Wheel difference control method and device applied to new energy commercial vehicle, medium and equipment

Abstract

The invention discloses a wheel difference control method and device applied to a new energy commercial vehicle, a medium and equipment, and relates to the technical field of new energy commercial vehicles. Driving wheel speed information can be obtained, and driving wheel differential information and single-side wheel differential information are determined according to the driving wheel speed information. When it is determined that differential control needs to be executed according to the driving wheel differential information, the single-side wheel differential information, a slipping preset parameter and a preset consistency parameter, the driving axle with the driving wheel differential information larger than the slipping preset parameter can be determined as a to-be-adjusted driving axle; and the output torque of other drive axles except the drive axle to be adjusted is increased, and the output torque of the drive axle to be adjusted is reduced. Therefore, before the wheel difference control of the new energy commercial vehicle is determined, the single-side wheel differential information is referred to, so that the wheel difference generated by turning is prevented from being controlled, the safety is improved, and the wheel difference control of the new energy commercial vehicle is intelligently realized.

Description

Technical Field

[0001] The present specification relates to the field of new energy commercial vehicles, and in particular to a wheel differential control method, device, medium and equipment applied to new energy commercial vehicles. Background Art

[0002] In recent years, new energy commercial vehicles have developed rapidly. The main use scenario of new energy commercial vehicles is short-distance cargo transportation within 200km, but in this scenario, the road conditions are usually relatively bad. During the driving process of the vehicle, the wheel difference problem becomes an important factor affecting the vehicle's handling stability and safety.

[0003] In the prior art, the wheel differential switch of the vehicle is usually manually controlled by the driver, and the driver determines whether the wheel differential control is needed based on his own experience.

[0004] It can be seen that the wheel differential control means in the prior art are relatively primitive, interfere with the driver's normal driving, and provide a poor user experience. Summary of the invention

[0005] This specification provides a wheel differential control method and device applied to a new energy commercial vehicle, so as to at least partially solve the above-mentioned problems existing in the prior art.

[0006] This manual adopts the following technical solutions:

[0007] This specification provides a wheel differential control method applied to new energy commercial vehicles, including:

[0008] Obtain driving wheel speed information;

[0009] Determine the driving wheel differential information and the unilateral wheel differential information according to the driving wheel speed information; the driving wheel differential information includes the first driving axle differential and / or the second driving axle differential; the unilateral wheel differential information represents the speed difference between the multiple driving wheels on the left side of the new energy commercial vehicle, and the speed difference between the multiple driving wheels on the right side of the new energy commercial vehicle;

[0010] When it is determined that differential control needs to be performed based on the driving wheel differential information, the single-sided wheel differential information, the slip preset parameter and the preset consistency parameter, the driving axle whose driving wheel differential information is greater than the slip preset parameter is determined as the driving axle to be adjusted, and the output torque of the driving axle to be adjusted is reduced, and the output torque of other driving axles except the driving axle to be adjusted is increased.

[0011] Preferably, the method further comprises:

[0012] Determining whether there is at least one driving wheel differential speed information greater than the preset slip parameter, and determining whether the single-side wheel differential speed information is greater than the preset consistency parameter;

[0013] If the judgment results are all yes, it is determined that differential control needs to be performed;

[0014] If the result of any one of the determinations is negative, it is determined that the differential control does not need to be performed.

[0015] Preferably, the method further comprises:

[0016] Get drive status information;

[0017] The step of increasing the output torque of the drive axles other than the drive axle to be adjusted and reducing the output torque of the drive axle to be adjusted includes:

[0018] When the driving state information is partial axle driving, at least one driving axle is added to drive, and the output torque of the adjusting driving axle is reduced;

[0019] When the driving state information is full-bridge driving, the output torques of the driving axles other than the driving axle to be adjusted are increased, and the output torque of the driving axle to be adjusted is reduced.

[0020] Preferably, the method further comprises:

[0021] Determine that the torque of the drive axle to be adjusted is reduced to a minimum preset torque parameter and / or determine that the output torques of other drive axles except the drive axle to be adjusted are increased to a maximum preset torque parameter;

[0022] The wheel differential actuator is started to forcibly unify the driving wheel speeds of the two driving wheels corresponding to the driving axle to be adjusted.

[0023] Preferably, the starting wheel differential actuator forcibly unifies the driving wheel speeds of the two driving wheels corresponding to the driving axle to be adjusted, including:

[0024] Based on the drive wheel differential information, selecting a drive axle to be adjusted with the largest drive wheel speed difference from the at least one drive axle to be adjusted as a target drive axle;

[0025] Forcibly unifying the driving wheel speeds of the two driving wheels corresponding to the target driving axle;

[0026] or,

[0027] In response to the user's operation, the driving wheel speeds of the two driving wheels corresponding to all the driving axles to be adjusted are forcibly unified.

[0028] Preferably, after forcibly unifying the driving wheel speeds of the two driving wheels corresponding to the drive axle to be adjusted, the method further includes:

[0029] Get real-time steering angle;

[0030] When it is determined that the real-time steering angle exceeds a preset steering angle threshold, the wheel differential actuator is turned off, and forced unification of the driving wheel speeds of the two driving wheels corresponding to the driving axle to be adjusted is abandoned.

[0031] Preferably, the method further comprises:

[0032] Get real-time steering angle, axle width, vehicle wheelbase and real-time vehicle speed;

[0033] The slip preset parameters are updated in real time based on the following formula:

[0034]

[0035] K is the slip preset parameter, k1 is the preset slip preset parameter standard value, v is the real-time vehicle speed, L is the axle width, W is the vehicle wheelbase, and δ is the real-time steering angle.

