Control method and device of ESC and differential lock, vehicle, medium and product

Abstract

The invention relates to the technical field of vehicles, in particular to an ESC and differential lock control method and device, a vehicle, a medium and a product, and the method comprises the steps that the working condition type and state data of the current vehicle are obtained; if the working condition type is the first working condition, controlling the ESC to apply braking force to the target wheel based on the state data; and if the working condition type is a second working condition, controlling the ESC to apply braking force to the target wheel based on the state data, or adjusting the wheel speed difference between the wheels by the differential lock. Therefore, the problem that in the prior art, a proper control method cannot be flexibly selected according to actual working conditions to assist vehicle driving is solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device, vehicle, medium and product for controlling an ESC and a differential lock. Background Art

[0002] When a vehicle is passing through snowy or icy roads, if the adhesion coefficient of the road surface on which the driving wheel on one side is located is too low, it will be difficult for the wheel on this side to pass through this section of road. At this time, the vehicle's driving wheel needs to transfer the driving force to the wheel on the other side in the form of a differential lock to drive the vehicle away and get out of trouble.

[0003] There are currently two main forms of differential locking for the left and right drive wheels of a vehicle. The first is to add a physical differential lock to the drive shaft, and achieve a mechanical lock by rigidly connecting the left and right half shafts. The second is for vehicles with ESC (Electronic Stability Control), which uses the method of adding braking force to the wheels to provide torque balance for the left and right wheels to achieve a coupling locking effect. The first method is more reliable and has a larger force transmission torque, but it is costly. The second method is a pure software function and is easier to implement, but the vehicle must be equipped with an ESC system, otherwise it cannot be implemented.

[0004] With the gradual popularization of ESC systems, mechanical differential locks and ESC systems are increasingly integrated on a vehicle. However, the existing technology only designs one structure to help the vehicle get out of trouble, and does not integrate the two very well. As a result, under certain complex road conditions, the vehicle cannot flexibly select the most appropriate control method to assist vehicle driving according to actual working conditions. Summary of the invention

[0005] The present application provides a control method, device, vehicle, medium and product for ESC and differential lock to solve the problem that the prior art cannot flexibly select a suitable control method to assist vehicle driving according to actual working conditions.

[0006] The first aspect of the present application provides a method for controlling an ESC and a differential lock, comprising the following steps: obtaining the current operating condition type and status data of the vehicle; if the operating condition type is the first operating condition, controlling the ESC to apply braking force to the target wheel based on the status data; if the operating condition type is the second operating condition, controlling the ESC to apply braking force to the target wheel based on the status data, or the differential lock to adjust the wheel speed difference between the wheels.

[0007] Optionally, in one embodiment of the present application, before controlling the ESC to apply braking force to the target wheel based on status data, or the differential lock to adjust the wheel speed difference between the wheels, it also includes: obtaining the output torque of the current vehicle; if the output torque meets the preset performance requirements, controlling the ESC to apply braking force to the target wheel based on the status data, otherwise controlling the differential lock to adjust the wheel speed difference between the wheels based on the status data.

[0008] Optionally, in one embodiment of the present application, the status data includes wheel speed and vehicle speed. Before controlling the ESC to apply braking force to the target wheel based on the status data, it also includes: obtaining the radius of the wheel; calculating the slip rate of each wheel based on the radius, vehicle speed and wheel speed; and determining the target wheel based on the slip rate of each wheel.

[0009] Optionally, in one embodiment of the present application, the target wheel is determined based on the slip rate of each wheel, including: if the slip rate of the wheel is greater than or equal to a preset threshold, determining the wheel with a slip rate greater than the preset threshold as the target wheel.

[0010] Optionally, in one embodiment of the present application, the differential lock is controlled based on status data to adjust the wheel speed difference between the wheels, including: if the wheel speed of any wheel is higher than the wheel speed of other wheels, determining that the wheel with higher speed is a slipping wheel, and limiting the slip of the differential lock to adjust the wheel speed difference between the slipping wheel and the non-slipping wheel.

[0011] Optionally, in one embodiment of the present application, after controlling the ESC to apply braking force to the target wheel based on the status data, it also includes: obtaining the current slip rate of each wheel; if the current slip rate is less than a preset threshold, re-obtaining the status data of the vehicle, and controlling the differential lock to adjust the wheel speed difference between the wheels based on the re-obtained status data.

