Troubleshooting methods for disengagement mechanisms, electronic equipment, and vehicles.

Abstract

This application provides a fault handling method, electronic device, and vehicle for a disengagement mechanism, belonging to the field of vehicle technology. Upon detecting a state switching command, it activates fault monitoring, providing a data basis for fault monitoring by determining the initial state and minimum shift stroke of the disengagement mechanism. Priority is given to circuit fault detection to eliminate its influence. If a circuit fault exists, monitoring power faults determines whether the circuit fault affects the power output of the shift motor, ensuring the disengagement mechanism has sufficient power to perform engagement and disengagement actions. If no circuit fault exists, monitoring movement faults determines whether there are faults in the shift fork and shift motor, achieving fault monitoring of the shift fork and shift motor of the disengagement mechanism. Based on the reported fault, the state switching command of the disengagement mechanism is forcibly controlled to prevent unreasonable and aggravated operations when a fault exists, ensuring the disengagement mechanism is not damaged.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a fault handling method for a disengagement mechanism, electronic equipment, and a vehicle. Background Technology

[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 malfunctions may occur, causing the disengagement mechanism to work in an abnormal state, which can easily lead to serious damage to the disengagement mechanism. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a fault handling method, electronic equipment and vehicle for a disengagement mechanism, which prevents the disengagement mechanism from operating under abnormal conditions through real-time fault monitoring, so as to protect the safety of the disengagement mechanism.

[0004] To achieve the above objectives, this application provides a fault handling method for a disengagement mechanism, comprising:

[0005] In response to the detection of a state switching command for the disengagement mechanism during operation, the initial state and minimum shift stroke of the disengagement mechanism are determined according to the shift position of the disengagement mechanism, and circuit fault detection is performed.

[0006] In response to the detection of a circuit fault, the presence of a power fault is determined based on the input current of the shift motor of the disengagement mechanism;

[0007] In response to the absence of a detected circuit fault, the presence of a movement fault is determined based on the minimum shift stroke and the movement stroke of the shift fork of the disengagement mechanism during the shift process.

[0008] The reported fault is determined based on the initial state, the power failure, and the movement failure, and the state switching command of the disengagement mechanism is forcibly controlled based on the reported fault.

[0009] Optionally, the shifting position includes a neutral shifting position and a first gear shifting position; determining the initial state and minimum shifting stroke of the disengagement mechanism based on the shifting position of the disengagement mechanism includes:

[0010] The minimum shift travel is defined as the interval between the neutral shift position and the first gear shift position.

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

[0012] Determine the position of the shift fork;

[0013] In response to the fork position being in the neutral position range, the disengaged state is determined as the initial state of the disengagement mechanism;

[0014] In response to the fork position being within the first position range, the engagement state is determined as the initial state of the disengagement mechanism.

[0015] The minimum shift travel is the minimum distance traveled to achieve state switching, so it can be used as a standard to judge whether the shift fork is operating correctly. Different initial states require different fault diagnosis methods; determining the initial state can provide direction for the fault diagnosis process.

[0016] Optionally, determining whether a power fault exists based on the input current of the shift motor of the disengagement mechanism includes:

[0017] If the input current is greater than or equal to a preset current threshold, it is determined that there is no power fault.

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

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

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

[0021] By diagnosing a power failure, it can be determined whether the shift motor has sufficient power to move the shift fork.

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

[0023] In response to the initial state being an engaged state, it is determined that there is no inability to disengage;

[0024] In response to the initial state being the disengaged state, the drive speed of the auxiliary drive axle is determined, and the difference between the drive speed and the preset target drive speed is used to determine whether there is a failure to engage. If the failure to engage exists, the state switching command of the disengagement mechanism is forcibly controlled.

[0025] After determining that there is no circuit fault, fault diagnosis can also be performed based on the results. That is, the presence of a fault can be determined based on the switching control results of the disconnection mechanism, providing another fault diagnosis strategy and improving the accuracy of fault diagnosis.

[0026] Optionally, determining whether a non-engagement fault exists based on the speed difference between the driving speed and the preset target driving speed includes:

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

[0028] In response to the speed difference being greater than a preset speed threshold, a second duration greater than the speed threshold is determined, and a safe duration corresponding to the target drive speed is determined based on preset speed duration relationship data;

[0029] In response to the second duration being greater than or equal to the safe duration, a failure to combine is determined;

[0030] In response to the second duration being less than the safe duration, it is determined that there is no inability to combine fault.

[0031] The switching control result can be reflected by the speed difference between the drive speed and the preset target drive speed. Judging based on the speed difference can avoid misjudgment caused by speed fluctuations and improve the accuracy of fault diagnosis.

[0032] Optionally, determining whether a movement fault exists based on the minimum shift stroke and the movement stroke of the shift fork of the disengagement mechanism during shifting includes:

[0033] In response to the fact that the travel distance is greater than the minimum shift travel distance, it is determined that there is no movement fault;

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

[0035] If the current fork position does not exist within the target position range, a movement fault is determined.