[0036] Preferably, reducing the output torque of the drive axle to be adjusted includes:

[0037] Determining a torque drop value within a standard cycle according to the drive wheel differential information of the drive axle to be adjusted;

[0038] At the end of the standard cycle or before the end of the standard cycle, the drive wheel differential information and the output torque of the drive axle to be adjusted are updated in real time, and it is determined whether the drive wheel differential information is less than or equal to the slip preset parameter, and whether the output torque is equal to the minimum preset torque parameter;

[0039] If the judgment result of any one of the items is yes, then maintaining the current torque of the drive axle to be adjusted;

[0040] If the judgment results are all negative, the torque drop value of the next standard cycle is determined based on the real-time updated drive wheel differential information and the output torque of the drive axle to be adjusted, and the real-time updated drive wheel differential information and the output torque of the drive axle to be adjusted are returned at the end of the standard cycle or before the end of the standard cycle to judge whether the drive wheel differential information is less than or equal to the slip preset parameter, and whether the output torque is equal to the minimum preset torque parameter, until the judgment result of any one item is yes, and then maintain the current torque of the drive axle to be adjusted.

[0041] Preferably, the step of increasing the output torque of the drive axles other than the drive axle to be adjusted includes:

[0042] The total torque reduction amount of the drive axle to be adjusted is acquired in real time, and the total torque increase amount equal to the total torque reduction amount is determined in real time.

[0043] Based on the total torque increase amount, the output torques of the other drive axles except the drive axle to be adjusted are increased.

[0044] Preferably, the step of increasing the output torque of other drive axles except the drive axle to be adjusted based on the total torque increase includes:

[0045] When it is determined that there is only one drive axle other than the drive axle to be adjusted, the torque increase amount of the nth standard cycle is determined by the following formula based on the total torque increase amount, and the output torque of the drive axles other than the drive axle to be adjusted is increased based on the total torque increase amount;

[0046]

[0047] Wherein, A is the torque increase in the nth standard cycle, B is the total torque increase, C is the minimum single increase value, and n≥1.

[0048] Preferably, the step of increasing the output torque of other drive axles except the drive axle to be adjusted based on the total torque increase includes:

[0049] When it is determined that there are multiple drive axles other than the drive axle to be adjusted, based on the total torque increase, the real-time output torque corresponding to each other drive axle, and the highest preset torque parameter, respectively determine the torque value to be increased for each other drive axle;

[0050] For each other drive axle, based on the preset single maximum boost parameter and the torque value to be boosted corresponding to the other drive axle, determine whether the torque value to be boosted is greater than the single maximum boost parameter. If so, then in each standard cycle, the torque of the other drive axle is boosted by at most the single maximum boost parameter; if not, then in the next standard cycle, the torque of the other drive axle is boosted by the torque value to be boosted.

[0051] On the other hand, this specification provides a wheel differential control device applied to a new energy commercial vehicle, comprising:

[0052] An acquisition unit, used for acquiring driving wheel speed information;

[0053] A determination unit, configured to determine drive wheel differential information and unilateral wheel differential information according to the drive wheel speed information; the drive wheel differential information includes a first drive axle differential and / or a second drive axle differential; the unilateral wheel differential information represents a speed difference between multiple drive wheels on the left side of the new energy commercial vehicle, and a speed difference between multiple drive wheels on the right side of the new energy commercial vehicle;

[0054] A control unit is used for, when it is determined that differential control needs to be performed based on the driving wheel differential information, the single-sided wheel differential information, the slip preset parameter and the preset consistency parameter, determining the driving axle whose driving wheel differential information is greater than the slip preset parameter as the driving axle to be adjusted, reducing the output torque of the driving axle to be adjusted, and increasing the output torque of other driving axles except the driving axle to be adjusted.

[0055] On the other hand, the computer-readable storage medium provided in this specification stores a computer program, and when the computer program is executed by a processor, the wheel differential control method applied to a new energy commercial vehicle provided in the above aspect is implemented.

[0056] On the other hand, the present specification 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 wheel differential control method for new energy commercial vehicles provided in the above aspect is implemented.

[0057] On the other hand, the present specification provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device implements the wheel differential control method for new energy commercial vehicles provided in the above aspect.

[0058] On the other hand, the present specification provides a new energy commercial vehicle, the new energy commercial vehicle is equipped with a vehicle controller, and the new energy commercial vehicle is equipped with at least a first drive axle and a second drive axle;

[0059] The vehicle controller is used to obtain the driving wheel speed information; and determine the driving wheel differential information and the single-side wheel differential information according to the driving wheel speed information; the driving wheel differential information includes the first driving axle differential and / or the second driving axle differential; the single-side wheel differential information represents the speed difference between the multiple driving wheels on the left side of the new energy commercial vehicle, and the speed difference between the multiple driving wheels on the right side of the new energy commercial vehicle;

[0060] The vehicle controller is also used to, when it is determined that differential control needs to be performed based on the drive wheel differential information, the single-side wheel differential information, the slip preset parameter and the preset consistency parameter, determine the drive axle whose drive wheel differential information is greater than the slip preset parameter as the drive axle to be adjusted, reduce the output torque of the drive axle to be adjusted, and increase the output torque of other drive axles except the drive axle to be adjusted.

