Switching method and switching device for vehicle driving modes, vehicle and storage medium

Abstract

The invention provides a vehicle driving mode switching method and device, a vehicle and a storage medium, the method is applied to the field of vehicle control, and the method comprises the steps that in the vehicle running process, in response to a switching instruction of a target driving mode, a first working state of a gear shifting motor is determined according to a first pin parameter of the gear shifting motor; under the condition that the first working state is an open circuit state, the fault alarm of the first working state is restrained, and the working state of the gear shifting motor is rechecked in real time; and under the condition that it is redetected that the working state of the gear shifting motor is the conducting state, the gear shifting motor is controlled to operate according to the switching instruction, so that the vehicle is switched to the target driving mode. According to the method, when the driving mode of the vehicle is switched, if the fault of the gear shifting motor is detected, after the fault is self-recovered, the vehicle can be ensured to be continuously switched to the target driving mode, and the problem that the user experience is poor due to the fact that the driving mode cannot be switched under the condition that the system assembly wire harness is virtually connected is avoided.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and more specifically, to a method for switching a vehicle driving mode, a switching device, a vehicle and a storage medium in the field of vehicle control. Background Art

[0002] At present, with the continuous development of vehicle production technology, vehicles are equipped with a variety of driving modes, including front-wheel drive mode, rear-wheel drive mode and four-wheel drive mode.

[0003] Different driving modes are applicable to different scenarios. For example, the front-wheel drive mode is mainly suitable for daily urban commuting scenarios, and the rear-wheel drive mode is mainly suitable for high-speed scenarios. Therefore, during the driving process, the user can switch the driving mode according to the actual driving needs, or the vehicle can automatically switch the driving mode according to the current driving status.

[0004] When the vehicle switches the driving mode, the specific process may be as follows: the shift motor receives the instruction from the Electronic Control Unit (ECU) to rotate, and changes the position of the gear and clutch mechanism inside the transfer case through the mechanical transmission device, thereby changing the gear position of the transfer case and realizing the switching of the driving mode.

[0005] In one possible implementation, when the vehicle encounters bumpy road conditions during driving, the connector of the four-wheel drive system assembly wiring harness may occasionally have a loose connection, causing the power supply of the shift motor to have a loose connection and power failure. In this case, the vehicle determines that the shift motor wiring harness is open and continues to report a fault until the vehicle is powered off, and the vehicle is prohibited from switching drive modes.

[0006] In the actual operation of the vehicle, the wiring harness is usually disconnected occasionally and will usually recover by itself. However, since the vehicle has reported a fault, the continued existence of the alarm will force the vehicle to stay in the current drive mode. Even if the subsequent four-wheel drive system assembly wiring harness returns to normal and the shift motor fault is restored, the vehicle cannot complete the drive mode switch, resulting in a poor user experience. Summary of the invention

[0007] The present application provides a vehicle drive mode switch, a switching device, a vehicle and a storage medium. The method can detect a shift motor fault when the vehicle switches the drive mode without giving a fault alarm. Therefore, when the shift motor fails due to a virtual connection of the wiring harness, after the fault is self-recovered, it can ensure that the vehicle can smoothly switch to the target drive mode, avoiding the problem of poor user experience caused by the failure of the shift motor that prevents the vehicle from switching the drive mode.

[0008] In a first aspect, a method for switching a vehicle driving mode is provided, which is executed by a four-wheel drive system of the vehicle, the four-wheel drive system including a shift motor, the method comprising: during the driving of the vehicle, in response to a switching instruction of a target driving mode, determining a first working state of the shift motor according to a first pin parameter of the shift motor, the first pin parameter being used to indicate the working state of the pin of the shift motor, and the first working state being used to indicate the circuit state of the shift motor; in a case where the first working state is an open circuit state, suppressing a fault alarm of the first working state and rechecking the working state of the shift motor in real time; in a case where it is found in the recheck that the working state of the shift motor is restored from an open circuit state to a conducting state, controlling the shift motor to operate according to the switching instruction, so that the vehicle switches from the current driving mode to the target driving mode.

[0009] In the above technical solution, when the vehicle switches the driving mode, a method for switching the driving mode of the vehicle is provided. In the method, when the vehicle is initialized and the actual driving process is completed, if a switching instruction of the target driving mode is received, before the switching, the vehicle first determines the first working state of the shift motor according to the current first pin parameter of the shift motor. When the first working state is an open circuit state, the vehicle does not alarm temporarily. When the working state is detected again to be restored from the open circuit state to the conductive state, the shift motor is controlled to operate based on the switching instruction, so that the vehicle is successfully switched to the target driving mode. In the above process, before switching the driving mode, if the shift motor has an open circuit, it may be caused by the vehicle driving on a bumpy road. This open circuit fault is an occasional fault and will recover in a short time. Therefore, the vehicle does not alarm in this case. On the one hand, it can ensure that the vehicle can be smoothly switched to the target driving mode later; on the other hand, it can also avoid the panic caused by the false alarm to the user. When the shift motor is restored to the conductive state due to the open circuit of the system assembly wiring harness, the vehicle can switch to the target drive mode according to the switching instruction, which enables the vehicle to smoothly switch to the target drive mode after the system assembly wiring harness is restored, thereby improving the flexibility of the vehicle in switching drive modes and enhancing the user's driving experience.

[0010] In combination with the first aspect, in some possible implementations, the method also includes: when the first working state is an open circuit state, based on the first working state, generating a target fault code and controlling the vehicle to be in the current driving mode, the type of the target fault code is a real-time fault code, and the type of the target fault code is used to indicate the time when the shift motor becomes open circuit; when it is re-checked that the working state of the shift motor is restored from an open circuit state to a conductive state, the type of the target fault code is changed from a real-time fault code to a historical fault code.

[0011] In the above technical solution, when the vehicle determines that the shift motor is open circuit before switching the drive mode, in addition to not issuing a fault alarm, the vehicle can also generate a target fault code and prohibit the vehicle from switching the drive mode according to the current first working state. Among them, the type of the target fault code is a real-time fault code, which is used to indicate that the current shift motor is in an open circuit state in real time. In the above process, although no fault alarm is issued when the shift motor is open circuit, storing the target fault code of the shift motor can enable technicians to accurately know the fault condition of the shift motor, which is convenient for subsequent troubleshooting. In addition, during the continuous detection of the working state of the shift motor, if the vehicle detects that the working state has returned to the on state, it means that the current shift motor has returned to normal, and the type of the target fault code can be changed to a historical fault code, indicating that the shift motor is a fault that occurred before, and it has now returned to normal. The above-mentioned change in the type of the target fault code can ensure that the type of the target fault code is updated synchronously with the working state of the shift motor.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when it is re-checked that the working state of the shift motor is restored from the open circuit state to the on state, the shift motor is controlled to operate according to the switching instruction, including: when it is re-checked that the working state of the shift motor is restored from the open circuit state to the on state within a preset time period, the shift motor is controlled to operate according to the switching instruction.

[0013] In the above technical solution, the virtual connection of the system assembly wiring harness caused by vehicle bumps is generally short. Therefore, in the present application, during the re-inspection process, the vehicle can determine whether the working state has been restored from the open circuit state to the conductive state within a preset time. If so, the vehicle is controlled to switch to the target drive mode, so that when the user switches the mode, the user does not need to wait too long, which better meets the needs of the user and avoids causing customer complaints, so that the vehicle can smoothly switch the drive mode after the virtual connection of the wiring harness is restored.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the method also includes: when the working state of the shift motor is not restored from the open state to the conductive state within the preset time period, controlling the vehicle to be in the current driving mode; generating a target alarm signal according to the working state of the shift motor; and controlling the alarm device of the vehicle to perform a fault alarm based on the target alarm signal.

[0015] In the above technical solution, when the working state of the shift motor is rechecked, if the working state has not been restored within the preset time, it means that the shift motor has been in an open circuit state. In this case, it means that the open circuit of the shift motor may not be caused by a virtual connection of the system assembly wiring harness. The vehicle can notify the user in time when the shift motor continues to fail through an alarm, so that the user can know and take corresponding treatment measures to avoid the problem of reduced service life of vehicle components caused by the continuous failure of the shift motor.

[0016] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, before the first working state of the shift motor is determined according to the first pin parameter of the shift motor in response to the switching instruction of the target drive mode during the driving process of the vehicle, the method also includes: during the initialization of the vehicle, the second working state of the shift motor is determined according to the second pin parameter of the shift motor; and the first working state of the shift motor is determined according to the first pin parameter of the shift motor in response to the switching instruction of the target drive mode during the driving process of the vehicle, including: when the second working state is a conductive state, the first working state is determined according to the first pin parameter during the driving process of the vehicle in response to the switching instruction.

[0017] In the above technical solution, in addition to detecting the working state of the shift motor before the vehicle switches modes, during the vehicle initialization process, the vehicle can determine the second working state of the shift motor during the initialization process according to the second pin parameter of the shift motor. Only when the second working state is the on state can the vehicle be allowed to switch the target driving mode during driving, which can ensure the accuracy and safety of the vehicle switching driving mode.

[0018] In combination with the first aspect and the above-mentioned implementation manner, in some possible implementation manners, the second pin parameter includes a pin voltage at both ends, a pin current at both ends, or a pin temperature. The second working state of the shift motor is determined according to the second pin parameter of the shift motor, including any of the following items: determining a voltage difference according to the pin voltage at both ends; determining that the second working state is a conduction state when the absolute value of the voltage difference is less than a preset voltage; determining that the second working state is an open circuit state when the absolute value of the voltage difference is greater than or equal to the preset voltage; determining a current difference according to the pin current at both ends; determining that the second working state is a conduction state when the absolute value of the current difference is greater than a preset current; determining that the second working state is an open circuit state when the absolute value of the current difference is less than or equal to the preset current; determining a temperature difference between the pin temperature and the current ambient temperature; determining that the second working state is an open circuit state when the temperature difference is less than or equal to the preset temperature; determining that the second working state is a conduction state when the temperature difference is greater than the preset temperature.

