Fault processing method of disengagement mechanism, electronic equipment and vehicle

Abstract

The invention provides a fault processing method of a disengagement mechanism, electronic equipment and a vehicle, belongs to the technical field of vehicles, and can start fault monitoring after detecting a state switching instruction, and provide a data basis for fault monitoring by determining an initial state and a minimum gear shifting stroke of the disengagement mechanism. And circuit fault detection is preferentially carried out to eliminate the influence of circuit faults. When a circuit fault exists, whether the circuit fault affects power output of the gear shifting motor or not is determined by monitoring the power fault, and it is guaranteed that the disengaging mechanism has enough power to execute combining and disengaging actions. When the circuit fault does not exist, whether the gear shifting fork and the gear shifting motor have faults or not is determined by monitoring the movement fault, and fault monitoring of the gear shifting fork and the gear shifting motor of the disengaging mechanism is achieved. The state switching instruction of the disconnecting mechanism is forcibly controlled according to the reported fault, it is guaranteed that when the disconnecting mechanism has the fault, unreasonable and fault aggravating operation is avoided, and it is guaranteed that the disconnecting mechanism is not damaged.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method for troubleshooting a disengagement mechanism, an electronic device, and a vehicle. Background Art

[0002] For new energy four-wheel drive vehicles, a disengagement mechanism is added to the electronic drive axle to reduce the energy consumption of the whole vehicle. However, in some cases, when the disengagement mechanism is engaged or disengaged, some faults may occur, causing the disengagement mechanism to work in an abnormal state, which may easily cause serious damage to the disengagement mechanism. Summary of the invention

[0003] In view of this, the purpose of the present application is to propose a fault handling method for a disengagement mechanism, an electronic device and a vehicle, which prevent the disengagement mechanism from operating in an abnormal state through real-time fault monitoring to protect the safety of the disengagement mechanism.

[0004] Based on the above purpose, the present application provides a method for handling a fault of a disengagement mechanism, comprising:

[0005] In response to detecting a state switching instruction for the disengagement mechanism in the running state, determining the initial state and the minimum shift stroke of the disengagement mechanism according to the shift position of the disengagement mechanism, and performing circuit fault detection;

[0006] In response to detecting a circuit fault, determining whether there is a power failure based on an input current of a shift motor of the disengagement mechanism;

[0007] In response to no circuit fault being detected, determining whether there is a movement fault based on the minimum shift stroke and the movement stroke of the shift fork of the disengagement mechanism during the shifting process;

[0008] A reported fault is determined according to the initial state, the power fault and the movement fault, and the state switching instruction of the disengagement mechanism is forcibly controlled according to the reported fault.

[0009] Optionally, the shift position includes a neutral shift position and a first gear shift position; and determining the initial state and the minimum shift stroke of the disengagement mechanism according to the shift position of the disengagement mechanism includes:

[0010] Determining the interval stroke between the neutral shift position and the first gear shift position as the minimum shift stroke;

[0011] Determine a neutral stop point position and a first gear stop point position of the disengagement mechanism, and determine the interval between the neutral stop point position and the neutral shift position as a neutral position interval, and determine the interval between the first gear stop point position and the first gear shift position as a first gear position interval;

[0012] determining a fork position of the shift fork;

[0013] In response to the shift fork position existing in the neutral position interval, determining the disengagement state as the initial state of the disengagement mechanism;

[0014] In response to the shift fork position existing in the first gear position interval, the engaged state is determined as the initial state of the disengagement mechanism.

[0015] The minimum shift stroke is the minimum moving distance to achieve state switching, so the minimum shift stroke can be used as a standard to determine whether the shift fork is operating correctly. Different initial states have different ways of fault judgment, and determining the initial state can provide direction for the fault judgment process.

[0016] Optionally, the determining whether there is a power failure according to the input current of the shift motor of the disengagement mechanism includes:

[0017] In response to the input current being greater than or equal to a preset current threshold, determining that there is no power failure;

[0018] In response to the input current being less than a preset current threshold, determining a first duration that is less than the current threshold;

[0019] In response to the first duration being greater than or equal to a preset duration threshold, determining that a power failure exists;

[0020] In response to the first duration being less than a preset duration threshold, it is determined that no power failure exists.

[0021] The determination of power failure can determine whether the shift motor has sufficient power to move the shift fork.

[0022] Optionally, after determining that no circuit fault is detected, the method further includes:

[0023] In response to the initial state being a coupled state, determining that there is no undetachable fault;

[0024] In response to the initial state being a disengaged state, the driving speed of the auxiliary drive axle is determined, and based on the speed difference between the driving speed and a preset target driving speed, it is determined whether there is an inability to engage fault, and when the inability to engage fault exists, the state switching instruction of the disengagement mechanism is forcibly controlled.

[0025] After determining that there is no circuit fault, a result-oriented fault judgment can be performed, that is, whether there is a fault can be determined based on the switching control result of the disconnecting mechanism, providing another fault judgment strategy to improve the accuracy of fault judgment.

[0026] Optionally, the determining whether there is a failure to combine according to a speed difference between the driving speed and a preset target driving speed includes:

[0027] In response to the speed difference being less than or equal to a preset speed threshold, determining that there is no inability to engage fault;

[0028] In response to the speed difference being greater than a preset speed threshold, determining a second duration greater than the speed threshold, and determining a safety duration corresponding to the target driving speed according to preset speed-duration relationship data;

[0029] In response to the second duration being greater than or equal to the safety duration, determining that a combination failure occurs;

[0030] In response to the second duration being shorter than the safety duration, it is determined that there is no impossible-to-combine fault.

[0031] The switching control result can be reflected by the speed difference between the driving speed and the preset target driving speed. Judging according to the speed difference can avoid misjudgment caused by speed fluctuation, so as to improve the accuracy of fault judgment.

[0032] Optionally, determining whether there is a movement fault according to the minimum shift stroke and the movement stroke of the shift fork of the disengagement mechanism during the shifting process includes:

[0033] In response to the movement stroke being greater than the minimum shift stroke, determining that there is no movement fault;

[0034] In response to the movement stroke being less than or equal to the minimum shift stroke, determining a current fork position of the shift fork, and determining a target position interval in a neutral position interval and a first gear position interval according to the initial state;

[0035] In response to the current fork position not being within the target position interval, determining that a movement fault exists;

[0036] In response to the current fork position being within the target position interval, the shift motor is frozen, a drive speed of the auxiliary drive axle is determined, and whether there is a movement fault is determined based on the initial state and the drive speed.