[0061] At least one of the above technical solutions adopted in this specification can achieve the following beneficial effects:

[0062] According to the above embodiment, the driving wheel speed information can be obtained, and the driving wheel differential information and the unilateral wheel differential information can be determined based on the driving wheel speed information. The driving wheel differential information includes the first driving axle differential and / or the second driving axle differential. The unilateral wheel differential information represents the speed difference between the multiple driving wheels on the left side of the new energy commercial vehicle and the speed difference between the multiple driving wheels on the right side of the new energy commercial vehicle. Then, when it is determined that differential control needs to be performed based on the driving wheel differential information, the unilateral wheel differential information, the slip preset parameter and the preset consistency parameter, the driving axle whose driving wheel differential information is greater than the slip preset parameter can be determined as the driving axle to be adjusted, and the output torque of other driving axles except the driving axle to be adjusted is increased, and the output torque of the driving axle to be adjusted is reduced.

[0063] Based on the above content, it can be seen that before determining whether it is necessary to perform wheel differential control on new energy commercial vehicles, the single-sided wheel differential information is referred to, which avoids controlling the wheel differential caused by turning, improves safety, and intelligently realizes the wheel differential control of new energy commercial vehicles, thereby improving user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The drawings described herein are used to provide a further understanding of this specification and constitute a part of this specification. The illustrative embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation on this specification. In the drawings:

[0065] Figure 1 A schematic flow chart of a wheel differential control method applied to a new energy commercial vehicle provided as an embodiment of this specification;

[0066] Figure 2 A schematic diagram of the structure of a wheel differential control device applied to a new energy commercial vehicle provided in one embodiment of this specification;

[0067] Figure 3 A schematic diagram of the structure of an electronic device provided for one embodiment of the present specification. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solutions and advantages of this specification more clear, the technical solutions of this specification will be clearly and completely described below in combination with the specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0069] In the description of the present invention, it should be noted that the term "or" is generally used in a meaning including "and / or", unless the content clearly indicates otherwise.

[0070] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. In addition, in the description of the present application, the terms "first", "second" and the like are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0071] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0072] The technical solutions provided by the embodiments of this specification are described in detail below in conjunction with the accompanying drawings.

[0073] Figure 1 A flow chart of a wheel differential control method applied to a new energy commercial vehicle is provided as an embodiment of this specification, such as Figure 1 As shown, the method specifically comprises the following steps:

[0074] S100: Acquire driving wheel speed information.

[0075] In one or more embodiments of the present application, the wheel differential control method applied to a new energy commercial vehicle can be executed by a vehicle control unit (VCU) of the new energy commercial vehicle. Of course, the method can also be executed by other devices, and this specification does not limit this. In this specification, the method is described by taking the VCU executing the method as an example.

[0076] It should be emphasized that the new energy commercial vehicle to which the method is applied is equipped with at least a first drive axle and a second drive axle.

[0077] Preferably, the VCU can obtain driving wheel speed information, wherein the driving wheel speed information includes real-time speeds of multiple driving wheels.

[0078] Further preferably, when the vehicle has parallel tires, since the vehicle speeds of the two tires of the parallel tires are substantially the same, the VCU may only obtain the speed of any one of the parallel tires.

[0079] Preferably, the VCU can determine the real-time speed of each driving wheel through a wheel speed sensor disposed on the wheel. Of course, the VCU can also obtain the real-time speed of each driving wheel in other ways, which is not limited in this specification.

[0080] S120: Determine the driving wheel differential information and the single-side wheel differential information according to the driving wheel speed information; the driving wheel differential information includes the first driving axle differential and / or the second driving axle differential; the single-side wheel differential information represents the speed difference between the multiple wheels on the left side of the new energy commercial vehicle, and the speed difference between the multiple wheels on the right side of the new energy commercial vehicle.

[0081] Those skilled in the art will understand that, when a vehicle is turning, the speed of the wheel on the side closer to the center of the curve is slower than the speed of the wheel on the side farther from the center of the curve. In other words, during a turn, it is reasonable for the two drive wheels corresponding to the same drive axle to have a speed difference within a certain range.

[0082] Therefore, in one or more preferred embodiments provided in this specification, the VCU can determine the driving wheel differential information and the unilateral wheel differential information based on the driving wheel speed information. The driving wheel differential information includes the first driving axle differential and / or the second driving axle differential, etc. The unilateral wheel differential information includes the left driving wheel differential and the right driving wheel differential, the left driving wheel differential represents the speed difference between the multiple driving wheels on the left side of the new energy commercial vehicle, and the right driving wheel differential represents the speed difference between the multiple driving wheels on the right side of the new energy commercial vehicle.

[0083] Further preferably, the left drive wheel differential represents the speed difference between the multiple wheels on the left side of the new energy commercial vehicle, and the right drive wheel differential represents the speed difference between the multiple wheels on the right side of the new energy commercial vehicle.

[0084] By adopting the above method, the VCU determines the unilateral wheel differential information of the new energy commercial vehicle while determining the driving wheel differential information, so that the VCU can refer to the unilateral wheel differential information before determining whether wheel differential control is required.

[0085] S140: Determine whether differential control needs to be performed based on the driving wheel differential information, the single-side wheel differential information, the slip preset parameter and the preset consistency parameter; if so, execute step S160; if not, return to step S100.

[0086] Preferably, the VCU can determine whether differential control needs to be performed based on the driving wheel differential information, the single-side wheel differential information, the slip preset parameter and the preset consistency parameter. If the result is yes, step S160 can be performed, and if the result is no, step S100 can be returned.