[0012] The second aspect of the present application provides a control device for an ESC and a differential lock of a vehicle, including: an acquisition module, used to obtain the current operating condition type and status data of the vehicle; a first control module, used to control the ESC to apply braking force to the target wheel based on the status data if the operating condition type is a first operating condition; a second control module, used to control the ESC to apply braking force to the target wheel based on the status data if the operating condition type is a second operating condition, or the differential lock to adjust the wheel speed difference between the wheels.

[0013] Optionally, in one embodiment of the present application, it also includes: a judgment module, which is used to obtain the output torque of the current vehicle before controlling the ESC to apply braking force to the target wheel based on the status data, or the differential lock to adjust the wheel speed difference between the wheels; if the output torque meets the preset performance requirements, the ESC is controlled to apply braking force to the target wheel based on the status data, otherwise the differential lock is controlled to adjust the wheel speed difference between the wheels based on the status data.

[0014] Optionally, in one embodiment of the present application, the status data includes wheel speed and vehicle speed, and also includes: a determination module for obtaining the radius of the wheel before controlling the ESC to apply braking force to the target wheel based on the status data; calculating the slip rate of each wheel based on the radius, vehicle speed and wheel speed; and determining the target wheel based on the slip rate of each wheel.

[0015] Optionally, in one embodiment of the present application, the determination module is further used to: if the slip rate of the wheel is greater than or equal to a preset threshold, determine that the wheel with a slip rate greater than the preset threshold is the target wheel.

[0016] Optionally, in one embodiment of the present application, the second control module is further used to: if the wheel speed of any wheel is higher than the wheel speed of other wheels, determine that the wheel with higher speed is a slipping wheel, and limit the slip of the differential lock to adjust the speed difference between the slipping wheel and the non-slipping wheel.

[0017] Optionally, in one embodiment of the present application, it also includes: a third control module, which is used to obtain the current slip rate of each wheel after controlling the ESC to apply braking force to the target wheel based on the status data; if the current slip rate is less than a preset threshold, re-acquire the status data of the vehicle, and control the differential lock to adjust the wheel speed difference between the wheels based on the re-acquired status data.

[0018] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to perform the ESC and differential lock control method as described in the above embodiment.

[0019] A fourth aspect of the present application provides a computer-readable storage medium having a computer program or instructions stored thereon, and the computer program or instructions are executed by a processor to perform the ESC and differential lock control method as described in the above embodiment.

[0020] The fifth aspect of the present application provides a computer program product, including a computer program or instructions. When the computer program or instructions are executed, the control method of the ESC and the differential lock as in the above embodiment is implemented.

[0021] Therefore, this application has at least the following beneficial effects:

[0022] The embodiment of the present application can determine a specific control strategy according to the current working condition type of the vehicle. When the working condition type is the first working condition, only the ESC is controlled to apply braking force to the target wheel based on the state data, without using the differential lock, simplifying the control system, avoiding potential conflicts or redundant operations between the differential lock and the ESC, and only using the ESC will not change the driver's operating habits, providing a more natural driving experience. When the working condition type is the second working condition, the braking force is applied to the target wheel based on the state data, or the differential lock is controlled to adjust the wheel speed difference between the wheels, so as to achieve specific selective control of the vehicle according to specific circumstances, maintain the vehicle in the second working condition with good stability and controllability, and can take into account both driving experience and economy, so as to achieve flexible selection of appropriate control methods according to the actual working condition type to assist the vehicle in driving. Therefore, the technical problems that the prior art cannot flexibly select appropriate control methods according to the actual working condition to assist the vehicle in driving are solved.

[0023] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0025] Figure 1 It is a flow chart of a method for controlling an ESC and a differential lock according to an embodiment of the present application;

[0026] Figure 2 A structural diagram of an ESC control system provided according to an embodiment of the present application;

[0027] Figure 3 A structural diagram of a vehicle four-wheel drive transmission system provided according to an embodiment of the present application;

[0028] Figure 4 A control logic interaction diagram of the ESC and four-wheel drive system under low-speed conditions provided by an embodiment of the present application;

[0029] Figure 5 A control logic interaction diagram of the ESC and four-wheel drive system under high-speed conditions provided by an embodiment of the present application;

[0030] Figure 6 This is an example diagram of a control device for ESC and differential lock provided according to an embodiment of the present application;

[0031] Figure 7 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application.

