is a disabled state, determining that the differential lock control mode is an off state mode.

[0087] S13: If the current state of the differential lock rocker switch is the enabled state, determine whether the enabled state is turned on by a preset manual control instruction.

[0088] S14: If it is turned on by a preset manual control instruction, determine that the differential lock control mode is the manual control mode.

[0089] S15: If the differential lock control mode is not turned on by a preset manual control command, determine that the differential lock control mode is the automatic control mode.

[0090] In this embodiment, the preset manual control instruction can be flexibly set by those skilled in the art according to actual conditions, and no limitation is imposed here. For example, the preset manual control instruction can be to quickly and continuously press and release the differential lock rocker switch three times, so that the differential lock rocker switch is in the state of enable-disable-enable-disable-enable-disable-enable-disable-enable.

[0091] In this embodiment, the differential lock control mode can be simply and accurately determined according to whether the differential lock rocker switch is in an enabled state and the opening method when in the enabled state.

[0092] In a possible implementation, when the differential lock control mode is the automatic control mode, determining whether the locking condition corresponding to the differential lock control mode is met according to the vehicle state information in step S202 may include:

[0093] S21: Determine whether the vehicle status information satisfies the following conditions at the same time:

[0094] A1 The vehicle speed is less than or equal to the vehicle speed threshold;

[0095] A2 motor speed is less than or equal to the motor speed threshold;

[0096] A3 motor torque is less than or equal to the motor torque threshold;

[0097] A4 steering wheel angle is less than or equal to the steering wheel angle threshold;

[0098] A5 throttle opening is less than or equal to the throttle opening threshold;

[0099] A6 The vehicle fault level is less than or equal to the vehicle fault level threshold;

[0100] A7 The target wheel slip rate is greater than or equal to the wheel slip rate threshold.

[0101] S22: If the above A1-A7 are satisfied at the same time, it is determined that the locking condition corresponding to the differential lock automatic control mode is satisfied.

[0102] S23: If the above A1-A7 are not satisfied at the same time, it is determined that the locking condition corresponding to the differential lock automatic control mode is not satisfied.

[0103] In this embodiment, A1-A6 are general judgment conditions, and the inter-wheel differential lock and the inter-axle differential lock are the same, and the only difference is the wheel slip rate of A7. When the differential lock is the inter-wheel differential lock, the target wheel slip rate is the maximum wheel slip rate of the vehicle; when the differential lock is the inter-axle differential lock, the target wheel slip rate is the absolute value of the difference between the average value of the wheel slip rates on both sides of the center axle and the average value of the wheel slip rates on both sides of the rear axle.

[0104] In this embodiment, the wheel slip rate is calculated based on the wheel rotation angular velocity signal collected by the four-wheel speed sensors and the vehicle speed signal. The wheel slip rate S=(r×wv) / (r×w), wherein r is the wheel rolling radius, w is the wheel rotation angular velocity, and v is the actual vehicle speed.

[0105] Exemplarily, when the differential lock is an inter-wheel differential lock, the target wheel slip rate may be max (center axle left wheel slip rate, center axle right wheel slip rate, rear axle left wheel slip rate, rear axle right wheel slip rate); when the differential lock is an inter-axle differential lock, the target wheel slip rate may be |(center axle left wheel slip rate+center axle right wheel slip rate) / 2-(rear axle left wheel slip rate+rear axle right wheel slip rate) / 2|.

[0106] In this embodiment, technical personnel in this field can flexibly set the vehicle speed threshold, motor speed threshold, motor torque threshold, steering wheel angle threshold, throttle opening threshold, vehicle fault level threshold, wheel slip rate threshold, etc. according to actual conditions, and no restrictions are made here.

[0107] In this embodiment, the automatic control mode can be applied to common driving scenarios such as flat driving.

[0108] In this embodiment, when the differential lock is in automatic control mode and completes the locking operation, the VCU controls the vehicle speed not to exceed a preset maximum speed. The preset maximum speed can be flexibly set by those skilled in the art and is not limited here.

[0109] In this embodiment, when the differential lock control mode is the automatic control mode, whether the locking condition of the differential lock is met can be fully and accurately determined according to whether the vehicle state information satisfies the above conditions A1-A7 at the same time, and the control requirements of the differential lock in various operating scenarios are fully considered, thereby improving the accuracy of the differential lock locking control. Furthermore, in the automatic control mode, whether the locking condition is met is mainly determined based on the wheel slip rate, and the wheel slip rate is used to measure whether the wheel is slipping, thereby further improving the accuracy of the differential lock locking during automatic control.