[0019] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the method also includes: when the second working state is an open circuit state, generating a target alarm signal and a target fault code according to the second working state, the type of the target fault code is a real-time fault code, and the type of the target fault code is used to indicate the time when the open circuit occurs in the shift motor; based on the target alarm signal, controlling the alarm device of the vehicle to perform a fault alarm and prohibiting the vehicle from switching the drive mode; performing a real-time review of the working state of the shift motor; and when it is found that the working state of the shift motor is restored from an open circuit state to a conducting state after the review, changing the type of the target fault code from a real-time fault code to a historical fault code, and controlling the alarm device to stop the fault alarm.

[0020] In the above technical solution, when the vehicle detects that the shift motor is in an open circuit state during the initialization process, the vehicle is prohibited from switching the drive mode, and the open circuit state of the shift motor is alarmed. The above process can ensure that the user is aware of the state of the shift motor in a timely manner, avoiding the problem of being unable to switch the drive mode during the subsequent switching process. In addition, the vehicle can also store the target fault code, which enables the technician to understand the fault of the shift motor in a timely manner. If the vehicle rechecks that the working state of the shift motor has recovered from the open circuit state to the on state, it means that the current shift motor has returned to normal, and the type of the target fault code can be changed to a historical fault code, indicating that the shift motor is a fault that occurred before, and it has now returned to normal. The above change in the type of the target fault code can ensure that the type of the target fault code is updated synchronously with the working state of the shift motor. At the same time, when the vehicle detects that the working state has returned to the on state, the fault alarm is stopped, which can ensure that the vehicle can switch the drive mode during driving.

[0021] In a second aspect, a switching device for a vehicle driving mode is provided, the device being applied to a four-wheel drive system of a vehicle, the four-wheel drive system including a shift motor, the device including: a first state determination module for determining a first working state of the shift motor according to a first pin parameter of the shift motor in response to a switching instruction of a target driving mode during driving of the vehicle, the first pin parameter being used to indicate the working state of the pin of the shift motor, the first working state being used to indicate the circuit state of the shift motor; a first fault processing module for suppressing a first working state fault alarm and rechecking the working state of the shift motor in real time when the first working state is an open circuit state; a mode switching module for controlling the operation of the shift motor according to the switching instruction when the working state of the shift motor is restored from an open circuit state to a conducting state, so as to switch the vehicle from the current driving mode to the target driving mode.

[0022] In combination with the second aspect, in some possible implementations, the device also includes: a fault code processing module, which is used to generate a target fault code and control the vehicle to be in the current driving mode according to the first working state when the first working state is an open circuit state, and the type of the target fault code is a real-time fault code, and the type of the target fault code is used to indicate the time when the shift motor becomes open circuit; when it is re-checked that the working state of the shift motor is restored from an open circuit state to a conducting state, the type of the target fault code is changed from a real-time fault code to a historical fault code.

[0023] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the mode switching module is specifically used to: when it is re-checked within a preset time period that the working state of the shift motor is restored from an open circuit state to a conductive state, control the operation of the shift motor according to the switching instruction.

[0024] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the mode switching module is also used to: control the vehicle to be in the current driving mode when the working state of the shift motor is not restored from the open state to the on state within the preset time period; generate a target alarm signal according to the first working state; and control the alarm device of the vehicle to issue a fault alarm based on the target alarm signal.

[0025] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, before the first working state of the shift motor is determined according to the first pin parameter of the shift motor in response to the switching instruction of the target drive mode during the driving process of the vehicle, the device also includes: a second state determination module, which is used to determine the second working state of the shift motor according to the second pin parameter of the shift motor during the initialization of the vehicle; and the first state determination module is specifically used to: when the second working state is the on state, during the driving process of the vehicle, in response to the switching instruction, determine the first working state according to the first pin parameter.

[0026] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the second pin parameter includes a pin voltage at both ends, a pin current at both ends, or a pin temperature, and the second state determination module is used to perform any of the following items: determine a voltage difference based on the pin voltage at both ends; determine that the second working state is a conducting state when the absolute value of the voltage difference is less than a preset voltage; determine that the second working state is an open circuit state when the absolute value of the voltage difference is greater than or equal to the preset voltage; determine a current difference based on the pin current at both ends; determine that the second working state is a conducting state when the absolute value of the current difference is greater than a preset current; determine that the second working state is an open circuit state when the absolute value of the current difference is less than or equal to the preset current; determine a temperature difference between the pin temperature and the current ambient temperature; determine that the second working state is an open circuit state when the temperature difference is less than or equal to the preset temperature; and determine that the second working state is a conducting state when the temperature difference is greater than the preset temperature.

[0027] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the device also includes: a second fault processing module, which is used to generate a target alarm signal and a target fault code according to the second working state when the second working state is an open circuit state, and the type of the target fault code is a real-time fault code, and the type of the target fault code is used to indicate the time when the open circuit occurs in the shift motor; based on the target alarm signal, control the alarm device of the vehicle to issue a fault alarm and prohibit the vehicle from switching the drive mode; perform a real-time review of the working state of the shift motor; and when it is found that the working state of the shift motor is restored from an open circuit state to a conducting state after the review, change the type of the target fault code from a real-time fault code to a historical fault code, and control the alarm device to stop the fault alarm.

[0028] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation of the first aspect.

[0029] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0030] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of a four-wheel drive system of a vehicle provided in an embodiment of the present application;

[0032] Figure 2 is a schematic flow chart of a method for switching a vehicle driving mode provided in an embodiment of the present application;

[0033] Figure 3 This is a circuit structure diagram for obtaining the voltages of the pins at both ends of a shift motor provided in an embodiment of the present application;

[0034] Figure 4 This is another circuit structure diagram for obtaining the voltages of the pins at both ends of the shift motor provided in an embodiment of the present application;

[0035] Figure 5 is a schematic flow chart of detecting the working state of a shift motor during an initialization process provided by an embodiment of the present application;

[0036] Figure 6 is a schematic flow chart of detecting the working state of a shift motor after initialization provided by an embodiment of the present application;

[0037] Figure 7 is a schematic flow chart of another method for switching a vehicle driving mode provided in an embodiment of the present application;

[0038] Figure 8 is a structural schematic diagram of a vehicle driving mode switching device provided in an embodiment of the present application;

[0039] Fig. 9 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0041] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0042] Before introducing the solutions of the embodiments of the present application, the professional terms that may be involved in the embodiments of the present application are first explained.

[0043] System assembly wiring harness is loosely connected: refers to the wiring harness in certain systems of the vehicle being loosely connected or in poor contact. In the embodiment of the present application, it refers to the four-wheel drive system assembly wiring harness being loosely connected.

[0044] Transfer case: A mechanical device located after the transmission that distributes the engine's power to the front and rear axles.

[0045] Shift motor: An electric motor, usually a stepper motor or servo motor, installed on the transfer case and used to control the shift mechanism inside the transfer case to achieve the switching of drive modes.

[0046] The application scenarios of the embodiments of the present application are introduced below.

[0047] At present, with the continuous development of vehicle production technology, vehicles are equipped with a variety of driving modes, including front-wheel drive mode, rear-wheel drive mode and four-wheel drive mode.

[0048] Different driving modes are applicable to different scenarios. For example, the front-wheel drive mode is mainly suitable for daily urban commuting scenarios, and the rear-wheel drive mode is mainly suitable for high-speed scenarios. Therefore, during the driving process, the user can switch the driving mode according to the actual driving needs, or the vehicle can automatically switch the driving mode according to the current driving status.

[0049] When the vehicle switches the driving mode, the specific process can be as follows: after the vehicle determines the target driving mode to be switched, a control command is generated and sent to the ECU of the four-wheel drive system. The ECU of the four-wheel drive system controls the shift motor to rotate according to the control command. During the rotation process, the shift motor will change the position of the gear and clutch mechanism inside the transfer case through the mechanical transmission device, thereby changing the gear position of the transfer case and realizing the switching of the target driving mode.

[0050] In one possible implementation, when the vehicle encounters bumps while driving, the system assembly wiring harness may be loosely connected, causing the connector of the transfer case assembly wiring harness to occasionally be loosely connected, causing the voltage of the pins at both ends of the shift motor to fluctuate. In this case, the vehicle will determine that the shift motor wiring harness is open and report the fault. The vehicle's dashboard will display the corresponding fault alarm prompt text, such as "Four-wheel drive system failure, currently unable to switch drive mode, please handle it in time." In this case, the vehicle will maintain the current drive mode unchanged and will not switch to the target drive mode.

[0051] When the instrument panel displays the fault alarm prompt text, if the vehicle's current ignition cycle has not ended, the instrument panel will continue to give a fault alarm and it cannot be eliminated.

[0052] In the actual operation of the vehicle, the wiring harness is disconnected occasionally and will recover in a short time. However, after the wiring harness of the system assembly is disconnected, the instrument panel will continue to alarm for a fault during an ignition cycle. As a result, even if the wiring harness is restored to normal connection, the vehicle will not clear the current fault alarm and will remain in the current driving mode, making it impossible for the vehicle to switch to the target driving mode, resulting in a poor user experience.

