Method for switching vehicle drive mode, switching device, vehicle and storage medium

Abstract

The application provides a vehicle driving mode switching method, a switching device, a vehicle and a storage medium, and belongs to the field of vehicle control. The method comprises the following steps: in the process of vehicle driving, in response to a switching instruction of a target driving mode, determining a first working state of a gear shifting motor according to a first pin parameter of the gear shifting motor; in the case that the first working state is an open circuit state, suppressing a fault alarm of the first working state and performing real-time rechecking on the working state of the gear shifting motor; in the case that the working state of the gear shifting motor is a conduction state after rechecking, controlling the gear shifting motor to operate according to the switching instruction, so that the vehicle is switched to the target driving mode. The method can ensure that the vehicle can continue to be switched to the target driving mode after the fault is self-recovered when the gear shifting motor fault is detected during the switching of the driving mode of the vehicle, thereby avoiding the problem of poor user experience caused by the fact that the driving mode cannot be switched in the case of virtual connection of a system assembly wire harness.

Description

TECHNICAL FIELD

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

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

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

[0004] When the vehicle switches the driving mode, the specific process can be: 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, so as to change the gear position of the transfer case and realize the switching of the driving mode.

[0005] In one possible implementation, when the vehicle encounters a bumpy road during driving, the connector of the four-wheel drive system assembly wire harness may occasionally appear a virtual connection condition, resulting in a wire harness virtual connection power failure of the shift motor power supply. In this case, the vehicle determines that the shift motor wire harness is open and continuously reports faults until the vehicle is powered off, and the vehicle is prohibited from switching the driving mode.

[0006] In the actual operation of the vehicle, the wire harness virtual connection is generally an occasional condition and will generally self-recover. However, due to the fault reporting of the vehicle, the continuous existence of the alarm will force the vehicle to stay in the current driving mode, and even if the four-wheel drive system assembly wire harness is restored to normal and the shift motor fault is recovered, the vehicle cannot complete the switching of the driving mode, resulting in poor user experience. SUMMARY

[0007] The present application provides a vehicle driving mode switching method, a switching device, a vehicle and a storage medium, which can detect the shift motor fault when the vehicle switches the driving mode, and not perform fault alarm. Therefore, when the shift motor fault is caused by the wire harness virtual connection, after the fault self-recovery, the vehicle can be smoothly switched to the target driving mode, avoiding the problem of poor user experience caused by the vehicle being unable to switch the driving mode due to the shift motor fault.

[0008] In a first aspect, a method for switching a driving mode of a vehicle is provided, which is executed by a four-wheel drive system of the vehicle, the four-wheel drive system comprising a shift motor, and the method comprising: in response to a switching instruction of a target driving mode during driving of the vehicle, 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 a working state of a pin of the shift motor, and the first working state being used to indicate a 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 performing real-time rechecking on a working state of the shift motor; in a case where the working state of the shift motor is recovered from the open circuit state to a conduction state through rechecking, controlling the shift motor to operate according to the switching instruction, so as to switch the vehicle from a 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, if a switching instruction of a target driving mode is received during actual driving after initialization of the vehicle ends, the vehicle first determines a first working state of a shift motor according to a current first pin parameter of the shift motor before switching. When the first working state is an open circuit state, the vehicle does not alarm temporarily. After the working state is recovered from the open circuit state to a conduction state through rechecking, the shift motor is controlled to operate based on the switching instruction, so as to successfully switch the vehicle to the target driving mode. In the above process, if the shift motor is open before switching the driving mode, it may be caused by driving of the vehicle on a bumpy road. This open circuit fault is an occasional fault and will be self-recovered in a short time. Therefore, the vehicle does not alarm in this case, which can ensure that the vehicle can be successfully switched to the target driving mode subsequently, and can also avoid panic caused by false alarm to the user. When the shift motor is recovered from the open circuit state to the conduction state due to virtual connection of a system assembly wire harness, the vehicle can be switched to the target driving mode according to the switching instruction, so that the vehicle can be successfully switched to the target driving mode after the virtual connection of the system assembly wire harness is recovered, the flexibility of switching the driving mode of the vehicle is improved, and the driving experience of the user is improved.

[0010] In combination with the first aspect, in some possible implementation manners, the method further comprises: in a case where the first working state is an open circuit state, generating a target fault code according to the first working state and controlling the vehicle to be in the current driving mode, the target fault code being a real-time fault code, and the type of the target fault code being used to indicate a time when the open circuit of the shift motor occurs; in a case where the working state of the shift motor is recovered from the open circuit state to the conduction state through rechecking, changing the type of the target fault code from the real-time fault code to a historical fault code.

[0011] In the technical solution, when the vehicle determines that the shift motor is open-circuited before switching the driving mode, in addition to not performing fault alarm, the vehicle can generate a target fault code according to the current first working state and prohibit the vehicle from switching the driving mode. The target fault code is a real-time fault code, which indicates that the shift motor is currently open-circuited. In the above process, although no fault alarm is performed when the shift motor is open-circuited, the target fault code of the shift motor is stored, which can enable the technician to accurately know the fault condition of the shift motor and facilitate subsequent fault troubleshooting. In addition, during the continuous detection of the working state of the shift motor, if the vehicle detects that the working state returns to the conducting state, it indicates 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 has occurred in the past. The above change of 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 implementation manners, in some possible implementation manners, in a case where the re-inspection result is that the working state of the shift motor returns from the open-circuit state to the conducting state, the shift motor is controlled to operate according to the switching instruction, including: in a case where the re-inspection result is that the working state of the shift motor returns from the open-circuit state to the conducting state within a preset time length, the shift motor is controlled to operate according to the switching instruction.

[0013] In the technical solution, the virtual connection of the system assembly wire harness caused by the vehicle bumping is generally short in time. Therefore, in the re-inspection process in the present application, the vehicle can determine whether the working state returns from the open-circuit state to the conducting state within a preset time length, and if so, the vehicle is controlled to switch to the target driving mode, which can enable the user to switch the mode without waiting for too long, better meet the user's needs, avoid causing customer complaints, and thus enable the vehicle to successfully switch the driving mode after the virtual connection of the wire harness is restored.

[0014] In combination with the first aspect and the above implementation manners, in some possible implementation manners, the method further includes: in a case where the re-inspection result is that the working state of the shift motor does not return from the open-circuit state to the conducting state within the preset time length, 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 the alarm device of the vehicle is controlled to perform fault alarm based on the target alarm signal.

[0015] In the technical solution, when the working state of the gear shifting motor is rechecked, if the working state has not been restored within the preset time length, it indicates that the gear shifting motor has been in an open circuit state, and in this case, it indicates that the open circuit of the gear shifting motor is not caused by the virtual connection of the system assembly wire harness. The vehicle can alarm to timely inform the user in the case of continuous failure of the gear shifting motor, so that the user can know and take corresponding processing measures, thereby avoiding the problem of reduced service life of vehicle parts caused by continuous failure of the gear shifting motor.

[0016] With reference to the first aspect and the above implementation manner, in some possible implementation manners, before the determining, in the driving process of the vehicle, the first working state of the gear shifting motor according to the first pin parameter of the gear shifting motor in response to the switching instruction of the target driving mode, the method further includes: in the initialization process of the vehicle, determining a second working state of the gear shifting motor according to a second pin parameter of the gear shifting motor; and the determining, in the driving process of the vehicle, the first working state of the gear shifting motor according to the first pin parameter of the gear shifting motor in response to the switching instruction of the target driving mode includes: in the case where the second working state is a conduction state, determining, in the driving process of the vehicle, the first working state according to the first pin parameter in response to the switching instruction.

[0017] In the technical solution, in addition to detecting the working state of the gear shifting motor before the vehicle switches the mode, in the initialization process of the vehicle, the vehicle can determine the second working state of the gear shifting motor in the initialization process according to the second pin parameter of the gear shifting motor. Only when the second working state is a conduction state, the vehicle can switch the target driving mode in the driving process, which can ensure the accuracy and safety of switching the driving mode of the vehicle.