[0032] Description of reference numerals:

[0033] ESC controller assembly 1, left front wheel speed sensor 2, right front wheel speed sensor 3, left rear wheel speed sensor 4, right rear wheel speed sensor 5, steering angle sensor 6, yaw angle sensor 7, vacuum booster assembly 8, brake pedal assembly 9, reservoir tank assembly 10, left front brake 11, right front brake 12, left rear brake 13, right rear brake 14, left front tire 15, right front tire 16, left rear tire 17, right rear tire 18, left front drive shaft 19, right front drive shaft 20, intermediate drive shaft 21, left rear drive shaft 22, right rear drive shaft 23, intelligent torque manager 24, intelligent limited slip differential lock 25. DETAILED DESCRIPTION

[0034] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0035] The following describes the ESC and differential lock control method, device, vehicle, medium and product of the embodiments of the present application with reference to the accompanying drawings. In view of the problem mentioned in the above background technology that the prior art only designs one structure for vehicle escape when the vehicle is escaped, and does not integrate the two well, which leads to the problem that under certain complex road conditions, the vehicle cannot flexibly select the most appropriate control method to assist the vehicle to travel according to the actual working conditions. The present application provides a control method for ESC and differential lock, in which a specific control strategy can be determined according to the current working condition type of the vehicle. When the working condition type is the first working condition, only the ESC is controlled to apply braking force to the target wheel based on the state data, without using the differential lock, simplifying the control system, avoiding potential conflicts or redundant operations between the differential lock and the ESC, and only using the ESC will not change the driver's operating habits, providing a more natural driving experience. When the working condition type is the second working condition, the braking force is applied to the target wheel based on the state data, or the differential lock is controlled to adjust the wheel speed difference between the wheels, so as to realize specific selective control of the vehicle according to the specific situation, maintain the vehicle in the second working condition with good stability and controllability, and can take into account both the driving experience and economy, so as to realize the flexible selection of the appropriate control method to assist the vehicle to travel according to the actual working condition type. This solves the problem that the prior art cannot flexibly select a suitable control method to assist vehicle driving according to actual working conditions.

[0036] Specifically, Figure 1 A schematic flow chart of a method for controlling an ESC and a differential lock provided in an embodiment of the present application.

[0037] like Figure 1As shown, the control method of the ESC and the differential lock includes the following steps:

[0038] In step S101, the current vehicle operating condition type and status data are obtained.

[0039] Among them, the operating condition types include a first operating condition and a second operating condition, the first operating condition is a low-speed operating condition, and the second operating condition is a high-speed operating condition. The status data includes wheel speed, vehicle speed, etc. The wheel speed can be obtained through a wheel speed sensor, and the vehicle speed can be obtained through a vehicle speed sensor.

[0040] It is understandable that the embodiment of the present application can obtain the current vehicle operating condition type and status data so as to subsequently control the vehicle's ESC and differential lock based on the specific situation.

[0041] It should be noted that the solution of the embodiment of the present application is mainly aimed at the control of ESC and differential lock when the vehicle starts and escapes from trouble.

[0042] In step S102, if the operating condition type is the first operating condition, the ESC is controlled to apply braking force to the target wheel based on the status data.

[0043] It can be understood that in the embodiment of the present application, when the operating condition type of the vehicle operating condition is the first operating condition, the braking force is applied to the target wheel based on the status data, that is, under low-speed conditions, the wheel-side torque control of the vehicle is achieved only through ESC, and there is no need to use a differential lock, which simplifies the control system and avoids potential conflicts or redundant operations between the differential lock and ESC. In addition, using only ESC under low-speed conditions will not change the driver's operating habits, providing a more natural driving experience.

[0044] In an embodiment of the present application, before controlling the ESC to apply braking force to the target wheel based on status data, it also includes: obtaining the radius of the wheel; calculating the slip rate of each wheel based on the radius, vehicle speed and wheel speed; and determining the target wheel based on the slip rate of each wheel.