[0087] Specifically, the VCU can determine whether there is at least one driving wheel differential information greater than the preset slip parameter, and determine whether the unilateral wheel differential information is greater than the preset consistency parameter. If the judgment results are all yes, it is determined that differential control needs to be performed. If the judgment result of any item is no, it is determined that differential control does not need to be performed. Among them, the unilateral wheel differential information includes the left driving wheel differential and the right driving wheel differential. When the VCU determines whether the unilateral wheel differential information is less than the preset consistency parameter, it can respectively determine whether the left driving wheel differential and the right driving wheel differential are both less than the preset consistency parameter.

[0088] The preset consistency parameter and the slip preset parameter are both preset values ​​and can be adjusted in response to user operations. The preset consistency parameter represents the maximum difference in the driving wheel speeds of multiple driving wheels on one side of the vehicle during normal driving. Alternatively, the preset consistency parameter represents the maximum difference in the driving wheel speeds of multiple wheels on one side of the vehicle during normal driving. The slip preset parameter represents the maximum difference in the speeds of the driving wheels on both sides corresponding to the same drive axle during normal driving.

[0089] S160: Determine the drive axle whose drive wheel differential information is greater than the preset slip parameter as the drive axle to be adjusted, increase the output torque of other drive axles except the drive axle to be adjusted, and reduce the output torque of the drive axle to be adjusted.

[0090] Preferably, after the VCU determines that the wheel differential control needs to be performed on the new energy commercial vehicle, the output torque of different drive axles can be adjusted preferentially.

[0091] Specifically, the VCU can determine the drive axle whose drive wheel differential speed information is greater than the preset slip parameter as the drive axle to be adjusted, and increase the output torque of other drive axles except the drive axle to be adjusted, and reduce the output torque of the drive axle to be adjusted. In this way, the speed of the two drive wheels corresponding to the drive axle to be adjusted is controlled, and the vehicle is driven by other drive axles to leave the area where the tire slip occurs.

[0092] According to the above embodiment, the VCU can obtain the driving wheel speed information, and determine the driving wheel differential information and the unilateral wheel differential information based on the driving wheel speed information. Among them, the driving wheel differential information includes the first driving axle differential and / or the second driving axle differential. The unilateral wheel differential information represents the speed difference between the multiple driving wheels on the left side of the new energy commercial vehicle, and the speed difference between the multiple driving wheels on the right side of the new energy commercial vehicle. Then, when the VCU determines that differential control needs to be performed based on the driving wheel differential information, the unilateral wheel differential information, the slip preset parameter and the preset consistency parameter, the VCU can determine the driving axle whose driving wheel differential information is greater than the slip preset parameter as the driving axle to be adjusted, and increase the output torque of other driving axles except the driving axle to be adjusted, and reduce the output torque of the driving axle to be adjusted.

[0093] Based on the above content, it can be seen that before determining whether it is necessary to perform wheel differential control on the new energy commercial vehicle, the VCU refers to the unilateral wheel differential information, avoids controlling the wheel differential caused by turning, improves safety, and intelligently realizes the wheel differential control of the new energy commercial vehicle, improving the user experience.

[0094] In addition, although the new energy commercial vehicle is equipped with multiple electric drive axles such as the first drive axle and the second drive axle, the driving method of the new energy commercial vehicle may not use all the drive axles to drive the vehicle.

[0095] Therefore, in one or more embodiments of the present specification, the VCU may issue different instructions based on the driving state of the new energy commercial vehicle.

[0096] Specifically, before executing step S160, the VCU may obtain driving state information. The driving state information includes partial bridge driving and full bridge driving. Partial bridge driving indicates that at least one driving bridge is in an idle state. Full bridge driving indicates that all driving bridges are working.

[0097] When the driving state information is partial axle driving, the VCU may add at least one driving axle for driving and reduce the output torque of the driving axle to be adjusted when executing step S160.

[0098] When the driving state information is full-bridge driving, the VCU may increase the output torque of the driving axles other than the driving axle to be adjusted, and reduce the output torque of the driving axle to be adjusted when executing step S160.

[0099] Those skilled in the art can understand that, in some cases, even if the output torque of different drive axles is adjusted, the drive wheels of the new energy commercial vehicle may still be in a slipping state. At this time, the VCU can start the wheel differential actuator to forcibly unify the drive wheel speeds of the two drive wheels corresponding to the drive axle to be adjusted.

[0100] Specifically, the VCU may start the wheel differential actuator to forcibly unify the driving wheel speeds of the two driving wheels corresponding to the driving axle to be adjusted when it determines that the torque of the driving axle to be adjusted is reduced to the lowest preset torque parameter, and / or when the VCU determines that the output torques of other driving axles except the driving axle to be adjusted are increased to the highest preset torque parameter.

[0101] The minimum preset torque parameter and the maximum preset torque parameter are both pre-set parameters, and both the minimum preset torque parameter and the maximum preset torque parameter can be changed in response to user operations.

[0102] Those skilled in the art can understand that, in certain special circumstances, multiple drive wheels may slip, but forcing the speeds of two drive wheels corresponding to multiple drive axles to be unified is a dangerous behavior. Therefore, in one or more preferred embodiments of the present specification, the VCU can only force the speeds of two drive wheels corresponding to a drive axle to be adjusted to be unified.

[0103] When the VCU determines that there are at least two drive axles to be adjusted, the VCU can select a drive axle to be adjusted with the largest difference in drive wheel speed from the at least one drive axle to be adjusted based on the drive wheel differential information as the target drive axle, and forcibly unify the drive wheel speeds of the two drive wheels corresponding to the target drive axle.

[0104] Preferably, the VCU can also display a prompt message or issue a prompt voice to remind the user that the drive wheels corresponding to at least two drive axles are in a slipping state.