[0018] With reference to the first aspect and the above implementation manner, in some possible implementation manners, the second pin parameter includes a two-terminal pin voltage, a two-terminal pin current or a pin temperature, and the determining, according to the second pin parameter of the gear shifting motor, the second working state of the gear shifting motor includes any of the following: determining a voltage difference value according to the two-terminal pin voltage; in the case where an absolute value of the voltage difference value is less than a preset voltage, determining that the second working state is a conduction state; in the case where the absolute value of the voltage difference value is greater than or equal to the preset voltage, determining that the second working state is an open circuit state; determining a current difference value according to the two-terminal pin current; in the case where an absolute value of the current difference value is greater than a preset current, determining that the second working state is a conduction state; in the case where the absolute value of the current difference value is less than or equal to the preset current, determining that the second working state is an open circuit state; determining a temperature difference value between the pin temperature and a current environment temperature; in the case where the temperature difference value is less than or equal to a preset temperature, determining that the second working state is an open circuit state; in the case where the temperature difference value is greater than the preset temperature, determining that the second working state is a conduction state.

[0019] With the first aspect and the above implementation manners, in some possible implementation manners, the method further includes: in a case where the second working state is the open circuit state, generating, according to the second working state, a target alarm signal and a target fault code, the type of the target fault code being a real-time fault code, and the type of the target fault code being used to indicate a time when the shift motor occurs open circuit; based on the target alarm signal, controlling an alarm device of the vehicle to perform fault alarm and to prohibit the vehicle from performing driving mode switching; performing real-time rechecking on the working state of the shift motor; in a case where it is rechecked that the working state of the shift motor recovers from the open circuit state to the conduction state, changing the type of the target fault code from the real-time fault code to a historical fault code, and controlling the alarm device to stop fault alarm.

[0020] In the above technical solution, when the vehicle is in the initialization process and it is detected that the shift motor is in the open circuit state, the vehicle is prohibited from performing driving mode switching, and the open circuit state of the shift motor is fault alarmed. The above process can ensure that the user learns about the state of the shift motor in a timely manner, and avoid the problem of being unable to switch the driving mode in the subsequent switching process. In addition, the vehicle can also store the target fault code, which can enable the technician to learn about the fault condition of the shift motor in a timely manner. If it is rechecked that the working state of the shift motor recovers from the open circuit state to the conduction state, it indicates that the current shift motor has recovered to normal, and the type of the target fault code can be changed to the historical fault code, indicating that the shift motor has occurred a fault before and has recovered to normal currently. The above changing of 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 it is detected that the working state recovers to the conduction state, the fault alarm is stopped, which can ensure that the vehicle can switch the driving mode in the driving process.

[0021] The second aspect provides a driving mode switching device of a vehicle. The device is applied to a four-wheel drive system of the vehicle, and the four-wheel drive system includes a shift motor. The device includes: a first state determination module, configured to, in a driving process of the vehicle, in response to a switching instruction of a target driving mode, determine 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 a working state of a pin of the shift motor, and the first working state being used to indicate a circuit state of the shift motor; a first fault processing module, configured to, in a case where the first working state is an open circuit state, suppress a first working state fault alarm and perform real-time rechecking on the working state of the shift motor; and a mode switching module, configured to, in a case where it is rechecked that the working state of the shift motor recovers from the open circuit state to a conduction state, control the shift motor to operate according to the switching instruction, so that the vehicle switches from a current driving mode to the target driving mode.

[0022] With reference to the second aspect, in some possible implementations, the apparatus further includes: a fault code processing module, configured to, in a case where the first working state is the open circuit state, generate a target fault code according to the first working state and control the vehicle to be in the current drive mode, the target fault code being of a real-time fault code type, and the real-time fault code type being used to indicate a time when the open circuit of the gear shifting motor occurs; and in a case where it is rechecked that the working state of the gear shifting motor is recovered from the open circuit state to the conduction state, change the target fault code type from the real-time fault code type to a historical fault code type.

[0023] With reference to the second aspect and the foregoing implementations, in some possible implementations, the mode switching module is specifically configured to: in a case where it is rechecked that the working state of the gear shifting motor is recovered from the open circuit state to the conduction state within a preset time length, control the gear shifting motor to operate according to the switching instruction.

[0024] With reference to the second aspect and the foregoing implementations, in some possible implementations, the mode switching module is further configured to: in a case where it is not rechecked that the working state of the gear shifting motor is recovered from the open circuit state to the conduction state within the preset time length, control the vehicle to be in the current drive mode; generate a target alarm signal according to the first working state; and control an alarm device of the vehicle to perform fault alarm based on the target alarm signal.

[0025] With reference to the second aspect and the foregoing implementations, in some possible implementations, before the determining, according to the first pin parameter of the gear shifting motor, the first working state of the gear shifting motor in response to a switching instruction of a target drive mode during vehicle driving, the apparatus further includes: a second state determining module, configured to: during vehicle initialization, determine a second working state of the gear shifting motor according to a second pin parameter of the gear shifting motor; and the first state determining module is specifically configured to: in a case where the second working state is the conduction state, determine the first working state according to the first pin parameter in response to the switching instruction during vehicle driving.

[0026] With reference to the second aspect and the foregoing implementation manners, in some possible implementation manners, the second pin parameter includes a two-terminal pin voltage, a two-terminal pin current, or a pin temperature, and the second state determination module is configured to perform any one of the following: determine a voltage difference value according to the two-terminal pin voltage; determine that the second working state is the conduction state when an absolute value of the voltage difference value is less than a preset voltage; determine that the second working state is the open circuit state when the absolute value of the voltage difference value is greater than or equal to the preset voltage; determine a current difference value according to the two-terminal pin current; determine that the second working state is the conduction state when an absolute value of the current difference value is greater than a preset current; determine that the second working state is the open circuit state when the absolute value of the current difference value is less than or equal to the preset current; determine a temperature difference value of the pin temperature and a current environmental temperature; determine that the second working state is the open circuit state when the temperature difference value is less than or equal to a preset temperature; and determine that the second working state is the conduction state when the temperature difference value is greater than the preset temperature.

[0027] With reference to the second aspect and the foregoing implementation manners, in some possible implementation manners, the apparatus further includes a second fault processing module configured to: in a case where the second working state is the open circuit state, generate, according to the second working state, a target alarm signal and a target fault code, the target fault code being of a real-time fault code type, and the target fault code type being used to indicate a time when the open circuit of the gear shifting motor occurs; control, based on the target alarm signal, an alarm apparatus of the vehicle to perform fault alarm and prohibit the vehicle from performing driving mode switching; perform real-time rechecking on the working state of the gear shifting motor; and in a case where it is rechecked that the working state of the gear shifting motor recovers from the open circuit state to the conduction state, change the target fault code type from the real-time fault code type to a historical fault code type, and control the alarm apparatus to stop fault alarm.

[0028] In a third aspect, a vehicle is provided, including a memory and a processor. The memory is configured to store executable program code, and the processor is configured to invoke and run the executable program code from the memory, so that the vehicle performs the method in the first aspect or any possible implementation manner of the first aspect.

[0029] In a fourth aspect, a computer program product is provided, including computer program code. When the computer program code is run on a computer, the computer is caused to perform the method in the first aspect or any possible implementation manner of the first aspect.

[0030] In a fifth aspect, a computer readable storage medium is provided, which stores computer program code. When the computer program code is run on a computer, the computer is caused to perform the method in the first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

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

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

[0033] Figure 3 is a circuit structural diagram for acquiring a voltage across pins of a gear shifting motor provided by an embodiment of the present application;

[0034] Figure 4 is another circuit structural diagram for acquiring a voltage across pins of a gear shifting motor provided by an embodiment of the present application;

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

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

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

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

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

[0040] The technical solutions in the present application will be described in detail below with reference to the drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B: "and / or" in the text only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0041] Hereinafter, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more features.

