Differential lock control method and device, electronic equipment and medium

Abstract

The invention discloses a differential lock control method and device, electronic equipment and a medium, relates to the field of control, and aims to solve the problems that when the speed of an all-terrain vehicle is too high, if a differential lock is forcibly operated to lock, teeth of an internal gear of a differential mechanism are broken, so that the all-terrain vehicle is difficult to steer, and a transmission system is overloaded and even fractured. According to the scheme, when it is judged that the differential lock switch is in the unlocking state and the control template is in the automatic mode, the speed of the all-terrain vehicle is automatically calculated according to the rotating speed of the left front wheel and the rotating speed of the right front wheel of the all-terrain vehicle, and whether the all-terrain vehicle is in the high-speed running state or not is automatically judged according to the speed; whether the differential lock switch can be locked or unlocked or not is also related to the current state, so that according to the scheme, whether the differential lock switch meets the locking condition or not needs to be judged according to the vehicle speed of the all-terrain vehicle and the current state of the differential lock, and corresponding locking control is carried out; and the problems of difficult steering and overload and even breakage of a transmission system of the all-terrain vehicle are avoided.

Description

Technical Field

[0001] The present invention relates to the field of control, and in particular to a differential lock control method, device, electronic equipment and medium. Background Art

[0002] A differential is a mechanism that connects the left and right wheels of an ATV and distributes engine or motor power to them, enabling the two wheels to rotate at different speeds. For example, a differential connecting the left and right wheels primarily consists of left and right half-shaft gears, multiple planetary gears, and a planetary carrier. When turning, the differential adjusts the wheel speeds, for example, with the outer wheel speed exceeding the inner wheel speed, to reduce wheel wear and steering resistance, ensuring smooth cornering. If one wheel loses grip (e.g., in a mud pit), the differential transfers more power to the slipping wheel (the wheel that hasn't lost grip), resulting in a loss of effective power and trapping the ATV. Therefore, the existing method is to install a differential lock in the differential. The differential lock is a mechanism used to achieve a rigid connection between the left half-shaft gear and the right half-shaft gear. The differential lock includes: a differential lock motor and a differential lock position feedback signal device, wherein the differential lock motor can drive the differential lock to unlock or lock; the differential lock position feedback signal device will monitor the current unlocking state of the differential lock. When the differential lock is unlocked, all the planetary gears of the differential will be locked to force the left and right wheels to rotate at the same speed, ensuring that even if one side of the wheel is suspended or slipping, the other side of the wheel can still obtain sufficient power to avoid power waste.

[0003] Currently, the driver of an all-terrain vehicle must manually control the differential lock switch. The differential lock switch cooperates with the internal circuit of the differential lock to control the unlocking or locking of the differential lock. Regardless of the speed of the all-terrain vehicle, the driver can operate the differential lock switch to unlock or lock the differential lock. Once the all-terrain vehicle is in a high-speed driving state and the driver still controls the differential lock, it will cause the gears inside the differential to clash, making the all-terrain vehicle difficult to turn, overloading the transmission system, or even breaking. Summary of the Invention

[0004] The purpose of the present invention is to provide a differential lock control method, device, electronic device and medium. This solution determines whether the differential lock switch meets the locking conditions based on the vehicle speed and the current state of the differential lock, and performs corresponding locking control to avoid steering difficulties, transmission system overload or even breakage of the all-terrain vehicle.

[0005] To solve the above technical problems, the present invention provides a differential lock control method, comprising:

[0006] Acquiring a left front wheel speed, a right front wheel speed, a current state of a differential lock of the all-terrain vehicle, a current state of a differential lock switch of the all-terrain vehicle, and a current control mode of the differential lock;

[0007] determining a speed of the all-terrain vehicle according to the left front wheel speed and the right front wheel speed;

[0008] Determining whether the current state of the differential lock switch is unlocked and whether the current control mode is automatic mode;

[0009] If the current state of the differential lock switch is unlocked and the current control mode is automatic, determining whether the differential lock meets a locking condition based on the vehicle speed and the current state of the differential lock;

[0010] If the vehicle speed is not greater than a preset vehicle speed threshold and the current state of the differential lock is a pre-locking state, determining that the differential lock meets a locking condition;

[0011] If the vehicle speed is greater than a preset vehicle speed threshold and the current state is a locked state, it is determined that the differential lock of the all-terrain vehicle does not meet the locking condition, and an electrical signal is sent to the differential lock motor of the differential lock to control the differential lock to unlock.