[0037] By combining the minimum shift stroke and the current fork position, it can be determined whether the shift fork has moved correctly. When abnormal movement of the shift fork is found, the shift motor is frozen to avoid further aggravation of the fault. At the same time, it is further determined whether there is a movement fault based on the initial state and drive speed to avoid misjudgment caused by position sensor failure.

[0038] Optionally, the determining whether there is a movement fault according to the initial state and the driving speed includes:

[0039] In response to the initial state being a combined state, determining that a movement fault exists;

[0040] In response to the initial state being a disengaged state and the driving speed being a zero value, determining that a movement fault exists;

[0041] In response to the initial state being the disengaged state and the driving rotation speed being not a zero value, it is determined that there is no movement failure.

[0042] When the initial state is different, the verification process may be different, so whether there is a movement fault is determined based on the initial state and the driving speed to avoid the influence of sensor failure.

[0043] Optionally, the determining to report a fault according to the initial state, the power fault and the mobility fault includes:

[0044] In response to the initial state being a disengaged state and the power failure or the movement failure existing, the failure cannot be combined to be determined as the reporting failure;

[0045] In response to the initial state being the engaged state and the power failure existing, determining an inability to disengage failure as the reporting failure;

[0046] In response to the initial state being the engaged state and the movement fault existing, determining a driving speed of the auxiliary drive axle;

[0047] In response to the driving speed not being a zero value, an unable to disengage fault is determined as the reporting fault.

[0048] By simplifying different faults into two situations, namely, unable to combine faults and unable to disengage faults, the fault reporting process is simplified, the fault handling efficiency is improved, and forced control can be achieved as soon as the fault is monitored, avoiding subsequent unreasonable state switching instructions that aggravate the fault severity.

[0049] Based on the same inventive concept, the present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method as described above when executing the computer program.

[0050] Based on the same inventive concept, the present disclosure also provides a vehicle, comprising the electronic device as described above.

[0051] As can be seen from the above, the fault handling method, electronic device and vehicle of the disengagement mechanism provided by the present application can determine the initial state and minimum shift stroke of the disengagement mechanism according to the shift position of the disengagement mechanism after detecting the state switching instruction for the disengagement mechanism in the running state, and perform circuit fault detection; if a circuit fault is detected, determine whether there is a power fault according to the input current of the shift motor of the disengagement mechanism; if no circuit fault is detected, determine whether there is a movement fault according to the minimum shift stroke and the movement stroke of the shift fork of the disengagement mechanism during the shifting process; determine the reported fault according to the initial state, power fault and movement fault, and forcibly control the state switching instruction of the disengagement mechanism according to the reported fault. After the state switching instruction is detected, the fault monitoring is turned on, and the data basis for the fault monitoring is provided by determining the initial state and minimum shift stroke of the disengagement mechanism; the circuit fault detection is performed preferentially to eliminate the influence of the circuit fault. When there is a circuit fault, the power fault is monitored to determine whether the circuit fault affects the power output of the shift motor, so as to ensure that the disengagement mechanism has sufficient power to perform the engagement and disengagement actions. When there is no circuit fault, the shift fork and the shift motor are monitored to determine whether there is a fault, and the fault monitoring of the shift fork and the shift motor of the disengagement mechanism is realized. The state switching instruction of the disengagement mechanism is forcibly controlled according to the reported fault to ensure that when there is a fault in the disengagement mechanism, unreasonable operations that aggravate the fault are avoided and the disengagement mechanism is not damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0053] Figure 1 A flowchart of a method for troubleshooting a disengagement mechanism according to an embodiment of the present application;

[0054] Figure 2 A schematic diagram of the state switching principle of the disengagement mechanism of an embodiment of the present application;

[0055] Figure 3 A flow chart for determining the initial state of the disengagement mechanism and the minimum shift stroke for an embodiment of the present application;

[0056] Figure 4 A flowchart of another method for handling a fault of a disengaging mechanism according to an embodiment of the present application;

[0057] Figure 5 A flowchart for determining whether there is a mobile failure according to an embodiment of the present application;

[0058] Figure 6 A flowchart for determining a reported fault in an embodiment of the present application;

[0059] Figure 7 It is a structural schematic diagram of a fault handling device of a disengagement mechanism according to an embodiment of the present application;

[0060] Figure 8 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0061] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0062] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0063] It should be understood herein that any number of elements in the drawings is for illustration rather than limitation, and any naming is only for distinction rather than having any limiting meaning.

[0064] Based on the description of the above background technology, the related technology also has the following situations:

[0065] Pure electric four-wheel drive vehicles are equipped with two electric drive axles at the front and rear, but the vehicle does not always need two electric drive axles to work. Under normal circumstances, one electric drive axle can meet the requirements. Two electric drive axles are used only when large torque is required, such as starting, climbing, overtaking, etc. In order to improve efficiency, a disengagement mechanism is added to one of the electric drive axles to ensure that the other motor is disengaged when one electric drive axle is working, reducing the mechanical resistance and drag resistance loss of the electric drive system.

[0066] The disengagement mechanism can improve driving efficiency. Unlike traditional power four-wheel drive systems that only have one power source, electric four-wheel drive systems generally have an electric drive axle on each of the front and rear axles. In addition to providing the functions of traditional four-wheel drive (getting out of trouble, anti-skid), two electric drive axles are also needed to meet the power requirements when starting and overtaking at high speeds.

[0067] Under daily driving conditions, usually one electric drive axle can meet the power requirements of the entire vehicle. Therefore, there are usually two ways to distribute power in the electric four-wheel drive architecture: one is to have two electric drive axles bear the power separately, and the other is to have only one electric drive axle bear the power while the other is towed. However, the former will bring about the problem of low efficiency under low load, and the latter will generate additional load due to towing, which will lead to increased energy consumption.