[0105] Preferably, the VCU can also respond to the user's operation to forcibly unify the driving wheel speeds of the two driving wheels corresponding to all the driving axles to be adjusted.

[0106] Those skilled in the art can understand that after starting the wheel differential actuator, if the new energy commercial vehicle turns at too large an angle, the wheel differential actuator and / or drive axle and other components may be damaged. Therefore, after starting the drop actuator, the VCU may also perform the following steps.

[0107] Specifically, the VCU can also obtain the real-time steering angle. When the VCU determines that the real-time steering angle exceeds the preset steering angle threshold, the wheel differential actuator can be turned off, and the forced unification of the driving wheel speeds of the two driving wheels corresponding to the drive axle to be adjusted is abandoned.

[0108] Preferably, the VCU can determine the slip preset parameters in real time.

[0109] Specifically, first, the VCU can obtain the axle width, vehicle wheelbase, real-time steering angle and real-time vehicle speed. Among them, the axle width and the vehicle wheelbase are parameters of the new energy commercial vehicle and are fixed values.

[0110] Secondly, the VCU can update the slip preset parameters in real time based on the following formula:

[0111]

[0112] Among them, K is the slip preset parameter, k1 is the preset slip preset parameter standard value, v is the real-time vehicle speed, L is the axle width, W is the vehicle wheelbase, and δ is the real-time steering angle.

[0113] Preferably, when acquiring the driving wheel speed information, the VCU can continuously acquire the speed of each driving wheel respectively, and reduce the influence of sensor data drift through a low-pass filtering algorithm, thereby improving the accuracy of the speed of each driving wheel acquired by the VCU.

[0114] Further preferably, when the VCU determines the driving wheel differential information and the unilateral wheel differential information, it can use arithmetic square difference, variance, etc. to determine, and this specification does not impose any limitation on this.

[0115] When determining the differential information of the driving wheels, it may be necessary to determine the average speed of the first driving wheel of the two driving wheels of the first driving axle, the average speed of the second driving wheel of the two driving wheels of the second driving axle, etc. Therefore, when the VCU determines that there is an obvious abnormality in the average speed of the first driving wheel, the average speed of the second driving wheel, or the average speed of the third driving wheel, etc., it can obtain the real-time vehicle speed through the navigation sensor, and based on the vehicle speed and the speeds of other driving wheels, use the weighting method to correct the average speed of the first driving wheel, the average speed of the second driving wheel, or the average speed of the third driving wheel, etc., which has obvious abnormalities.

[0116] The navigation sensor may be a GPS sensor or a BeiDou sensor, etc., and this specification does not impose any limitation on this.

[0117] Preferably, in order to avoid frequently starting the wheel differential actuator, the VCU can obtain the real-time vehicle speed and the real-time steering wheel steering angle after driving the wheel differential actuator. Then, the VCU can determine whether the real-time vehicle speed is greater than the preset vehicle speed threshold, and determine whether the real-time steering wheel steering angle is greater than the preset steering wheel threshold. If the judgment result of any one item is yes, the VCU can turn off the wheel differential actuator. If the judgment results are all no, the VCU may not turn off the wheel differential actuator.

[0118] It should be noted that the preset vehicle speed threshold and the preset steering wheel threshold can be modified in response to the user's operation, or the relevant algorithm can be set to automatically update. In addition, the wheel differential actuator can also be closed in response to the user's operation.

[0119] Preferably, before executing step S160, the VCU can also continuously obtain the brake pedal opening and determine whether the brake pedal opening is greater than or equal to the preset braking threshold. If the judgment result is yes, the VCU can stop executing the wheel differential control method for new energy commercial vehicles until the brake pedal opening is less than the preset braking threshold. If the judgment result is no, the VCU can continue to execute the wheel differential control method for new energy commercial vehicles. In the above manner, the VCU can stop wheel differential control when the vehicle is in a braking state, thereby improving the safety of the vehicle.

[0120] Preferably, the VCU can reduce the output torque of the drive axle to be adjusted in the following manner.

[0121] Specifically, the VCU can determine the torque drop value within a standard cycle based on the drive wheel differential information of the drive axle to be adjusted. Then, the VCU can update the drive wheel differential information and the output torque of the drive axle to be adjusted in real time at the end of the standard cycle or before the end of the standard cycle, and determine whether the drive wheel differential information is less than or equal to the slip preset parameter, and then determine whether the output torque is equal to the minimum preset torque parameter. If the judgment result of any one item is yes, the current torque of the drive axle to be adjusted is maintained. If the judgment results are all no, the torque drop value of the next standard cycle is determined based on the real-time updated drive wheel differential information and the output torque of the drive axle to be adjusted, and return to the end of the standard cycle or before the end of the standard cycle, update the drive wheel differential information and the output torque of the drive axle to be adjusted in real time, determine whether the drive wheel differential information is less than or equal to the slip preset parameter, and determine whether the output torque is equal to the minimum preset torque parameter, until the judgment result of any one item is yes, and then maintain the current torque of the drive axle to be adjusted.

[0122] For example, if the torque drop value of the first standard cycle is 300Nm, the VCU can update the drive wheel differential information and the output torque of the drive axle to be adjusted in real time at the end of the first cycle or before the end of the first cycle, and determine whether the drive wheel differential information is less than or equal to the slip preset parameter, and then determine whether the output torque is equal to the minimum preset torque parameter. If the judgment result of any one item is yes, the current torque of the drive axle to be adjusted is maintained. If the judgment results are all no, the torque drop value of the second standard cycle is determined based on the real-time updated drive wheel differential information and the output torque of the drive axle to be adjusted, and at the end of the second standard cycle or before the end of the second cycle, the drive wheel differential information and the output torque of the drive axle to be adjusted are updated again in real time, and the judgment is performed again until the judgment result of any one item is yes.