[0110] In a possible implementation, when the differential lock control mode is the automatic control mode, determining whether the unlocking condition corresponding to the differential lock control mode is met according to the vehicle state information in step S202 may include:

[0111] S31: Determine whether the vehicle status information satisfies one of the following conditions:

[0112] B1 differential lock rocker switch is in the disabled state;

[0113] B2 The vehicle speed is greater than the vehicle speed threshold;

[0114] B3 Motor speed is greater than the motor speed threshold;

[0115] B4 steering wheel angle is greater than the steering wheel angle threshold;

[0116] B5 The vehicle fault level is greater than the vehicle fault level threshold;

[0117] B6 The target wheel slip rate is less than the wheel slip rate threshold.

[0118] S32: If one of B1-B6 is satisfied, it is determined that the unlocking condition corresponding to the differential lock automatic control mode is satisfied.

[0119] S33: If one of B1-B6 is not satisfied, it is determined that the unlocking condition corresponding to the differential lock automatic control mode is not satisfied.

[0120] In this embodiment, when the differential lock is in the automatic control mode and the locking operation is completed, as long as it is detected that the vehicle status information satisfies any one of the above B1-B6, the unlocking condition corresponding to the differential lock automatic control mode is met.

[0121] In this embodiment, B1-B5 are general judgment conditions, and the inter-wheel differential lock and the inter-axle differential lock are the same, and the only difference is the wheel slip rate of B6. When the differential lock is the inter-wheel differential lock, the target wheel slip rate is the maximum wheel slip rate of the vehicle; when the differential lock is the inter-axle differential lock, the target wheel slip rate is the absolute value of the difference between the average value of the wheel slip rates on both sides of the center axle and the average value of the wheel slip rates on both sides of the rear axle.

[0122] Exemplarily, when the differential lock is an inter-wheel differential lock, the target wheel slip rate may be max (center axle left wheel slip rate, center axle right wheel slip rate, rear axle left wheel slip rate, rear axle right wheel slip rate); when the differential lock is an inter-axle differential lock, the target wheel slip rate may be |(center axle left wheel slip rate+center axle right wheel slip rate) / 2-(rear axle left wheel slip rate+rear axle right wheel slip rate) / 2|.

[0123] In this embodiment, those skilled in the art can flexibly set the vehicle speed threshold, motor speed threshold, steering wheel angle threshold, vehicle fault level threshold, wheel slip rate threshold, etc. according to actual conditions, and no limitation is imposed here.

[0124] In this embodiment, when the differential lock control mode is the automatic control mode, whether the differential lock unlocking condition is met can be determined comprehensively and accurately according to whether the vehicle state information satisfies any one of the above B1-B6, fully considering the control requirements of the differential lock in various operating scenarios, and improving the accuracy of differential lock unlocking control. Further, in the automatic control mode, whether the unlocking condition is met is mainly determined based on the wheel slip rate, and the wheel slip rate is used to measure whether the wheel is slipping, which further improves the accuracy of differential lock unlocking during automatic control.

[0125] In a possible implementation, when the differential lock control mode is the manual control mode, determining whether the locking condition corresponding to the differential lock control mode is met according to the vehicle state information in step S202 may include:

[0126] S41: Determine whether the vehicle status information satisfies the following conditions at the same time:

[0127] C1 vehicle speed is less than or equal to the vehicle speed threshold;

[0128] C2 motor speed is less than or equal to the motor speed threshold;

[0129] C3 motor torque is less than or equal to the motor torque threshold;

[0130] C4 steering wheel angle is less than or equal to the steering wheel angle threshold;

[0131] C5 throttle opening is less than or equal to the throttle opening threshold;

[0132] C6 The vehicle fault level is less than or equal to the vehicle fault level threshold.

[0133] S42: If the above C1-C6 are satisfied at the same time, it is determined that the locking condition corresponding to the manual control mode of the differential lock is satisfied.

[0134] S43: If the above C1-C6 are not satisfied at the same time, it is determined that the locking condition corresponding to the manual control mode of the differential lock is not satisfied.

[0135] In this embodiment, those skilled in the art can flexibly set the vehicle speed threshold, motor speed threshold, motor torque threshold, steering wheel angle threshold, throttle opening threshold, vehicle fault level threshold, etc. according to actual conditions, and no limitation is imposed here.