[0042] Before introducing the scheme of the embodiments of the present application, the professional terms possibly involved in the embodiments of the present application are first explained and described.

[0043] System assembly wire harness virtual connection: refers to that the connection of the wire harness in some systems of the vehicle is not firm or the contact is poor, which in the embodiments of the present application refers to the virtual connection of the four-wheel drive system assembly wire harness.

[0044] Transfer: a mechanical device located after the gearbox, used to distribute the power of the engine to the front axle and the rear axle.

[0045] Gear shifting motor: an electric motor, usually a stepper motor or a servo motor, installed on the transfer, used to control the gear shifting mechanism inside the transfer, so as to realize the switching of the drive mode.

[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, the vehicle is configured with multiple drive modes, including front drive mode, rear drive mode and four-wheel drive mode.

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

[0049] When the vehicle switches the drive mode, the specific process can be: after the vehicle determines the target drive mode to be switched, a control instruction is generated and sent to the ECU of the four-wheel drive system. The ECU of the four-wheel drive system controls the gear shifting motor to rotate according to the control instruction. During the rotation of the gear shifting motor, the position of the gear and clutch mechanism inside the transfer is changed through the mechanical transmission device, so as to change the gear position of the transfer and realize the switching of the target drive mode.

[0050] In one possible implementation, when the vehicle encounters bumps during driving, the system assembly wire harness may appear virtual connection, which causes the plug-in of the transfer assembly wire harness to occasionally appear virtual connection, so that the voltage of the pins at both ends of the gear shifting motor fluctuates. In this case, the vehicle will determine that the gear shifting motor wire harness is open and will report an error, and the instrument panel of the vehicle will display the prompt text of the fault alarm, for example, "four-wheel drive system failure, current drive mode switching is not available, please handle in time". In this case, the vehicle will keep the current drive mode unchanged and will not be switched to the target drive mode.

[0051] When the dashboard displays a fault alarm prompt, if the current ignition cycle of the vehicle has not ended, the dashboard will continue to alarm and cannot be cleared.

[0052] In actual vehicle operation, the virtual connection of the wire harness is an occasional situation and will be self-recovered in a short time. However, the dashboard will continue to alarm in an ignition cycle after the virtual connection of the wire harness of the system assembly, and the result is that even if the wire harness is restored to normal connection, the vehicle will not clear the current fault alarm and will always stay in the current drive mode, resulting in that the vehicle cannot be switched to the target drive mode, and resulting in poor user experience.

[0053] Based on the above problems, the embodiment of the present application provides a vehicle drive mode switching method, which can detect the gear shifting motor fault when the vehicle switches the drive mode, and not perform fault alarm. Therefore, when the gear shifting motor fault is caused by the virtual connection of the wire harness, after the fault is self-recovered, the vehicle can be smoothly switched to the target drive mode, avoiding the problem of poor user experience caused by the vehicle being unable to switch the drive mode due to the gear shifting motor fault.

[0054] Before introducing the scheme 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 introduced.

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

[0056] As shown in Figure 1 , the four-wheel drive system 100 in the embodiment of the present application mainly includes the following parts: an engine, a gearbox, a transfer case, a front axle, a rear axle, a gear shifting motor, an ECU and a sensor. It should be understood that Figure 1 the connection relationship shown in the figure does not represent the actual connection relationship of each component part in the four-wheel drive system 100, but only a schematic connection.

[0057] In a possible implementation manner, the transfer case includes a gear shifting fork, a gear transmission mechanism, a cam mechanism, a gear set, a clutch mechanism and the like.

[0058] The engine is used to provide a power source during vehicle driving.

[0059] The gearbox is used to transmit the power of the engine to the transfer case and provide different transmission ratios.

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

[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 can further include a differential for adjusting the wheel speed of the left and right wheels when the vehicle is turning.

[0063] The shift motor is used to control the shift fork inside the transfer case to realize the switching of different driving modes.

[0064] The ECU is used to receive mode switching instructions and control the shift motor to operate according to the mode switching instructions.

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

[0066] Based on the above-mentioned 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 driving mode through the driving mode selection interface, or the ECU determines the target driving mode to be switched according to the operating state of the vehicle. After determining the target driving mode, the ECU generates corresponding control instructions or control signals according to the target driving mode, and controls the shift motor to rotate a specific angle according to the control signals. During the rotation of the shift motor, the rotary 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 rotary 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 driving mode.

[0068] After the sensor inside the transfer case detects that the shift is successful, the result is fed back to the ECU, and the ECU controls the instrument panel to display the target driving mode.

[0069] In addition, the ECU controls the gear set and clutch mechanism inside the transfer case to reconfigure based on the position of the shift fork to change the power transmission path. For example, when the target driving mode is the front-wheel drive mode, the power is only transmitted 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 vehicle driving mode switching method provided by the embodiment of the present application is introduced below.

[0071] Figure 2 is a schematic flowchart of a vehicle driving mode switching method provided by the embodiment of the present application. It should be understood that the method can be applied to Figure 1 the four-wheel drive system 100 in , and is particularly applied to the ECU in the four-wheel drive system 100. The method is also equally applicable to any ECU in the vehicle.

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

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

[0074] It should be understood that in order to adapt the vehicle to different driving scenes, 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 selection interface of the driving mode displayed on the vehicle instrument panel through click operation, voice instruction or gesture adjustment operation.

[0075] Optionally, the driving mode includes 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 different under 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 drive wheels and steering wheels.

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

[0078] In 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 four-wheel drive mode.

[0079] In full-time four-wheel drive (Full-Time 4WD) mode, the vehicle is always in four-wheel drive mode.

[0080] In sand mode (Sand), the driving scene of the vehicle is generally desert and gobi driving or off-road driving, and the purpose is to prevent the vehicle from sinking into the sand pit during driving.

[0081] In snow mode (Snow), the driving scene of the vehicle is generally driving or off-road driving under low adhesion coefficient conditions, and the purpose is to prevent the vehicle from slipping during driving.

[0082] In mud mode (Mud), the driving scene of the vehicle is generally driving or off-road driving on deep mud road or shallow mud road, and the purpose is to help the vehicle get out of trouble.

[0083] In the sport mode, the acceleration pedal of the vehicle is sensitive, the transmission delays gear shifting, the power of the vehicle is increased, and the driving style of the vehicle tends to be fierce.

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

[0085] Based on the selection interface of the driving mode, the user can select the target driving mode to be switched from a plurality of driving modes. For example, when the target driving mode is the front drive mode, the user can select the front drive mode in the plurality of driving modes by clicking operation, or the user can select the front drive mode by voice instruction (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 can generate a switching instruction of the target driving mode and send it to the four-wheel drive system ECU in response to the selection operation of the user.

[0087] In another case, in addition to the manual selection of the target driving mode by the user, the four-wheel drive system ECU can automatically determine the target driving 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 of the target driving mode according to the target driving mode.

[0088] It should also be understood that, as can be known from the foregoing description, when the vehicle drives on a bumpy road, the system assembly wire harness may be virtually connected, causing the voltage of the pins at both ends of the gear shifting motor to fluctuate, resulting in an open circuit fault of the gear shifting motor.

[0089] At present, in the prior art, when the four-wheel drive system ECU determines that the gear shifting motor is open, a four-wheel drive system fault alarm signal is output and sent to the instrument controller. The instrument controller receives the fault alarm signal and continuously alarms the fault in one ignition cycle, so that even if the vehicle wire harness connection is restored to normal, the vehicle cannot switch the driving mode in the same ignition cycle.