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

[0037] By combining the minimum shift stroke and the current shift fork position, it can be determined whether the shift fork has moved correctly. When abnormal shift fork movement is detected, the shift motor is frozen to avoid further exacerbating the fault. At the same time, the initial state and drive speed are used to further determine whether there is a movement fault, avoiding misjudgments caused by position sensor failure.

[0038] Optionally, determining whether a movement fault exists based on the initial state and the drive speed includes:

[0039] In response to the initial state being an engaged state, a mobility fault is determined to exist;

[0040] In response to the initial state being disengaged and the drive speed being zero, a movement fault is determined to exist;

[0041] In response to the initial state being disengaged and the drive speed being non-zero, it is determined that there is no movement fault.

[0042] The verification process may differ depending on the initial state, so it is necessary to determine whether there is a movement fault based on the initial state and drive speed in order to avoid the influence of sensor failure.

[0043] Optionally, determining the reported fault based on the initial state, the power fault, and the mobility fault includes:

[0044] In response to the initial state being a disconnected state, and the existence of the power failure or the movement failure, the failure cannot be determined as the reported failure.

[0045] In response to the initial state being the engaged state and the existence of the power failure, the inability to disengage is identified as the reported failure.

[0046] In response to the initial state being engaged and the existence of the movement fault, the drive speed of the auxiliary drive axle is determined;

[0047] In response to the drive speed being non-zero, the inability to disengage is identified as the reported fault.

[0048] By simplifying different faults into two categories—faults that cannot be combined and faults that cannot be separated—fault reporting is streamlined, fault handling efficiency is improved, and forced control can be implemented as soon as a fault is detected, thus avoiding subsequent unreasonable state switching commands that could worsen the fault.

[0049] Based on the same inventive concept, this 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 described above when executing the computer program.

[0050] Based on the same inventive concept, this disclosure also provides a vehicle including the electronic equipment described above.

[0051] As can be seen from the above, the fault handling method, electronic equipment, and vehicle of the disengagement mechanism provided in this application can, after detecting a state switching command for the disengagement mechanism during operation, determine the initial state and minimum shift stroke of the disengagement mechanism based on the shift position of the disengagement mechanism, and perform circuit fault detection; if a circuit fault is detected, determine whether a power fault exists based on the input current of the shift motor of the disengagement mechanism; if no circuit fault is detected, determine whether a movement fault exists based on the minimum shift stroke and the movement stroke of the shift fork of the disengagement mechanism during shifting; determine the reported fault based on the initial state, power fault, and movement fault, and forcibly control the state switching command of the disengagement mechanism based on the reported fault. After detecting the state switching command, fault monitoring is activated, and the initial state and minimum shift stroke of the disengagement mechanism are determined to provide a data basis for fault monitoring; circuit fault detection is prioritized to eliminate the influence of circuit faults. When a circuit fault exists, power fault is monitored to determine whether the circuit fault affects the power output of the shift motor, ensuring that the disengagement mechanism has sufficient power to perform engagement and disengagement actions. When no circuit fault exists, the fault detection mechanism determines whether the shift fork and shift motor are faulty, thus enabling fault monitoring of the disengagement mechanism's shift fork and shift motor. Based on reported faults, the disengagement mechanism's state switching commands are forcibly controlled to prevent unreasonable and aggravated operations from being performed when a fault exists, ensuring the disengagement mechanism is not damaged. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a flowchart of a fault handling method for the disengagement mechanism in an embodiment of this application;

[0054] Figure 2 This is a schematic diagram illustrating the state switching principle of the disengagement mechanism in an embodiment of this application;

[0055] Figure 3 A flowchart for determining the initial state and minimum shift stroke of the disengagement mechanism in an embodiment of this application;

[0056] Figure 4 A flowchart illustrating another fault handling method for the disengagement mechanism in an embodiment of this application;

[0057] Figure 5 A flowchart for determining whether a mobility fault exists in the embodiments of this application;

[0058] Figure 6 A flowchart for determining the reported fault in this application embodiment;

[0059] Figure 7 This is a schematic diagram of the fault handling device for the disengagement mechanism in an embodiment of this application;

[0060] Figure 8 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0062] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" 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 is important to understand in this article that any number of elements in the accompanying figures is for illustrative purposes and not for limitation, and that any naming is for distinction only and has no limiting meaning.

[0064] Based on the above background description, the following situations also exist in the related technologies:

[0065] Pure electric four-wheel drive vehicles are equipped with two electric drive axles, one at the front and one at the rear. However, both electric drive axles are not always needed for vehicle operation. Under normal circumstances, one electric drive axle is sufficient. Both axles are only used when high torque is required, such as during starting, climbing, or overtaking. 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 axle is operating, reducing mechanical resistance and drag resistance losses in the electric drive system.

[0066] Disengaging the mechanism can improve drive efficiency. Unlike traditional four-wheel drive systems that have only one power source, electric four-wheel drive systems typically 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-slip), the two electric drive axles also need to meet the power requirements for starting and high-speed overtaking.

[0067] Under normal driving conditions, one electric drive axle is usually enough to meet the power needs of the whole vehicle. Therefore, there are usually two ways to distribute the power of the electric four-wheel drive architecture: one is to have the two electric drive axles bear the load respectively, and the other is to have only one electric drive axle bear the load while the other is towed. However, the former will result in low efficiency under low load, and the latter will generate additional load due to towing, both of which will lead to increased energy consumption.