[0136] In this embodiment, the manual control mode can be applied to special driving scenes and working conditions such as climbing. In special working conditions such as climbing, the wheel slip rate is usually large, and it cannot be used as a condition to determine whether the locking condition of the differential lock is met.

[0137] In this embodiment, when the differential lock is in manual control mode and the locking operation is completed, the VCU controls the vehicle speed not to exceed a preset maximum speed. The preset maximum speed can be flexibly set by those skilled in the art and is not limited here.

[0138] In this embodiment, the driver can determine whether to turn on the automatic control mode or the manual control mode of the differential lock according to the actual working conditions. After turning on the manual control mode using the preset manual control command, it can be comprehensively and accurately determined whether the locking conditions of the differential lock are met according to whether the vehicle status information satisfies the above conditions C1-C6 at the same time, fully considering the control requirements of the differential lock in special scenarios, and improving the accuracy of the differential lock locking control.

[0139] In a possible implementation, when the differential lock control mode is the manual control mode, determining whether the unlocking condition corresponding to the differential lock control mode is met according to the vehicle state information in step S202 may include:

[0140] S51: Determine whether the vehicle status information satisfies one of the following conditions:

[0141] The D1 differential lock rocker switch is in the disabled state;

[0142] D2 The vehicle fault level is greater than the vehicle fault level threshold.

[0143] S52: If one of D1-D2 is satisfied, it is determined that an unlocking condition corresponding to the manual control mode of the differential lock is satisfied.

[0144] S53: If one of D1-D2 is not satisfied, it is determined that the unlocking condition corresponding to the manual control mode of the differential lock is not satisfied.

[0145] In this embodiment, when the differential lock is in the manual control mode and the locking operation is completed, as long as it is detected that the vehicle status information satisfies any one of the above D1-D2, the unlocking condition corresponding to the manual control mode of the differential lock is met.

[0146] In this embodiment, when the differential lock control mode is the manual control mode, the driver can judge whether to control the differential lock to be unlocked according to the actual working conditions, that is, the unlocking mainly depends on the driver's subjective judgment. The differential lock will only be unlocked when the driver manually turns off the differential lock rocker switch or a major fault occurs in the vehicle.

[0147] In a possible implementation, after performing the locking operation / unlocking operation of the differential lock in the above step S204, the following steps may also be included:

[0148] S61: Acquire a differential lock state feedback signal, and generate differential lock state information and driving prompt information according to the differential lock state feedback signal.

[0149] S62: Outputting differential lock status information through the vehicle instrument panel, and outputting driving prompt information through the vehicle voice system, where the driving prompt information includes locking driving prompt information or unlocking driving prompt information.

[0150] Among them, the differential lock state feedback signal includes one of a differential lock locking signal, a differential lock locking success signal, a differential lock locking failure signal, a differential lock unlocking signal, a differential lock unlocking success signal, and a differential lock unlocking failure signal.

[0151] In this embodiment, after controlling the differential lock to lock / unlock, the VCU can obtain a differential lock state feedback signal through the differential lock sensor, which can feedback the differential lock state.

[0152] Exemplarily, the corresponding relationship between the differential lock state feedback signal and the differential lock state may be:

[0153] 0: Unlocked; 1: Locking; 2: Locking failed; 3: Locking successfully; 4: Unlocking; 5: Unlocking failed; 6: Unlocking successfully.

[0154] For example, (1) when the differential lock is an inter-wheel differential lock and locking control is executed, the differential lock status information output by the VCU through the vehicle instrument panel may be: "inter-wheel differential lock is locked" or "inter-wheel differential lock fails to lock" or "inter-wheel differential lock is successfully locked".

[0155] After the VCU outputs "inter-wheel differential lock is locked successfully" through the vehicle dashboard, the VCU can also output the locked driving prompt information "inter-wheel differential lock is working, please do not drive at high speed and turn is prohibited" through the vehicle voice system.

[0156] After the VCU outputs "inter-wheel differential lock failed to lock" through the vehicle dashboard, the VCU can also output the locked driving prompt information "The wheels are slipping, please slow down, reduce torque, and return the steering wheel to the center position to engage the inter-wheel differential lock" through the vehicle voice system.

[0157] For example, (2) when the differential lock is an inter-axle differential lock and locking control is executed, the differential lock status information output by the VCU through the vehicle instrument panel may be: "inter-axle differential lock locking" or "inter-axle differential lock locking failure" or "inter-axle differential lock locking success".