[0012] Optionally, before determining whether the differential lock satisfies a locking condition based on the vehicle speed and the current state of the differential lock, the method further includes:

[0013] Obtaining a steering angle of the all-terrain vehicle;

[0014] taking the absolute value of the left front wheel speed minus the right front wheel speed as the speed difference between the left and right front wheels of the all-terrain vehicle;

[0015] Accordingly, determining whether the differential lock satisfies a locking condition based on the vehicle speed and the current state of the differential lock includes:

[0016] determining whether the differential lock satisfies a locking condition based on the steering angle, the speed difference, the vehicle speed, and a current state of the differential lock;

[0017] Accordingly, if the vehicle speed is not greater than the preset vehicle speed threshold and the current state of the differential lock is the pre-locking state, determining that the differential lock meets the locking condition includes:

[0018] If the steering angle is within a preset steering angle range, the speed difference is not less than a preset speed difference threshold, the vehicle speed is not greater than a preset vehicle speed threshold, and the current state of the differential lock is a pre-locking state, it is determined that the differential lock of the all-terrain vehicle meets the locking condition.

[0019] Optionally, before determining whether the differential lock satisfies a locking condition based on the vehicle speed and the current state of the differential lock, the method further includes:

[0020] Obtaining a power gear position and a driving gear position of the all-terrain vehicle;

[0021] Accordingly, determining whether the differential lock satisfies a locking condition based on the vehicle speed and the current state of the differential lock includes:

[0022] determining whether the differential lock meets a locking condition based on the power gear, the driving gear, the vehicle speed, and a current state of the differential lock;

[0023] Accordingly, if the vehicle speed is not greater than the preset vehicle speed threshold and the current state of the differential lock is the pre-locking state, determining that the differential lock meets the locking condition includes:

[0024] If the power gear is in the Ready gear, the driving gear is in the forward gear or the reverse gear, the vehicle speed is not greater than a preset vehicle speed threshold, and the current state of the differential lock is in the pre-locking state, it is determined that the differential lock of the all-terrain vehicle meets the locking condition.

[0025] Optionally, before determining whether the differential lock satisfies a locking condition based on the vehicle speed and the current state of the differential lock, the method further includes:

[0026] obtaining a driving mode of the all-terrain vehicle;

[0027] Accordingly, determining whether the differential lock satisfies a locking condition based on the vehicle speed and the current state of the differential lock includes:

[0028] Whether the differential lock meets a locking condition is determined based on the driving mode of the all-terrain vehicle, the vehicle speed, and a current state of the differential lock.

[0029] Optionally, determining whether the differential lock meets a locking condition based on the driving mode of the all-terrain vehicle, the vehicle speed, and the current state of the differential lock includes:

[0030] determining whether the driving mode of the all-terrain vehicle is an in-place steering mode, the vehicle speed is not greater than a preset vehicle speed threshold, and the current state of the differential lock is a pre-locking state, and determining whether the differential lock meets a locking condition;

[0031] Accordingly, if the vehicle speed is not greater than the preset vehicle speed threshold and the current state of the differential lock is the pre-locking state, determining that the differential lock meets the locking condition includes:

[0032] If the driving mode of the all-terrain vehicle is not the stationary steering mode, the vehicle speed is not greater than a preset vehicle speed threshold, and the current state of the differential lock is a pre-locking state, determining that the differential lock of the all-terrain vehicle meets the locking condition;

[0033] Accordingly, if the vehicle speed is greater than a preset vehicle speed threshold and the current state is a locked state, determining that the differential lock of the all-terrain vehicle does not meet the locking condition includes:

[0034] If the driving mode of the all-terrain vehicle is the stationary steering mode, the vehicle speed is greater than a preset vehicle speed threshold, and the current state is a locked state, it is determined that the differential lock of the all-terrain vehicle does not meet the locking condition.