[0068] Adding a disengagement mechanism to an electric drive axle allows for rapid engagement during acceleration to provide the vehicle's required power, while maintaining disengagement during normal driving to reduce energy consumption. This disengagement mechanism can reduce mechanical losses (static and dynamic losses) by more than 4%, resulting in significant battery cost savings for the same driving range. Depending on the electric drive axle structure, the disengagement mechanism can be positioned on various locations such as the intermediate shaft, half-shaft, or differential, offering flexible layout options while maintaining high efficiency.

[0069] However, under normal driving conditions, keeping the disengaged mechanism engaged does not guarantee reduced energy consumption at all torque requests and vehicle speeds. In fact, using the disengagement mechanism can increase overall vehicle energy consumption if it's not operating within the most energy-efficient range. The optimal energy consumption control method is not applicable to all vehicle usage scenarios. Different scenarios involve different operating conditions, and a single control mode may not meet the needs of specific conditions. Therefore, it's necessary to switch the disengagement mechanism's state based on the vehicle's real-time operating conditions. This involves switching the disengagement mechanism from engaged to disengaged via disengagement control commands and vice versa. However, if the disengagement mechanism malfunctions during this switching process, and the user issues incorrect control commands, the risk of failure will increase. This could prevent the state switch from being completed and potentially damage the mechanical components of the disengagement mechanism. Therefore, fault monitoring of the disengagement mechanism is necessary, and effective measures must be taken when a fault is confirmed.

[0070] The fault handling method, electronic equipment, and vehicle for the disengagement mechanism provided in this application can activate fault monitoring after detecting a state switching command. It provides a data basis for fault monitoring by determining the initial state and minimum shift stroke of the disengagement mechanism; it prioritizes circuit fault detection to eliminate the influence of circuit faults. When a circuit fault exists, it monitors power faults to determine whether the circuit fault affects the power output of the shift motor, ensuring that the disengagement mechanism has sufficient power to perform engagement and disengagement actions. When no circuit fault exists, it monitors movement faults to determine whether there are faults in the shift fork and shift motor, achieving fault monitoring of the shift fork and shift motor of the disengagement mechanism. Based on the reported fault, it forcibly controls the state switching command of the disengagement mechanism to ensure that when a fault exists in the disengagement mechanism, unreasonable operations that aggravate the fault are avoided, ensuring that the disengagement mechanism is not damaged.

[0071] The following describes in detail, with reference to the accompanying drawings, the fault handling method of the disengagement mechanism provided by the embodiments of this application.

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

[0073] Step 101: In response to the detection of a state switching command for the disengagement mechanism during operation, determine the initial state and minimum shift stroke of the disengagement mechanism based on the shift position of the disengagement mechanism, and perform circuit fault detection.

[0074] In practice, before diagnosing internal faults in the disengagement mechanism, it is necessary to first determine that the vehicle is in operation (the vehicle is considered to be in operation when it is under high voltage, i.e., when the entire vehicle is under high voltage). This is because the disengagement mechanism does not require torque transmission when stationary, thus preventing damage. Furthermore, some vehicles may be configured to prevent switching of the disengagement mechanism's state when stationary. Therefore, fault monitoring is only performed on the disengagement mechanism in operation. During fault monitoring, the influence of external faults must be eliminated first. External faults are mainly electrical faults, including open circuit faults, short circuits to ground faults, and over-temperature protection. Only after eliminating the influence of external faults can it be determined that the monitored fault is an internal mechanism fault of the disengagement mechanism.

[0075] The state switching principle of the disengagement mechanism is as follows: Figure 2As shown, the shifting positions of the disengagement mechanism include a neutral shifting position and a first gear shifting position. It also includes a neutral stop point and a first gear stop point to limit the movement of the shift fork of the disengagement mechanism. The neutral stop point and the neutral shifting position are on the same side, and the first gear stop point and the first gear shifting position are on the same side. The distance between the neutral stop point and the first gear stop point represents the maximum shifting stroke Z of the shift fork of the disengagement mechanism. Because there are blocking structures at the neutral stop point and the first gear stop point to prevent the shift fork from moving outward, the shift fork can only move between the neutral stop point and the first gear stop point.

[0076] The distance between the neutral and first gear shift positions represents the minimum shift travel. This indicates the minimum distance the shift fork must travel to complete a state transition for the disengagement mechanism. Otherwise, a legal state transition cannot be completed. Therefore, the minimum shift travel can be used for fault diagnosis. Upon detecting a state transition command for the disengagement mechanism, the minimum shift travel needs to be determined to provide data support for subsequent fault monitoring. The initial state of the disengagement mechanism includes a disengaged state and an engaged state. The direction of state transition can be determined based on the initial state. If the initial state is engaged, the transition direction is from engaged to disengaged; if the initial state is disengaged, the transition direction is from disengaged to engaged. Fault diagnosis and handling differ depending on the transition direction. Therefore, determining the initial state of the disengagement mechanism can improve the efficiency of fault monitoring and handling.