[0158] After the VCU outputs "inter-axle differential lock is locked successfully" through the vehicle dashboard, the VCU can also output the locked driving prompt information "Inter-axle differential lock is working, please do not drive at high speed and turn is prohibited" through the vehicle voice system.

[0159] After the VCU outputs "inter-axle differential lock failed to lock" through the vehicle dashboard, the VCU can also output the locked driving prompt information "The wheels are slipping, please slow down, reduce torque, and return the steering wheel to the center position to engage the inter-axle differential lock" through the vehicle voice system.

[0160] Exemplarily, (3) when the differential locks are the inter-wheel differential lock and the inter-axle differential lock, and the locking control is performed simultaneously, if the VCU activates "inter-wheel differential lock locked" and "inter-axle differential lock locked" simultaneously, the vehicle instrument panel will display "differential lock locked"; if the VCU activates "inter-wheel differential lock locked failed" and "inter-axle differential lock locked failed" simultaneously, the vehicle instrument panel will display "differential lock locked failed"; if the VCU activates "inter-wheel differential lock locked successfully" and "inter-axle differential lock locked successfully" simultaneously, the vehicle instrument panel will display "differential lock locked successfully"; if the VCU activates "XX differential lock locked successfully" and "YY differential lock locked failed" simultaneously, the vehicle instrument panel will display "XX differential lock locked successfully" and "YY differential lock locked failed".

[0161] After the VCU outputs "differential lock locked successfully" through the vehicle dashboard, the VCU can also output the locked driving prompt information "When the differential lock is working, please do not drive at high speed and turn" through the vehicle voice system.

[0162] After the VCU outputs "differential lock failed" through the vehicle dashboard, the VCU can also output a locked driving prompt message through the vehicle voice system: "The wheels are slipping, please slow down, reduce torque, and straighten the steering wheel to engage the differential lock."

[0163] After the VCU outputs "YY differential lock failed to lock" through the vehicle dashboard, the VCU can also output the locked driving prompt information "The wheels are slipping, please slow down, reduce torque, and return the steering wheel to the center position to engage the YY differential lock" through the vehicle voice system.

[0164] For example, (4) when the differential lock is an inter-wheel differential lock and unlocking control is executed, the differential lock status information output by the VCU through the vehicle instrument panel may be: "Inter-wheel differential lock unlocking" or "Inter-wheel differential lock unlocking failed" or "Inter-wheel differential lock unlocking successful".

[0165] When the VCU determines that the vehicle speed is greater than the vehicle speed threshold or the motor speed is greater than the motor speed threshold, resulting in unlocking, the VCU can also output an unlocking driving prompt message "The vehicle speed is too high and the inter-wheel differential lock will be released" through the vehicle voice system.

[0166] When the VCU determines that the steering wheel angle is greater than the steering wheel angle threshold and causes unlocking, the VCU can also output the unlocking driving prompt information "large angle turn, the inter-wheel differential lock will be released" through the vehicle voice system.

[0167] For example, (5) when the differential lock is an inter-axle differential lock and the unlocking control is executed, the differential lock status information output by the VCU through the vehicle instrument panel may be: "Inter-axle differential lock unlocking" or "Inter-axle differential lock unlocking failed" or "Inter-axle differential lock unlocking successful".

[0168] When the VCU determines that the vehicle speed is greater than the vehicle speed threshold or the motor speed is greater than the motor speed threshold, resulting in unlocking, the VCU can also output an unlocking driving prompt message "The vehicle speed is too high and the inter-axle differential lock will be released" through the vehicle voice system.

[0169] Exemplarily, (6) when the differential locks are the inter-wheel differential lock and the inter-axle differential lock, and the unlocking control is performed simultaneously, if the VCU activates "inter-wheel differential lock unlocking" and "inter-axle differential lock unlocking" simultaneously, the vehicle instrument panel will display "differential lock unlocking"; if the VCU activates "inter-wheel differential lock unlocking failure" and "inter-axle differential lock unlocking failure" simultaneously, the vehicle instrument panel will display "differential lock unlocking failure"; if the VCU activates "inter-wheel differential lock unlocking success" and "inter-axle differential lock unlocking success" simultaneously, the vehicle instrument panel will display "differential lock unlocking success"; if the VCU activates "XX differential lock unlocking success" and "YY differential lock unlocking failure" simultaneously, the vehicle instrument panel will display "XX differential lock unlocking success" and "YY differential lock unlocking failure" simultaneously.