[0035] Optionally, after sending the electrical signal to the differential lock motor of the differential lock, the method further includes:

[0036] determining whether the differential lock is detected to be in a pre-locking state within a preset time;

[0037] If the differential lock is not detected in the pre-locking state within a preset time, a corresponding alarm is issued.

[0038] In order to solve the above technical problems, the present invention further provides a differential lock control device, comprising:

[0039] an acquisition module, configured to acquire a left front wheel speed, a right front wheel speed, a current state of a differential lock of the all-terrain vehicle, a current state of a differential lock switch of the all-terrain vehicle, and a current control mode of the differential lock;

[0040] a determination module, configured to determine a speed of the all-terrain vehicle according to the left front wheel speed and the right front wheel speed;

[0041] a first determining module, configured to determine whether the current state of the differential lock switch is an unlocked state and whether the current control mode is an automatic mode;

[0042] a second determination module, configured to determine whether the differential lock satisfies a locking condition based on the vehicle speed and the current state of the differential lock if the current state of the differential lock switch is unlocked and the current control mode is automatic;

[0043] a first determining module, configured to determine that the differential lock satisfies a locking condition when the vehicle speed is not greater than a preset vehicle speed threshold and the current state of the differential lock is a pre-locking state;

[0044] The second determination module is configured to determine that the differential lock of the all-terrain vehicle does not meet the locking condition when the vehicle speed is greater than a preset vehicle speed threshold and the current state is a locked state, and to send an electrical signal to a differential lock motor of the differential lock to control the differential lock to unlock.

[0045] Optionally, also include:

[0046] a third judgment module, configured to judge whether the differential lock is detected to be in a pre-locking state within a preset time;

[0047] The alarm module is used to issue a corresponding alarm when the differential lock is not detected in the pre-locking state within a preset time.

[0048] Accordingly, the differential lock control device further includes:

[0049] a fourth determination module, configured to determine whether the differential lock is detected to be in a pre-locking state within a second preset time;

[0050] The second alarm module is configured to issue a corresponding alarm when the differential lock is not detected in the pre-locking state within a second preset time.

[0051] To solve the above technical problems, the present invention further provides an electronic device, comprising:

[0052] Memory for storing computer programs;

[0053] A processor is configured to implement the steps of the differential lock control method described above when executing the computer program.

[0054] To solve the above technical problems, the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the differential lock control method as described above are implemented.

[0055] The purpose of the present invention is to provide a differential lock control method, device, electronic device and medium. This solution takes into account that if the differential lock is forcibly operated when the speed of an all-terrain vehicle is too high, it will cause the internal gears of the differential to clash, making the all-terrain vehicle difficult to turn, overload the transmission system or even break. Therefore, when this solution determines that the differential lock switch is in the unlocked state and the control template of the all-terrain vehicle is in automatic mode, the speed of the all-terrain vehicle is automatically calculated based on the left front wheel speed and the right front wheel speed of the all-terrain vehicle, and whether the all-terrain vehicle is in a high-speed driving state is automatically determined based on the vehicle speed. In addition, since whether the differential lock switch can be locked or unlocked is also related to its current state, this solution needs to determine whether the differential lock switch meets the locking conditions based on the speed of the all-terrain vehicle and the current state of the differential lock, and perform corresponding locking control to avoid the all-terrain vehicle from having difficulty turning, overload the transmission system or even breakage. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0057] Figure 1 A process flow chart of a differential lock control method provided by the present invention;

[0058] Figure 2 A schematic structural diagram of a differential lock control device provided by the present invention;

[0059] Figure 3 This is a structural diagram of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0060] The core of the present invention is to provide a differential lock control method, device, electronic equipment and medium. This solution determines whether the differential lock switch meets the locking conditions based on the speed of the all-terrain vehicle and the current state of the differential lock, and performs corresponding locking control to avoid steering difficulties, transmission system overload or even breakage of the all-terrain vehicle.