[0053] Based on the above problems, the embodiment of the present application provides a method for switching the driving mode of a vehicle. The method can detect a shift motor fault when the vehicle switches the driving mode without giving a fault alarm. Therefore, when the shift motor fails due to a virtual connection of the wiring harness, after the fault is self-recovered, it can ensure that the vehicle can smoothly switch to the target driving mode, avoiding the problem of poor user experience caused by the failure of the shift motor that prevents the vehicle from switching the driving mode.

[0054] Before introducing the solution of the embodiment of the present application, the structure and working principle of the four-wheel drive system in the embodiment of the present application are first introduced.

[0055] Figure 1 It is a structural schematic diagram of a four-wheel drive system of a vehicle provided in an embodiment of the present application.

[0056] For example, Figure 1 As shown, the four-wheel drive system 100 in the embodiment of the present application mainly includes the following parts: engine, gearbox, transfer case, front axle, rear axle, shift motor, ECU and sensor. It should be understood that Figure 1 The connection relationship shown does not represent the actual connection relationship between the various components in the four-wheel drive system 100, but is merely a schematic connection.

[0057] In a possible implementation, the transfer case includes a shift fork, a gear transmission mechanism, a cam mechanism, a gear set, a clutch mechanism, etc.

[0058] The engine is used to provide a power source when the vehicle is traveling.

[0059] The gearbox is used to transfer the power of the engine to the transfer case and provides different gear ratios.

[0060] The transfer case is used to distribute power to the front and rear axles.

[0061] The front axle is used to transmit power to the front wheels; the rear axle is used to transmit power to the rear wheels.

[0062] Optionally, in some vehicles, the front axle and the rear axle may also include a differential for adjusting the wheel speeds of the left and right wheels when the vehicle turns.

[0063] The shift motor is used to control the shift fork inside the transfer case to achieve switching between different drive modes.

[0064] The ECU is used to receive the mode switching command and control the operation of the shift motor according to the mode switching command.

[0065] The sensor is used to detect the vehicle speed, engine speed, etc. during driving, and send the collected information to the ECU.

[0066] Based on the above components of the four-wheel drive system 100, the main working process of the four-wheel drive system 100 when the vehicle switches the driving mode is as follows:

[0067] The driver selects the target drive mode through the drive mode selection interface, or the ECU determines the target drive mode to be switched according to the operating status of the vehicle. After determining the target drive mode, the ECU generates a corresponding control instruction or control signal according to the target drive mode, and controls the shift motor to rotate a specific angle according to the control signal according to the control signal. During the rotation of the shift motor, the rotational motion can be transmitted to the gear transmission mechanism inside the transfer case through the output shaft of the shift motor. The gear transmission mechanism further transmits the rotational motion to the cam mechanism, so that the cam mechanism pushes the shift fork to slide along the guide rail until it slides to the preset position corresponding to the target drive mode.

[0068] When the sensor inside the transfer case detects a successful gear shift, it feeds the result back to the ECU, which then controls the instrument panel to display the target drive mode.

[0069] In addition, the ECU controls the gear set and clutch mechanism inside the transfer case to reconfigure the power transmission path based on the position of the shift fork. For example, when the target drive mode is front-wheel drive mode, power is transmitted only to the front axle.

[0070] After introducing the composition structure and working principle of the four-wheel drive system of the embodiment of the present application, a method for switching the vehicle drive mode provided by the embodiment of the present application is introduced below.

[0071] Figure 2 is a schematic flow chart of a method for switching a vehicle driving mode provided in an embodiment of the present application. It should be understood that the method can be applied to Figure 1 The four-wheel drive system 100 is specifically applied to the ECU in the four-wheel drive system 100. The method is also applicable to any ECU in the vehicle.

[0072] For example, Figure 2 As shown, the method 200 includes:

[0073] 201. During vehicle driving, in response to a switching instruction of a target driving mode, a first working state of the shift motor is determined according to a first pin parameter of the shift motor, wherein the first pin parameter is used to indicate the working state of the pin of the shift motor, and the first working state is used to indicate the circuit state of the shift motor.

[0074] It should be understood that in order to adapt the vehicle to different driving scenarios, a plurality of driving modes are usually configured in the vehicle. In one case, during the driving of the vehicle, the user can control the vehicle dashboard to display the driving mode selection interface through a click operation, voice command or gesture adjustment operation.

[0075] The optional driving modes include two-wheel drive mode, four-wheel drive mode, snow mode, sand mode, mud mode, sports mode, off-road mode, economy mode, etc. The two-wheel drive mode includes front-wheel drive mode or rear-wheel drive mode, and the four-wheel drive mode includes part-time four-wheel drive mode and full-time four-wheel drive mode. The running state of the vehicle is also different in different driving modes.

[0076] In front-wheel drive (FWD) mode, the engine transmits power to the front wheels through the gearbox. In this case, the front wheels are both driving wheels and steering wheels.

[0077] In rear-wheel drive (RWD) mode, the engine transmits power to the rear wheels through the drive shaft.

[0078] In the Part-Time Four-Wheel Drive (Part-Time 4WD) mode, the driver can manually select the four-wheel drive mode, that is, the vehicle is selectively in the four-wheel drive mode.

[0079] Full-Time 4WD mode means that the vehicle is always in 4WD mode.

[0080] In Sand mode, the vehicle's driving scenarios are generally desert and Gobi driving or off-road driving, the purpose is to ensure that the vehicle avoids falling into sand pits during driving.

[0081] In Snow mode, the vehicle's driving scenario is generally driving under low adhesion conditions or off-road driving, the purpose of which is to prevent the vehicle from slipping during driving.

[0082] In Mud mode, the vehicle is generally driven on deep mud roads or shallow mud roads or off-road, with the purpose of getting the vehicle out of trouble.

[0083] In Sport mode, the vehicle's accelerator pedal is sensitive, the transmission delays shifting, the vehicle's power is increased, and the driving style of the entire vehicle tends to be more intense.

[0084] In the economic mode, the engine power output is smooth and the transmission shifts gears actively, the vehicle's power is reduced and its economy is increased, and the driving style of the whole vehicle tends to be smooth and gentle.

[0085] Based on the drive mode selection interface, the user can select the target drive mode to be switched from multiple drive modes. For example, when the target drive mode is the front drive mode, the user can select the front drive mode from the multiple drive modes by clicking; or the user can select the front drive mode by voice command (switch to the front drive mode).

[0086] When the target driving mode is manually selected by the user based on the instrument panel, the instrument controller may generate a switching instruction of the target driving mode in response to the user's selection operation and send the instruction to the four-wheel drive system ECU.

[0087] In another case, in addition to the user manually selecting the target drive mode, the four-wheel drive system ECU can automatically determine the target drive mode to be switched according to the state of the vehicle during driving. In this case, the four-wheel drive system ECU can generate a switching instruction for the target drive mode according to the target drive mode.

[0088] It should also be understood that, in combination with the foregoing description, when a vehicle is traveling on a bumpy road, the wiring harness of the system assembly may be poorly connected, causing voltage fluctuations at both ends of the shift motor and causing an open circuit fault in the shift motor.

[0089] In the current existing technology, when the four-wheel drive system ECU determines that the shift motor is open circuit, it will output a four-wheel drive system fault alarm signal and send it to the instrument controller. The instrument controller receives the fault alarm signal and continues to issue a fault alarm within an ignition cycle, resulting in the vehicle being unable to switch drive modes within the same ignition cycle even if the vehicle wiring harness connection returns to normal.

[0090] Based on this, the vehicle drive mode switching method provided in the embodiment of the present application can detect the first working state of the shift motor through the first pin parameters of the shift motor before the vehicle switches the drive mode. When the four-wheel drive system ECU determines that the shift motor is open, no fault alarm is temporarily issued. The reason is: if the shift motor is open during this detection process is caused by a virtual connection in the system assembly wiring harness. When the vehicle wiring harness connection returns to normal, the shift motor returns to the conductive state and will not affect the normal switching of the vehicle drive mode. Therefore, compared with the prior art, the method of the embodiment of the present application can enable the vehicle to switch the drive mode normally after the virtual connection of the system assembly wiring harness is restored, thereby improving the user experience.

[0091] The first pin parameter indicates the working state of the shift motor pin, such as the voltage of the shift motor pin, the current of the pin, and the temperature of the pin.

[0092] The first working state is used to indicate the circuit state of the shift motor, that is, whether the circuit is connected normally.

[0093] Since the ECU of the four-wheel drive system detects that the shift motor is open-circuited and does not issue a fault alarm when the driving mode needs to be switched during the vehicle driving process, in order to enable the user to accurately know the working status of the shift motor, the embodiment of the present application can detect the working status of the shift motor during the vehicle initialization process.

[0094] In a possible implementation, during the driving process of the vehicle, in response to a switching instruction of the target driving mode, before determining the first working state of the shift motor according to the first pin parameter of the shift motor, the method further includes:

[0095] During the vehicle initialization process, the second working state of the shift motor is determined according to the second pin parameter of the shift motor.

[0096] Among them, vehicle initialization (power-on initialization) refers to the process from the vehicle's complete power-off state to the completion of the startup of all systems and modules and entering the normal working state. During the vehicle initialization process, each ECU of the vehicle will perform self-test, configuration, and communication operations. The vehicle initialization process involves the initialization of the low-voltage system and the power-on of the high-voltage system.

[0097] For example, when the vehicle is initialized, the vehicle's dashboard will display a prompt text "The vehicle is initializing", or the vehicle will control the audio playback device to broadcast the prompt voice "The vehicle is initializing". Based on this, the four-wheel drive system ECU can determine from the instrument controller or multimedia controller that the vehicle is in the initialization process. In addition, when the vehicle is initialized and powered on, the coding value of the power-on indication signal will also change accordingly. Therefore, the four-wheel drive system ECU can also determine that the vehicle is in the power-on initialization process through the coding value of the power-on indication signal.