[0045] It can be understood that the embodiments of the present application can calculate the slip rate of each wheel according to the radius of the wheel, the vehicle speed and the wheel speed of each wheel, and determine the target wheel according to the slip rate to apply braking force to the target wheel.

[0046] The slip rate calculation formula can be: ω is the wheel speed, r is the wheel radius, v is the vehicle speed, and S is the slip ratio.

[0047] In an embodiment of the present application, the target wheel is determined based on the slip rate of each wheel, including: if the slip rate of the wheel is greater than or equal to a preset threshold, determining the wheel with a slip rate greater than the preset threshold as the target wheel.

[0048] Among them, the preset threshold can be set according to the specific situation, and there is no specific limitation for comparison.

[0049] It can be understood that the embodiment of the present application can determine that the wheel with a slip rate greater than or equal to a preset threshold is the target wheel, wherein a slip rate greater than the preset threshold indicates that the wheel is slipping, and therefore braking force needs to be applied to reduce the rotation speed to restore its traction.

[0050] In addition, the braking force of the embodiment of the present application can be dynamically adjusted using a PID controller to ensure that the slip rate is maintained within the optimal range. The PID controller uses the three parts of proportional (P), integral (I) and differential (D) to correspond to the current error, cumulative error and error change rate respectively, thereby accurately adjusting the braking force.

[0051] In step S103, if the operating condition type is the second operating condition, the ESC is controlled to apply braking force to the target wheel based on the status data, or the differential lock adjusts the wheel speed difference between the wheels.

[0052] It can be understood that when the operating condition type of the vehicle operating condition is the second operating condition, the embodiment of the present application applies braking force to the target wheel based on the status data, or controls the differential lock to adjust the wheel speed difference between the wheels, so as to achieve specific selective control of the vehicle according to the specific situation, maintain the vehicle in the second operating condition with good stability and controllability, and take into account both driving experience and economy.

[0053] In an embodiment of the present application, the ESC is controlled to apply braking force to the target wheel based on the status data, or the differential lock is controlled to adjust the wheel speed difference between the wheels, including: obtaining the output torque of the current vehicle; if the output torque meets the preset performance requirements, the ESC is controlled to apply braking force to the target wheel based on the status data, otherwise the differential lock is controlled to adjust the wheel speed difference between the wheels based on the status data.

[0054] The preset performance requirement may be set according to specific circumstances, for example, the preset performance requirement is that the output torque is greater than the minimum output torque.

[0055] It can be understood that when the current output torque of the vehicle meets the preset performance requirements, the embodiment of the present application controls the ESC to apply power to the target wheel based on the status data. The ESC can prevent slipping by precisely controlling the braking force of each wheel to ensure that the vehicle remains stable. Otherwise, the differential lock is activated to adjust the wheel speed difference between the wheels through the differential lock to ensure that more torque is transmitted to the wheels with better grip. By selecting the most appropriate control method in different situations, the stability and traction of the vehicle under various driving conditions are improved.

[0056] In an embodiment of the present application, the differential lock is controlled based on status data to adjust the wheel speed difference between the wheels, including: if the wheel speed of any wheel is higher than the wheel speed of other wheels, the wheel with higher speed is determined to be a slipping wheel, and the slip of the differential lock is limited to adjust the wheel speed difference between the slipping wheel and the non-slipping wheel.

[0057] It can be understood that the embodiments of the present application can determine that any wheel is a slipping wheel when the wheel speed of any wheel is higher than the wheel speed of other wheels, and activate or adjust the limited slip differential lock on that side to limit the slip inside the differential, thereby adjusting the speed difference between the slipping wheel and the non-slipping wheel, thereby transmitting more torque to the non-slipping wheel with better grip.

[0058] In an embodiment of the present application, after controlling the ESC to apply braking force to the target wheel based on the status data, it also includes: obtaining the current slip rate of each wheel; after controlling the ESC to apply braking force to the target wheel based on the status data, it also includes: obtaining the current slip rate of each wheel; if the current slip rate is less than a preset threshold, re-acquiring the status data of the vehicle, and controlling the differential lock to adjust the wheel speed difference between the wheels based on the re-acquired status data.