[0077] Among them, such as Figure 2 As shown, to facilitate fault diagnosis, the position of the disengagement mechanism needs to be defined. The relative position of the neutral stop point is defined as 0mm. This facilitates the description of the neutral shift position, the first gear shift position, and the relative distance between the first gear stop point and the neutral stop point.

[0078] The maximum shift travel 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 Zmm;

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

[0080] The relative distance between the first gear shift position and the first gear stop point is represented by Y. Then the relative position of the first gear shift position with respect to the neutral stop point can be described as (ZY) mm.

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

[0082] When the position sensor of the shift motor detects that the 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 position of the shift fork is within {(ZY), Z} mm, then 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 position of the shift fork is within {X,(ZY)} mm, it can be determined that there is a malfunction in the disengagement mechanism.

[0085] Step 102: In response to the detection of a circuit fault, determine whether there is a power fault based on the input current of the shift motor of the disengagement mechanism.

[0086] In practice, when a circuit fault is detected, it indicates that there is an external fault that 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. This is because a circuit fault may cause the output of the shift motor to decrease, resulting in insufficient power of the shift motor. The shift motor cannot drive the shift fork to move, which makes it impossible for the disengagement mechanism to switch states.

[0087] The logic for diagnosing power system faults is as follows:

[0088] In some embodiments, determining whether a power fault exists 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, determine that there is no power fault.

[0090] In practice, the current threshold is the minimum current value that ensures 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 has not affected 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 fault.

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

[0092] In practice, when the Microcontroller Unit (MCU) detects that the vehicle is running and the disengagement mechanism is actually engaged (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 the disengagement operation and activates fault monitoring. If a circuit fault is detected and the input current of the shift motor is less than the current threshold, it indicates that the circuit fault is affecting the input to the shift motor. However, the input current itself may fluctuate, causing the monitoring data to detect a momentary low input current, which may lead to misjudgment. Therefore, it is necessary to further determine the first duration of the input current being less than the current threshold and determine whether a power fault exists 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 disengaged (the shift motor position sensor 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 an engagement operation, the MCU motor controller controls the shift motor to disengage and activates fault monitoring. If a circuit fault is detected and the input current of the shift motor is less than the current threshold, it indicates that the circuit fault is affecting the input to the shift motor. However, the input current itself may fluctuate, causing the monitoring data to detect a momentary low input current, which may lead to misjudgment. Therefore, it is necessary to further determine the first duration of the input current being less than the current threshold and determine whether a power fault exists based on the first duration.

[0094] Therefore, for power failures, the initial state does not affect the judgment process; it is only necessary to determine the relationship between the input current and the current threshold.

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

[0096] In practice, if the first duration is greater than or equal to a preset duration threshold, it means that the shift motor cannot output sufficient torque to move the shift fork for an extended period, causing the corresponding switching action to fail. This eliminates false judgments caused by input current fluctuations and confirms the existence of a power fault. If the initial state is engaged, the existing power fault is a power failure that cannot be disengaged; if the initial state is disengaged, the existing power fault is a power failure that cannot be engaged.

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

[0098] In practice, if the first duration is less than the preset duration threshold, it means that the input current is too small due to short-term current fluctuation. The shift motor can output enough torque to drive the shift fork according to the input current, which can realize the switching of the disengagement mechanism state and confirm that there is no power failure.

[0099] Step 103: If no circuit fault is detected, determine 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 shift process.

[0100] In practice, 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 main components of the disengagement mechanism that perform state switching are the shift motor, shift fork and position sensor. Therefore, 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, the output torque is sufficient. 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 disengagement mechanism state can be switched. The minimum shift stroke is the minimum moving distance required to achieve this state switch. Therefore, the minimum shift stroke can be used as the standard for judging whether the shift fork is operating correctly. That is, the minimum shift stroke is used to judge the shift fork's movement to determine if the movement is reasonable. However, the judgment of whether the movement is reasonable is also affected by the movement detection. Therefore, if the position sensor malfunctions, causing problems with movement detection, it will lead to an incorrect judgment of a movement fault. Thus, when judging movement faults, the impact of the accuracy of movement detection needs to be considered.

[0102] Step 104: Determine the reported fault based on the initial state, power failure, and movement failure, and force control the state switching command of the disengagement mechanism according to the reported fault.

[0103] In practice, when monitoring for faults, if no fault is detected, it is determined that the disengagement mechanism can successfully perform disengagement and engagement actions to meet the user's state switching requirements.

[0104] If at least one of the power failure and movement failure is detected, the fault to be reported needs to be determined based on the detected target fault and the initial state. A mandatory command is then sent from the vehicle controller for targeted forced control to ensure that unreasonable state switching commands issued by the user are not incorrectly responded to when a fault exists, thus preventing further damage to the disengagement mechanism and protecting its safety. The forced control is a switching command to the initial state. If the initial state is engaged and a reported fault is received, the switching command is to switch to the engaged state; if the initial state is disengaged and a reported fault is received, the switching command is to switch to the disengaged state.