[0170] When the VCU determines that the vehicle speed is greater than the vehicle speed threshold or the motor speed is greater than the motor speed threshold, resulting in unlocking, the VCU can also output an unlocking driving prompt message "The vehicle speed is too high and the differential lock will be released" through the vehicle voice system.

[0171] In this embodiment, after the VCU obtains the differential lock state feedback signal, it can generate differential lock state information and driving prompt information according to the differential lock state feedback signal, and output the differential lock state information through the vehicle instrument panel, and output the driving prompt information through the vehicle voice system. Through such a setting, text information and voice information can be used to timely feedback abnormalities that occur during the locking / unlocking process of the differential lock, thereby prompting the driver to use the differential lock correctly and in a standardized manner, reducing the probability of damage caused by abnormal use of the differential lock, and strengthening the human-computer interaction of the use of the differential lock, thereby improving the user experience.

[0172] In a possible implementation, when the differential lock control mode is the closed state mode, the method may further include:

[0173] S71: Determine whether the vehicle status information satisfies the following conditions simultaneously: the vehicle fault level is less than or equal to the vehicle fault level threshold, and the target wheel slip rate is greater than or equal to the wheel slip rate threshold.

[0174] S72: If both conditions are met, a differential lock locking prompt message is outputted through the vehicle instrument panel and the vehicle voice system respectively.

[0175] In this embodiment, those skilled in the art can flexibly set the vehicle fault level threshold and wheel slip rate threshold according to actual conditions, and no limitation is imposed here.

[0176] In this embodiment, when the differential lock is an inter-wheel differential lock, the target wheel slip rate is the maximum wheel slip rate of the vehicle; when the differential lock is an inter-axle differential lock, the target wheel slip rate is the absolute value of the difference between the average value of the wheel slip rates on both sides of the center axle and the average value of the wheel slip rates on both sides of the rear axle.

[0177] Exemplarily, when the differential lock is an inter-wheel differential lock, the VCU can simultaneously output a differential lock locking prompt message "The wheels are slipping, please open the inter-wheel differential lock and slow down, reduce torque, and return the steering wheel to the center position" through the vehicle dashboard and the vehicle voice system.

[0178] Exemplarily, when the differential lock is an inter-axle differential lock, the VCU can simultaneously output a differential lock locking prompt message "The wheels are slipping, please turn on the inter-axle differential lock and slow down, reduce torque, and return the steering wheel to the center position" through the vehicle dashboard and the vehicle voice system.

[0179] Exemplarily, when the differential lock is an inter-wheel differential lock and an inter-axle differential lock, the VCU can simultaneously output the differential lock locking prompt message "The wheels are slipping, please open the inter-wheel / inter-axle differential lock and slow down, reduce torque, and return the steering wheel to the center position" through the vehicle dashboard and the vehicle voice system.

[0180] In this embodiment, when the differential lock rocker switch is in the non-enabled state, the driver has not turned on the differential lock control. In order to avoid the differential lock failing to lock in time due to the driver's misjudgment in the process, it is possible to determine whether the differential lock needs to be locked based on the vehicle fault level and wheel slip rate when the differential lock rocker switch is not turned on, thereby further improving the accuracy of the differential lock control.

[0181] In a possible implementation, the method may further include:

[0182] S81: Acquire abnormal locking information of the differential lock within a preset time period, wherein the abnormal locking information includes the number of times the differential lock fails to lock in the automatic control mode and the reason for the failure, the number of times the differential lock fails to lock in the manual control mode and the reason for the failure, and the number of times the differential lock is requested to lock in the closed state mode.

[0183] S82: Generate a corresponding differential lock operation specification according to the abnormal locking information, and output the abnormal locking information and the differential lock operation specification.

[0184] In this embodiment, the VCU can obtain abnormal locking information of the differential lock within a preset time period through the Internet of Vehicles T-BOX hardware device, the vehicle data collection platform, etc.

[0185] In this embodiment, the preset duration can be flexibly set by those skilled in the art. For example, the preset duration can be one week or one month, and no limitation is made here.

[0186] In this embodiment, the abnormal locking information and the differential lock operation specification can be output to the vehicle display screen, the driver terminal, the after-sales terminal, the vehicle platform and other related parties.

[0187] In this embodiment, the reasons for the failure of the differential lock to lock in the automatic control mode may include: the vehicle speed condition is not met||the motor speed condition is not met||the motor torque condition is not met||the steering wheel angle condition is not met||the throttle opening condition is not met.