[0098] Specifically, in the embodiment of the present application, the power-on indication signal is signal 1. When the vehicle is not powered on, the coding value of signal 1 is 0x0. When the vehicle starts initialization, the coding value of signal 1 is 0x2. Therefore, when the four-wheel drive system ECU detects that the coding value of the power-on indication signal changes, that is, changes from 0x0 to 0x2, it is determined that the vehicle enters the initialization process.

[0099] After determining that the vehicle enters the initialization process, the four-wheel drive system ECU can determine the second working state of the shift motor through the second pin parameter of the current shift motor, wherein the second pin parameter is used to indicate the working state of the pin of the shift motor during the initialization process.

[0100] Optionally, the second pin parameter is of the same type as the second pin parameter, but the acquisition timing is different. The second pin parameter includes the pin voltage at both ends of the shift motor, the pin current at both ends, or the pin temperature.

[0101] The specific process of determining the second working state is as follows.

[0102] In a possible implementation, determining the second working state of the shift motor according to the second pin parameter of the shift motor includes any of the following:

[0103] Determine the voltage difference according to the voltages of the pins at both ends; when the absolute value of the voltage difference is less than the preset voltage, determine that the second working state is the on state; when the absolute value of the voltage difference is greater than or equal to the preset voltage, determine that the second working state is the open state;

[0104] Determine the current difference according to the currents of the pins at both ends; when the absolute value of the current difference is greater than the preset current, determine that the second working state is the on state; when the absolute value of the current difference is less than or equal to the preset current, determine that the second working state is the open state;

[0105] Determine the temperature difference between the pin temperature and the current ambient temperature; when the temperature difference is less than or equal to the preset temperature, determine the second working state to be an open state; when the temperature difference is greater than the preset temperature, determine the second working state to be a conducting state.

[0106] According to different pin parameters, the four-wheel drive system ECU determines the second working state of the shift motor can be divided into the following scenarios:

[0107] Scenario 1: The second pin parameter is the voltage at both ends of the shift motor

[0108] The pin voltage at both ends of the shift motor, that is, the voltage of the two pins of the shift motor.

[0109] The pin of the shift motor refers to the wiring terminal connected to the peripheral circuit led out of the shift motor. The shift motor has two pins, one pin is used to connect the positive pole of the power supply, and the other pin is used to connect the negative pole of the power supply.

[0110] In the embodiment of the present application, when the shift motor is in the on state, the impedance between the two pins is very small, so the voltages of the pins at both ends of the shift motor are close. When the shift motor is in the open circuit state, the current cannot form a loop from both ends of the shift motor, so the impedance between the two pins will increase, and the voltage difference between the pins at both ends will be large.

[0111] When obtaining the pin voltages at both ends of the shift motor, according to the different hardware of the transfer case controller, the embodiments of the present application provide two methods for obtaining the pin voltages.

[0112] The first is that the H-drive bridge chip in the transfer case controller can provide a pull-up channel. This pull-up channel is used as the pull-up source of the analog-to-digital converter (ADC) sampling circuit to measure the voltage value of one of the pins through the ADC sampling circuit.

[0113] H-bridge driver chip: It is an integrated circuit that controls the forward and reverse rotation and speed of the DC motor through an H-shaped circuit composed of four switches. These four switches are divided into two groups, each with two switches, which are connected to the two ends of the motor respectively.

[0114] Optionally, the switch of the H-bridge driver chip may be a Metal-Oxide-Semiconductor Field-Effect Transistor (MOSFET) or a Bipolar Junction Transistor (BJT).

[0115] A pull-up channel is a circuit configuration in which a resistor is connected between a signal line and a high level (such as a supply voltage).

[0116] Pull-up source: refers to the power supply that provides the pull-up function, usually a resistor connected between the signal line and the power supply voltage.

[0117] Figure 3 This is a circuit structure diagram for obtaining the voltages at both ends of the pins of a shift motor provided in an embodiment of the present application.

[0118] For example, Figure 3 As shown, the H-bridge driver chip includes four switches, which are respectively connected to two terminals of the shift motor. The microcontroller unit (MCU) is connected to the H-bridge driver chip through multiple pins, and these pins are used to control the switch state of the H-bridge driver chip.

[0119] The four output terminals of the H-bridge driver chip are connected to the positive and negative poles of the shift motor respectively. This connection method allows current to flow to the motor through different paths, thereby changing the rotation direction of the shift motor. When two transistors on a diagonal line of the H-bridge driver chip (for example, the upper left and lower right transistors) are turned on at the same time, current will flow from the power supply through these two transistors to one end of the shift motor, forming a "pull-up" current channel.

[0120] In the case where the H-bridge driver chip provides a pull-up current channel, in the embodiment of the present application, the pull-up current channel of the H-bridge driver chip can be used as the pull-up source of the ADC sampling circuit to collect the working voltage of a pin of the shift motor, and an external pull-up resistor is used to connect to the power supply to collect the working voltage of another pin through the ADC sampling circuit.

[0121] The second is that the H-drive axle chip in the transfer case controller does not provide a pull-up channel.

[0122] Figure 4 This is another circuit structure diagram for obtaining the voltages at both ends of the shift motor provided in an embodiment of the present application.

[0123] For example, Figure 4 As shown, combined Figure 3 The difference is that Figure 4 The H-bridge driver chip does not provide a separate pull-up channel. In this case, the pull-up channel provided in the MCU chip can be used as the pull-up source of the ADC sampling circuit to collect the working voltage of one pin of the shift motor, and an external pull-up resistor can be used to connect to the power supply to collect the working voltage of another pin through the ADC sampling circuit.

[0124] Therefore, through any of the above two methods, the four-wheel drive system ECU can obtain the pin voltages at both ends of the shift motor.

[0125] After obtaining the voltages at both ends of the shift motor pins, the 4WD system ECU can calculate the difference between the voltages at both ends, obtain the voltage difference, and compare the voltage difference with the preset voltage. The preset voltage is the maximum difference between the voltages at both ends of the shift motor pins when the shift motor is not open-circuited, obtained by the technicians through experiments, and stored in the 4WD system ECU.

[0126] Based on the circuit structures corresponding to different working voltage acquisition methods, the preset voltage can be divided into a first preset voltage and a second preset voltage. Figure 3 In the working voltage acquisition mode, the maximum voltage difference allowed when the shift motor is not open circuit. The second preset voltage corresponds to Figure 4 In the working voltage acquisition mode, the maximum voltage difference allowed when the shift motor is not open-circuited.

[0127] Optionally, the first preset voltage is 0.8V and the second preset voltage is 0.4V.

[0128] When the four-wheel drive system ECU Figure 3 In the case of obtaining the voltage of the pins at both ends in a manner, the calculated voltage difference can be compared with the first preset voltage. When the voltage difference is less than the first preset voltage, the four-wheel drive system ECU determines that the shift motor is not in an open circuit state during the vehicle initialization process, so the second working state is the on state; when the voltage difference is greater than or equal to the first preset voltage, the four-wheel drive system ECU determines that the shift motor is in an open circuit state during the vehicle initialization process, so the second working state is the open circuit state.

[0129] It should be noted that the reason why the shift motor is considered to be in a non-open circuit state, that is, the shift motor is in a conducting state, in the embodiment of the present application is that for the shift motor, common line faults include short circuits in addition to open circuits. Through research, technicians have found that when the voltage difference between the pin voltages at both ends of the shift motor is approximately between 2-5V, the shift motor will be in a short circuit state. This condition contradicts the condition that the shift motor is in an open circuit state in the embodiment of the present application. Therefore, when the four-wheel drive system ECU determines that the voltage difference is less than the preset voltage, it can directly determine that the second working state of the shift motor is the conducting state.

[0130] Similarly, when the four-wheel drive system ECU is Figure 4 When the voltage of the two-end pins is obtained in the manner shown, the calculated voltage difference can be compared with the second preset voltage. When the voltage difference is less than the second preset voltage, the four-wheel drive system ECU determines that the shift motor is not in an open circuit state during the vehicle initialization process, so the second working state is the on state; when the voltage difference is greater than or equal to the second preset voltage, the four-wheel drive system ECU determines that the shift motor is in an open circuit state during the vehicle initialization process, so the second working state is the open circuit state.

[0131] Scenario 2: The second pin parameter is the current at both ends of the shift motor pin

[0132] It should be understood that when the shift motor is in an open circuit state, it means that the circuit of the shift motor is interrupted. In this case, no current will flow through the two ends of the shift motor. Therefore, when the shift motor is in an open circuit state, the current at the two ends of the shift motor is usually 0A. When the shift motor is in an on state, a current will flow through the shift motor, and this current is usually known. Therefore, based on the difference in the working current of the above-mentioned shift motor in the open circuit state and the on state, the technician can pre-set a preset current as a basis for judging whether the shift motor is open circuit. Optionally, the preset current is 0A.

[0133] For example, the four-wheel drive system ECU can obtain the current at both ends of the shift motor pins through a Hall effect sensor or a current sensor.

[0134] After obtaining the currents of the pins at both ends of the shift motor, the 4WD system ECU can calculate the current difference between the currents of the pins at both ends. If the current difference is equal to 0A, the 4WD system ECU determines that the shift motor is in an open circuit state, so the second working state is an open circuit state; on the contrary, if the current difference is greater than 0A, the 4WD system ECU determines that the shift motor is not in an open circuit state, so the second working state is a conducting state.