[0105] In summary, the fault handling method for the disengagement mechanism provided in this application embodiment can activate fault monitoring after detecting a state switching command. It provides a data basis for fault monitoring by determining the initial state and minimum shift stroke of the disengagement mechanism; it prioritizes circuit fault detection to eliminate the influence of circuit faults. When a circuit fault exists, it monitors power faults to determine whether the circuit fault affects the power output of the shift motor, ensuring that the disengagement mechanism has sufficient power to perform engagement and disengagement actions. When no circuit fault exists, it monitors movement faults to determine whether there are faults in the shift fork and shift motor, achieving fault monitoring of the shift fork and shift motor of the disengagement mechanism. Based on the reported fault, it forcibly controls the state switching command of the disengagement mechanism to ensure that when a fault exists in the disengagement mechanism, unreasonable operations that aggravate the fault are avoided, ensuring that the disengagement mechanism is not damaged.

[0106] In some embodiments, such as Figure 2 As shown, the shift positions include neutral and first gear; then as follows Figure 3 As shown, the initial state and minimum shift stroke of the disengagement mechanism are determined based on the shift position of the disengagement mechanism, including:

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

[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, the disengagement mechanism switches to the disengaged state; when the shift fork moves to between the first gear shift position and the first gear stop, the disengagement mechanism switches to the engaged state. To 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 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, regardless of the state switch, the shift fork needs to pass through both the first gear shift position ZY and the neutral shift position X. Therefore, the interval travel ZYX between the neutral shift position and the first gear shift position is determined as the minimum shift travel.

[0109] To avoid shifting errors, ZY-X+Q can be used as the minimum shift travel. Q is a preset adjustment parameter, which can be a fixed value or the product of ZYX and a proportional coefficient (e.g., 0.1). Because the shift fork may not stop directly in neutral or first gear when switching gears, slightly increasing the minimum shift travel can improve the accuracy of fault diagnosis.

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

[0111] In specific implementation, according to Figure 2 It can be seen that when the shift fork moves towards 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. Thus, the interval between the neutral stop position and the neutral shift position is defined as the neutral position range.

[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 convergence state. Thus, the interval between the first gear stop position and the first gear shift position is defined as the first gear position range.

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

[0114] In practice, the specific state of the disengagement mechanism needs to be determined based on the position of the shift fork. The shift fork position is the real-time position of the shift fork detected by the position sensor.

[0115] Step 304: In response to the shift fork position being in the neutral position range, the disengagement state is determined as the initial state of the disengagement mechanism.

[0116] In practice, if the shift fork is in the neutral position range, it means that the shift fork has moved to the neutral shift position near 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 being in the first position range, the engagement state is determined as the initial state of the disengagement mechanism.

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

[0119] In some embodiments, such as Figure 4 As shown, after determining that no circuit fault is detected, the fault handling method for the disconnection mechanism also includes:

[0120] Step 401: In response to the initial state being the coupled state, determine that there is no inability to disengage fault.

[0121] In practice, after confirming that there is no circuit fault, the presence of a fault can be determined based on the switching control result of the disengagement mechanism. If the initial state is engaged, the auxiliary drive axle will separate from the auxiliary drive motor as soon as the shift fork disengages from the first gear position range, thus achieving the switch from engaged to disengaged state. There are three corresponding switching control results: normal and successful disengagement when moving to the neutral position range; abnormal and successful disengagement when moving to the neutral position range; and disengagement failure when moving to the first gear position range. Since it is impossible to determine whether the shift fork has moved into the neutral position range (0, X), there is a possibility that the shift fork may be stuck between the neutral shift position X and the first gear shift position ZY (especially near the neutral shift position). In this case, it is impossible to determine from the perspective of the switching control result whether the state switch has been completed correctly. Therefore, if the initial state is engaged, it is directly determined that there is no fault that disengagement cannot be performed, and other methods are selected for fault diagnosis.

[0122] Step 402: In response to the initial state being the disengaged state, determine the drive speed of the auxiliary drive axle, and determine whether there is a failure to engage based on the speed difference between the drive speed and the preset target drive speed. If there is a failure to engage, force control is applied to the state switching command of the disengagement mechanism.

[0123] In practice, when initially in the disengaged state, the shift fork can only switch to the engaged state when it moves to the first gear position range. Therefore, there are only two possible switching control results: successful switching if the fork moves to the first gear position range, and failed switching if it doesn't. If the switching control result is successful, it indicates that the disengagement mechanism does not have an engagement failure, the auxiliary drive axle's disengagement mechanism can engage with the auxiliary drive motor, and there should be a corresponding drive speed. If the switching control result is failed, it indicates that the disengagement mechanism has an engagement failure, and the state switching command of the disengagement mechanism needs to be forcibly controlled.

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

[0125] In some embodiments, determining whether a non-coupling fault exists based on the speed difference between the drive speed and a preset target drive speed includes:

[0126] Step 4021: In response to the speed difference being less than or equal to a preset speed threshold, determine that there is no failure to engage.

[0127] In practice, since the input of the auxiliary motor may fluctuate, some fluctuation in the drive speed is allowed. Therefore, if the speed difference is less than or equal to the preset speed threshold, it indicates that the drive speed has fluctuated slightly, causing the actual drive speed to deviate slightly from the target drive speed. This is a normal phenomenon and confirms that there is no failure to engage.