[0188] The reasons for the failure of unlocking the differential lock in the automatic control mode may include: the vehicle speed condition is not met||the motor speed condition is not met||the steering wheel angle condition is not met.

[0189] The reasons for the failure of the differential lock to lock in the manual control mode may include: the vehicle speed condition is not met||the motor speed condition is not met||the motor torque condition is not met||the steering wheel angle condition is not met||the throttle opening condition is not met.

[0190] Exemplarily, the differential lock operation specifications may include: slowing down, reducing torque, and returning the steering wheel to the center before locking; not driving at high speed or turning the steering wheel after locking; and opening the differential lock rocker switch in a timely manner in response to adverse road conditions to correctly and reasonably use the differential lock.

[0191] In this embodiment, the VCU can obtain the abnormal locking information of the differential lock of the vehicle over a period of time, analyze the abnormal locking information to generate the corresponding differential lock operation specifications, and output the abnormal locking information and the differential lock operation specifications to the driver, after-sales, vehicle platform and other relevant parties, thereby forming a closed loop in the man-machine-object-law loop, reducing the probability of the driver using the differential lock unreasonably, thereby reducing the probability of damage to the differential lock.

[0192] The differential lock control method of the present application is described below with reference to a specific embodiment.

[0193] In a specific embodiment, a pure electric traction heavy truck is driving on the road. During the driving process of the vehicle, the vehicle controller controls the inter-wheel differential lock and the inter-axle differential lock of the vehicle. The specific control process is as follows:

[0194] In the first step, after the driver drives the pure electric traction heavy truck, he presses the differential lock rocker switch to enable the differential lock rocker switch.

[0195] In the second step, the vehicle controller detects that the current state of the differential lock rocker switch is the enabled state, and the enabled state is caused by the driver pressing the differential lock rocker switch once, then determines that the differential lock control mode is the automatic control mode.

[0196] In the third step, the vehicle controller obtains vehicle status information such as vehicle speed, motor speed, motor torque, steering wheel angle, throttle opening, vehicle fault level, wheel slip rate, etc., and determines that the vehicle status information satisfies the following conditions at the same time: A1 vehicle speed is less than or equal to the vehicle speed threshold; A2 motor speed is less than or equal to the motor speed threshold; A3 motor torque is less than or equal to the motor torque threshold; A4 steering wheel angle is less than or equal to the steering wheel angle threshold; A5 throttle opening is less than or equal to the throttle opening threshold; A6 vehicle fault level is less than or equal to the vehicle fault level threshold; A7 target wheel slip rate is greater than or equal to the wheel slip rate threshold.

[0197] In the fourth step, the vehicle controller determines that the locking conditions corresponding to the differential lock control mode are met, and then controls the inter-wheel differential solenoid valve and the inter-axle differential solenoid valve to be powered on respectively, so that the inter-wheel differential lock and the inter-axle differential lock are locked.

[0198] In the fifth step, the vehicle controller obtains the differential lock status feedback signal through the differential lock sensor, and if the inter-wheel / inter-axle differential lock status feedback signal is locked, the vehicle dashboard outputs "differential lock locked".

[0199] In the sixth step, when the vehicle controller obtains the inter-wheel / inter-axle differential lock status feedback signal that the differential lock is locked successfully, it outputs "Differential lock locked successfully" through the vehicle instrument panel and outputs the locked driving prompt information "When the differential lock is working, please do not drive at high speed and turn prohibited" through the vehicle voice system.

[0200] In the seventh step, the vehicle controller obtains vehicle status information such as the differential lock rocker switch status, vehicle speed, motor speed, steering wheel angle, vehicle fault level, wheel slip rate, etc., and determines that the vehicle speed is greater than the vehicle speed threshold, then determines that the unlocking condition corresponding to the differential lock automatic control mode is met.

[0201] In the eighth step, the vehicle controller controls the inter-wheel differential solenoid valve and the inter-axle differential solenoid valve to power off respectively, so that the inter-wheel differential lock and the inter-axle differential lock are unlocked.

[0202] In the ninth step, the vehicle controller obtains the differential lock status feedback signal through the differential lock sensor, and if the inter-wheel / inter-axle differential lock status feedback signal is unlocked, the vehicle dashboard outputs "differential lock unlocked".

[0203] In the tenth step, when the vehicle controller obtains the inter-wheel / inter-axle differential lock status feedback signal that the unlocking is successful, the vehicle dashboard outputs "differential lock locked successfully" and the vehicle voice system outputs the unlocking driving prompt information "the vehicle speed is too high and the inter-wheel differential lock will be released".