[0059] It can be understood that after applying braking force to the target wheel through ESC, the embodiment of the present application monitors the slip rate of the wheel in real time, and when the current slip rate of the wheel is less than a preset threshold, indicating that the vehicle has started or escaped, the vehicle status data is re-acquired, the wheel-side torque control right is transferred to the differential lock, and the differential lock is controlled based on the re-acquired status data to adjust the wheel speed difference between the wheels. Through this flexible control system switching, the vehicle can maintain optimal stability and controllability under different driving conditions, especially providing better passing performance under complex road conditions.

[0060] The following is a description of the control method of ESC and differential lock in the embodiment of the present application through a specific embodiment. Through the integrated control of the wheel torque control of ESC and the torque control of the mechanical differential lock, under low-speed conditions, the four-wheel drive (i.e., differential lock) is turned off when starting or getting out of trouble, and the wheel torque control is achieved only through ESC. Under high-speed conditions, the controller is used to calculate and determine whether the current output torque meets the passing performance, and decide whether to turn on the four-wheel drive or control the wheel torque with ESC. The corresponding hardware layout includes: ESC controller assembly 1, left front wheel speed sensor 2, right Front wheel speed sensor 3, left rear wheel speed sensor 4, right rear wheel speed sensor 5, steering angle sensor 6, yaw angle sensor 7, vacuum booster assembly 8, brake pedal assembly 9, reservoir assembly 10, left front brake 11, right front brake 12, left rear brake 13, right rear brake 14, left front tire 15, right front tire 16, left rear tire 17, right rear tire 18, left front drive shaft 19, right front drive shaft 20, intermediate transmission shaft 21, left rear drive shaft 22, right rear drive shaft 23, intelligent torque manager 24, and intelligent limited slip differential lock 25.

[0061] The ESC control system includes an ESC controller assembly 1, four wheel speed sensors (2-5), a steering angle sensor 6 and a three-axis yaw angle sensor 7. The external source of brake fluid pressure of the ESC control system is an external vacuum booster assembly 8, a fluid reservoir assembly 10, and a brake pedal assembly 9. The actuators of the wheel-side brake control are four brake calipers and their matching brake discs, steering knuckles and tires. When the vehicle needs wheel-end braking force and the mechanical structure is insufficient to provide braking force input in time, the ESC controller can output braking force through its internal pump body, valve body, accumulator and other structures, as well as a dedicated control circuit, through the brake hard pipe assembly and brake hose assembly between the ESC controller assembly and the brake assembly.

[0062] The vehicle four-wheel drive transmission system includes four output shafts (19, 20, 22, 23), an intermediate transmission shaft 21, an intelligent torque manager 24 connecting two rear drive shafts, and an intelligent limited slip differential lock 25. When the four-wheel drive vehicle is in a constant speed driving state, the intelligent torque manager 24 and the intelligent limited slip differential lock 25 do not input torque to the rear axle, and the vehicle is in a front two-wheel drive state. Further, although the four-wheel drive vehicle is in a constant speed driving state and a front two-wheel drive state, the controller learns through analyzing the signal input of the external sensor that the vehicle is about to lose the steady state, and the body posture is about to deviate from the optimal state calculated by the controller, the intelligent torque manager and the intelligent limited slip differential lock intervene in the rear wheel torque distribution, the vehicle enters the four-wheel drive mode, and the four-wheel torque distribution is adjusted to the optimal value to make the vehicle return to a stable state.

[0063] like Figure 2As shown, the ESC controller receives signals from four wheel speed sensors (2-5), a yaw angle sensor 7 and a steering angle sensor 6, and compares the vehicle body posture converted from the real-time signals received when the vehicle is driving with the vehicle stability parameters calculated by the ESC controller. If the actual parameters of the vehicle deviate greatly from the steady-state parameters, the ESC controller builds pressure in the brake pipe through its internal pump body, valve body and accumulator, applies hydraulic pressure to the four-wheel brake to control the tire torque, and returns the vehicle to a stable state. In the normal braking process of the vehicle, if there is no locking, the pressure building of the wheel cylinder is started by the action of stepping on the pedal. When the vehicle reaches or approaches the locking condition during braking, the built-in pump body of the ESC controller will control the pressure in the master cylinder and the pipeline. Under emergency braking conditions, the pressure building of the wheel cylinder will be directly carried out through the built-in pump body of the ESC controller to reduce the braking execution time. When the vehicle starts, the ESC controller will monitor the slip rate of the wheel edge. If it determines that the slip rate exceeds the threshold, it will apply braking pressure to the slipping wheel to reduce its speed until traction is restored.