[0128] Step 4022: In response to the speed difference being greater than a preset speed threshold, determine a second duration of the difference being greater than the speed threshold, and determine a safe duration corresponding to the target drive speed based on preset speed duration relationship data.

[0129] In practice, since there are many electrical components in a vehicle, the driving speed can fluctuate slightly. Therefore, when the speed difference is greater than the preset speed threshold, it means that the actual driving speed has deviated significantly from the target driving speed. The second duration of the speed difference being greater than the speed threshold is then used to determine whether there is a speed abnormality that cannot be combined with the fault.

[0130] However, different auxiliary drive motors have different performance characteristics, resulting in varying efficiencies in adjusting for fluctuations. Generally, the higher the target drive speed, the more difficult the adjustment becomes. Therefore, it is necessary to determine the safe duration corresponding to the target drive speed based on preset speed-duration relationship data. The speed-duration relationship data can be two-dimensional tabular data or two-dimensional functional relationship data; no specific limitation is imposed here.

[0131] The safe duration represents the maximum duration during which large fluctuations in rotational speed difference are allowed to exceed the rotational speed threshold. Therefore, the legality of the second duration can be determined based on the safe duration.

[0132] Step 4023: In response to a second duration being greater than or equal to the safe duration, determine that a failure to combine exists.

[0133] In practice, if the second duration is greater than or equal to the safe duration, it indicates that the drive speed is too low for an extended period, meaning that the auxiliary drive axle is not effectively engaged with the auxiliary drive motor, the disengagement mechanism has failed to engage, and a failure to engage is confirmed.

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

[0135] In practice, if the second duration is less than the safe duration, it means that the drive speed only experiences short-term low speed fluctuations, which is normal and confirms that there is no failure to engage.

[0136] In some embodiments, such as Figure 5 As shown, the presence of a movement fault is determined based on the minimum shift stroke and the travel of the shift fork of the disengagement mechanism during shifting, including:

[0137] Step 501: In response to the fact that the travel distance is greater than the minimum shift travel distance, it is determined that there is no travel fault.

[0138] In practice, if the travel distance is greater than the minimum shift travel distance, it means that the travel distance 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 travel being less than or equal to the minimum shift travel, determine the current shift fork position, and determine the target position range in the neutral position range and the first gear position range based on the initial state.

[0140] In practice, there are two situations that can cause the shift travel to be less than or equal to the minimum shift travel. One is that the shift fork is faulty and cannot move normally, resulting in the shift travel being less than or equal to the minimum shift travel. The other is that the position sensor is faulty, causing an error in the detection of the shift travel.

[0141] At this point, it's necessary to determine the actual cause of the malfunction. First, based on the initial state, determine the target position range within the neutral and first gear ranges. If the initial state is engaged, a disengagement operation is required, and the target position range is the neutral range. If the initial state is disengaged, an engagement operation is required, and the target position range is the first gear range. If the malfunction is due to a position sensor failure, both the shift motor and shift fork should be functioning normally. Theoretically, the current shift fork position should be within the target position range. Therefore, the specific malfunction can be identified based on the relationship between the target position range and the current shift fork position.

[0142] Step 503: In response to the absence of the current fork position within the target position range, a movement fault is determined to exist.

[0143] In practice, if the current shift fork position does not exist within the target position range, it means that the shift fork has not moved to the correct position, which is the first situation. The shift fork movement is faulty, and a movement fault is confirmed.

[0144] Step 504: In response to the existence of the current shift fork position within the target position range, freeze the shift motor, determine the drive speed of the auxiliary drive axle, and determine whether there is a movement fault based on the initial state and drive speed.

[0145] In practice, if the current shift fork position exists within the target position range, it indicates a possible malfunction in the position sensor. In this case, it's necessary to verify the position sensor's malfunction based on the auxiliary drive axle's drive speed. Before confirming the malfunction, to prevent further damage, the shift motor must be forcibly frozen, prohibiting its rotation and thus preventing the shift fork from moving further. This process continues until the malfunction is identified, and then forced control is used to mitigate the risks associated with the fault. The verification process may differ depending on the initial state, so the presence of a movement malfunction must be determined based on the initial state and drive speed.

[0146] In some embodiments, determining whether a movement fault exists based on the initial state and drive speed includes:

[0147] Step 5041: In response to the initial state being the coupled state, determine that a mobility fault exists.

[0148] In practice, if the initial state is engaged, it indicates a disengagement operation is being performed, and the correct drive speed should be zero. If the drive speed after the state switch is not zero, it indicates disengagement failure, falling under the first scenario, confirming a movement fault. If the drive speed after the state switch is zero, it indicates a completed disengagement operation, and the current shift fork position is correct; the problem lies with the position sensor's position detection, falling under the second scenario, also confirming a movement fault. Therefore, if the movement travel is detected to be less than or equal to the minimum shift travel when the initial state is engaged, a movement fault can be confirmed.

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

[0150] In practice, if the initial state is disengaged, it indicates that an engagement operation is being performed, and the correct drive speed is not zero. If the drive speed is zero at this time, it means that the shift fork has not moved to the first gear position range, and the position sensor has detected an error, because the current shift fork position exists within the target position range, but the state switch has not been completed.