[0090] Therefore, the vehicle driving mode switching method provided by the embodiment of the present application can detect the first working state of the gear shifting motor through the first pin parameter of the gear shifting motor before the vehicle switches the driving mode. When the four-wheel drive system ECU determines that the gear shifting motor is open, no fault alarm is performed. The reason is that if the gear shifting motor is open due to the virtual connection of the system assembly wire harness during the detection process. When the vehicle wire harness connection is restored to normal, the gear shifting motor returns to the conduction state and does not affect the normal switching of the driving mode of the vehicle. Therefore, compared with the prior art, the method of the embodiment of the present application can enable the vehicle to normally switch the driving mode after the virtual connection of the system assembly wire harness is restored, thereby improving the user experience.

[0091] The first pin parameter represents 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, etc.

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

[0093] Since the four-wheel drive system ECU does not perform fault alarm when detecting that the shift motor is open during the driving of the vehicle, the working state of the shift motor can be detected during the initialization of the vehicle.

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

[0095] 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.

[0096] The vehicle initialization (power-on initialization) refers to the process from the complete power-off state of the vehicle to the completion of the start of all systems and modules and the entering of the normal working state. During the initialization of the vehicle, each ECU of the vehicle performs self-checking, configuration, and communication, etc. The initialization process of the vehicle involves the initialization of the low-voltage system and the power-on of the high-voltage system.

[0097] For example, during the initialization of the vehicle, the vehicle dashboard displays the prompt text "the vehicle is initializing", or the vehicle controls the audio playback device to broadcast the prompt voice "the vehicle is initializing". Based on this, the four-wheel drive system ECU can determine that the vehicle is in the initialization process from the instrument controller or the multimedia controller. In addition, when the vehicle is powered on during the initialization, the coding value of the power-on indication signal also changes accordingly, so 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, the power-on indication signal in the embodiment of the application 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, 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. The second pin parameter is used to represent the working state of the pin of the shift motor in the initialization process.

[0100] Optionally, the second pin parameter is of the same type as the second pin parameter, but the timing of obtaining is different. The second pin parameter includes the voltage, current or temperature of the two pins of the shift motor.

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

[0102] In one possible implementation, 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:

[0103] According to the voltage across the pins, a voltage difference value is determined. In the case where the absolute value of the voltage difference value is less than a preset voltage, the second working state is determined to be the conduction state. In the case where the absolute value of the voltage difference value is greater than or equal to the preset voltage, the second working state is determined to be the open circuit state.

[0104] According to the current across the pins, a current difference value is determined. In the case where the absolute value of the current difference value is greater than a preset current, the second working state is determined to be the conduction state. In the case where the absolute value of the current difference value is less than or equal to the preset current, the second working state is determined to be the open circuit state.

[0105] A temperature difference value between the pin temperature and the current environmental temperature is determined. In the case where the temperature difference value is less than or equal to a preset temperature, the second working state is determined to be the open circuit state. In the case where the temperature difference value is greater than the preset temperature, the second working state is determined to be the conduction state.

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

[0107] Scenario 1: The second pin parameter is the voltage across the pins of the shift motor

[0108] The voltage across the pins 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 terminal of the shift motor connected to the peripheral circuit. The pin of the shift motor includes two, one pin is used to connect the positive electrode of the power supply, and the other pin is used to connect the negative electrode of the power supply.

[0110] In the embodiments of the present application, when the gear shift motor is in the on state, the impedance between the two pin feet is very small, so the voltage of the two pin feet of the gear shift motor is relatively close. When the gear shift motor is in the open circuit state, the current cannot form a loop from the two ends of the gear shift motor, so the impedance between the two pin feet will increase, and the voltage difference between the two pin feet is large.

[0111] In the process of obtaining the voltage of the two pin feet of the gear shift motor, according to the difference of the hardware of the transfer case controller, the embodiments of the present application provide two ways to obtain the voltage of the pin feet.

[0112] The first is that the H-bridge driving chip in the transfer case controller can provide a pull-up channel, then the pull-up channel is used as the pull-up source of the analog-to-digital converter (ADC) sampling circuit, and the voltage value of one of the pin feet is measured by the ADC sampling circuit.

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

[0114] Optionally, the switches of the H-bridge driving chip can be metal-oxide-semiconductor field-effect transistors (MOSFETs) or bipolar junction transistors (BJTs).

[0115] Pull-up channel: It is a circuit configuration in which a resistor is connected between the signal line and the high level (such as the power supply voltage).

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

[0117] Figure 3 It is a circuit structure diagram for obtaining the voltage of the two pin feet of the gear shift motor provided by the embodiments of the present application.

[0118] As shown in Figure 3 , the H-bridge driving chip includes four switches connected to the two terminals of the gear shift motor. The micro controller unit (MCU) is connected to the H-bridge driving chip through a plurality of pins, and these pins are used to control the switch state of the H-bridge driving chip.

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

[0120] In the case of the H-bridge driving chip providing the up current channel, the up current channel of the H-bridge driving chip can be used as the up source of the ADC sampling circuit in the embodiment of the present application to collect the working voltage of one pin of the gear motor, and an external up resistance is connected to the power supply to collect the working voltage of the other pin through the ADC sampling circuit.

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

[0122] Figure 4 is another circuit structure diagram provided by the embodiment of the present application for obtaining the voltage of the two pins of the gear motor.

[0123] As shown in Figure 4 , in combination with Figure 3 , the difference lies in that Figure 4 , the H-bridge driving chip inside does not provide a separate pull-up channel. In this case, the pull-up channel provided inside the MCU chip can be used as the up source of the ADC sampling circuit to collect the working voltage of one pin of the gear motor, and an external up resistance is connected to the power supply to collect the working voltage of the other pin through the ADC sampling circuit.

[0124] Therefore, through any one of the above two ways, the four-wheel drive system ECU can obtain the voltage of the two pins of the gear motor.

[0125] After obtaining the voltage of the two pins of the gear motor, the four-wheel drive system ECU can calculate the difference between the voltages of the two pins, obtain the voltage difference, and compare the voltage difference with a preset voltage. The preset voltage is the maximum difference between the voltages of the two pins of the gear motor when the gear motor is not open, obtained by technicians through experiments, and stored in the four-wheel drive system ECU.

[0126] Based on the circuit structure corresponding to different working voltage acquisition methods, the preset voltage can be divided into a first preset voltage and a second preset voltage. The first preset voltage corresponds to Figure 3 the maximum voltage difference allowed when the gear motor is not open under the working voltage acquisition method. The second preset voltage corresponds to Figure 4 the maximum voltage difference allowed when the gear motor is not open under the working voltage acquisition method.

[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 obtains the voltage of the two pins in the manner shown in Figure 3 , 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 gear motor is not in an open circuit state during the initialization process, and the second working state is the conduction state; when the voltage difference is greater than or equal to the first preset voltage, the four-wheel drive system ECU determines that the gear motor is in an open circuit state during the initialization process, and the second working state is the open circuit state.

[0129] It should be noted that the present application considers that the gear motor is in an open circuit state, i.e., the reason why the gear motor is in a conduction state is that, for the gear motor, in addition to the open circuit, common line faults also include short circuit. Through research, the technical personnel found that the voltage difference of the voltage of the two pins of the gear motor is about 2-5V, and the gear motor is in a short circuit state. This condition contradicts the condition that the gear motor is in an open circuit state in the present application. Therefore, when the four-wheel drive system ECU determines that the voltage difference is less than the preset voltage, it can be directly determined that the second working state of the gear motor is the conduction state.

[0130] Similarly, when the four-wheel drive system ECU obtains the voltage of the two pins in the manner shown in Figure 4 , 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 gear motor is not in an open circuit state during the initialization process, and the second working state is the conduction state; when the voltage difference is greater than or equal to the second preset voltage, the four-wheel drive system ECU determines that the gear motor is in an open circuit state during the initialization process, and the second working state is the open circuit state.