[0135] Scenario 3: The second pin parameter is the pin temperature of the shift motor

[0136] It should be understood that during the operation of the shift motor, the temperature of the pin of the shift motor also changes due to the influence of the working state of the shift motor. Specifically, when the shift motor is in an open circuit state, no current flows because the circuit of the shift motor is interrupted. The shift motor does not generate an electromagnetic field, so no resistance loss occurs. In other words, the shift motor generates almost no heat when it is in an open circuit state, and the pin temperature is close to the ambient temperature. On the contrary, when the shift motor is in a conducting state, the shift motor will generate a certain amount of heat when it works, so that the pin temperature of the shift motor is higher than the ambient temperature. Based on this, in the embodiment of the present application, the ECU of the four-wheel drive system can determine the second working state of the shift motor by judging the difference between the pin temperature of the shift motor and the ambient temperature. The embodiment of the present application can pre-set the maximum difference between the pin temperature of the shift motor and the ambient temperature of the environment in which the shift motor is located when the shift motor is in the normal working state as a preset temperature. Optionally, the preset temperature is 10°C.

[0137] For example, the pin temperature of the shift motor can be acquired by the four-wheel drive system ECU through a temperature sensor corresponding to the pin of the shift motor. In addition, the four-wheel drive system ECU can obtain the current ambient temperature through an ambient temperature sensor.

[0138] Based on the obtained pin temperature of the shift motor and the current ambient temperature, the four-wheel drive system ECU can calculate the temperature difference between the pin temperature of the shift motor and the current ambient temperature, and compare it with the preset temperature. When the temperature difference is less than or equal to the preset temperature, it means that the pin temperature of the shift motor is close to the current ambient temperature. The four-wheel drive system ECU determines that the shift motor is currently in an open circuit state, so the second working state is an open circuit state. On the contrary, when the temperature difference is greater than the preset temperature, it means that the pin temperature of the shift motor is higher than the current ambient temperature. The four-wheel drive system ECU determines that the shift motor is in a conductive state, so the second working state is a conductive state.

[0139] Therefore, through the above three methods, the four-wheel drive system ECU can determine the second working state of the shift motor during the vehicle initialization process.

[0140] Depending on the second working state, the subsequent processing logic executed by the four-wheel drive system ECU is also different.

[0141] In one case, when the four-wheel drive system ECU determines that the second working state of the shift motor is an open circuit state during the initialization process of the vehicle, the specific processing logic is as follows.

[0142] In a possible implementation, the method further includes:

[0143] When the second working state is an open circuit state, a target alarm signal and a target fault code are generated according to the second working state. The type of the target fault code is a real-time fault code. The type of the target fault code is used to indicate the time when the shift motor is open circuited.

[0144] Based on the target alarm signal, the alarm device of the vehicle is controlled to give a fault alarm and prohibit the vehicle from switching the driving mode;

[0145] Conduct real-time recheck on the working status of the shift motor;

[0146] When it is rechecked that the working state of the shift motor is restored from the open state to the on state, the type of the target fault code is changed from the real-time fault code to the historical fault code, and the alarm device is controlled to stop the fault alarm.

[0147] When the vehicle is in the initialization process and the shift motor is in an open circuit state, in order to facilitate the user to promptly understand the current shift motor fault, the four-wheel drive system ECU can generate a target fault code and a target alarm signal according to the second working state.

[0148] Specifically, in the embodiment of the present application, the target fault code (DTC) is P178013. When the shift motor is open, the four-wheel drive system ECU will report DTC = P178013. The target alarm signal is signal 2. When the four-wheel drive system ECU needs a fault alarm, the coding of the signal is 0x1, that is, when the shift motor is open, the alarm device needs to alarm the fault.

[0149] Optionally, the alarm device includes a dashboard and / or an audio playback device in the vehicle.

[0150] The 4WD system ECU can store the target fault code to facilitate subsequent troubleshooting by technicians. In addition to storing the target fault code, the 4WD system ECU can also determine the type of the target fault code as a real-time fault code. The type of the target fault code is used to indicate the time when the shift motor is open-circuited.

[0151] Optionally, the types of target fault codes include real-time fault codes and historical fault codes.

[0152] A real-time fault code refers to the fault code that is currently occurring in the vehicle component corresponding to the fault code.

[0153] A historical fault code refers to a fault code that has appeared in the vehicle component corresponding to the fault code before but has been cleared.

[0154] Since the shift motor is currently in an open circuit state and has not recovered, the type of the target fault code is a real-time fault code.

[0155] For the target alarm signal, the four-wheel drive system ECU sends the target alarm signal to the vehicle's instrument controller and multimedia controller, so that the instrument controller controls the instrument panel to display the target prompt text according to the target alarm signal, such as a pop-up window of text "The current four-wheel drive system is faulty, please deal with it in time", and the multimedia controller controls the audio playback device to broadcast the target prompt voice according to the target alarm signal, such as the voice "The current four-wheel drive system is faulty, please deal with it in time".

[0156] In addition, during the vehicle initialization process, if the shift motor is open, the four-wheel drive system ECU will prohibit the vehicle from switching drive modes.

[0157] Specifically, the drive mode indication signal in the embodiment of the present application is signal 3. The corresponding drive mode switching request signal is signal 4. Signal 4 is sent by the external controller to the four-wheel drive system ECU, while signal 3 is the signal used by the four-wheel drive system to implement the drive mode switching. There is a mapping table corresponding to the two signals.

[0158] In different drive modes, the coding value corresponding to signal 4 will be different. For example, in front-wheel drive mode, the coding value of signal 4 can be 0x1; in rear-wheel drive mode, the coding value of signal 4 can be 0x2.

[0159] If the target driving mode is manually selected by the user, the instrument controller or multimedia controller changes the coding value of control signal 4 in response to the user's selection operation, and sends signal 4 to the four-wheel drive system ECU. The four-wheel drive system ECU receives signal 4, converts it into the corresponding signal 3, obtains the coding value of signal 3, and switches the driving mode based on signal 3.

[0160] If the target driving mode is manually selected by the user, the 4WD system ECU first determines the coding value of signal 3. To ensure the consistency of the driving mode display, the 4WD system ECU can send signal 3 to the external ECU so that the external ECU can update the coding value of control signal 4 accordingly. The 4WD system ECU can also switch the driving mode according to the coding value of signal 3.

[0161] During the initialization process, if the shift motor is in an open circuit state, the four-wheel drive system ECU prohibits the vehicle from switching the drive mode. Generally, during the initialization process of the vehicle, each signal will be configured to be reset or cleared, that is, the coding value of signal 3 is 0x0. Therefore, when the four-wheel drive system ECU prohibits the vehicle from switching the drive mode, it needs to control the current coding value of signal 3 to 0x0.

[0162] Furthermore, when the shift motor is in an open-circuit state during the initialization process, the four-wheel drive system ECU can also continue to detect the working state of the shift motor until it detects that the working state of the shift motor is restored from the open-circuit state to the on state or the vehicle is powered off, and the re-inspection process ends. The process of re-inspecting the working state of the shift motor is the same as the above, and is also determined according to the pin parameters of the shift motor. If the re-inspection process of the working state of the shift motor continues until the end of the vehicle initialization process, and the shift motor has not yet returned to the on state, as long as the vehicle is not powered off, the target fault code will not disappear, and the type of the target fault code will still be a real-time fault code, and it will continue until after the initialization process.

[0163] When the four-wheel drive system ECU rechecks that the working state of the shift motor has recovered from the open circuit state to no fault, the recheck process is stopped immediately, and the type of the target fault code is changed from the real-time fault code to the historical fault code to indicate that the shift motor is currently no longer faulty. In addition, the four-wheel drive system ECU can also send an alarm cancellation signal corresponding to the target alarm signal to the instrument controller and the multimedia controller, so that the instrument panel no longer displays the target prompt information corresponding to the target alarm signal, and the audio playback device no longer broadcasts the target prompt voice corresponding to the target alarm signal.

[0164] Specifically, in the embodiment of the present application, the alarm cancellation signal is the same as the aforementioned target alarm signal, both of which are signal 2. However, when the fault alarm needs to be stopped, the corresponding coding value changes from 0x1 to 0x0, indicating that the fault alarm is stopped.

[0165] On the contrary, when the shift motor is always in an open circuit state during the re-inspection process, the type of the target fault code continues to be a real-time fault code and the instrument panel and audio playback device will continue to issue fault alarms.

[0166] In the above technical solution, when the vehicle detects that the shift motor is in an open circuit state during the initialization process, the vehicle is prohibited from switching the drive mode, and the open circuit state of the shift motor is alarmed. The above process can ensure that the user is aware of the state of the shift motor in a timely manner, avoiding the problem of being unable to switch the drive mode during the subsequent switching process. In addition, the vehicle can also store the target fault code, which enables the technician to understand the fault of the shift motor in a timely manner. If the vehicle rechecks that the working state of the shift motor has recovered from the open circuit state to the on state, it means that the current shift motor has returned to normal, and the type of the target fault code can be changed to a historical fault code, indicating that the shift motor is a fault that occurred before, and it has now returned to normal. The above change in the type of the target fault code can ensure that the type of the target fault code is updated synchronously with the working state of the shift motor. At the same time, when the vehicle detects that the working state has returned to the on state, the fault alarm is stopped, which can ensure that the vehicle can switch the drive mode during driving.

[0167] In another case, when the four-wheel drive system ECU determines that the vehicle is in the initialization process and the second working state of the shift motor is the on state, the specific processing logic is as follows.