[0064] like Figure 3 As shown, the intelligent torque manager 24 and the intelligent limited slip differential lock 25 are physically connected to the vehicle's four-wheel drive system and directly control the torque distribution of the four wheels. The torque manager is responsible for intelligently distributing and adjusting the engine torque output under different driving conditions to ensure that the vehicle can obtain the best traction and driving performance under various road conditions. Its main functions include: (1) Torque distribution: In a four-wheel drive or all-wheel drive vehicle, the torque manager will adjust the torque distribution between the front and rear axles and the left and right wheels according to the vehicle status and road conditions (such as curves and slippery roads); (2) Torque regulation: When necessary, the torque manager can reduce the engine output torque to prevent wheel slippage, especially on low-adhesion roads. The limited slip differential lock is a mechanical or electronic device used to limit the speed difference between the wheels, especially when one wheel loses traction. The implementation of the limited-slip differential lock is as follows: (1) Detecting slip: By monitoring the speed of each wheel, the limited-slip differential lock can detect when one or more wheels begin to slip; (2) Limiting the speed difference: When slip is detected, the LSD (Limited-Slip Differential) will limit the slip of the differential lock through internal mechanical structure or electronic control, thereby transmitting more torque to the wheels with more traction; (3) Improving traction: On low-grip roads (such as snow or slippery roads), the LSD can significantly improve the vehicle's traction and handling stability, preventing the vehicle from losing control.

[0065] like Figure 4As shown, when the vehicle starts or gets out of trouble at low speed with torque, the four-wheel drive controller is turned off, and only ESC is used to control the wheel torque. In particular, on roads with low adhesion coefficients (such as wet or snowy roads), ESC will intervene more actively to prevent slipping and maintain vehicle stability by adjusting the braking force of individual wheels. At this time, the intelligent torque manager and the intelligent differential lock do not participate in the torque control of the wheel side, or respond to the torque request of ESC to change the torque value of each wheel to achieve a better effect of getting out of trouble. When ESC monitors the wheel slip rate and analyzes that the vehicle has gotten out of trouble, it will transfer the wheel torque control rights to the intelligent torque manager and the intelligent limited slip differential lock in time according to the driver's needs. In order to ensure the smoothness of the transfer process, the selection of this functional node requires the joint adjustment of the control modules of ESC and torque manager to achieve.

[0066] like Figure 5 As shown in the figure, when the vehicle is driving at high speed, the intelligent torque manager and the intelligent limited slip differential lock are used to distribute the torque of the four wheels of the vehicle, and the stability of the vehicle is maintained without reducing the acceleration performance and handling of the vehicle. In particular, on roads with high adhesion coefficients, the intervention of ESC to control the four-wheel torque will reduce the economy of the vehicle. Therefore, in order to ensure the performance during acceleration during high-speed driving, the intervention timing of the intelligent torque manager and the intelligent limited slip differential lock also needs to be coordinated with ESC for specific implementation.

[0067] In summary, the control method of ESC and differential lock in the embodiment of the present application can better realize the integration of ESC and four-wheel drive functions in wheel-side torque control. There will be no sense of incongruity in the operation when starting and getting out of trouble, and the driving habits will not be changed basically. There is no additional mechanical structure added, and the wheel-side torque control is achieved only through logical control.

[0068] According to the control method of ESC and differential lock proposed in the embodiment of the present application, a specific control strategy can be determined according to the current working condition type of the vehicle. When the working condition type is the first working condition, only the ESC is controlled to apply braking force to the target wheel based on the status data, and there is no need to use the differential lock, thereby simplifying the control system and avoiding potential conflicts or redundant operations between the differential lock and ESC. Moreover, using only ESC will not change the driver's operating habits, providing a more natural driving experience. When the working condition type is the second working condition, braking force is applied to the target wheel based on the status data, or the differential lock is controlled to adjust the wheel speed difference between the wheels, so as to achieve specific selective control of the vehicle according to specific circumstances, maintain the vehicle with good stability and controllability when driving in the second working condition, and take into account both driving experience and economy, thereby achieving flexible selection of appropriate control methods according to the actual working condition type to assist vehicle driving.