[0131] Scenario 2: The second pin parameter is the current of the two pins of the gear motor

[0132] It should be understood that when the gear motor is in an open circuit state, it means that the circuit of the gear motor is interrupted. In this case, there will be no current flowing through the two pins of the gear motor. Therefore, when the gear motor is in an open circuit state, the current of the two pins of the gear motor is usually 0A. When the gear motor is in a conduction state, there will be current flowing through the gear motor, and the current is usually known. Therefore, based on the different working currents of the gear motor in the open circuit state and the conduction state, the technical personnel can pre-set a preset current as a judgment basis for judging whether the gear motor is in an open circuit state. Optionally, the preset current is 0A.

[0133] Exemplarily, for the pin current of the shift motor, the four-wheel drive system ECU can obtain the pin current through a Hall effect sensor or a current sensor.

[0134] After obtaining the pin current of the shift motor, the four-wheel drive system ECU can calculate the current difference between the pin currents. If the current difference is equal to 0 A, the four-wheel drive system ECU determines that the shift motor is in an open circuit state, and thus the second working state is the open circuit state. Conversely, if the current difference is greater than 0 A, the four-wheel drive system ECU determines that the shift motor is not in the open circuit state, and thus the second working state is the conduction state.

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

[0136] It should be understood that, during the working process of the shift motor, the pin temperature of the shift motor changes along with the working state of the shift motor. Specifically, when the shift motor is in the open circuit state, no current flows through the circuit of the shift motor. The shift motor does not generate an electromagnetic field, and thus does not generate resistance loss. That is, the shift motor generates almost no heat when in the open circuit state, and the pin temperature is close to the ambient temperature. Conversely, when the shift motor is in the conduction state, the shift motor generates a certain amount of heat during working, so that the pin temperature of the shift motor is higher than the ambient temperature. Based on this, in the embodiments of the present application, the four-wheel drive system ECU 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. In the embodiments of the present application, 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 under the normal working state of the shift motor can be set as a preset temperature. Optionally, the preset temperature is 10℃.

[0137] Exemplarily, for the pin temperature of the shift motor, the four-wheel drive system ECU can obtain the pin temperature 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] After obtaining the 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 the temperature difference with the preset temperature. When the temperature difference is less than or equal to the preset temperature, it indicates that the pin temperature of the shift motor is close to the current ambient temperature, and the four-wheel drive system ECU determines that the shift motor is currently in the open circuit state, and thus the second working state is the open circuit state. Conversely, when the temperature difference is greater than the preset temperature, it indicates that the pin temperature of the shift motor is higher than the current ambient temperature, and the four-wheel drive system ECU determines that the shift motor is in the conduction state, and thus the second working state is the conduction state.

[0139] Thus, through the above three ways, the four-wheel drive system ECU can determine the second working state of the gear shifting motor during the initialization process of the vehicle.

[0140] According to the difference of 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 gear shifting motor during the initialization process of the vehicle is the open circuit state, the specific processing logic is as follows.

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

[0143] In the case where the second working state is the open circuit state, according to the second working state, a target alarm signal and a target fault code are generated, 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 gear shifting motor occurs open circuit.

[0144] Based on the target alarm signal, the alarm device of the vehicle is controlled to perform fault alarm and the vehicle is prohibited to perform driving mode switching;

[0145] The working state of the gear shifting motor is rechecked in real time;

[0146] In the case where the working state of the gear shifting motor is recovered from the open circuit state to the conduction 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 fault alarm.

[0147] When the gear shifting motor is in the open circuit state during the initialization process of the vehicle, in order to facilitate the user to learn the current fault of the gear shifting motor in time, 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 (Diagnostic Trouble Code, DTC) is P178013. When the gear shifting 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 to perform fault alarm, the coding of this signal is 0x1, that is, when the gear shifting motor is open, the alarm device needs to perform fault alarm.

[0149] Optionally, the alarm device includes an instrument panel and / or an audio playing device in the vehicle.

[0150] For the target fault code, the four-wheel drive system ECU can store it so as to facilitate subsequent troubleshooting by technicians. In addition to storing the target fault code, the four-wheel drive 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 gear shifting motor occurs open circuit.

[0151] Optionally, the type of the target fault code includes a real-time fault code and a historical fault code.

[0152] The real-time fault code refers to a fault code corresponding to a vehicle component that is currently occurring.

[0153] The historical fault code refers to a fault code corresponding to a vehicle component that has occurred before but has been cleared.

[0154] Since the current shift motor is in an open circuit state and has not been restored, 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 instrument controller and the multimedia controller of the vehicle, so that the instrument controller controls the instrument panel to display the target prompt text, such as a text pop-up window of “current four-wheel drive system fault, please handle in time”, and the multimedia controller controls the audio playback device to play the target prompt voice, such as a voice of “current four-wheel drive system fault, please handle in time”.

[0156] In addition, during the initialization of the vehicle, if the shift motor is in an open circuit state, the four-wheel drive system ECU will prohibit the vehicle to switch the drive mode.

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

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

[0159] If the target drive mode is manually selected by the user, the instrument controller or the multimedia controller responds to the selection operation of the user to control the coding value of signal 4 to change, 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 drive mode based on signal 3.

[0160] If the target driving mode is manually selected by the user, the coding value of signal 3 is first determined by the four-wheel drive system ECU. In order to ensure the consistency of the driving mode display, the four-wheel drive system ECU can send signal 3 to the external ECU, so that the external ECU correspondingly updates the coding value of control signal 4. At the same time, the four-wheel drive system ECU can also switch the driving mode according to the coding value of signal 3.

[0161] When 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 driving mode. Generally, during the initialization process of the vehicle, each signal will be configured to be reset or zero state, that is, the coding value of signal 3 is 0x0. Therefore, when the four-wheel drive system ECU implements the prohibition of the vehicle to switch the driving mode, it is necessary to control the current coding value of signal 3 to be 0x0.

[0162] Further, when the shift motor is in an open circuit state during the initialization process, the four-wheel drive system ECU can also continuously detect the working state of the shift motor until the working state of the shift motor is detected to recover from the open circuit state to the conducting state or the vehicle is powered off, and the recheck process ends. The process of rechecking the working state of the shift motor is the same as the foregoing, which is also determined according to the pin parameters of the shift motor. If the recheck process of the working state of the shift motor continues until the end of the initialization process of the vehicle, the shift motor has not recovered to the conducting 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 is still a real-time fault code and continues after the initialization process.

[0163] When the four-wheel drive system ECU rechecks that the working state of the shift motor recovers from the open circuit state to the non-fault state, 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, indicating that the shift motor is currently fault-free. In addition, the four-wheel drive system ECU can also send the alarm elimination 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 playing device no longer plays the target prompt voice corresponding to the target alarm signal.

[0164] Specifically, in the embodiment of the present application, the alarm elimination signal and the aforementioned target alarm signal are both signal 2, but when it is necessary to stop the fault alarm, 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 recheck process, the type of the target fault code is continuously a real-time fault code, and the instrument panel and the audio playing device will continuously perform fault alarm.

[0166] In the above technical solution, when the vehicle is in the initialization process, if the shift motor is in the open circuit state, the vehicle is prohibited from switching the driving mode, and the open circuit state of the shift motor is fault alarmed. The above process can ensure that the user knows the state of the shift motor in time, and avoid the problem of unable to switch the driving mode in the subsequent switching process. In addition, the vehicle can also store the target fault code, which can enable the technician to know the fault condition of the shift motor in time. If the vehicle rechecks that the working state of the shift motor recovers from the open circuit state to the conduction state, it indicates that the current shift motor has recovered to normal, and the type of the target fault code can be changed to the historical fault code, indicating that the shift motor has occurred a fault before and has recovered to normal at present. The above change of 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 recovers to the conduction state, the fault alarm is stopped, which can ensure that the vehicle can switch the driving mode during driving.

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

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

[0169] In the case where the second working state is the conduction 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] When the second working state of the shift motor is the conduction state during the initialization process of the vehicle, no response is performed.