[0151] Step 5043: In response to the initial state being disengaged and the drive speed being non-zero, it is determined that there is no movement fault.

[0152] In practice, if the initial state is disengaged, it indicates that an engagement operation is being performed, and the correct drive speed should not be zero. If the drive speed is not zero at this time, it means that the state switch is complete, and the sensor's detection of the current shift fork position is correct. The error may be in the detection of the travel distance. The shift fork can move normally, confirming that there is no movement fault.

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

[0154] Step 601: If the initial state is disconnected and there is a power failure or movement failure, the failure cannot be determined as a reported failure.

[0155] In practice, if the initial state is disengaged and a power or movement fault is detected, it indicates that the shifting mechanism cannot complete the engagement action, confirming an engagement failure. This failure must be reported to the vehicle controller. Upon receiving the engagement failure report, the vehicle controller will issue a high-priority forced command to compel the disengagement mechanism to perform the disengagement action, ensuring the faulty disengagement mechanism remains in its initial state and preventing erroneous user control from exacerbating the problem. A fault alarm will also be issued, prompting the user to repair the disengagement mechanism. The alarm will display the specific fault name and cause to facilitate repairs.

[0156] Step 602: In response to the initial state being engaged and the existence of a power failure, the inability to disengage is identified as a reported fault.

[0157] In practice, if the initial state is engaged and a power fault is detected, it indicates that the shifting mechanism cannot disengage, confirming a disengagement failure. This failure must be reported to the vehicle controller. Upon receiving the disengagement failure report, the vehicle controller will issue a high-priority forced command to compel the disengagement mechanism to engage, ensuring it remains in its initial state and preventing erroneous user control from exacerbating the problem. A fault alarm will also be triggered, prompting the user to repair the disengagement mechanism. The alarm will display the specific fault name and cause to facilitate repairs.

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

[0159] In practice, if the initial state is the engaged state and a movement fault is detected, it is necessary to further determine the type of fault to be reported based on the drive speed.

[0160] Step 604: In response to the drive speed being non-zero, the inability to disengage is identified as a reported fault.

[0161] In practice, if the drive speed is not zero, it indicates that the disengagement mechanism is still engaged, and the shifting mechanism cannot disengage. This confirms a disengagement failure and requires reporting to the vehicle controller. Upon receiving this fault report, the vehicle controller will issue a high-priority forced command to compel the disengagement mechanism to engage, ensuring it remains in its initial state and preventing erroneous user control from exacerbating the problem. A fault alarm will also be triggered, prompting the user to repair the disengagement mechanism. The alarm will display the specific fault name and cause to facilitate repairs.

[0162] By simplifying different faults into two categories—faults that cannot be combined and faults that cannot be separated—for fault reporting, the fault handling process of the VCU is simplified, the fault handling efficiency is improved, and it is ensured that forced control can be implemented as soon as a fault is detected, thus avoiding subsequent unreasonable state switching commands that would worsen the fault.

[0163] It should be noted that the method in this embodiment can be executed by a single device, such as a computer or server. The method can also be applied in a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method in this embodiment, and the multiple devices will interact with each other to complete the method described.

[0164] It should be noted that the above description describes some embodiments of this 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 a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. 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 embodiments, this application also provides a fault handling device for a disengagement mechanism.

[0166] refer to Figure 7 The fault handling device for the disengagement mechanism includes:

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

[0168] The power fault detection module 20 is configured to: in response to the detection of a circuit fault, determine whether a power fault exists 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 the absence of a detected circuit fault, determine whether a movement fault exists based on the minimum shift stroke and the movement stroke of the shift fork of the disengagement mechanism during the shift process;

[0170] The forced control module 40 is configured to: determine the reported fault based on the initial state, power failure and movement failure, and force control the state switching command of the disengagement mechanism based on the reported fault.

[0171] For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing this application, the functions of each module can be implemented in one or more software and / or hardware.

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

[0173] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this 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 the processor executes the program to implement the fault handling method of the disengagement mechanism described in any of the above embodiments.

[0174] Figure 8 This embodiment illustrates a more specific hardware structure of an electronic device, which may include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0175] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, 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 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0177] The input / output interface 1030 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0178] The communication interface 1040 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0179] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0180] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0181] The electronic devices described above are used to implement the fault handling method of the corresponding disengagement mechanism in any of the foregoing embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0182] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application also provides a non-transitory computer-readable storage medium storing computer instructions for causing 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, program modules, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0184] The computer instructions stored in the storage medium of the above embodiments are used to cause 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 the methods of any of the above embodiments, this application also provides a vehicle, including a fault handling device for the electronic device or disengagement mechanism of the above embodiments, and executes the fault handling method for the disengagement mechanism as described in any of the above embodiments through the fault handling device for the electronic device or disengagement mechanism of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0186] It is understood that before using the technical solutions of the various embodiments in this disclosure, users will be informed of the type, scope of use, and usage scenarios of the personal information involved in an appropriate manner, and user authorization will be obtained.