[0168] In a possible implementation, during the driving process of the vehicle, in response to a switching instruction of a target driving mode, determining a first working state of the shift motor according to a first pin parameter of the shift motor includes:

[0169] When the second working state is the on state, during the driving of the vehicle, in response to the switching instruction, the first working state is determined according to the first pin parameter.

[0170] During the vehicle initialization process, if the second working state of the shift motor is the on state, no response is performed.

[0171] When the vehicle initialization process is completed, if the four-wheel drive system ECU receives a switching instruction for the target drive mode, in order to ensure that the shift motor is in the on state when the drive mode is switched, the four-wheel drive system ECU can detect the shift motor again through the first pin parameters of the shift motor before controlling the vehicle to switch to the target drive mode to obtain the first working state.

[0172] Specifically, the way in which the four-wheel drive system ECU determines the first working state of the shift motor according to the first pin parameter is the same as the way in which the four-wheel drive system ECU determines the second working state according to the second pin parameter, which will not be repeated here.

[0173] When the first working state is in the on state, it means that the shift motor is in a normal working state before switching the target driving mode. The four-wheel drive system ECU can directly obtain the coding value of signal 3 based on the switching instruction and control the vehicle to switch from the current driving mode to the target driving mode.

[0174] Specifically, when the four-wheel drive system ECU controls the vehicle to switch from the current drive mode to the target drive mode, it controls the rotation of the shift motor, thereby transmitting the rotation of the shift motor to the shift fork through the output shaft, the cam mechanism and the gear mechanism, so that the shift fork moves along the guide rail to the position corresponding to the target drive mode.

[0175] During the switching process, the position sensor can obtain the position of the shift fork in real time. When it detects that the shift fork has moved to the position corresponding to the target drive mode, the four-wheel drive system ECU determines that the vehicle has switched to the target drive mode, and generates target prompt information based on the target drive mode, controls the instrument panel to display the target prompt information, and the audio playback device to broadcast the target prompt information to inform the user that the current vehicle has completed the drive mode switch.

[0176] In the above technical solution, in addition to detecting the working state of the shift motor before the vehicle switches modes, during the vehicle initialization process, the vehicle can determine the second working state of the shift motor during the initialization process according to the second pin parameter of the shift motor. Only when the second working state is the on state can the vehicle be allowed to switch the target driving mode during driving, which can ensure the accuracy and safety of the vehicle switching driving mode.

[0177] 202 , when the first working state is an open circuit state, suppressing the fault alarm of the first working state and rechecking the working state of the shift motor in real time.

[0178] When the four-wheel drive system ECU determines that the first working state is an open circuit state before switching the target driving mode after initialization, the four-wheel drive system ECU may not issue an alarm for the first working state.

[0179] Specifically, the coding value of the four-wheel drive system ECU control fault alarm signal 2 is 0x0. When the instrument controller or multimedia controller receives signal 2 and the coding value is 0x0, the fault alarm will not be triggered.

[0180] Before the above-mentioned switching of the driving mode, if the ECU of the four-wheel drive system determines that the shift motor is in an open circuit state, the reason for not issuing a fault alarm is that the open circuit of the shift motor may be caused by the virtual connection of the system assembly wiring harness when the vehicle is driving on a bumpy road. This fault usually recovers in a short time and does not affect the switching of the driving mode. If a fault alarm is issued, as mentioned above, the vehicle cannot switch the driving mode during this ignition cycle. Therefore, in this case, the embodiment of the present application does not issue a fault alarm first.

[0181] It should be understood that before the above-mentioned vehicle switches to the target drive mode, if the shift motor has an open circuit, although no fault alarm is issued, in order to enable technicians to understand the working status of the shift motor in a timely manner, the four-wheel drive system ECU can store the shift motor fault.

[0182] In a possible implementation, the method further includes:

[0183] When the first working state is an open circuit state, a target fault code is generated according to the first working state and the vehicle is controlled to be in the current driving mode. The type of the target fault code is a real-time fault code. The type of the target fault code is used to indicate the time when the shift motor is open circuited.

[0184] As mentioned above, when the four-wheel drive system ECU detects that the shift motor is open circuit, a target fault code can be generated and stored, specifically P178013. The type of the target fault code is a real-time fault code, indicating that the current shift motor is in an open circuit state.

[0185] In the above technical solution, when the vehicle determines that the shift motor is open circuit before switching the drive mode, in addition to not issuing a fault alarm, the vehicle can also generate a target fault code and prohibit the vehicle from switching the drive mode according to the current first working state. Among them, the type of the target fault code is a real-time fault code, which is used to indicate that the current shift motor is in an open circuit state in real time. In the above process, although no fault alarm is issued when the shift motor is open circuit, the target fault code of the shift motor is stored, which enables the technician to accurately know the fault condition of the shift motor and facilitate subsequent troubleshooting.

[0186] In addition, in order to ensure that the vehicle can smoothly switch the driving mode after the virtual connection of the system assembly wiring harness is restored, the four-wheel drive system ECU can also conduct a real-time re-inspection of the first working state. Specifically, during the re-inspection process, the four-wheel drive system ECU also determines the working state of the shift motor based on the pin parameters of the shift motor, which will not be repeated here.

[0187] 203 , when it is re-checked that the working state of the shift motor is restored from the open state to the on state, the shift motor is controlled to operate according to the switching instruction, so that the vehicle is switched from the current driving mode to the target driving mode.

[0188] During the subsequent re-inspection process, if the four-wheel drive system ECU detects that the working state of the shift motor has recovered from the open state to the conductive state, it means that the wiring harness has returned to normal and the shift motor is working normally. Then, the vehicle can be smoothly controlled to switch from the current drive mode to the target drive mode according to the switching instruction.

[0189] In addition, when the shift motor resumes normal operation, the four-wheel drive system ECU can also update the type of target fault code in real time.

[0190] In a possible implementation, the method further includes:

[0191] When it is rechecked that the working state of the shift motor is restored from the open state to the on state, the type of the target fault code is changed from the real-time fault code to the historical fault code.

[0192] When the 4WD system ECU detects that the shift motor is open circuit, it generates and stores a target fault code, specifically P178013. The type of the target fault code is a real-time fault code, indicating that the current shift motor is in an open circuit state. During the subsequent re-inspection process, if the shift motor returns to normal, the 4WD system ECU can change the type of the target fault code from a real-time fault code to a historical fault code to indicate that the shift motor failed in the historical period and the current fault has been eliminated.

[0193] On the contrary, if the shift motor is always in an open circuit state during the re-inspection process, the type of the target fault code continues to be a real-time fault code until the shift motor works normally or the four-wheel drive system ECU detects that the vehicle is powered off, that is, the power-on indication signal is that the coding value of signal 1 becomes 0x0, then the re-inspection process is stopped and the type of the target fault code is changed from a real-time fault code to a historical fault code.

[0194] In the above technical solution, when the working state of the shift motor is continuously detected, if the vehicle detects that the working state has returned to the on state, it means that the current shift motor has returned to normal, and the type of the target fault code can be changed to a historical fault code, indicating that the shift motor was previously faulty and has now returned to normal. The above change in the type of the target fault code can ensure that the type of the target fault code is updated synchronously with the working state of the shift motor.

[0195] It should be understood that if the open circuit of the shift motor is caused by the bumping of the vehicle, the shift motor can return to normal in a short time. Therefore, the embodiment of the present application can further optimize the above-mentioned continuous detection process.

[0196] In a possible implementation, when it is re-checked that the working state of the shift motor is restored from the open state to the on state, the shift motor is controlled to operate according to the switching instruction, including:

[0197] When it is re-checked within the preset time period that the working state of the shift motor is restored from the open state to the on state, the shift motor is controlled to operate according to the switching instruction.

[0198] It should be understood that if the open circuit of the shift motor is caused by vehicle bumps, the shift motor can return to normal in a short time. In this case, the user does not need to wait too long when switching the drive mode, avoiding user complaints. Therefore, in order to ensure the user experience, the technicians in the embodiment of the present application can pre-set the preset time length based on the time required for the virtual connection of the system assembly wiring harness to recover. Optionally, the preset time length is 2 minutes.

[0199] During the re-inspection process, if the shift motor is detected to recover from the open state to the on state within 2 minutes, it means that the current shift motor open circuit is indeed caused by the virtual connection of the system assembly wiring harness and has been restored. The four-wheel drive system ECU can allow the vehicle to switch the drive mode.

[0200] It should be understood that in the embodiment of the present application, the drive mode switching signal is continuously sent. In other words, when the user needs to switch to the target drive mode, the signal 4 is sent, and as long as the vehicle is not powered off and the coding value of signal 4 remains unchanged during the operation of the vehicle, the signal will be continuously sent. Therefore, although the four-wheel drive system ECU receives signal 4, determines that the shift motor has an open circuit and performs a re-inspection, signal 4 is continuously sent during the process, so when the shift motor is re-inspected to be normal, the signal will not be cleared or lost due to the influence of time, thereby ensuring that after the shift motor is normal in the future, the four-wheel drive system ECU can still complete the drive mode switch according to the user's needs.

[0201] In the above technical solution, the virtual connection of the system assembly wiring harness caused by vehicle bumps is generally short. Therefore, in the present application, during the re-inspection process, the vehicle can determine whether the working state has been restored from the open circuit state to the conductive state within a preset time. If so, the vehicle is controlled to switch to the target drive mode, so that when the user switches the mode, the user does not need to wait too long, which better meets the needs of the user and avoids causing customer complaints, so that the vehicle can smoothly switch the drive mode after the virtual connection of the wiring harness is restored.