[0123] Further preferably, when the VCU increases the output torque of the drive axles other than the drive axle to be adjusted, the VCU may determine the total amount of torque increase in the following manner.

[0124] Specifically, the VCU can obtain the total torque reduction of the drive axle to be adjusted in real time, and determine the total torque increase equal to the total torque reduction in real time. In other words, the overall output torque of the new energy commercial vehicle is basically unchanged, but there may be fluctuations when reducing and increasing the torque. Then, the VCU can increase the output torque of other drive axles except the drive axle to be adjusted based on the total torque increase.

[0125] Those skilled in the art can understand that when the drive wheel differential information is greater than the preset slip parameter, the road condition of the new energy commercial vehicle may be poor. In this case, increasing the torque of a certain drive axle too quickly may cause the wheels corresponding to the drive axle to slip. Therefore, in one or more further preferred embodiments provided in this specification, when the VCU determines the total amount of torque increase and the VCU determines that there is only one drive axle other than the drive axle to be adjusted, the VCU may determine the torque increase amount of the nth standard cycle based on the total amount of torque increase by the following formula:

[0126]

[0127] Wherein, A is the torque increase in the nth standard cycle, B is the total torque increase, C is the minimum single increase value, and n≥1.

[0128] Then, the VCU can increase the output torque of other drive axles except the drive axle to be adjusted based on this. It should be emphasized that in the above formula, the parameter B representing the total amount of torque increase is updated in real time, but B will only increase or remain unchanged, not decrease. Therefore, even if B increases, the torque increase amount of multiple standard cycles is still controllable.

[0129] Further preferably, C is 10 Nm, 20 Nm, etc., and by adopting the above method, there is an error of no more than C between the actual increased torque and the total amount of the torque increase, and this error is acceptable.

[0130] Further preferably, when the VCU determines that there are multiple drive axles other than the drive axle to be adjusted, the VCU can determine the torque value to be increased for each other drive axle based on the total torque increase, the real-time output torque corresponding to each other drive axle, and the maximum preset torque parameter.

[0131] Then, the VCU can determine, for each other drive axle, whether the torque value to be increased is greater than the single maximum increase parameter according to the preset single maximum increase parameter and the torque value to be increased corresponding to the other drive axle. If so, the torque of the other drive axle is increased by at most the single maximum increase parameter in each standard cycle. If not, the torque of the other drive axle is increased by the torque value to be increased in the next standard cycle.

[0132] It should be noted that all actions of acquiring signals, information or data in this application are carried out in compliance with the relevant data protection laws and policies of the country where they are located, and with the authorization given by the owner of the corresponding device.

[0133] The above is a wheel differential control method applied to a new energy commercial vehicle provided by one or more embodiments of this specification. Based on the same idea, this specification also provides a corresponding wheel differential control device applied to a new energy commercial vehicle, such as Figure 2 shown.

[0134] Figure 2 A schematic diagram of a wheel differential control device for a new energy commercial vehicle provided in one embodiment of the present specification is shown in FIG. Figure 2 As shown, the device specifically includes:

[0135] An acquisition unit, used for acquiring driving wheel speed information;

[0136] A determination unit, configured to determine drive wheel differential information and unilateral wheel differential information according to the drive wheel speed information; the drive wheel differential information includes a first drive axle differential and / or a second drive axle differential; the unilateral wheel differential information represents a speed difference between multiple drive wheels on the left side of the new energy commercial vehicle, and a speed difference between multiple drive wheels on the right side of the new energy commercial vehicle;

[0137] A control unit is used for, when it is determined that differential control needs to be performed based on the driving wheel differential information, the single-sided wheel differential information, the slip preset parameter and the preset consistency parameter, determining the driving axle whose driving wheel differential information is greater than the slip preset parameter as the driving axle to be adjusted, increasing the output torque of other driving axles except the driving axle to be adjusted, and reducing the output torque of the driving axle to be adjusted.

[0138] This specification also provides a computer-readable storage medium, which stores a computer program, which can be used to execute the above Figure 1 A wheel differential control method applied to new energy commercial vehicles is provided.

[0139] This specification also provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device implements the above Figure 1 A wheel differential control method applied to new energy commercial vehicles is provided.

[0140] Figure 3 A schematic diagram of the structure of an electronic device provided in one embodiment of this specification, such as Figure 3 As shown, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and may also include other hardware required for the business. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to achieve the above Figure 1 The wheel differential control method applied to new energy commercial vehicles. Of course, in addition to the software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0141] The above are wheel differential control methods, devices, electronic devices, storage media and computer programs applied to new energy commercial vehicles provided by one or more embodiments of this specification. Based on the same idea, this specification also provides a corresponding new energy commercial vehicle.

[0142] Preferably, the new energy commercial vehicle is equipped with a VCU, and the new energy commercial vehicle is equipped with at least a first drive axle and a second drive axle. Of course, the new energy commercial vehicle can also be equipped with a third drive axle, a fourth drive axle, etc., and this specification does not limit this.

[0143] In addition, the new energy commercial vehicle can also be equipped with multiple wheel speed sensors.