[0068] Adding a disengagement mechanism to an electric drive axle allows it to quickly engage during acceleration to obtain the required power for the vehicle, and to remain disengaged during daily driving to reduce energy consumption. Adding a disengagement mechanism can reduce mechanical losses (static and dynamic losses) by more than 4%, which can bring considerable battery cost savings at the same cruising range. Depending on the different electric drive axle structures, the disengagement mechanism can be set up with different position options such as intermediate shafts, half shafts, and differentials, providing flexible layout solutions while being highly efficient.

[0069] However, in daily driving conditions, maintaining disengagement does not guarantee that energy consumption can be reduced under any torque request and any vehicle speed. When using the disengagement mechanism, if it is not in the most energy-saving vehicle working area, it will increase the energy consumption of the vehicle. The optimal energy consumption control method cannot be applied to all vehicle usage scenarios. In different usage scenarios, the vehicle is in different working conditions. The use of a single control mode may not meet the needs under specific working conditions. Therefore, it is necessary to switch the state of the disengagement mechanism according to the real-time working conditions of the vehicle, that is, to switch the disengagement mechanism from the engaged state to the disengaged state through the disengagement control command, and to switch the disengagement mechanism from the disengaged state to the engaged state through the engagement control command. However, during the switching process, if the disengagement mechanism fails, if the user issues an erroneous control command at this time, it will increase the danger of the failure, resulting in the inability to complete the state switching, and may also cause damage to the mechanical parts of the disengagement mechanism. Therefore, it is necessary to monitor the disengagement mechanism for failures and take effective treatment measures when a failure is determined.

[0070] The fault handling method, electronic device and vehicle of the disengagement mechanism provided in the embodiments of the present application can start fault monitoring after detecting the state switching instruction, and provide a data basis for fault monitoring by determining the initial state and minimum shift stroke of the disengagement mechanism; and give priority to circuit fault detection to eliminate the influence of circuit faults. When there is a circuit fault, the power fault is monitored to determine whether the circuit fault affects the power output of the shift motor, so as to ensure that the disengagement mechanism has sufficient power to perform engagement and disengagement actions. When there is no circuit fault, the shift fork and the shift motor are monitored to determine whether there is a fault, so as to realize fault monitoring of the shift fork and the shift motor of the disengagement mechanism. The state switching instruction of the disengagement mechanism is forcibly controlled according to the reported fault, so as to ensure that when there is a fault in the disengagement mechanism, unreasonable operations that aggravate the fault are avoided, and the disengagement mechanism is not damaged. .

[0071] The following describes in detail the fault handling method of the disengagement mechanism provided by the embodiment of the present application in conjunction with the accompanying drawings.

[0072] In some embodiments, Figure 1 As shown, the troubleshooting method of the disengagement mechanism includes:

[0073] Step 101: In response to detecting a state switching instruction for a disengagement mechanism in a running state, determining an initial state and a minimum shift stroke of the disengagement mechanism according to a shift position of the disengagement mechanism, and performing circuit fault detection.

[0074] In specific implementation, before judging the internal fault of the disengagement mechanism, it is necessary to first determine that the vehicle is in a running state (the vehicle is deemed to be in a running state when it is in a high-voltage state, that is, it is determined to be in a running state when the whole vehicle is in a high-voltage state). Because the disengagement mechanism does not need to transmit torque in a stationary state, it will not cause damage to the disengagement mechanism, and some vehicles may be set to prohibit switching the state of the disengagement mechanism in a stationary state, so only the disengagement mechanism in the running state is monitored for faults. When performing fault monitoring, it is necessary to first eliminate the influence of external faults of the disengagement mechanism. External faults are mainly circuit faults, including open circuit faults, short circuit faults to ground, over-temperature protection, etc. Only by eliminating the influence of external faults can it be determined that the monitored fault is a fault of the internal mechanism of the disengagement mechanism.

[0075] Among them, the state switching principle of the disengagement mechanism is as follows Figure 2As shown, the shift position of the disengagement mechanism includes a neutral shift position and a first gear shift position, and also includes a neutral stop point and a first gear stop point for limiting the movement of the shift fork of the disengagement mechanism, wherein the neutral stop point and the neutral shift position are on the same side, the first gear stop point and the first gear shift position are on the same side, and the distance between the neutral stop point and the first gear stop point represents the maximum shift stroke Z of the shift fork of the disengagement mechanism. Because blocking structures are provided at the neutral stop point and the first gear stop point to prevent the shift fork from continuing to move outward, the shift fork can only move between the neutral stop point and the first gear stop point.

[0076] The distance between the neutral shift position and the first gear shift position represents the minimum shift stroke, which means that the disengagement mechanism needs to move the shift fork at least the minimum shift stroke to complete the state switching, otherwise the legal state switching of the disengagement mechanism cannot be completed. Therefore, the minimum shift stroke can be used for fault judgment. After detecting the state switching instruction for the disengagement mechanism, it is necessary to determine the minimum shift stroke to provide data support for the subsequent fault monitoring process. The initial state of the disengagement mechanism includes the disengagement state and the engagement state. The direction of the state switching can be determined according to the initial state. If the initial state is the engagement state, the state switching direction is from the engagement state to the disengagement state; if the initial state is the disengagement state, the state switching direction is from the disengagement state to the engagement state; there are certain differences in fault judgment and fault handling for different switching directions, so determining the initial state of the disengagement mechanism can improve the efficiency of fault monitoring and handling.

[0077] Among them, Figure 2 As shown, in order to facilitate fault determination, it is necessary to define the position of the disengagement mechanism and define the relative position of the neutral stop point as 0mm, so that it is convenient to describe the neutral shift position, the first gear shift position and the relative distance of the first gear stop point relative to the neutral stop point:

[0078] Then the maximum shifting stroke between the first gear stop and the neutral stop is represented by Z, and the relative position of the first gear stop can be described as Z mm;

[0079] The relative distance between the neutral shift position and the neutral stop is represented by X, and the relative position of the neutral shift position relative to the neutral stop can be described as X mm;

[0080] The relative distance between the first gear shift position and the first gear stop is represented by Y, then the relative position of the first gear shift position relative to the neutral stop can be described as (ZY) mm;

[0081] A position sensor is installed in the shift motor to detect the shift fork position of the shift fork. The state of the disengagement mechanism can be judged based on the relationship between the shift fork position and the above-mentioned multiple relative positions.