[0069] Next, the control device of ESC and differential lock proposed in the embodiment of the present application is described with reference to the accompanying drawings.

[0070] Figure 6 Schematic diagram of a block diagram of an ESC and differential lock control device according to an embodiment of the present application.

[0071] like Figure 6 As shown, the ESC and differential lock control device 10 includes: an acquisition module 100 , a first control module 200 and a second control module 300 .

[0072] Among them, the acquisition module 100 is used to obtain the operating condition type and status data of the current vehicle; the first control module 200 is used to control the ESC to apply braking force to the target wheel based on the status data if the operating condition type is the first operating condition; the second control module 300 is used to control the ESC to apply braking force to the target wheel based on the status data if the operating condition type is the second operating condition, or the differential lock to adjust the wheel speed difference between the wheels.

[0073] In the embodiment of the present application, the device 10 of the embodiment of the present application further includes: a judgment module.

[0074] Among them, the judgment module is used to obtain the output torque of the current vehicle before controlling the ESC to apply braking force to the target wheel based on the status data, or the differential lock to adjust the wheel speed difference between the wheels; if the output torque meets the preset performance requirements, the ESC is controlled to apply braking force to the target wheel based on the status data, otherwise the differential lock is controlled to adjust the wheel speed difference between the wheels based on the status data.

[0075] In the embodiment of the present application, the status data includes wheel speed and vehicle speed.

[0076] In the embodiment of the present application, the device 10 of the embodiment of the present application further includes: a determination module.

[0077] Among them, the determination module is used to obtain the radius of the wheel before controlling the ESC to apply braking force to the target wheel based on the status data; calculate the slip rate of each wheel based on the radius, vehicle speed and wheel speed; and determine the target wheel based on the slip rate of each wheel.

[0078] In an embodiment of the present application, the determination module is further used to: if the slip rate of the wheel is greater than or equal to a preset threshold, determine that the wheel with a slip rate greater than the preset threshold is the target wheel.

[0079] In the embodiment of the present application, the second control module 300 is further used to: if the wheel speed of any wheel is higher than the wheel speed of other wheels, determine that the wheel with higher speed is a slipping wheel, and limit the slip of the differential lock to adjust the speed difference between the slipping wheel and the non-slipping wheel.

[0080] In the embodiment of the present application, the device 10 of the embodiment of the present application further includes: a third control module.

[0081] Among them, the third control module is used to obtain the current slip rate of each wheel after controlling the ESC to apply braking force to the target wheel based on the status data; if the current slip rate is less than a preset threshold, the vehicle status data is re-acquired, and the differential lock is controlled based on the re-acquired status data to adjust the wheel speed difference between the wheels.

[0082] It should be noted that the explanations of the aforementioned ESC and differential lock control method embodiment are also applicable to the ESC and differential lock control device of this embodiment, and will not be repeated here.

[0083] According to the control device of ESC and differential lock proposed in the embodiment of the present application, a specific control strategy can be determined according to the current working condition type of the vehicle. When the working condition type is the first working condition, only ESC is controlled to apply braking force to the target wheel based on the status data, and there is no need to use the differential lock, thereby simplifying the control system and avoiding potential conflicts or redundant operations between the differential lock and ESC. Moreover, using only ESC will not change the driver's operating habits, providing a more natural driving experience. When the working condition type is the second working condition, braking force is applied to the target wheel based on the status data, or the differential lock is controlled to adjust the wheel speed difference between the wheels, so as to realize specific selective control of the vehicle according to specific circumstances, maintain the vehicle with good stability and controllability when driving in the second working condition, and take into account both driving experience and economy, thereby realizing flexible selection of appropriate control methods according to the actual working condition type to assist vehicle driving.

[0084] Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0085] A memory 701 , a processor 702 , and a computer program stored in the memory 701 and executable on the processor 702 .