[0144] Preferably, the VCU is used to obtain the driving wheel speed information based on the multiple wheel speed sensors. Then, the VCU can determine the driving wheel differential information and the single-side wheel differential information according to the driving wheel speed information. The driving wheel differential information includes the first driving axle differential and / or the second driving axle differential and / or the third driving axle differential, etc. The single-side wheel differential information represents the speed difference between the multiple driving wheels on the left side of the new energy commercial vehicle and the speed difference between the multiple driving wheels on the right side of the new energy commercial vehicle.

[0145] The VCU is also used to, when it is determined that differential control needs to be performed based on the drive wheel differential information, the single-sided wheel differential information, the slip preset parameter and the preset consistency parameter, determine the drive axle whose drive wheel differential information is greater than the slip preset parameter as the drive axle to be adjusted, reduce the output torque of the drive axle to be adjusted, and increase the output torque of other drive axles except the drive axle to be adjusted.

[0146] In the 1990s, it was very clear whether the improvement of a technology was a hardware improvement (for example, improvements to the circuit structure of diodes, transistors, switches, etc.) or a software improvement (improvement of the method flow). However, with the development of technology, many improvements in the method flow today can be regarded as direct improvements in the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that the improvement of a method flow cannot be implemented using a hardware entity module. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit whose logical function is determined by the user's programming of the device. Designers can "integrate" a digital system on a PLD by programming it themselves, without having to ask a chip manufacturer to design and produce a dedicated integrated circuit chip. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly implemented by "logic compiler" software, which is similar to the software compiler used when developing and writing programs, and the original code before compilation must also be written in a specific programming language, which is called hardware description language (HDL). There is not only one HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also know that it is only necessary to program the method flow slightly in the above-mentioned hardware description languages ​​and program it into the integrated circuit, and then it is easy to obtain the hardware circuit that implements the logic method flow.

[0147] The controller can be implemented in any appropriate manner, for example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be regarded as structures within the hardware component. Or even, the devices for implementing various functions can be regarded as both software modules for implementing the method and structures within the hardware component.

[0148] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0149] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0150] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0151] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0152] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0153] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0154] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0155] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0156] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. 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 technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic 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. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0157] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0158] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems or computer program products. Therefore, this specification may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0159] This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0160] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the new energy commercial vehicle embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0161] The above description is only an embodiment of this specification and is not intended to limit this specification. For those skilled in the art, this specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this specification should be included in the scope of the claims of this application.

Claims

1. A wheel differential control method applied to a new energy commercial vehicle, characterized in that: The new energy commercial vehicle comprises at least a first drive axle and a second drive axle, and the method comprises: Get driving wheel speed information; Determine the driving wheel differential information and the unilateral wheel differential information according to the driving wheel speed information; the driving wheel differential information includes the first driving axle differential and / or the second driving axle differential; the unilateral wheel differential information represents the speed difference between the multiple driving wheels on the left side of the new energy commercial vehicle, and the speed difference between the multiple driving wheels on the right side of the new energy commercial vehicle; When it is determined that differential control needs to be performed based on the driving wheel differential information, the single-sided wheel differential information, the slip preset parameter and the preset consistency parameter, the driving axle whose driving wheel differential information is greater than the slip preset parameter is determined as the driving axle to be adjusted, and the output torque of the driving axle to be adjusted is reduced, and the output torque of other driving axles except the driving axle to be adjusted is increased.

2. The wheel differential control method for new energy commercial vehicles according to claim 1, characterized in that: The method further comprises: Determining whether there is at least one driving wheel differential speed information greater than the preset slip parameter, and determining whether the single-side wheel differential speed information is greater than the preset consistency parameter; If the judgment results are all yes, it is determined that differential control needs to be performed; If the result of any one of the determinations is negative, it is determined that the differential control does not need to be performed.

3. The wheel differential control method for new energy commercial vehicles according to claim 1, characterized in that: The method further comprises: Get drive status information; The step of increasing the output torque of the drive axles other than the drive axle to be adjusted and reducing the output torque of the drive axle to be adjusted includes: When the driving state information is partial axle driving, at least one driving axle is added to drive, and the output torque of the adjusting driving axle is reduced; When the driving state information is full-bridge driving, the output torques of the driving axles other than the driving axle to be adjusted are increased, and the output torque of the driving axle to be adjusted is reduced.

4. The wheel differential control method applied to a new energy commercial vehicle according to claim 1, 2 or 3, characterized in that: The method further comprises: Determine that the torque of the drive axle to be adjusted is reduced to a minimum preset torque parameter and / or determine that the output torques of other drive axles except the drive axle to be adjusted are increased to a maximum preset torque parameter; The wheel differential actuator is started to forcibly unify the driving wheel speeds of the two driving wheels corresponding to the driving axle to be adjusted.

5. The wheel differential control method for new energy commercial vehicles according to claim 4, characterized in that: The starting wheel differential actuator forcibly unifies the driving wheel speeds of the two driving wheels corresponding to the driving axle to be adjusted, including: Based on the drive wheel differential information, selecting a drive axle to be adjusted with the largest drive wheel speed difference from the at least one drive axle to be adjusted as a target drive axle; Forcibly unifying the driving wheel speeds of the two driving wheels corresponding to the target driving axle; or, In response to the user's operation, the driving wheel speeds of the two driving wheels corresponding to all the driving axles to be adjusted are forcibly unified.

6. The wheel differential control method for new energy commercial vehicles according to claim 5, characterized in that: After forcibly unifying the driving wheel speeds of the two driving wheels corresponding to the drive axle to be adjusted, the method further includes: Get real-time steering angle; When it is determined that the real-time steering angle exceeds a preset steering angle threshold, the wheel differential actuator is turned off, and forced unification of the driving wheel speeds of the two driving wheels corresponding to the driving axle to be adjusted is abandoned.