[0082] When the position sensor of the shift motor detects that the shift fork position of the shift fork is within (0, X) mm, it can be determined that the disengagement mechanism is actually in the disengaged state;

[0083] When the position sensor of the shift motor detects that the shift fork position of the shift fork is within {(ZY), Z} mm, it can be determined that the disengagement mechanism is actually in the engaged state.

[0084] When the position sensor of the shift motor detects that the shift fork position of the shift fork is within {X, (ZY)} mm, it can be determined that there is a fault in the disengagement mechanism.

[0085] Step 102: In response to detecting a circuit fault, determining whether a power fault exists according to an input current of a shift motor of a disengagement mechanism.

[0086] During specific implementation, when a circuit fault is detected, it indicates that there is an external fault, which may affect the operation of the shift motor of the disengagement mechanism. At this time, it is necessary to determine whether there is a power fault based on the input current of the shift motor of the disengagement mechanism, because the circuit fault may cause the output of the shift motor to become low, resulting in insufficient power for the shift motor, and the shift motor cannot drive the shift fork to move, resulting in the inability to achieve state switching of the disengagement mechanism.

[0087] The power failure diagnosis logic is as follows:

[0088] In some embodiments, determining whether there is a power failure based on the input current of the shift motor of the disengagement mechanism includes:

[0089] Step 1021: In response to the input current being greater than or equal to a preset current threshold, determining that there is no power failure.

[0090] In specific implementation, the current threshold is the minimum current value that ensures that the shift motor can drive the shift fork to move. If the input current is greater than or equal to the current threshold, it means that the circuit fault does not affect the operation of the shift motor and there will be no power shortage. Therefore, when the input current is greater than or equal to the preset current threshold, it is determined that there is no power failure.

[0091] Step 1022: In response to the input current being less than a preset current threshold, determine a first duration of time that the input current is less than the current threshold.

[0092] In specific implementation, when the motor controller (Microcontroller Unit, MCU) detects that the vehicle is in a running state, and the disengagement mechanism is actually in a coupled state (the position sensor of the shift motor detects that the shift fork is between the first gear shift position and the first gear stop position), and the vehicle control unit (VCU) requests the MCU motor controller to perform a disengagement operation, the MCU motor controller controls the shift motor to perform a disengagement operation and turns on fault monitoring. If a circuit fault is monitored and the input current of the shift motor is less than the current threshold, it means that the circuit fault affects the input to the shift motor. However, the input current itself may fluctuate, resulting in the monitoring data monitoring an instantaneous lower input current, which may cause a misjudgment. Therefore, it is necessary to further determine the first duration of the input current less than the current threshold, and determine whether there is a power fault based on the first duration.

[0093] Similarly, when the MCU motor controller detects that the vehicle is in operation and the disengagement mechanism is actually in the disengagement state (the position sensor of the shift motor detects that the shift fork is between the neutral shift position and the neutral stop position), and the VCU vehicle controller requests the MCU motor controller to perform the combination operation, the MCU motor controller controls the shift motor to perform the disengagement operation and turns on the fault monitoring. If a circuit fault is detected and the input current of the shift motor is less than the current threshold, it means that the circuit fault affects the input to the shift motor. However, the input current itself may fluctuate, resulting in the monitoring data monitoring an instantaneous lower input current, which may cause a misjudgment. Therefore, it is necessary to further determine the first duration of the input current less than the current threshold, and judge whether there is a power fault based on the first duration.

[0094] Therefore, for power failure, the difference in initial state does not affect the judgment process of power failure. It is only necessary to determine the relationship between the input current and the current threshold.

[0095] Step 1023: In response to the first duration being greater than or equal to a preset duration threshold, it is determined that a power failure exists.

[0096] In specific implementation, if the first duration is greater than or equal to the preset duration threshold, it means that the shift motor cannot output a large enough torque for the shift fork to move for a long time, resulting in the inability to execute the corresponding switching action, and excluding the misjudgment caused by input current fluctuations, it can be determined that there is a power failure. If the initial state is the engaged state, the existing power failure is a power failure that cannot be disengaged; if the initial state is the disengaged state, the existing power failure is a power failure that cannot be engaged.

[0097] Step 1024: In response to the first duration being less than a preset duration threshold, determining that there is no power failure.

[0098] In specific implementation, if the first duration is less than the preset time threshold, it means that the input current is too small due to a short-term current fluctuation. The shift motor can output a torque sufficient to drive the shift fork according to the input current, and the disengagement mechanism state can be switched, thus determining that there is no power failure.

[0099] Step 103: In response to no circuit fault being detected, determining whether there is a movement fault according to the minimum shifting stroke and the movement stroke of the shift fork of the disengaging mechanism during the shifting process.

[0100] During specific implementation, if no circuit fault is detected, it means that the external connection of the disengagement mechanism will not affect the normal use of the disengagement mechanism. At this time, it is necessary to monitor the internal faults of the disengagement mechanism. The components that execute state switching of the disengagement mechanism are mainly the shift motor, shift fork and position sensor, so it is sufficient to monitor the operation of the shift motor and shift fork.

[0101] For the shift motor, the main consideration is whether there is a fault in its output. Since there is no circuit fault, it means that the output torque has met the requirements. It is only necessary to monitor whether the shift motor can move the shift fork to the corresponding switching position. For the shift fork and position sensor, as long as the shift fork can move to the corresponding position, the state of the disengagement mechanism can be switched, and the minimum shift stroke is the minimum moving distance to achieve state switching. Therefore, the minimum shift stroke can be used as a standard for judging whether the shift fork is operating correctly, that is, the minimum shift stroke is used to judge the moving stroke of the shift fork to determine whether the moving stroke is reasonable. However, the judgment of whether the moving stroke is reasonable is also affected by the moving stroke detection. Therefore, if the position sensor fails, resulting in problems in the detection of the moving stroke, it will lead to an erroneous judgment of the moving fault. Therefore, when judging the moving fault, it is necessary to consider the influence of the moving stroke detection accuracy.