[0061] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0062] Please refer to Figure 1 , Figure 1 This is a process flow chart of a differential lock control method provided by the present invention. The differential lock control method includes:

[0063] S11: Acquire the left front wheel speed, the right front wheel speed, the current state of the differential lock of the all-terrain vehicle, the current state of the differential lock switch of the all-terrain vehicle, and the current control mode of the differential lock;

[0064] S12: determining a speed of the all-terrain vehicle according to a left front wheel speed and a right front wheel speed;

[0065] S13: Determine whether the current state of the differential lock switch is unlocked and whether the current control mode is automatic mode;

[0066] S14: If the current state of the differential lock switch is unlocked and the current control mode is automatic, determining whether the differential lock meets the locking condition based on the vehicle speed and the current state of the differential lock;

[0067] S15: If the vehicle speed is not greater than the preset vehicle speed threshold and the current state of the differential lock is the pre-locking state, it is determined that the differential lock meets the locking condition;

[0068] S16: If the vehicle speed is greater than the preset vehicle speed threshold and the current state is a locked state, it is determined that the differential lock of the all-terrain vehicle does not meet the locking condition, and an electrical signal is sent to the differential lock motor of the differential lock to control the differential lock to unlock.

[0069] In the present invention, considering that when the ATV is in a high-speed driving state, if the driver still controls the differential lock to lock, it will cause the gears inside the differential to clash, making the ATV difficult to turn, overload the transmission system or even break, this solution adds an automatic judgment process for the locking condition of the ATV on the basis of the original manual control differential lock switch solution, that is, it is necessary to first judge whether the current state of the differential lock switch is unlocked and whether the current control mode is automatic mode. Among them, when the differential lock switch is in the unlocked state, if the current control mode is automatic mode, it proves that the current locking control of the ATV is automatic control. At this time, it is necessary to determine the speed of the ATV according to the speed of the left front wheel and the right front wheel of the ATV, and then determine the speed of the ATV according to the speed of the vehicle. The system determines whether the differential lock meets the locking conditions based on the vehicle's speed. Furthermore, determining whether the differential lock meets the locking conditions requires not only considering the vehicle's speed but also its current state. For example, if the differential lock is currently locked, the locking conditions are not met even if the vehicle's speed does not exceed a preset speed threshold. Conversely, if the differential lock is currently in the pre-lock state (unlocked), the locking conditions are determined to be met once it is determined that the vehicle's speed does not exceed the preset speed threshold. This solution can prevent steering difficulties, transmission system overload, or even breakage in all-terrain vehicles. It can also prevent the differential lock from suddenly engaging while the vehicle is traveling at high speeds, causing the differential lock to engage and subsequently damage the gears. If the vehicle enters a locked state at high speeds, tire wear or even loss of control can result.

[0070] It should be noted that this solution aims to reduce the driver's operational burden and improve vehicle automation. It automatically engages the differential lock when appropriate, eliminating the need for manual driver intervention. The driver can also switch to manual engagement if desired, but the controller will check whether locking conditions are met based on the current vehicle operating status, enhancing vehicle safety. The controller fully utilizes electronic sensor data and, based on various vehicle conditions, ultimately determines whether to unlock or lock the differential, resulting in more precise unlocking and locking criteria and more convenient operation for the driver.

[0071] It should also be noted that when the automatic control process determines that the differential lock of the all-terrain vehicle meets the locking conditions, once the differential lock is in the locked state and the vehicle speed exceeds the preset speed threshold, it will cause the all-terrain vehicle to wear tires or even lose control. Therefore, this solution will constrain the speed of the all-terrain vehicle after determining that the differential lock meets the locking conditions, that is, control the vehicle speed not to exceed the preset speed threshold. Once it is found that the speed of the all-terrain vehicle suddenly exceeds the preset speed threshold, a corresponding alarm will be issued so that the driver can promptly discover the abnormal speed of the all-terrain vehicle, thereby improving the safety of the solution.