[0086] When the processor 702 executes the program, the control method of the ESC and the differential lock of the vehicle provided in the above embodiment is implemented.

[0087] Furthermore, the vehicle also includes:

[0088] The communication interface 703 is used for communication between the memory 701 and the processor 702 .

[0089] The memory 701 is used to store computer programs that can be executed on the processor 702 .

[0090] The memory 701 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0091] If the memory 701, the processor 702 and the communication interface 703 are implemented independently, the communication interface 703, the memory 701 and the processor 702 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0092] Optionally, in a specific implementation, if the memory 701, the processor 702 and the communication interface 703 are integrated on a chip, the memory 701, the processor 702 and the communication interface 703 can communicate with each other through an internal interface.

[0093] The processor 702 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0094] The embodiment of the present application further provides a computer-readable storage medium having a computer program or instruction stored thereon. When the computer program or instruction is executed by a processor, the above-mentioned ESC and differential lock control method is implemented.

[0095] The embodiment of the present application further provides a computer program product, including a computer program or instructions, which, when executed, implements the above-mentioned ESC and differential lock control method.

[0096] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0097] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0098] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0099] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of multiple of the following technologies known in the art: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0100] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

Claims

1. A method for controlling ESC and differential lock, characterized in that: The following steps are involved: Obtain the current vehicle's operating condition type and status data; If the operating condition type is the first operating condition, controlling the ESC to apply braking force to the target wheel based on the state data; If the operating condition type is the second operating condition, the ESC is controlled to apply braking force to the target wheel based on the status data, or the differential lock is controlled to adjust the wheel speed difference between the wheels.

2. The method for controlling the ESC and the differential lock according to claim 1, characterized in that: Before the step of controlling the ESC to apply braking force to the target wheel based on the state data or the differential lock to adjust the wheel speed difference between the wheels, the method further includes: Get the current vehicle output torque; If the output torque meets the preset performance requirement, the ESC is controlled to apply braking force to the target wheel based on the status data; otherwise, the differential lock is controlled to adjust the wheel speed difference between the wheels based on the status data.

3. The method for controlling the ESC and the differential lock according to claim 2, characterized in that: The state data includes wheel speed and vehicle speed. Before controlling the ESC to apply braking force to the target wheel based on the state data, the method further includes: Obtaining the radius of the wheel; calculating a slip ratio of each wheel based on the radius, the vehicle speed, and the wheel speed; The target wheel is determined based on the slip ratio of each wheel.

4. The method for controlling the ESC and the differential lock according to claim 3, characterized in that: The determining the target wheel based on the slip rate of each wheel comprises: If the slip rate of the wheel is greater than or equal to a preset threshold, the wheel whose slip rate is greater than the preset threshold is determined to be the target wheel.

5. The method for controlling ESC and differential lock according to claim 3, characterized in that: The step of controlling the differential lock to adjust the wheel speed difference between wheels based on the status data includes: If the wheel speed of any wheel is higher than the wheel speed of other wheels, the wheel with higher wheel speed is determined to be a slipping wheel, and the slip of the differential lock is restricted to adjust the wheel speed difference between the slipping wheel and the non-slipping wheel.

6. The method for controlling ESC and differential lock according to claim 3, characterized in that: After controlling the ESC to apply braking force to the target wheel based on the state data, the method further includes: Obtaining the current slip rate of each wheel; If the current slip ratio is less than the preset threshold, the state data of the vehicle is re-acquired, and the differential lock is controlled to adjust the wheel speed difference between the wheels based on the re-acquired state data.

7. A control device for ESC and differential lock, characterized in that: include: An acquisition module is used to obtain the current vehicle operating condition type and status data; a first control module, configured to control the ESC to apply braking force to the target wheel based on the state data if the operating condition type is the first operating condition; The second control module is used to control the ESC to apply braking force to the target wheel or the differential lock to adjust the wheel speed difference between the wheels based on the status data if the operating condition type is the second operating condition.

8. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the ESC and differential lock control method as claimed in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: The computer program or instruction is executed by a processor to implement the ESC and differential lock control method according to any one of claims 1 to 6.

10. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed, the method for controlling the ESC and the differential lock as claimed in any one of claims 1 to 6 is implemented.

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