[0102] Step 104: Determine the reported fault according to the initial state, the power fault and the movement fault, and forcibly control the state switching instruction of the disengagement mechanism according to the reported fault.

[0103] In specific implementation, when fault monitoring is performed, if no fault is monitored, it is determined that the disengagement mechanism can smoothly perform the disengagement action and the engagement action to meet the user's state switching requirements.

[0104] If at least one of a power failure and a mobility failure is monitored, it is necessary to determine the reported fault based on the monitored target fault and the initial state, and to send a forced command based on the vehicle controller for targeted forced control to ensure that the vehicle will not mistakenly respond to unreasonable state switching commands issued by the user when a fault exists, avoid further damage to the disengagement mechanism, and protect the safety of the disengagement mechanism. The forced control is a switching command to switch to the initial state. If the initial state is a combined state and a reported fault is received, the switching command is to switch to the combined state. If the initial state is a disengaged state and a reported fault is received, the switching command is to switch to the disengaged state.

[0105] In summary, the fault handling method of the disengagement mechanism provided in the embodiment of the present application can start fault monitoring after detecting the state switching instruction, and provide a data basis for fault monitoring by determining the initial state and minimum shift stroke of the disengagement mechanism; and give priority to circuit fault detection to eliminate the influence of circuit faults. When there is a circuit fault, the power fault is monitored to determine whether the circuit fault affects the power output of the shift motor, so as to ensure that the disengagement mechanism has sufficient power to perform the engagement and disengagement actions. When there is no circuit fault, the shift fork and the shift motor are determined by monitoring the movement fault, so as to realize the fault monitoring of the shift fork and the shift motor of the disengagement mechanism. The state switching instruction of the disengagement mechanism is forcibly controlled according to the reported fault, so as to ensure that when there is a fault in the disengagement mechanism, unreasonable operations that aggravate the fault are avoided, so as to ensure that the disengagement mechanism is not damaged.

[0106] In some embodiments, Figure 2 As shown, the shift position includes a neutral shift position and a first gear shift position; Figure 3 As shown, determining the initial state and the minimum shift stroke of the disengagement mechanism according to the shift position of the disengagement mechanism includes:

[0107] Step 301: Determine the interval stroke between the neutral shift position and the first gear shift position as the minimum shift stroke.

[0108] In specific implementation, according to Figure 2It can be seen that when the shift fork moves to between the neutral shift position and the neutral stop point, the disengagement mechanism switches to the disengaged state, and when the shift fork moves to between the first gear shift position and the first gear stop point, the disengagement mechanism switches to the engaged state. To achieve the switch from the disengaged state to the engaged state, the shift fork needs to move from a position point less than the neutral shift position X to a position point greater than the first gear shift position ZY. To achieve the switch from the engaged state to the disengaged state, the shift fork needs to move from a position point greater than the first gear shift position ZY to a position point less than the neutral shift position X. Therefore, no matter which state switch is performed, the shift fork needs to pass through the first gear shift position ZY and the neutral shift position X, so the interval stroke ZYX between the neutral shift position and the first gear shift position is determined as the minimum shift stroke.

[0109] In order to avoid movement error, ZY-X+Q can be used as the minimum shift stroke, wherein Q is a preset adjustment parameter, which can be a preset fixed value or the product of ZYX and a proportional coefficient (e.g., 0.1). Because the shift fork does not necessarily stop directly at the neutral shift position or the first gear shift position when the state switching is completed, a slight increase in the minimum shift stroke can improve the accuracy of fault judgment.

[0110] Step 302: Determine the neutral stop position and the first gear stop position of the disengagement mechanism, and determine the interval between the neutral stop position and the neutral shift position as the neutral position interval, and determine the interval between the first gear stop position and the first gear shift position as the first gear position interval.

[0111] In specific implementation, according to Figure 2 It can be seen that when the shift fork moves toward the neutral shift position, it moves as far as the neutral stop position. Therefore, when the shift fork moves between the neutral stop position and the neutral shift position, it will switch to the disengaged state. Therefore, the interval distance between the neutral stop position and the neutral shift position is determined as the neutral position interval.

[0112] When the shift fork moves toward the first gear shift position, it moves as far as the first gear stop position. Therefore, when the shift fork moves between the first gear stop position and the first gear shift position, it will switch to the collective state. Therefore, the interval distance between the first gear stop position and the first gear shift position is determined as the first gear position interval.

[0113] Step 303: Determine the fork position of the shift fork.

[0114] In specific implementation, the specific state of the disengagement mechanism needs to be determined according to the fork position of the shift fork, and the fork position is the real-time position of the shift fork detected by the position sensor.

[0115] Step 304: In response to the fork position existing in the neutral position interval, determining the disengagement state as the initial state of the disengagement mechanism.

[0116] In specific implementation, if the shift fork position exists in the neutral position range, it means that the shift fork has moved to the neutral shift position close to the neutral stop point, and it can be determined that the disengagement mechanism has entered the disengagement state. At this time, the disengagement state is determined as the initial state of the disengagement mechanism.

[0117] Step 305: In response to the shift fork position existing in the first gear position interval, determining the engaged state as the initial state of the disengagement mechanism.

[0118] In specific implementation, if the shift fork position exists in the first gear position range, it means that the shift fork has moved to the first gear shift position close to the first gear stop point, and it can be determined that the disengagement mechanism has entered the engaged state. At this time, the engaged state is determined as the initial state of the disengagement mechanism.

[0119] In some embodiments, Figure 4 As shown, after determining that no circuit fault is detected, the fault handling method of the release mechanism further includes:

[0120] Step 401: In response to the initial state being the engaged state, determining that there is no undetachable fault.