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

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

[0173] When the first working state is the on state, it indicates that the shift motor is in a normal working state before the target driving mode is switched, and the four-wheel drive system ECU can directly obtain the coding value of signal 3 based on the switching instruction to 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 driving mode to the target driving mode, the four-wheel drive system ECU controls the shift motor to rotate, so that the rotation of the shift motor is transmitted to the shift fork through the output shaft, the cam mechanism and the gear mechanism, and the shift fork moves along the guide rail to the position corresponding to the target driving mode.

[0175] During the switching process, the position sensor can obtain the position of the shift fork in real time. When it is detected that the shift fork moves to the position corresponding to the target driving mode, the four-wheel drive system ECU determines that the vehicle has switched to the target driving mode, and generates target prompt information according to the target driving mode, controls the instrument panel to display the target prompt information, and controls the audio playing device to broadcast the target prompt information, so as to inform the user that the vehicle has completed the driving mode switching.

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

[0177] 202, in the case that the first working state is the open state, the fault alarm of the first working state is suppressed and the working state of the shift motor is rechecked in real time.

[0178] When the four-wheel drive system ECU judges that the first working state is the open state before the target driving mode is switched after the initialization, the four-wheel drive system ECU can not alarm the first working state.

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

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

[0181] It should be understood that before the above vehicle switches to the target driving mode, if the gear motor is in an open circuit state, although the fault alarm is not performed, in order to enable the technician to know the working state of the gear motor in time, the four-wheel drive system ECU can store the fault of the gear motor.

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

[0183] In the case that 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 open circuit of the gear motor occurs.

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

[0185] In the above technical solution, when the vehicle determines that the gear motor is in an open circuit state before switching the driving mode, in addition to not performing fault alarm, the vehicle can also generate a target fault code according to the current first working state and prohibit the vehicle from switching the driving mode. The type of the target fault code is a real-time fault code, which is used to indicate that the current gear motor is in a real-time open circuit state. In the above process, although the fault alarm is not performed when the gear motor is in an open circuit state, the target fault code of the gear motor is stored, which can enable the technician to accurately know the fault condition of the gear motor and facilitate subsequent fault 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 wire harness is restored, the four-wheel drive system ECU can also perform real-time re-inspection on the first working state. Specifically, during the re-inspection process, the four-wheel drive system ECU also determines the working state of the gear motor according to the pin parameters of the gear motor, which will not be described herein.

[0187] 203, in the case that the working state of the gear motor is recovered from the open circuit state to the conduction state in the re-inspection, according to the switching instruction, the gear motor is controlled to operate, so that the vehicle switches from the current driving mode to the target driving mode.

[0188] When the four-wheel drive system ECU detects that the working state of the gear shifting motor is restored from the open circuit state to the conduction state in the subsequent rechecking process, it indicates that the wiring harness is restored to normal and the gear shifting motor is working normally, and the vehicle can be successfully controlled to switch from the current driving mode to the target driving mode according to the switching instruction.

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

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

[0191] In the case where the working state of the gear shifting motor is restored from the open circuit state to the conduction state in the rechecking, the type of the target fault code is changed from the real-time fault code to the historical fault code.

[0192] When the four-wheel drive system ECU detects that the gear shifting motor is in an open circuit state, a target fault code is generated and stored, specifically P178013. The type of the target fault code is a real-time fault code, indicating that the current gear shifting motor is in an open circuit state. When the gear shifting motor is restored to normal in the subsequent rechecking process, the four-wheel drive system ECU can change the type of the target fault code from the real-time fault code to the historical fault code, to indicate that the gear shifting motor was faulty in the historical period, and the current fault has been eliminated.

[0193] On the contrary, if the gear shifting motor is always in an open circuit state during the rechecking process, the type of the target fault code remains a real-time fault code until the gear shifting motor is working normally or the four-wheel drive system ECU detects that the vehicle is powered off, that is, the coding value of the power-on indication signal changes from 0x1 to 0x0, then the rechecking process is stopped, and the type of the target fault code is changed from the real-time fault code to the historical fault code.

[0194] In the above technical solution, when the working state of the gear shifting motor is continuously detected, if the vehicle detects that the working state is restored to the conduction state, it indicates that the current gear shifting motor is restored to normal, and the type of the target fault code can be changed to the historical fault code, indicating that the gear shifting motor was faulty in the past and is currently restored to normal. The above change of 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 gear shifting motor.

[0195] It should be understood that if the gear shifting motor is in an open circuit state due to vehicle jolt, the gear shifting motor can be restored to normal in a short time. Therefore, the above continuous detection process can be further optimized in the embodiments of the present application.

[0196] In a possible implementation, in the case where the working state of the gear shifting motor is restored from the open circuit state to the conduction state in the rechecking, the gear shifting motor is controlled to operate according to the switching instruction, including:

[0197] In a case that the working state of the gear shifting motor is recovered from the open circuit state to the conduction state in the preset time length, the gear shifting motor is controlled to operate according to the switching instruction.

[0198] It should be understood that if the gear shifting motor is open due to the vehicle bumping, the gear shifting motor can be recovered to normal in a short time, in this case, the user does not need to wait for a long time when switching the driving mode, so as to avoid causing the user complaint. Therefore, in order to ensure the user experience, the technical personnel can set the preset time length in advance based on the time length required for the virtual connection recovery of the system assembly wire harness. Optionally, the preset time length is 2 minutes.

[0199] In the rechecking process, if the gear shifting motor is recovered from the open circuit state to the conduction state within 2 minutes, it is indicated that the current open circuit of the gear shifting motor is indeed caused by the virtual connection of the system assembly wire harness and has been recovered, and the four-wheel drive system ECU can allow the vehicle to switch the driving mode.

[0200] It should be understood that in the embodiments of the present application, the driving mode switching signal is continuously sent. In other words, when the user needs to switch to the target driving mode, the signal 4 is continuously sent as long as the vehicle is not powered off and the coding value of the signal 4 does not change during the vehicle operation. Therefore, although the four-wheel drive system ECU receives the signal 4 and judges that the gear shifting motor is in open circuit and performs rechecking, the signal 4 is continuously sent during this process, so that when the gear shifting motor is normal after rechecking, the signal will not be cleared or lost due to time, thereby ensuring that the four-wheel drive system ECU can still complete the driving mode switching according to the user's demand after the gear shifting motor is normal.

[0201] In the above technical solution, the virtual connection of the system assembly wire harness caused by the vehicle bumping is generally short in time. Therefore, in the rechecking process in the present application, the vehicle can judge whether the working state is recovered from the open circuit state to the conduction state within the preset time length, and if so, the vehicle is controlled to switch to the target driving mode, so that the user does not need to wait for too long when switching the mode, better meeting the user's demand, avoiding causing the customer complaint, and thus enabling the vehicle to successfully switch the driving mode after the virtual connection of the wire harness is recovered.

[0202] In another case, if the working state of the gear shifting motor does not recover during the rechecking process, it is indicated that the open circuit of the gear shifting motor may not be caused by the virtual connection of the system assembly wire harness. In this case, in order to avoid the gear shifting motor being in fault for a long time, the four-wheel drive system ECU can perform fault alarm.

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

[0204] in a preset time length, the working state of the gear shifting motor is not recovered from the open circuit state to the conduction state, the vehicle is controlled to be in the current driving mode;

[0205] a target alarm signal is generated according to the working state of the gear shifting motor;

[0206] based on the target alarm signal, the alarm device of the vehicle is controlled to perform fault alarm.

[0207] Specifically, when the four-wheel drive system ECU continuously detects that the gear shifting motor is always open, the coding value of the 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 the control signal 2 is updated from 0x0 to 0x1, so as to control the instrument panel and the audio broadcast device to perform fault alarm.

[0208] In the above technical solution, when the working state of the gear shifting motor is rechecked, if the working state has not been recovered in the preset time length, it indicates that the gear shifting motor has been in the open circuit state, which indicates that the open circuit of the gear shifting motor is not caused by the virtual connection of the system assembly wire harness. Through the alarm, the user can be notified in time in the case of continuous failure of the gear shifting motor, so as to facilitate the user to know and take corresponding processing measures, and to avoid the problem of reduction of service life of vehicle parts caused by continuous failure of the gear shifting motor.