[0072] It should be noted that the entire differential lock control system includes a vehicle controller (VCU), a differential lock switch, a differential lock, and corresponding sensors such as a rotation angle sensor and a speed sensor. The speed sensor is used to obtain the left and right front wheel speeds of the ATV, thereby calculating the vehicle's speed and speed difference. The rotation angle sensor is used to obtain steering information. Furthermore, the VCU processes the speed difference, vehicle speed, the current differential lock unlock status, and other vehicle information, such as whether the vehicle's power position is READY and whether the drive gear is R / N / D. Based on this vehicle information, it controls the differential lock unlocking logic. This allows the VCU to directly control the differential lock, optimize the control circuitry, and add logic such as speed determination and timeout detection, thereby improving differential lock control safety and reducing vehicle costs. Furthermore, the VCU automatically controls the locking and unlocking of the differential lock by acquiring information such as the left and right wheel speeds, vehicle speed, and steering angle, reducing user operation frequency and enhancing the vehicle's intelligence.

[0073] It should also be noted that in actual applications, the vehicle controller in this solution will also obtain the status information of the differential lock switch of the all-terrain vehicle. When the status information of the differential lock switch is in the action state, it proves that the driver still chooses to manually control the unlocking of the differential lock. On the contrary, if the status information of the differential lock is in the static state, that is, through the status information of the differential lock switch, it proves that the driver has completely handed over the control of the differential lock unlocking to the automatic control of the vehicle controller.

[0074] It should also be noted that the differential lock is a conventional electric differential lock, which is used on traditional all-terrain vehicles (locking and unlocking the differential by rotating the internal motor forward and reverse). The electric differential lock is installed between the left and right wheels on the front of the electric all-terrain vehicle. The electric differential lock communicates directly with the vehicle controller (i.e., the vehicle controller sends a control signal to the electric differential lock, and the electric differential lock feeds back a status signal to the vehicle controller). The vehicle controller directly controls the electric differential lock, optimizes the control circuit, and adds logic such as vehicle speed judgment and timeout judgment to improve the safety of the differential lock control and reduce vehicle costs. The general control process of the differential lock is as follows:

[0075] 1. Press the switch, and the vehicle controller receives a hard-wired signal that the differential lock switch is locked;

[0076] 2. The locking condition of the differential lock requires the vehicle controller to determine that the vehicle speed is less than the specified speed (5km / h);

[0077] 3. The vehicle controller outputs a forward voltage to control the forward rotation of the differential lock motor. After the differential lock motor completes the action, the position feedback signal device on the differential lock will send a corresponding feedback signal to the vehicle controller. If the vehicle controller does not receive the correct feedback signal, the vehicle controller will repeat the action command three times. If the correct feedback signal is still not received, the vehicle controller will report a differential lock fault and limit the maximum vehicle speed to prevent steering out of control when the high-speed differential lock is locked.

[0078] 4. When the differential lock is locked, the vehicle controller limits the maximum speed to ensure safety.

[0079] 5. Differential lock unlocking conditions: The differential lock is locked and the differential lock AUTO (automatic mode) setting on the vehicle interface is off. If AUTO is on (the current differential lock control mode is automatic), the automatic differential lock unlocking conditions must be met.

[0080] It should also be noted that, based on the above automatic control scheme, some additional functions can be added. That is, when the differential lock switch is in the pre-lock state and the vehicle interface is set to the "Open" state when setting the differential lock Auto "MMI_DifferentialLockAutoSet" signal, the ICCU (Intelligent Central Control Unit) actively controls the differential lock action according to the following judgment conditions, which are specifically defined as follows:

[0081] Locking differential lock conditions (logical "AND" relationship):

[0082] (1) The vehicle's power gear is in Ready mode and the driving gear is in F or R mode;

[0083] (2) Vehicle speed ≤ 5 km / h (preset speed threshold);

[0084] (3) EPS (Electric Power Steering) steering angle is between -25° and +25° (calibrable);

[0085] (4) |Left front wheel speed value - right front wheel speed value|≥5Km / h (calibrable);

[0086] (5) The on-the-spot steering mode is not activated;

[0087] When all the above conditions are met, the ICCU actively locks the differential lock;

[0088] Unlocking differential lock conditions (logical "OR" relationship):

[0089] (1) The vehicle's power gear is in non-Ready mode and the driving gear is in N mode;