[0204] Figure 3 This is a schematic diagram of the structure of a vehicle controller according to an embodiment of the present application. Figure 3 As shown, the vehicle controller includes: an acquisition module 31, used to obtain the current state of the differential lock rocker switch and vehicle state information, the vehicle state information includes one or more of motor speed, steering wheel angle, throttle opening, and wheel slip rate; a processing module 32, used to determine the differential lock control mode according to the current state of the differential lock rocker switch, the differential lock control mode includes automatic control mode, manual control mode and closed state mode; according to the vehicle state information, determine whether the locking condition / unlocking condition corresponding to the differential lock control mode is met; if the locking condition / unlocking condition corresponding to the differential lock control mode is met, perform the locking operation / unlocking operation of the differential lock.

[0205] The vehicle controller provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0206] Figure 4 This is a schematic diagram of the structure of a vehicle controller according to an embodiment of the present application. Figure 4 As shown, the vehicle controller includes: a processor 401, and a memory 402 that is communicatively connected to the processor 401; the memory 402 stores computer-executable instructions; the processor 401 executes the computer-executable instructions stored in the memory 402 to implement the steps of the differential lock control method in the above-mentioned method embodiments.

[0207] In the above vehicle controller, the memory 402 and the processor 401 are electrically connected directly or indirectly to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines, such as through a bus connection. The memory 402 stores computer-executable instructions for implementing the data access control method, including at least one software function module that can be stored in the memory 402 in the form of software or firmware. The processor 401 executes various functional applications and data processing by running the software programs and modules stored in the memory 402.

[0208] The memory 402 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electric erasable programmable read-only memory (EEPROM), etc. The memory 402 is used to store programs, and the processor 401 executes the programs after receiving the execution instruction. Furthermore, the software programs and modules in the above-mentioned memory 402 may also include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.

[0209] The processor 401 may be an integrated circuit chip having the ability to process signals. The processor 401 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc. The methods, steps, and logic diagrams disclosed in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0210] An embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the steps of each method embodiment of the present application.

[0211] An embodiment of the present application further provides a computer program product, including a computer program, which implements the steps of each method embodiment of the present application when executed by a processor.

[0212] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0213] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0214] It should be understood that the above-mentioned device embodiments are only illustrative, and the device of the present application can also be implemented in other ways. For example, the division of units / modules in the above-mentioned embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0215] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present application may be integrated into one unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0216] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0217] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the appended claims.

[0218] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A differential lock control method, characterized in that: include: Acquire the current state of the differential lock rocker switch and vehicle state information, wherein the vehicle state information includes one or more of motor speed, steering wheel angle, throttle opening, and wheel slip rate; Determining a differential lock control mode according to a current state of the differential lock rocker switch, wherein the differential lock control mode includes an automatic control mode, a manual control mode, and an off state mode; Determining, according to the vehicle state information, whether a locking condition / unlocking condition corresponding to the differential lock control mode is met; If the locking condition / unlocking condition corresponding to the differential lock control mode is met, the locking operation / unlocking operation of the differential lock is performed.

2. The differential lock control method according to claim 1, characterized in that: Determining the differential lock control mode according to the current state of the differential lock rocker switch includes: Determining whether the current state of the differential lock rocker switch is an enabled state; If the current state of the differential lock rocker switch is a disabled state, determining that the differential lock control mode is an off state mode; If the current state of the differential lock rocker switch is an enabled state, determine whether the enabled state is turned on by a preset manual control instruction; if it is turned on by a preset manual control instruction, determine that the differential lock control mode is a manual control mode; if it is not turned on by a preset manual control instruction, determine that the differential lock control mode is an automatic control mode.