7. The wheel differential control method for a new energy commercial vehicle according to claim 1, 2 or 3, characterized in that: The method further comprises: Get real-time steering angle, axle width, vehicle wheelbase and real-time vehicle speed; The slip preset parameters are updated in real time based on the following formula: K is the slip preset parameter, k1 is the preset slip preset parameter standard value, v is the real-time vehicle speed, L is the axle width, W is the vehicle wheelbase, and δ is the real-time steering angle.

8. The wheel differential control method for a new energy commercial vehicle according to claim 1, 2 or 3, characterized in that: The step of reducing the output torque of the drive axle to be adjusted includes: Determining a torque drop value within a standard cycle according to the drive wheel differential information of the drive axle to be adjusted; At the end of the standard cycle or before the end of the standard cycle, the drive wheel differential information and the output torque of the drive axle to be adjusted are updated in real time, and it is determined whether the drive wheel differential information is less than or equal to the slip preset parameter, and whether the output torque is equal to the minimum preset torque parameter; If the judgment result of any one of the items is yes, then maintaining the current torque of the drive axle to be adjusted; If the judgment results are all negative, the torque drop value of the next standard cycle is determined based on the real-time updated drive wheel differential information and the output torque of the drive axle to be adjusted, and the real-time updated drive wheel differential information and the output torque of the drive axle to be adjusted are returned at the end of the standard cycle or before the end of the standard cycle to judge whether the drive wheel differential information is less than or equal to the slip preset parameter, and whether the output torque is equal to the minimum preset torque parameter, until the judgment result of any one item is yes, and then maintain the current torque of the drive axle to be adjusted.

9. The wheel differential control method for new energy commercial vehicles according to claim 7, characterized in that: The increasing the output torque of other drive axles except the drive axle to be adjusted includes: Acquiring in real time a total torque reduction amount of the drive axle to be adjusted, and determining in real time a total torque increase amount equal to the total torque reduction amount; Based on the total torque increase amount, the output torques of the other drive axles except the drive axle to be adjusted are increased.

10. The wheel differential control method for new energy commercial vehicles according to claim 9, characterized in that: The increasing the output torque of other drive axles except the drive axle to be adjusted based on the total torque increase includes: When it is determined that there is only one drive axle other than the drive axle to be adjusted, the torque increase amount of the nth standard cycle is determined by the following formula based on the total torque increase amount, and the output torque of the drive axles other than the drive axle to be adjusted is increased based on the total torque increase amount; Wherein, A is the torque increase in the nth standard cycle, B is the total torque increase, C is the minimum single increase value, and n≥1.

11. The wheel differential control method for new energy commercial vehicles according to claim 9, characterized in that: The increasing the output torque of other drive axles except the drive axle to be adjusted based on the total torque increase includes: When it is determined that there are multiple drive axles other than the drive axle to be adjusted, based on the total torque increase, the real-time output torque corresponding to each other drive axle, and the highest preset torque parameter, respectively determine the torque value to be increased for each other drive axle; For each other drive axle, based on the preset single maximum boost parameter and the torque value to be boosted corresponding to the other drive axle, determine whether the torque value to be boosted is greater than the single maximum boost parameter. If so, then in each standard cycle, the torque of the other drive axle is boosted by at most the single maximum boost parameter; if not, then in the next standard cycle, the torque of the other drive axle is boosted by the torque value to be boosted.

12. A wheel differential control device applied to a new energy commercial vehicle, characterized in that: include: An acquisition unit, used for acquiring driving wheel speed information; A determination unit, configured to determine the driving wheel differential speed information and the single-side wheel differential speed information according to the driving wheel speed information; The driving wheel differential speed information includes the first driving axle differential speed and / or the second driving axle differential speed; the single-side wheel differential speed information represents the speed difference between the multiple driving wheels on the left side of the new energy commercial vehicle and the speed difference between the multiple driving wheels on the right side of the new energy commercial vehicle; A control unit is used for, when it is determined that differential control needs to be performed based on the driving wheel differential information, the single-sided wheel differential information, the slip preset parameter and the preset consistency parameter, determining the driving axle whose driving wheel differential information is greater than the slip preset parameter as the driving axle to be adjusted, reducing the output torque of the driving axle to be adjusted, and increasing the output torque of other driving axles except the driving axle to be adjusted.

13. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 11 is implemented.

14. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method described in any one of claims 1 to 11 is implemented.

15. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the method according to any one of claims 1 to 11.

16. A new energy commercial vehicle, characterized in that: The new energy commercial vehicle is equipped with a vehicle controller, and the new energy commercial vehicle is equipped with at least a first drive axle and a second drive axle; The vehicle controller is used to obtain the driving wheel speed information; And according to the driving wheel speed information, determining driving wheel differential information and unilateral wheel differential information; the driving wheel differential information includes a first driving axle differential and / or a second driving axle differential; the unilateral wheel differential information represents the speed difference between the multiple driving wheels on the left side of the new energy commercial vehicle, and the speed difference between the multiple driving wheels on the right side of the new energy commercial vehicle; The vehicle controller is also used to, when it is determined that differential control needs to be performed based on the drive wheel differential information, the single-side wheel differential information, the slip preset parameter and the preset consistency parameter, determine the drive axle whose drive wheel differential information is greater than the slip preset parameter as the drive axle to be adjusted, reduce the output torque of the drive axle to be adjusted, and increase the output torque of other drive axles except the drive axle to be adjusted.

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