[0090] (2) Vehicle speed > 5 km / h;

[0091] (3) The on-the-spot steering mode is activated;

[0092] When any of the above conditions is met, the ICCU actively unlocks the differential lock (controls the differential lock from the locked state to the pre-locked state);

[0093] It's also important to note that: 1. READY indicates the drivable mode with the power motor enabled, equivalent to the ignition of a gasoline vehicle's engine. F represents forward gear, R represents reverse gear, and N represents neutral gear. The value is to be determined and may be adjusted based on actual vehicle performance. 2. Two modes exist: pivoting mode and non-pivoting mode (i.e., pivoting mode disabled: normal driving mode). Because pivoting requires different tire slip, the differential lock must not be locked. 3. AUTO is only effective when the differential lock is unlocked, so manual mode takes precedence over AUTO. 4. The speed sensor transmits the speed to the ABS (Anti-lock Braking System) controller, which then transmits it to the vehicle controller via CAN. The steering angle sensor collects and processes the data in the EPS controller and then transmits it to the vehicle controller via CAN. The vehicle controller then determines the direction and outputs a forward or reverse voltage to unlock or lock the differential lock motor.

[0094] It should also be noted that, considering that when an ATV is traveling on a hard surface, suddenly locking the differential lock will cause forced friction between the tires and the ground ("tire rubbing"), accelerating wear and even tire blowout, and the imbalance in the vehicle's power distribution will also cause the transmission system to continuously bear abnormal loads, shortening component life, this solution will also determine whether the ATV is traveling on a hard surface. If the ATV is traveling on a hard surface, it proves that the differential lock does not meet the locking conditions at this time; conversely, if the ATV is not traveling on a hard surface, it proves that the differential lock meets the locking conditions at this time, thereby improving the safety of the solution.

[0095] This embodiment provides a differential lock control method. This solution takes into account that if the differential lock is forcibly operated when the speed of the all-terrain vehicle is too high, it will cause the internal gears of the differential to clash, making the all-terrain vehicle difficult to turn, overload the transmission system, or even break. Therefore, when this solution determines that the differential lock switch is in the unlocked state and the control template of the all-terrain vehicle is in automatic mode, the speed of the all-terrain vehicle is automatically calculated based on the left front wheel speed and the right front wheel speed of the all-terrain vehicle, and automatically determines whether the all-terrain vehicle is in a high-speed driving state based on the vehicle speed. In addition, because whether the differential lock switch can be locked or unlocked is also related to its current state, this solution needs to determine whether the differential lock switch meets the locking conditions based on the speed of the all-terrain vehicle and the current state of the differential lock, and perform corresponding locking control to avoid the all-terrain vehicle from having difficulty turning, overload the transmission system, or even breakage.

[0096] Based on the above embodiment:

[0097] As an optional embodiment, before determining whether the differential lock meets the locking condition based on the vehicle speed and the current state of the differential lock, the method further includes:

[0098] Get the steering angle of the ATV;

[0099] The absolute value of the left front wheel speed minus the right front wheel speed is taken as the speed difference between the left and right front wheels of the all-terrain vehicle;

[0100] Accordingly, determining whether the differential lock meets the locking conditions based on the vehicle speed and the current state of the differential lock includes:

[0101] Determine whether the differential lock meets the locking conditions based on the steering angle, speed difference, vehicle speed and the current state of the differential lock;

[0102] Accordingly, if the vehicle speed is not greater than the preset vehicle speed threshold and the current state of the differential lock is the pre-locking state, it is determined that the differential lock meets the locking conditions, including:

[0103] If the steering angle is within a preset steering angle range, the speed difference is not less than a preset speed difference threshold, the vehicle speed is not greater than a preset speed threshold, and the current state of the differential lock is a pre-locking state, it is determined that the differential lock of the all-terrain vehicle meets the locking conditions.