3. The differential lock control method according to claim 2, characterized in that: When the differential lock control mode is the automatic control mode, determining whether a locking condition / unlocking condition corresponding to the differential lock control mode is met according to the vehicle state information includes: Determine whether the vehicle status information satisfies the following conditions simultaneously: the motor speed is less than or equal to the motor speed threshold, the steering wheel angle is less than or equal to the steering wheel angle threshold, the throttle opening is less than or equal to the throttle opening threshold, and the target wheel slip rate is greater than or equal to the wheel slip rate threshold; if all of the conditions are satisfied at the same time, determine that the locking condition corresponding to the differential lock automatic control mode is satisfied; if all of the conditions are not satisfied at the same time, determine that the locking condition corresponding to the differential lock automatic control mode is not satisfied; or, Determining whether the vehicle status information satisfies one of the following: the differential lock rocker switch is in a disabled state, the motor speed is greater than a motor speed threshold, the steering wheel angle is greater than a steering wheel angle threshold, and the target wheel slip rate is less than a wheel slip rate threshold; if one of the following is satisfied, determining that an unlocking condition corresponding to the differential lock automatic control mode is satisfied; if one of the following is not satisfied, determining that an unlocking condition corresponding to the differential lock automatic control mode is not satisfied; Among them, when the differential lock is an inter-wheel differential lock, the target wheel slip rate is the maximum wheel slip rate of the vehicle; when the differential lock is an inter-axle differential lock, the target wheel slip rate is the absolute value of the difference between the average value of the wheel slip rates on both sides of the center axle and the average value of the wheel slip rates on both sides of the rear axle.

4. The differential lock control method according to claim 2, characterized in that: When the differential lock control mode is the manual control mode, determining whether a locking condition / unlocking condition corresponding to the differential lock control mode is met according to the vehicle state information includes: Determine whether the vehicle status information satisfies the following conditions simultaneously: the motor speed is less than or equal to the motor speed threshold, the steering wheel angle is less than or equal to the steering wheel angle threshold, and the throttle opening is less than or equal to the throttle opening threshold; if all of the conditions are satisfied at the same time, determine that the locking condition corresponding to the manual control mode of the differential lock is satisfied; if all of the conditions are not satisfied at the same time, determine that the locking condition corresponding to the manual control mode of the differential lock is not satisfied; or, Determine whether the vehicle status information satisfies one of the following: the differential lock rocker switch is in a non-enabled state, and the vehicle fault level is greater than the vehicle fault level threshold; if one of the following is satisfied, it is determined that the unlocking condition corresponding to the differential lock manual control mode is satisfied; if one of the following is not satisfied, it is determined that the unlocking condition corresponding to the differential lock manual control mode is not satisfied.

5. The differential lock control method according to any one of claims 1 to 4, characterized in that: After performing the locking operation / unlocking operation of the differential lock, the method further includes: Acquiring a differential lock state feedback signal, and generating differential lock state information and driving prompt information according to the differential lock state feedback signal; Outputting the differential lock status information through a vehicle dashboard, and outputting driving prompt information through a vehicle voice system, wherein the driving prompt information includes locking driving prompt information or unlocking driving prompt information; The differential lock state feedback signal includes one of a differential lock locking signal, a differential lock locking success signal, a differential lock locking failure signal, a differential lock unlocking signal, a differential lock unlocking success signal, and a differential lock unlocking failure signal.

6. The differential lock control method according to any one of claims 1 to 4, characterized in that: When the differential lock control mode is the closed state mode, the method further includes: Determine whether the vehicle status information satisfies the following conditions simultaneously: the vehicle fault level is less than or equal to the vehicle fault level threshold, and the target wheel slip rate is greater than or equal to the wheel slip rate threshold; If both conditions are met, the differential lock locking prompt information is output through the vehicle instrument panel and the vehicle voice system respectively.

7. The differential lock control method according to any one of claims 1 to 4, characterized in that: Also includes: Acquire abnormal locking information of the differential lock within a preset time period, wherein the abnormal locking information includes the number of times the differential lock fails to lock in the automatic control mode and the reason for the failure, the number of times the differential lock fails to lock in the manual control mode and the reason for the failure, and the number of times the differential lock is requested to lock in the closed state mode; A corresponding differential lock operation specification is generated according to the abnormal locking information, and the abnormal locking information and the differential lock operation specification are output.

8. A vehicle controller, characterized in that: include: An acquisition module, used to acquire the current state of the differential lock rocker switch and vehicle state information, wherein the vehicle state information includes one or more of motor speed, steering wheel angle, throttle opening, and wheel slip rate; A processing module is used to determine a differential lock control mode according to a current state of the differential lock rocker switch, wherein the differential lock control mode includes an automatic control mode, a manual control mode, and an off state mode; determine whether a locking condition / unlocking condition corresponding to the differential lock control mode is met according to the vehicle state information; and if the locking condition / unlocking condition corresponding to the differential lock control mode is met, perform a locking operation / unlocking operation of the differential lock.

9. A vehicle controller, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory is used to store computer-executable instructions; The processor is used to execute the computer-executable instructions stored in the memory, so that the processor executes the differential lock control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the differential lock control method according to any one of claims 1 to 7.

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