[0187] For example, upon receiving a user's active request, a prompt message is sent to the user to explicitly inform them that the requested operation will require the acquisition and use of the user's personal information. This allows the user to independently choose, based on the prompt message, whether to provide personal information to the software or hardware such as electronic devices, applications, servers, or storage media performing the operations of this disclosed technical solution.

[0188] As an optional but not limited implementation, in response to a user's active request, sending a prompt message to the user can be done via a pop-up window, where the prompt message can be presented in text format. Furthermore, the pop-up window can also include a selection control allowing the user to choose "agree" or "disagree" to provide personal information to the electronic device.

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

[0190] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application is limited to these examples; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in detail for the sake of brevity.

[0191] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this application, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this application, and this also takes into account the fact that the details of the implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this application will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) have been set forth to describe exemplary embodiments of this application, it will be apparent to those skilled in the art that the embodiments of this application can be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0192] Although this application has been described in conjunction with specific embodiments thereof, many substitutions, 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 be used with the embodiments discussed.

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

Claims

1. A fault handling method for a disengagement mechanism, characterized in that, include: In response to the detection of a state switching command for the disengagement mechanism during operation, the initial state and minimum shift stroke of the disengagement mechanism are determined according to the shift position of the disengagement mechanism, and circuit fault detection is performed. In response to the detection of a circuit fault, the presence of a power fault is determined based on the input current of the shift motor of the disengagement mechanism; In response to the absence of a detected circuit fault, the presence of a movement fault is determined based on the minimum shift stroke and the movement stroke of the shift fork of the disengagement mechanism during the shift process. The reported fault is determined based on the initial state, the power failure, and the movement failure, and the state switching command of the disengagement mechanism is forcibly controlled based on the reported fault. The shifting positions include a neutral shifting position and a first gear shifting position; determining the initial state and minimum shifting stroke of the disengagement mechanism based on its shifting position includes: The minimum shift travel is defined as the interval between the neutral shift position and the first gear shift position. Determine the neutral stop position and the first gear stop position of the disengagement mechanism, and define the interval between the neutral stop position and the neutral shift position as the neutral position interval, and define the interval between the first gear stop position and the first gear shift position as the first gear position interval; Determine the position of the shift fork; In response to the fork position being in the neutral position range, the disengaged state is determined as the initial state of the disengagement mechanism; In response to the fork position being within the first position range, the engagement state is determined as the initial state of the disengagement mechanism.

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

3. The fault handling method for the disengagement mechanism according to claim 1, characterized in that, After determining that no circuit fault was detected, the following steps are also included: In response to the initial state being an engaged state, it is determined that there is no inability to disengage; In response to the initial state being the disengaged state, the drive speed of the auxiliary drive axle is determined, and the difference between the drive speed and the preset target drive speed is used to determine whether there is a failure to engage. If the failure to engage exists, the state switching command of the disengagement mechanism is forcibly controlled.

4. The fault handling method for the disengagement mechanism according to claim 3, characterized in that, The step of determining whether a non-engagement fault exists based on 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, it is determined that there is no inability to engage; In response to the speed difference being greater than a preset speed threshold, a second duration greater than the speed threshold is determined, and a safe duration corresponding to the target drive speed is determined based on preset speed duration relationship data; In response to the second duration being greater than or equal to the safe duration, a failure to combine is determined; In response to the second duration being less than the safe duration, it is determined that there is no inability to combine fault.

5. The fault handling method for the disengagement mechanism according to claim 1, characterized in that, The step of determining whether a movement fault exists based on the minimum shift stroke and the movement stroke of the shift fork of the disengagement mechanism during shifting includes: In response to the fact that the travel distance is greater than the minimum shift travel distance, it is determined that there is no movement fault; In response to the movement travel being less than or equal to the minimum shift travel, the current shift fork position of the shift fork is determined, and a target position range is determined in the neutral position range and the first gear position range according to the initial state; If the current fork position does not exist within the target position range, a movement fault is determined. In response to the current shift fork position existing within the target position range, the shift motor is frozen, the drive speed of the auxiliary drive axle is determined, and a movement fault is determined based on the initial state and the drive speed.

6. The fault handling method for the disengagement mechanism according to claim 5, characterized in that, The step of determining whether a movement fault exists based on the initial state and the drive speed includes: In response to the initial state being an engaged state, a mobility fault is determined to exist; In response to the initial state being disengaged and the drive speed being zero, a movement fault is determined to exist; In response to the initial state being disengaged and the drive speed being non-zero, it is determined that there is no movement fault.

7. The fault handling method for the disengagement mechanism according to claim 1, characterized in that, The step of determining the reported fault based on the initial state, the power fault, and the mobility fault includes: In response to the initial state being a disconnected state, and the existence of the power failure or the movement failure, the failure cannot be determined as the reported failure. In response to the initial state being the engaged state and the existence of the power failure, the inability to disengage is identified as the reported failure. In response to the initial state being engaged and the existence of the movement fault, the drive speed of the auxiliary drive axle is determined; In response to the drive speed being non-zero, the inability to disengage is identified as the reported fault.

8. 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, it implements the method as described in any one of claims 1 to 7.

9. A vehicle, characterized in that, Including the electronic device as described in claim 8.

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