[0104] In the present invention, it is considered that when the differential lock is locked, the left and right wheels of the all-terrain vehicle will be forced to rotate synchronously, and the steering function of the all-terrain vehicle will be almost invalid. Therefore, once the all-terrain vehicle suddenly loses its steering flexibility when traveling at high speed, it is very easy to cause loss of direction control (such as pushing the head or swinging the tail). Especially during the vehicle turning process, once the differential lock is locked, it is very likely to cause rollover. Therefore, the present solution also obtains the steering angle of the all-terrain vehicle and determines whether the steering angle is within a preset steering angle range. If the steering angle is within the preset steering angle range, it can be determined that the vehicle is not in the turning process. In addition, considering that when the all-terrain vehicle is traveling at high speed, the speed difference between the left and right wheels may be very large (for example, the wheels on one side may turn around), the left and right wheels may turn around, and ... When skidding, the wheel on the other side rotates at high speed), so in order to ensure the accuracy of the high-speed driving judgment of the all-terrain vehicle, this solution will also subtract the absolute value of the right front wheel speed from the left front wheel speed as the speed difference between the left and right front wheels of the all-terrain vehicle, and verify whether the all-terrain vehicle is currently trapped by judging whether the speed difference is less than the preset speed difference threshold. If the speed difference is not less than the preset speed difference threshold and the vehicle speed is not greater than the preset vehicle speed threshold, it can be finally determined that the power of the all-terrain vehicle cannot be transmitted to the non-slipping wheel side. In order to get out of trouble as soon as possible, the automatic control differential lock should be executed at this time. After the differential lock is locked, the power of the slipping side wheel will be transmitted to the non-slip high-adhesion side wheel, and the slipping side wheel can get out of trouble through the power of the non-slipping wheel.

[0105] It should be noted that, considering that when an all-terrain vehicle is traveling at high speed, the speed difference between its left and right wheels may be extremely large (for example, when one wheel slips, the other wheel rotates at high speed), in order to ensure the accuracy of the high-speed driving judgment of the all-terrain vehicle, this solution will also use infrared detection devices, ultrasonic detection devices, visual sensors and other environmental collection devices to obtain the driving environment of the all-terrain vehicle. When the driving environment of the all-terrain vehicle is muddy, it can be determined to a certain extent that the differential lock meets the locking state, and subsequent locking condition judgment can be performed.

[0106] As an optional embodiment, before determining whether the differential lock meets the locking condition based on the vehicle speed and the current state of the differential lock, the method further includes:

[0107] Get the power gear and driving gear of the ATV;

[0108] Accordingly, determining whether the differential lock meets the locking conditions based on the vehicle speed and the current state of the differential lock includes:

[0109] Determine whether the differential lock meets the locking conditions based on the power gear, driving gear, vehicle speed and the current state of the differential lock;

[0110] Accordingly, if the vehicle speed is not greater than the preset vehicle speed threshold and the current state of the differential lock is the pre-locking state, it is determined that the differential lock meets the locking conditions, including:

[0111] If the power gear is in the Ready gear, the driving gear is in the forward gear or the reverse gear, the vehicle speed is not greater than the preset vehicle speed threshold, and the current state of the differential lock is in the pre-locking state, it is determined that the differential lock of the all-terrain vehicle meets the locking conditions.

[0112] The present invention considers the close relationship between the ATV's power and driving gear positions and the vehicle's differential lock locking control. Specifically, when the ATV's power position is in the "Ready" position, the vehicle's high-voltage system is activated, and key components such as the Electronic Control Unit (ECU), sensors, and differential lock motor are powered and operational. Therefore, certain differential lock locking conditions are met. If the power position is not in the "Ready" position (e.g., "OFF" or "ACC"), the differential lock's electronic control system cannot receive commands or execute actions, and the differential lock locking operation is prohibited, meaning that the differential lock locking conditions are not met. Furthermore, the ATV's power position directly impacts the vehicle's energy distribution. When in the Ready position, the ECU coordinates the energy output of the battery, motor, and drivetrain to avoid transient current surges or system overloads caused by suddenly locking the differential lock. Therefore, this solution also detects the ATV's power level and determines whether it is in the Ready position. If so, subsequent locking condition determination can be made. Furthermore, when the ATV is in forward or reverse, indicating that the ATV is in or about to enter a power transmission state, locking the differential lock directly affects power distribution to the drive wheels, thus satisfying the locking conditions. When the ATV is in neutral (N) or park (P), the ATV has no power output, so locking the differential lock is meaningless and could cause mechanical jamming due to the stationary drivetrain. Furthermore, locking the differential lock in neutral or park could also lead to the following issues: 1. The driver could accidentally press the lock button while the vehicle is stationary, causing the differential lock to activate when it is not actually needed. 2. If the ATV is suddenly engaged in a driving gear after the differential lock is engaged, the vehicle's drivetrain may experience a high mechanical shock due to the rigid connection, causing gear damage. Therefore, this solution also detects the ATV's driving gear and determines whether it is in forward or reverse. If the driving gear is in forward or reverse, subsequent locking conditions can be determined, improving the solution's reliability.