[0209] In summary, when the vehicle switches the driving mode, a switching method of the driving mode of the vehicle is provided. In the actual driving process after the initialization of the vehicle ends, if a switching instruction of a target driving mode is received, before switching, the vehicle first determines a first working state of the gear shifting motor according to a current first pin parameter of the gear shifting motor. When the first working state is an open circuit state, the vehicle does not alarm temporarily. After the working state is detected to recover from the open circuit state to the conduction state again, the gear shifting motor is controlled to operate based on the switching instruction, so that the vehicle successfully switches to the target driving mode. In the above process, if the gear shifting motor is open before switching the driving mode, it may be caused by the vehicle driving on a bumpy road. This open circuit fault is an occasional fault and will self-recover in a short time. Therefore, the vehicle does not alarm in this case, which can ensure that the vehicle can be smoothly switched to the target driving mode in the subsequent process, and can also avoid the panic caused by false alarm to the user. When the gear shifting motor is reconnected to the conduction state due to the virtual connection of the system assembly wire harness, the vehicle can switch to the target driving mode according to the switching instruction, so that the vehicle can be smoothly switched to the target driving mode after the virtual connection of the system assembly wire harness is restored, the flexibility of switching the driving mode of the vehicle is improved, and the driving experience of the user is improved.

[0210] In order to facilitate understanding of the detection process of the embodiments of the present application, the following will be described through an example of a vehicle switching from a two-wheel drive mode to a four-wheel drive mode. Figures 5-7The detection process of the embodiment of the application is introduced.

[0211] Figure 5 is a schematic flowchart of detecting the working state of the gear shift motor in the initialization process provided by the embodiment of the application.

[0212] Exemplarily, as shown in the figure, Figure 5 the method 500 includes:

[0213] 501. In the initialization process of the vehicle, the second pin parameter of the gear shift motor is acquired.

[0214] 502. According to the second pin parameter of the gear shift motor, the second working state of the gear shift motor is determined.

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

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

[0217] 503. No treatment is performed.

[0218] 504. In the case where the second working state is the open circuit state, according to the second working state, a target alarm signal and a target fault code are generated, the type of the target fault code is the real-time fault code, and the type of the target fault code is used to indicate the time when the open circuit of the gear shift motor occurs; based on the target alarm signal, the alarm device of the vehicle is controlled to perform fault alarm and the vehicle is prohibited to perform driving mode switching; the working state of the gear shift motor is rechecked in real time.

[0219] 505. In the rechecking process, it is determined whether the working state of the gear shift motor recovers from the open circuit state to the conduction state.

[0220] when the working state of the gear shift motor recovers from the open circuit state to the conduction state, 506 is executed;

[0221] when the working state of the gear shift motor does not recover from the open circuit state to the conduction state, 504 is returned.

[0222] 506. In the case where the working state of the gear shift motor recovers from the open circuit state to the conduction state is rechecked, 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 fault alarm.

[0223] Figure 6 is a schematic flowchart of detecting the working state of the gear shift motor after initialization provided by the embodiment of the application.

[0224] Exemplarily, as shown in the figure, Figure 6 the method 600 includes:

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

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

[0227] According to the first working state, when the first working state is a conduction state, step 603 is executed;

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

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

[0230] 604, in the case where the first working state is an open circuit state, suppressing a fault alarm of the first working state; according to the first working state, generating a target fault code and controlling the vehicle to be in a 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 gear motor occurs open circuit; and the working state of the gear motor is real-time rechecked.

[0231] 605, in the rechecking process, determining whether the working state of the gear motor is recovered from the open circuit state to the conduction state.

[0232] When the working state of the gear motor is recovered from the open circuit state to the conduction state, 606 is executed;

[0233] When the working state of the gear motor is not recovered from the open circuit state to the conduction state, 607 is executed.

[0234] 606, in the case where the working state of the gear motor is recovered from the open circuit state to the conduction state, according to the switching instruction, controlling the gear motor to run, 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, in the case where the working state of the gear motor is not recovered from the open circuit state to the conduction state, controlling the vehicle to be in the current driving mode; according to the working state of the gear motor, generating a target alarm signal; based on the target alarm signal, controlling the alarm device of the vehicle to perform fault alarm.

[0236] Figure 7 is a schematic flowchart of another vehicle driving mode switching method provided by the embodiment of the application.

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

[0238] 701, in the vehicle initialization process, the second pin parameter of the shift motor is acquired.

[0239] 702, according to the second pin parameter of the shift motor, the second working state of the shift motor is determined.

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

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

[0242] 703, no processing is performed.

[0243] 704, in the case where the second working state is the open circuit state, according to the second working state, a target alarm signal and a target fault code are generated, 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 of the shift motor occurs; based on the target alarm signal, the alarm device of the vehicle is controlled to perform fault alarm and prohibit the vehicle from driving mode switching; the working state of the shift motor is real-time rechecked.

[0244] 705, in the rechecking process, it is determined whether the working state of the shift motor recovers from the open circuit state to the conduction state.

[0245] When the working state of the shift motor recovers from the open circuit state to the conduction state, 706 is executed;

[0246] When the working state of the shift motor does not recover from the open circuit state to the conduction state, return to 704.

[0247] 706, in the case where the working state of the shift motor recovers from the open circuit state to the conduction state is rechecked, 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, in the vehicle driving process, in response to the switching instruction of the target driving mode, the first pin parameter of the shift motor is acquired.

[0249] 708, according to the first pin parameter of the shift motor, the first working state of the shift motor is determined.

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

[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 conduction state, according to the switching instruction, the vehicle is controlled to switch to the target driving mode.

[0253] 710, when the first working state is an open circuit state, suppress the fault alarm of the first working state; generate a target fault code according to the first working state and control the vehicle 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 circuit; and perform real-time re-check on the working state of the shift motor.

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

[0255] When the re-inspection shows that the working state of the shift motor has returned from the open circuit state to the conducting state, execute 712;

[0256] If the shift motor's operating state is not checked and it returns to the conducting state from the open circuit state, execute 607.

[0257] 712. When the shift motor's operating state is restored from open circuit to conductive state during re-inspection, the shift motor is controlled to operate according to the switching command, so that the vehicle switches from the current drive mode to the target drive mode, and the type of the target fault code is changed from real-time fault code to historical fault code.

[0258] 713. If the shift motor's operating state is not checked and found to have returned from the open circuit state to the conducting state, the vehicle is controlled to remain in the current drive mode; a target alarm signal is generated based on the shift motor's operating state; based on the target alarm signal, the vehicle's alarm device is controlled to issue a fault alarm.

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

[0260] Figure 8 This is a schematic diagram of the structure of a vehicle drive mode switching device provided in an embodiment of this application.

[0261] For example, such as Figure 8 As shown, the device is applied to a vehicle's four-wheel drive system, which includes a shift motor. The device 800 includes:

[0262] The first state determination module 801 is used to determine the first operating state of the shift motor according to the first pin parameter of the shift motor in response to the target drive mode switching command during the vehicle driving process. The first pin parameter is used to indicate the operating state of the shift motor pin and the first operating state is used to indicate the circuit state of the shift motor.

[0263] The first fault processing module 802 is configured to suppress the first working state fault alarm and perform real-time rechecking on the working state of the gear motor.

[0264] The mode switching module 803 is configured to, in a case where it is rechecked that the working state of the gear motor is restored from the open circuit state to the conduction state, control the gear motor to operate according to the switching instruction, so that the vehicle is switched from the current driving mode to the target driving mode.