[0121] In specific implementation, after determining that there is no circuit fault, it is also possible to determine whether there is a fault based on the switching control result of the disengagement mechanism. If the initial state is the engaged state, as long as the shift fork is out of the first gear position interval, the auxiliary drive axle will be separated from the auxiliary drive motor, and the switching from the engaged state to the disengaged state can be achieved. There are three corresponding switching control results, namely, normal successful disengagement when moving to the neutral position interval; abnormal successful disengagement when moving to the neutral position interval; and disengagement failure when moving to the first gear position interval. Since there is no way to determine whether the shift fork moves to the neutral position interval (0, X), there is a situation where the shift fork is stuck between the neutral shift position X and the first gear shift position ZY (especially close to the neutral shift position); at this time, it is impossible to judge whether the state switching is completed correctly from the perspective of the switching control result. Therefore, the initial state is the engaged state, and it is directly determined that there is no failure to disengage, and the other methods are selected to judge the fault.

[0122] Step 402: In response to the initial state being a disengaged state, the driving speed of the auxiliary drive axle is determined, and whether there is an unengageable fault is determined based on the speed difference between the driving speed and the preset target driving speed, and when an unengageable fault exists, the state switching instruction of the disengagement mechanism is forcibly controlled.

[0123] In specific implementation, when the initial state is the disengaged state, the shift fork can only be switched to the engaged state when it moves to the first gear position interval. Therefore, there are only two corresponding switching control results, one is the successful switching when it moves to the first gear position interval; the other is the failed switching when it does not move to the first gear position interval. If the switching control result is a successful switching, it means that the disengagement mechanism does not have a failure to engage, and the disengagement mechanism of the auxiliary drive axle can be engaged with the auxiliary drive motor, and there should be a corresponding drive speed; if the switching control result is a failed switching, it means that the disengagement mechanism has a failure to engage, and the state switching instruction of the disengagement mechanism needs to be forcibly controlled.

[0124] The switching control result can be reflected by the speed difference between the driving speed and the preset target driving speed:

[0125] In some embodiments, determining whether there is a failure to combine according to a speed difference between the driving speed and a preset target driving speed includes:

[0126] Step 4021: In response to the speed difference being less than or equal to a preset speed threshold, determining that there is no inability to combine fault.

[0127] During specific implementation, since the input of the auxiliary motor may fluctuate to a certain extent, the driving speed is allowed to fluctuate to a certain extent. Therefore, when the speed difference is less than or equal to the preset speed threshold, it means that the driving speed has fluctuated slightly, causing the actual driving speed to deviate slightly from the target driving speed. This is a normal phenomenon and it is determined that there is no failure to combine.

[0128] Step 4022: In response to the speed difference being greater than a preset speed threshold, determining a second duration greater than the speed threshold, and determining a safety duration corresponding to the target driving speed based on preset speed-duration relationship data.

[0129] In specific implementation, the vehicle has many electrical components, and small fluctuations in the driving speed are allowed. Therefore, when the speed difference is greater than the preset speed threshold, it means that the actual driving speed has seriously deviated from the target driving speed. The speed abnormality is judged based on the second duration of the speed difference being greater than the speed threshold to see whether there is a failure that cannot be combined.

[0130] However, the performance of different auxiliary drive motors is different, so the efficiency of fluctuation adjustment after fluctuation occurs is different. However, generally speaking, the greater the target drive speed, the greater the difficulty of adjustment, so it is necessary to determine the safety time corresponding to the target drive speed based on the preset speed-time relationship data. The speed-time relationship data can be two-dimensional table data or two-dimensional function relationship data, which is not limited here.

[0131] The safety time indicates the maximum duration of a large fluctuation in which the rotational speed difference is allowed to be greater than the rotational speed threshold, so whether the second duration is legal can be judged based on the safety time.

[0132] Step 4023: In response to the second duration being greater than or equal to the safety duration, it is determined that a combination failure occurs.

[0133] In specific implementation, if the second duration is greater than or equal to the safety duration, it means that the drive speed is too low for a long time, which means that the auxiliary drive axle is not effectively combined with the auxiliary drive motor, and the disengagement mechanism fails to combine, and it is determined that there is a failure to combine.

[0134] Step 4024: In response to the second duration being less than the safety duration, determining that there is no motor output fault.

[0135] In specific implementation, if the second duration is shorter than the safety duration, it means that the driving speed has only short-term large fluctuations at a low speed, which is a normal phenomenon and it is determined that there is no failure to combine.

[0136] In some embodiments, Figure 5 As shown, whether there is a movement fault is determined according to the minimum shift stroke and the movement stroke of the shift fork of the disengagement mechanism during the shifting process, including:

[0137] Step 501: In response to the movement stroke being greater than the minimum shift stroke, determining that there is no movement fault.

[0138] In a specific implementation, if the moving stroke is greater than the minimum shifting stroke, it means that the moving stroke of the shift fork is sufficient to complete the state switching, and it is determined that there is no movement fault.

[0139] Step 502: In response to the movement stroke being less than or equal to the minimum shift stroke, determining the current fork position of the shift fork, and determining a target position interval in the neutral position interval and the first gear position interval according to an initial state.

[0140] In specific implementation, there are two situations that cause the moving stroke to be less than or equal to the minimum shift stroke. One is that the shift fork has a fault and cannot move normally, causing the moving stroke to be less than or equal to the minimum shift stroke. The other is that the position sensor has a fault, resulting in an error in the detection of the moving stroke.

[0141] At this time, it is necessary to determine the actual situation that caused the fault. First, determine the target position interval in the neutral position interval and the first gear position interval according to the initial state. If the initial state is the engaged state, a disengagement operation is required, and the target position interval is the neutral position interval. If the initial state is the disengaged state, an engagement operation is required, and the target position interval is the first gear position interval. If the fault is a position sensor, then the shift motor and the shift fork can work normally, and the current fork position of the shift fork should theoretically be within the target position interval, so the specific fault situation can be distinguished based on the relationship between the target position interval and the current fork position.

[0142] Step 503: In response to the current fork position not existing within the target position interval, determining that a movement fault exists.

[0143] In specific implementation, if the current shift fork position does not exist within the target position interval, it means that the shift fork has not moved to the correct position, which belongs to the first case. There is a movement fault in the shift fork, and it is determined that there is a movement fault.

[0144] Step 504: In response to the current fork position existing within the target position interval, freezing the shift motor, determining the drive speed of the auxiliary drive axle, and determining whether there is a movement fault according to the initial state and the drive speed.