[0202] In another case, when the working state of the shift motor has not been restored during the re-inspection process, it means that the open circuit of the shift motor may not be caused by the virtual connection of the system assembly wiring harness. In this case, in order to avoid the shift motor being in a fault state for a long time, the four-wheel drive system ECU can issue a fault alarm.

[0203] In a possible implementation, the method further includes:

[0204] If the working state of the shift motor is not restored from the open state to the on state within the preset time period, the vehicle is controlled to be in the current driving mode;

[0205] Generate a target alarm signal according to the working state of the shift motor;

[0206] Based on the target alarm signal, the alarm device of the vehicle is controlled to give a fault alarm.

[0207] Specifically, when the four-wheel drive system ECU continuously detects that the shift motor is open circuited, the coding value of control signal 3 remains unchanged so that the vehicle continues to be in the current driving mode. At the same time, the four-wheel drive system ECU can generate a target alarm signal according to the current open circuit state, that is, the coding value of control signal 2 is updated from 0x0 to 0x1 to control the instrument panel and audio broadcasting equipment to issue a fault alarm.

[0208] In the above technical solution, when the working state of the shift motor is rechecked, if the working state has not been restored within the preset time, it means that the shift motor has been in an open circuit state. In this case, it means that the open circuit of the shift motor may not be caused by a virtual connection of the system assembly wiring harness. The vehicle can notify the user in time when the shift motor continues to fail through an alarm, so that the user can know and take corresponding treatment measures to avoid the problem of reduced service life of vehicle components caused by the continuous failure of the shift motor.

[0209] In summary, when the vehicle switches the driving mode, a method for switching the driving mode of the vehicle is provided. In this method, when the vehicle is initialized and the actual driving process is completed, if a switching instruction of the target driving mode is received, before the switching, the vehicle first determines the first working state of the shift motor according to the current first pin parameter of the shift motor. When the first working state is an open circuit state, the vehicle does not alarm temporarily. When the working state is detected again to be restored from the open circuit state to the conductive state, the shift motor is controlled to operate based on the switching instruction, so that the vehicle is successfully switched to the target driving mode. In the above process, before switching the driving mode, if the shift motor has an open circuit, it may be caused by the vehicle driving on a bumpy road. This open circuit fault is an occasional fault and will recover in a short time. Therefore, the vehicle does not alarm in this case. On the one hand, it can ensure that the vehicle can be smoothly switched to the target driving mode later; on the other hand, it can also avoid the panic caused by false alarms to users. When the shift motor is restored to the conductive state due to the open circuit of the system assembly wiring harness, the vehicle can switch to the target drive mode according to the switching instruction, which enables the vehicle to smoothly switch to the target drive mode after the system assembly wiring harness is restored, thereby improving the flexibility of the vehicle in switching drive modes and enhancing the user's driving experience.

[0210] In order to facilitate understanding of the detection process of the embodiment of the present application, Figure 5-Figure 7The detection process of the embodiment of the present application is introduced.

[0211] Figure 5 It is a schematic flowchart of detecting the working state of a shift motor during an initialization process provided by an embodiment of the present application.

[0212] For example, Figure 5 As shown, the method 500 includes:

[0213] 501, during the vehicle initialization process, obtaining the second pin parameter of the shift motor.

[0214] 502 , determining a second working state of the shift motor according to a second pin parameter of the shift motor.

[0215] According to the difference of the second working state, when the second working state is the on state, execute step 503;

[0216] When the second working state is the open circuit state, steps 504-506 are executed.

[0217] 503, no action is taken.

[0218] 504. When the second working state is an open circuit state, a target alarm signal and a target fault code are generated according to the second working state. The type of the target fault code is a real-time fault code. The type of the target fault code is used to indicate the time when the open circuit occurs in the shift motor. Based on the target alarm signal, the alarm device of the vehicle is controlled to give a fault alarm and prohibit the vehicle from switching the driving mode. The working state of the shift motor is rechecked in real time.

[0219] 505 , during the re-inspection process, determining whether the working state of the shift motor is restored from the open circuit state to the conducting state.

[0220] When the working state of the shift motor is restored from the open state to the on state, execute 506;

[0221] When the working state of the shift motor has not been restored from the open state to the on state, the process returns to 504 .

[0222] 506, when it is rechecked that the working state of the shift motor is restored from the open state to the on state, the type of the target fault code is changed from the real-time fault code to the historical fault code, and the alarm device is controlled to stop the fault alarm.

[0223] Figure 6 It is a schematic flowchart of detecting the working state of a shift motor after initialization provided in an embodiment of the present application.

[0224] For example, Figure 6 As shown, the method 600 includes:

[0225] 601 , during vehicle driving, in response to a target driving mode switching instruction, obtaining a first pin parameter of a shift motor.

[0226] 602 , determining a first working state of the shift motor according to a first pin parameter of the shift motor.

[0227] According to the difference of the first working state, when the first working state is the on state, executing step 603;

[0228] When the first working state is the open circuit state, steps 604-606 are executed.

[0229] 603 , when the first working state is the on state, controlling the vehicle to switch to the target driving mode according to the switching instruction.

[0230] 604. When the first working state is an open circuit state, the fault alarm of the first working state is suppressed; according to the first working state, a target fault code is generated and the vehicle is controlled to be in the current driving mode, and the type of the target fault code is a real-time fault code. The type of the target fault code is used to indicate the time when the shift motor is open circuited; and the working state of the shift motor is rechecked in real time.

[0231] 605 , during the re-checking process, determining whether the working state of the shift motor is restored from the open circuit state to the conducting state.

[0232] When it is rechecked that the working state of the shift motor is restored from the open circuit state to the conducting state, execute 606;

[0233] When it is not rechecked that the working state of the shift motor is restored from the open state to the conducting state, 607 is executed.

[0234] 606. When it is rechecked that the working state of the shift motor is restored from the open state to the on state, the shift motor is controlled to operate according to the switching instruction so that the vehicle switches from the current driving mode to the target driving mode, and the type of the target fault code is changed from the real-time fault code to the historical fault code.

[0235] 607, when the working state of the shift motor is not restored from the open state to the on state after rechecking, the vehicle is controlled to be in the current driving mode; a target alarm signal is generated according to the working state of the shift motor; and based on the target alarm signal, the alarm device of the vehicle is controlled to give a fault alarm.

[0236] Figure 7 It is a schematic flow chart of another method for switching a vehicle driving mode provided in an embodiment of the present application.

[0237] For example, Figure 7 As shown, the method 700 includes:

[0238] 701, during the vehicle initialization process, obtaining the second pin parameter of the shift motor.

[0239] 702. Determine a second working state of the shift motor according to a second pin parameter of the shift motor.

[0240] According to the difference of the second working state, when the second working state is the on state, execute step 703;

[0241] When the second working state is the open circuit state, steps 704-706 are executed.

[0242] 703, no action is taken.

[0243] 704. When the second working state is an open circuit state, a target alarm signal and a target fault code are generated according to the second working state. The type of the target fault code is a real-time fault code. The type of the target fault code is used to indicate the time when the open circuit occurs in the shift motor. Based on the target alarm signal, the alarm device of the vehicle is controlled to give a fault alarm and prohibit the vehicle from switching the driving mode. The working state of the shift motor is rechecked in real time.

[0244] 705 , during the re-checking process, determining whether the working state of the shift motor is restored from the open circuit state to the conducting state.

[0245] When the working state of the shift motor is restored from the open state to the conducting state, execute 706;

[0246] When the working state of the shift motor has not been restored from the open state to the conducting state, the process returns to 704 .

[0247] 706. When it is found that the working state of the shift motor is restored from the open state to the on state after rechecking, the type of the target fault code is changed from the real-time fault code to the historical fault code, and the alarm device is controlled to stop the fault alarm.

[0248] 707 , during the driving process of the vehicle, in response to a switching instruction of a target driving mode, obtaining a first pin parameter of the shift motor.

[0249] 708. Determine a first working state of the shift motor according to a first pin parameter of the shift motor.

[0250] According to the difference of the first working state, when the first working state is the on state, execute step 709;

[0251] When the first working state is the open circuit state, steps 710 - 712 are executed.

[0252] 709 , when the first working state is the on state, controlling the vehicle to switch to the target driving mode according to the switching instruction.

[0253] 710. When the first working state is an open circuit state, the fault alarm of the first working state is suppressed; according to the first working state, a target fault code is generated and the vehicle is controlled to be in the current driving mode, the type of the target fault code is a real-time fault code, and the type of the target fault code is used to indicate the time when the shift motor is open circuited; and the working state of the shift motor is rechecked in real time.

[0254] 711. During the re-inspection process, determine whether the working state of the shift motor is restored from the open circuit state to the conducting state.

[0255] When it is rechecked that the working state of the shift motor is restored from the open circuit state to the conducting state, execute 712;

[0256] When it is not rechecked that the working state of the shift motor is restored from the open state to the conducting state, 607 is executed.

[0257] 712. When it is found that the working state of the shift motor is restored from the open state to the on state after rechecking, the shift motor is controlled to operate according to the switching instruction so that the vehicle switches from the current driving mode to the target driving mode, and the type of the target fault code is changed from the real-time fault code to the historical fault code.

[0258] 713. If the working state of the shift motor is not restored from the open state to the on state after rechecking, the vehicle is controlled to be in the current driving mode; a target alarm signal is generated according to the working state of the shift motor; and based on the target alarm signal, the alarm device of the vehicle is controlled to give a fault alarm.

[0259] The above methods 500 to 700 belong to the same inventive concept as the above method 200. Please refer to the step introduction in method 200 for details, which will not be repeated here.