[0265] Optionally, the device further comprises a fault code processing module configured to, in a case where the first working state is the open circuit state, generate a target fault code according to the first working state and control the vehicle to be in the current driving mode, the target fault code being a real-time fault code, and the type of the target fault code being used to indicate a time when the gear motor is open; and in a case where it is rechecked that the working state of the gear motor is restored from the open circuit state to the conduction state, the type of the target fault code is changed from the real-time fault code to a historical fault code.

[0266] In a possible implementation, the mode switching module 803 is specifically configured to, in a case where it is rechecked that the working state of the gear motor is restored from the open circuit state to the conduction state within a preset time length, control the gear motor to operate according to the switching instruction.

[0267] In a possible implementation, the mode switching module 803 is further configured to, in a case where it is not rechecked that the working state of the gear motor is restored from the open circuit state to the conduction state within the preset time length, control the vehicle to be in the current driving mode; generate a target alarm signal according to the first working state; and control an alarm device of the vehicle to perform fault alarm based on the target alarm signal.

[0268] Optionally, before the first state determining module 801 is configured to determine the first working state of the gear motor according to the first pin parameter of the gear motor in response to the switching instruction of the target driving mode during the driving process of the vehicle, the device further comprises a second state determining module configured to determine a second working state of the gear motor according to a second pin parameter of the gear motor during an initialization process of the vehicle; and the first state determining module 801 is specifically configured to, in a case where the second working state is the conduction state, determine the first working state according to the first pin parameter in response to the switching instruction during the driving process of the vehicle.

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

[0270] Optionally, the device further includes: a second fault processing module, configured to, when the second operating state is an open circuit state, generate a target alarm signal and a target fault code according to the second operating state, wherein 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 circuit; based on the target alarm signal, control the vehicle's alarm device to issue a fault alarm and prohibit the vehicle from switching drive modes; perform real-time re-check of the operating state of the shift motor; and when the re-check shows that the operating state of the shift motor has returned from the open circuit state to the conducting state, 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 issuing fault alarms.

[0271] Figure 9 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0272] For example, such as Figure 9 As shown, the vehicle 900 includes a memory 901 and a processor 902. The memory 901 stores executable program code 9011, and the processor 902 is used to call and execute the executable program code 9011 to perform a vehicle driving mode switching method.

[0273] Furthermore, embodiments of this application also protect an apparatus that may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a vehicle driving mode switching method provided in embodiments of this application.

[0274] This embodiment can divide the device into functional modules based on the above method example. For example, each module can correspond to a separate function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0275] When each functional module is divided according to its corresponding function, the device may further include a first state determination module, a first fault handling module, and a mode switching module. It should be noted that all relevant content regarding the steps involved in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here.

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

[0277] When using 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 can be used to control and manage the vehicle's movements. The storage module can be used to support the vehicle in executing relevant program code.

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

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

[0280] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described method steps to implement a vehicle drive mode switching method provided in the above embodiment.

[0281] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement a vehicle drive mode switching method provided in the above embodiment.

[0282] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0283] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above 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 this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0285] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method of switching a drive mode of a vehicle, characterized by, The method is performed by a four-wheel drive system of a vehicle, the four-wheel drive system comprising a shift motor, and the method comprises: In the vehicle initialization process, a second working state of the shift motor is determined according to a second pin parameter of the shift motor; the second pin parameter comprises a two-terminal pin voltage, a two-terminal pin current or a pin temperature, and the second working state comprises an open circuit state or a conduction state; In the case where the second working state is the conduction state, in the vehicle driving process, a first working state of the shift motor is determined according to a first pin parameter of the shift motor in response to a switching instruction of a target driving mode, the first pin parameter is used to indicate a working state of the shift motor pin, and the first working state is used to indicate a circuit state of the shift motor; In the case where the first working state is the open circuit state, a fault alarm of the first working state is suppressed and a working state of the shift motor is rechecked in real time; In the case where the working state of the shift motor is recovered from the open circuit state to the conduction state in the rechecking, the shift motor is controlled to operate according to the switching instruction, so that the vehicle is switched from a current driving mode to the target driving mode.

2. The method of claim 1, wherein, The method further comprises: In the case where the first working state is the 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 target fault code is a real-time fault code, and the type of the target fault code is used to indicate a time when the open circuit of the shift motor occurs; In the case where the working state of the shift motor is recovered from the open circuit state to the conduction state in the rechecking, the type of the target fault code is changed from the real-time fault code to a historical fault code.

3. The method of claim 1, wherein, The case where the working state of the shift motor is recovered from the open circuit state to the conduction state in the rechecking, the shift motor is controlled to operate according to the switching instruction, comprises: In the case where the working state of the shift motor is recovered from the open circuit state to the conduction state in the rechecking within a preset time length, the shift motor is controlled to operate according to the switching instruction.

4. The method of claim 3, wherein, The method further comprises: In the case where the working state of the shift motor is not recovered from the open circuit state to the conduction state in the rechecking within the preset time length, 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; Based on the target alarm signal, a fault alarm is performed by an alarm device of the vehicle.

5. The method of claim 1, wherein, The case where the second working state of the shift motor is determined according to the second pin parameter of the shift motor comprises any one of the following: A voltage difference value is determined according to the two-terminal pin voltage; in the case where an absolute value of the voltage difference value is less than a preset voltage, the second working state is determined to be the conduction state; in the case where the absolute value of the voltage difference value is greater than or equal to the preset voltage, the second working state is determined to be the open circuit state; A current difference value is determined according to the two-terminal pin current; determining that the second working state is the on state when the absolute value of the current difference is greater than a preset current, and determining that the second working state is the 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 a current ambient temperature, determining that the second working state is the open circuit state when the temperature difference is less than or equal to a preset temperature, and determining that the second working state is the on state when the temperature difference is greater than the preset temperature.

6. The method of claim 1, wherein, The method further comprises: generating a target alarm signal and a target fault code according to the second working state when the second working state is the open circuit state, the target fault code being of a real-time fault code type, and the real-time fault code type being used to indicate a time when the open circuit of the gear shifting motor occurs; controlling an alarm device of the vehicle to perform fault alarm and to prohibit the vehicle from performing drive mode switching based on the target alarm signal; performing real-time rechecking on the working state of the gear shifting motor; changing the target fault code from the real-time fault code type to a historical fault code type and controlling the alarm device to stop the fault alarm when it is rechecked that the working state of the gear shifting motor is recovered from the open circuit state to the on state.

7. A vehicle drive mode switching apparatus characterized by comprising: The device is applied to a four-wheel drive system of a vehicle, and the four-wheel drive system comprises a gear shifting motor, and the device comprises: a first state determining module configured to determine a first working state of the gear shifting motor according to a first pin parameter of the gear shifting motor in response to a switching instruction of a target drive mode during driving of the vehicle, the first pin parameter being used to indicate a working state of a pin of the gear shifting motor, and the first working state being used to indicate a circuit state of the gear shifting motor; a first fault processing module configured to suppress fault alarm of the first working state and to perform real-time rechecking on the working state of the gear shifting motor when the first working state is the open circuit state; a mode switching module configured to control the gear shifting motor to operate according to the switching instruction to switch the vehicle from a current drive mode to the target drive mode when it is rechecked that the working state of the gear shifting motor is recovered from the open circuit state to the on state; a second state determining module configured to determine a second working state of the gear shifting motor according to a second pin parameter of the gear shifting motor during initialization of the vehicle, the second pin parameter comprising a two-terminal pin voltage, a two-terminal pin current or a pin temperature, and the second working state comprising the open circuit state or the on state; the first state determining module is further configured to determine the first working state according to the first pin parameter in response to the switching instruction during driving of the vehicle when the second working state is the on state.

8. A vehicle characterized by comprising: The vehicle comprises: a memory configured to store executable program codes; a processor configured to call and run the executable program codes from the memory, so that the vehicle performs the method according to any one of claims 1 to 6. The vehicle comprises: a memory configured to store executable program codes; a processor configured to call and run the executable program codes from the memory, so that the vehicle performs the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program which, when executed, implements the method of any one of claims 1 to 6.

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