[0145] In specific implementation, if the current fork position exists within the target position interval, it means that the position sensor may be faulty. At this time, it is necessary to verify whether the position sensor is really faulty according to the driving speed of the auxiliary drive axle. Before determining whether the fault really exists, in order to avoid further deepening of the fault, it is necessary to force the shift motor to freeze and prohibit the shift motor from rotating, that is, prohibit the shift fork from continuing to move until the specific fault is removed, and avoid the risk caused by the fault through forced control. Among them, when the initial state is different, there may be differences in the verification process, so it is determined whether there is a mobile fault based on the initial state and the driving speed.

[0146] In some embodiments, determining whether there is a movement fault according to an initial state and a driving speed includes:

[0147] Step 5041: In response to the initial state being the combined state, determining that there is a movement failure.

[0148] In specific implementation, if the initial state is the engaged state, it means that the disengagement operation is being performed, and the correct driving speed should be zero. If the driving speed after the state switching is not 0, it means that the disengagement has failed, which belongs to the first case, and it is determined that there is a movement fault. If the driving speed after the state switching is 0, it means that the disengagement operation has been completed, and the current fork position is correct, and there is a problem with the position detection of the position sensor, which belongs to the second case, and it is determined that there is a movement fault. Therefore, when the initial state is the engaged state and the movement stroke is monitored to be less than or equal to the minimum shift stroke, it can be determined that there is a movement fault.

[0149] Step 5042: In response to the initial state being the disengaged state and the drive speed being zero, it is determined that there is a movement fault.

[0150] In specific implementation, if the initial state is the disengaged state, it means that the engagement operation is performed and the correct driving speed is not zero. If the driving speed is zero at this time, it means that the shift fork has not moved to the first gear position interval and the position sensor detection error occurs because the current fork position exists in the target position interval but the state switching is not completed.

[0151] Step 5043: In response to the initial state being the disengaged state and the driving speed being not zero, it is determined that there is no movement fault.

[0152] In specific implementation, if the initial state is the disengaged state, it means that the engagement operation is being performed, and the correct driving speed should not be zero. If the driving speed is not zero at this time, it means that the state switching is completed, and the sensor detects the current fork position without error. It may be that there is an error in the detection of the moving stroke, and the shift fork can move normally, and it is determined that there is no moving fault.

[0153] In some embodiments, Figure 6 As shown, the reported fault is determined based on the initial state and the actual target faults among the power fault, motor output fault, and movement fault, including:

[0154] Step 601: In response to the initial state being a disengaged state and the presence of a power failure or a movement failure, the failure to combine is determined as a reportable failure.

[0155] In specific implementation, if the initial state is the disengaged state, and a power failure or movement failure is monitored, it means that the shift mechanism cannot complete the engagement action at this time, and it is determined that there is an inability to engage fault. The inability to engage fault needs to be determined as a report fault and reported to the vehicle controller. After receiving the inability to engage fault, the vehicle controller will issue a mandatory instruction with the highest priority to force the disengagement mechanism to perform the disengagement action, ensuring that the disengagement mechanism with a fault remains in the initial state, avoiding incorrect user control from aggravating the fault. A fault alarm prompt is also issued to prompt the user to repair the disengagement mechanism. When the fault prompt is issued, the specific fault name and cause are displayed to facilitate maintenance.

[0156] Step 602: In response to the initial state being the engaged state and the presence of a power failure, determining an inability to disengage failure as a reporting failure.

[0157] In specific implementation, if the initial state is the engaged state and a power failure is monitored, it means that the shift mechanism cannot complete the disengagement action at this time, and it is determined that there is an undisengagement fault. The undisengagement fault needs to be determined as a reportable fault and reported to the vehicle controller. After receiving the undisengagement fault, the vehicle controller will issue a mandatory instruction with the highest priority to force the disengagement mechanism to perform the engagement action, ensuring that the disengagement mechanism with the fault remains in the initial state to avoid the fault being aggravated by incorrect user control. A fault alarm prompt will be issued to prompt the user to repair the disengagement mechanism. When the fault prompt is issued, the specific fault name and cause will be displayed to facilitate maintenance.

[0158] Step 603: In response to the initial state being the engaged state and the presence of a movement fault, determining the driving speed of the auxiliary drive axle.

[0159] In specific implementation, if the initial state is the combined state and a movement fault is monitored, it is necessary to further determine the type of fault to be reported based on the driving speed.

[0160] Step 604: In response to the driving speed not being a zero value, determining the unable to disengage fault as a reporting fault.

[0161] In specific implementation, if the driving speed is not zero, it means that the disengagement mechanism is still in the engaged state at this time, and the shift mechanism cannot complete the disengagement action. It is determined that there is an undisengagement fault. The undisengagement fault needs to be determined as a report fault and reported to the vehicle controller. After receiving the undisengagement fault, the vehicle controller will issue a mandatory instruction with the highest priority to force the disengagement mechanism to perform the engagement action, ensuring that the disengagement mechanism with the fault remains in the initial state to avoid the fault being aggravated by the wrong user control. A fault alarm prompt is also issued to prompt the user to repair the disengagement mechanism. When the fault prompt is issued, the specific fault name and cause are displayed to facilitate the repair.

[0162] By simplifying different faults into two situations, namely, unable to combine faults and unable to disengage faults for fault reporting, the fault handling process of the VCU is simplified, the fault handling efficiency is improved, and forced control can be achieved as soon as the fault is monitored, avoiding subsequent unreasonable state switching instructions that aggravate the fault severity.

[0163] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0164] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0165] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a fault handling device for a disengagement mechanism.

[0166] refer to Figure 7 , the fault handling device of the disengagement mechanism comprises:

[0167] The external fault detection module 10 is configured to: in response to detecting a state switching instruction for the disengagement mechanism in the running state, determine the initial state and the minimum shift stroke of the disengagement mechanism according to the shift position of the disengagement mechanism, and perform circuit fault detection;

[0168] The power failure detection module 20 is configured to: in response to detecting a circuit failure, determine whether there is a power failure based on the input current of the shift motor of the disengagement mechanism;

[0169] The internal fault detection module 30 is configured to: in response to not detecting a circuit fault, determine whether there is a movement fault according to a minimum shift stroke and a movement stroke of a shift fork of a disengagement mechanism during a shifting process;

[0170] The forced control module 40 is configured to determine the reported fault according to the initial state, the power fault and the movement fault, and to forcibly control the state switching instruction of the disengagement mechanism according to the reported fault.