[0260] Figure 8 It is a structural schematic diagram of a vehicle driving mode switching device provided in an embodiment of the present application.

[0261] For example, Figure 8 As shown, the device is applied to a four-wheel drive system of a vehicle, the four-wheel drive system includes a shift motor, and the device 800 includes:

[0262] A first state determination module 801 is used to determine a first working state of the shift motor according to a first pin parameter of the shift motor in response to a switching instruction of a target driving mode during the driving process of the vehicle, wherein the first pin parameter is used to indicate the working state of the pin of the shift motor, and the first working state is used to indicate the circuit state of the shift motor;

[0263] A first fault processing module 802, used to suppress the first working state fault alarm and to recheck the working state of the shift motor in real time;

[0264] The mode switching module 803 is used to control the operation of the shift motor according to the switching instruction when it is re-checked that the working state of the shift motor is restored from the open state to the conductive state, so as to switch the vehicle from the current driving mode to the target driving mode.

[0265] Optionally, the device also includes: a fault code processing module, which is used to generate a target fault code and control the vehicle to be in the current driving mode according to the first working state when the first working state is an open circuit state, and the type of the target fault code is a real-time fault code, and the type of the target fault code is used to indicate the time when the shift motor becomes open circuit; when it is re-checked that the working state of the shift motor is restored from an open circuit state to a conducting state, the type of the target fault code is changed from a real-time fault code to a historical fault code.

[0266] In a possible implementation, the mode switching module 803 is specifically used to: when it is re-checked within a preset time period that the working state of the shift motor is restored from the open state to the on state, control the operation of the shift motor according to the switching instruction.

[0267] In one possible implementation, the mode switching module 803 is also used to: control the vehicle to be in the current driving mode when the working state of the shift motor is not restored from the open state to the on state within the preset time period; generate a target alarm signal according to the first working state; and control the alarm device of the vehicle to issue a fault alarm based on the target alarm signal.

[0268] Optionally, before the first working state of the shift motor is determined according to the first pin parameter of the shift motor in response to the switching instruction of the target drive mode during the driving process of the vehicle, the device also includes: a second state determination module, used to determine the second working state of the shift motor according to the second pin parameter of the shift motor during the initialization of the vehicle; and the first state determination module 801 is specifically used to: when the second working state is the on state, during the driving process of the vehicle, in response to the switching instruction, determine the first working state according to the first pin parameter.

[0269] In one possible implementation, the second pin parameter includes a pin voltage at both ends, a pin current at both ends, or a pin temperature, and the second state determination module is used to perform any of the following: determine a voltage difference based on the pin voltage at both ends; determine that the second working state is a conducting state when the absolute value of the voltage difference is less than a preset voltage; determine that the second working state is an open circuit state when the absolute value of the voltage difference is greater than or equal to the preset voltage; determine a current difference based on the pin current at both ends; determine that the second working state is a conducting state when the absolute value of the current difference is greater than a preset current; determine that the second working state is an open circuit state when the absolute value of the current difference is less than or equal to the preset current; determine a temperature difference between the pin temperature and the current ambient temperature; determine that the second working state is an open circuit state when the temperature difference is less than or equal to the preset temperature; and determine that the second working state is a conducting state when the temperature difference is greater than the preset temperature.

[0270] Optionally, the device also includes: a second fault processing module, which is used to generate a target alarm signal and a target fault code according to the second working state when the second working state is an open circuit state, and the type of the target fault code is a real-time fault code, and the type of the target fault code is used to indicate the time when the open circuit occurs in the shift motor; based on the target alarm signal, control the alarm device of the vehicle to issue a fault alarm and prohibit the vehicle from switching the drive mode; perform a real-time review of the working state of the shift motor; and when it is found that the working state of the shift motor is restored from an open circuit state to a conducting state after the review, change the type of the target fault code from a real-time fault code to a historical fault code, and control the alarm device to stop the fault alarm.

[0271] Fig. 9 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0272] For example, Fig. 9 As shown, the vehicle 900 includes: a memory 901 and a processor 902, wherein the memory 901 stores an executable program code 9011, and the processor 902 is used to call and execute the executable program code 9011 to perform a method for switching a vehicle driving mode.

[0273] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a vehicle drive mode switching method provided in an embodiment of the present application.

[0274] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0275] In the case of dividing each functional module according to each function, the device may also include a first state determination module, a first fault processing module, a mode switching module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0276] It should be understood that the device provided in this embodiment is used to execute the above-mentioned method for switching the vehicle driving mode, and thus can achieve the same effect as the above-mentioned implementation method.

[0277] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing relevant program codes, etc.

[0278] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in conjunction with the disclosure of the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0279] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle drive mode switching method provided in the above embodiment.

[0280] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a vehicle driving mode switching method provided in the above embodiment.

[0281] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a vehicle driving mode switching method provided in the above embodiment.

[0282] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0283] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0284] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0285] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for switching a vehicle driving mode, characterized in that: The method is performed by a four-wheel drive system of a vehicle, the four-wheel drive system including a shifting motor, and includes: During the driving process of the vehicle, in response to a switching instruction of a target driving mode, a first working state of the shift motor is determined according to a first pin parameter of the shift motor, wherein the first pin parameter is used to indicate the working state of the pin of the shift motor, and the first working state is used to indicate the circuit state of the shift motor; When the first working state is an open circuit state, suppressing the fault alarm of the first working state and rechecking the working state of the shift motor in real time; When it is re-checked that the working state of the shift motor is restored from the open state to the on state, the shift motor is controlled to operate according to the switching instruction, so that the vehicle is switched from the current driving mode to the target driving mode.

2. The method according to claim 1, characterized in that The method further comprises: In the case where the first working state is an open circuit state, according to the first working state, a target fault code is generated and the vehicle is controlled to be in the current driving mode, the type of the target fault code is a real-time fault code, and the type of the target fault code is used to indicate the time when the shift motor is open circuited; When it is rechecked that the working state of the shift motor is restored from the open state to the on state, the type of the target fault code is changed from the real-time fault code to the historical fault code.

3. The method according to claim 1, characterized in that: When it is re-checked that the working state of the shift motor is restored from the open state to the on state, controlling the shift motor to operate according to the switching instruction includes: When it is detected that the working state of the shift motor is restored from the open state to the on state within the preset time period, the shift motor is controlled to operate according to the switching instruction.

4. The method according to claim 3, characterized in that The method further comprises: If the working state of the shift motor is not restored from the open state to the on state within the preset time period, controlling the vehicle to be in the current driving mode; generating a target alarm signal according to the working state of the shift motor; Based on the target alarm signal, the alarm device of the vehicle is controlled to perform a fault alarm.

5. The method according to claim 1, characterized in that In the process of driving the vehicle, in response to a switching instruction of a target driving mode, before determining the first working state of the shift motor according to a first pin parameter of the shift motor, the method further includes: During the vehicle initialization process, determining a second working state of the shift motor according to a second pin parameter of the shift motor; And, during the driving process of the vehicle, in response to a switching instruction of a target driving mode, determining a first working state of the shift motor according to a first pin parameter of the shift motor, comprises: When the second working state is the on state, during the driving of the vehicle, the first working state is determined according to the first pin parameter in response to the switching instruction.

6. The method according to claim 5, characterized in that The second pin parameter includes a pin voltage at both ends, a pin current at both ends, or a pin temperature. Determining the second working state of the shift motor according to the second pin parameter of the shift motor includes any one of the following: Determine a voltage difference according to the voltages of the pins at both ends; determine the second working state as a conducting state when the absolute value of the voltage difference is less than a preset voltage; determine the second working state as an open circuit state when the absolute value of the voltage difference is greater than or equal to the preset voltage; Determine the current difference according to the currents of the pins at both ends; When the absolute value of the current difference is greater than a preset current, the second working state is determined to be a conducting state; when the absolute value of the current difference is less than or equal to the preset current, the second working state is determined to be an open circuit state; Determine the temperature difference between the pin temperature and the current ambient temperature; when the temperature difference is less than or equal to the preset temperature, determine that the second working state is an open circuit state; when the temperature difference is greater than the preset temperature, determine that the second working state is a conducting state.

7. The method according to claim 5, characterized in that The method further comprises: When the second working state is an open circuit state, a target alarm signal and a target fault code are generated according to the second working state, and the type of the target fault code is a real-time fault code, and the type of the target fault code is used to indicate the time when the shift motor is open circuited; Based on the target alarm signal, controlling an alarm device of the vehicle to issue a fault alarm and prohibiting the vehicle from switching a driving mode; Performing real-time recheck on the working status of the shift motor; When it is rechecked that the working state of the shift motor is restored from the open state to the on state, the type of the target fault code is changed from the real-time fault code to the historical fault code, and the alarm device is controlled to stop the fault alarm.

8. A vehicle driving mode switching device, characterized in that: The device is applied to a four-wheel drive system of a vehicle, the four-wheel drive system includes a shift motor, and the device includes: a first state determination module, configured to determine a first working state of the shift motor according to a first pin parameter of the shift motor in response to a switching instruction of a target driving mode during driving of the vehicle, wherein the first pin parameter is used to indicate the working state of the pin of the shift motor, and the first working state is used to indicate a circuit state of the shift motor; a first fault processing module, configured to suppress the fault alarm of the first working state and perform a real-time recheck on the working state of the shift motor when the first working state is an open circuit state; The mode switching module is used to control the operation of the shift motor according to the switching instruction when it is re-checked that the working state of the shift motor is restored from the open state to the conductive state, so as to switch the vehicle from the current driving mode to the target driving mode.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the 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 a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

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