[0171] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0172] The device of the above embodiment is used to implement the corresponding fault handling method of the disengagement mechanism in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0173] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the fault handling method of the disengagement mechanism described in any of the above embodiments is implemented.

[0174] Figure 8 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0175] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0176] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0177] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0178] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0179] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0180] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0181] The electronic device of the above embodiment is used to implement the corresponding fault handling method of the disengagement mechanism in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0182] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the fault handling method of the disengagement mechanism as described in any of the above embodiments.

[0183] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0184] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the fault handling method of the disengagement mechanism as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0185] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a vehicle, including a fault handling device for the electronic device or the disengagement mechanism of the above-mentioned embodiments, and the fault handling method for the disengagement mechanism described in any of the above-mentioned embodiments is executed through the fault handling device for the electronic device or the disengagement mechanism of the above-mentioned embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0186] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0187] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0188] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0189] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0190] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0191] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power supply / ground connection with the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0192] Although the present application has been described in conjunction with specific embodiments of the present application, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0193] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of the present application.

Claims

1. A method for handling a fault of a disengaging mechanism, characterized in that: include: In response to detecting a state switching instruction for the disengagement mechanism in the running state, determining the initial state and the minimum shift stroke of the disengagement mechanism according to the shift position of the disengagement mechanism, and performing circuit fault detection; In response to detecting a circuit fault, determining whether there is a power failure based on an input current of a shift motor of the disengagement mechanism; In response to no circuit fault being detected, determining whether there is a movement fault based on the minimum shift stroke and the movement stroke of the shift fork of the disengagement mechanism during the shifting process; A reported fault is determined according to the initial state, the power fault and the movement fault, and the state switching instruction of the disengagement mechanism is forcibly controlled according to the reported fault.

2. The method for troubleshooting a disengagement mechanism according to claim 1, characterized in that: The shift position includes a neutral shift position and a first gear shift position; and determining the initial state and the minimum shift stroke of the disengagement mechanism according to the shift position of the disengagement mechanism includes: Determining the interval stroke between the neutral shift position and the first gear shift position as the minimum shift stroke; Determine a neutral stop point position and a first gear stop point position of the disengagement mechanism, and determine the interval between the neutral stop point position and the neutral shift position as a neutral position interval, and determine the interval between the first gear stop point position and the first gear shift position as a first gear position interval; determining a fork position of the shift fork; In response to the shift fork position existing in the neutral position interval, determining the disengagement state as the initial state of the disengagement mechanism; In response to the shift fork position existing in the first gear position interval, the engaged state is determined as the initial state of the disengagement mechanism.

3. The method for troubleshooting a disengagement mechanism according to claim 1, characterized in that: The determining whether there is a power failure according to the input current of the shift motor of the disengagement mechanism includes: In response to the input current being greater than or equal to a preset current threshold, determining that there is no power failure; In response to the input current being less than a preset current threshold, determining a first duration that is less than the current threshold; In response to the first duration being greater than or equal to a preset duration threshold, determining that a power failure exists; In response to the first duration being less than a preset duration threshold, it is determined that no power failure exists.

4. The method for troubleshooting a disengagement mechanism according to claim 1, characterized in that: After determining that no circuit faults are detected, further comprising: In response to the initial state being a coupled state, determining that there is no undetachable fault; In response to the initial state being a disengaged state, the driving speed of the auxiliary drive axle is determined, and based on the speed difference between the driving speed and a preset target driving speed, it is determined whether there is an inability to engage fault, and when the inability to engage fault exists, the state switching instruction of the disengagement mechanism is forcibly controlled.

5. The method for troubleshooting a disengagement mechanism according to claim 4, characterized in that: The determining whether there is a failure of being unable to combine according to the speed difference between the driving speed and the preset target driving speed includes: In response to the speed difference being less than or equal to a preset speed threshold, determining that there is no inability to engage fault; In response to the speed difference being greater than a preset speed threshold, determining a second duration greater than the speed threshold, and determining a safety duration corresponding to the target driving speed according to preset speed-duration relationship data; In response to the second duration being greater than or equal to the safety duration, determining that a combination failure occurs; In response to the second duration being shorter than the safety duration, it is determined that there is no impossible-to-combine fault.

6. The method for troubleshooting a disengagement mechanism according to claim 2, characterized in that: The determining whether there is a movement fault according to the minimum shifting stroke and the movement stroke of the shift fork of the disengagement mechanism during the shifting process includes: In response to the movement stroke being greater than the minimum shift stroke, determining that there is no movement fault; In response to the movement stroke being less than or equal to the minimum shift stroke, determining a current fork position of the shift fork, and determining a target position interval in a neutral position interval and a first gear position interval according to the initial state; In response to the current fork position not being within the target position interval, determining that a movement fault exists; In response to the current fork position being within the target position interval, the shift motor is frozen, a drive speed of the auxiliary drive axle is determined, and whether there is a movement fault is determined based on the initial state and the drive speed.

7. The method for troubleshooting a disengagement mechanism according to claim 6, characterized in that: The determining whether there is a movement fault according to the initial state and the driving speed includes: In response to the initial state being a combined state, determining that a movement fault exists; In response to the initial state being a disengaged state and the driving speed being a zero value, determining that a movement fault exists; In response to the initial state being the disengaged state and the driving rotation speed being not a zero value, it is determined that there is no movement failure.

8. The method for troubleshooting a disengagement mechanism according to claim 1, characterized in that: The determining and reporting a fault according to the initial state, the power fault and the movement fault comprises: In response to the initial state being a disengaged state and the power failure or the movement failure existing, the failure cannot be combined to be determined as the reporting failure; In response to the initial state being the engaged state and the power failure existing, determining an inability to disengage failure as the reporting failure; In response to the initial state being the engaged state and the movement fault existing, determining a driving speed of the auxiliary drive axle; In response to the driving speed not being a zero value, an unable to disengage fault is determined as the reporting fault.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 8 is implemented.

10. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 9.

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