[0113] As an optional embodiment, before determining whether the differential lock meets the locking condition based on the vehicle speed and the current state of the differential lock, the method further includes:

[0114] Get the driving mode of the ATV;

[0115] Accordingly, determining whether the differential lock meets the locking conditions based on the vehicle speed and the current state of the differential lock includes:

[0116] Determine whether the differential lock meets the locking conditions based on the ATV's driving mode, vehicle speed, and the current state of the differential lock.

[0117] In the present invention, it is taken into account that the driving mode of the all-terrain vehicle is related to the locking control process of the differential lock. For example, the in-place turning mode of the all-terrain vehicle is to control the reverse rotation or differential speed of the left and right wheels of the all-terrain vehicle so that the vehicle can complete turning or even rotate in place in a very small space. This mode relies on the complete pre-locking state of the differential lock to allow the left and right wheels to run at the maximum speed difference. Therefore, when the all-terrain vehicle is in the in-place turning mode, the differential lock does not meet the locking conditions. Therefore, this solution will also obtain the driving mode of the all-terrain vehicle and determine whether the differential lock meets the locking conditions based on the driving mode of the all-terrain vehicle, thereby improving the reliability of the solution.

[0118] As an optional embodiment, determining whether the differential lock meets the locking condition based on the driving mode, vehicle speed, and current state of the differential lock of the all-terrain vehicle includes:

[0119] Determining whether the driving mode of the all-terrain vehicle is a stationary steering mode, the vehicle speed is not greater than a preset vehicle speed threshold, and the current state of the differential lock is a pre-locking state, and determining whether the differential lock meets the locking condition;

[0120] Accordingly, if the vehicle speed is not greater than the preset vehicle speed threshold and the current state of the differential lock is the pre-locking state, it is determined that the differential lock meets the locking conditions, including:

[0121] If the driving mode of the all-terrain vehicle is not the stationary steering mode, the vehicle speed is not greater than the preset vehicle speed threshold, and the current state of the differential lock is the pre-locking state, then it is determined that the differential lock of the all-terrain vehicle meets the locking condition;

[0122] Accordingly, if the vehicle speed is greater than the preset vehicle speed threshold and the current state is locked, it is determined that the differential lock of the all-terrain vehicle does not meet the locking conditions, including:

[0123] If the driving mode of the all-terrain vehicle is the stationary steering mode, the vehicle speed is greater than a preset vehicle speed threshold, and the current state is a locked state, it is determined that the differential lock of the all-terrain vehicle does not meet the locking condition.

[0124] In the present invention, it is considered that after the differential lock is locked, the left and right wheels of the all-terrain vehicle will be forced to rotate synchronously to eliminate the speed difference between the left and right wheels, resulting in the all-terrain vehicle being unable to turn (only able to travel in a straight line). However, when the driving mode of the all-terrain vehicle is the stationary steering mode, because the stationary steering mode controls the opposite rotation or differential speed of the left and right wheels of the all-terrain vehicle to enable the vehicle to complete steering or even rotate in place in a very small space, and this mode relies on the complete pre-locking state of the differential lock to allow the left and right wheels to run at the maximum speed difference, the locking condition of the differential lock is not met in this mode. Therefore, the present solution will also determine whether the driving mode of the all-terrain vehicle is the stationary steering mode, and perform subsequent locking condition judgment when the driving mode of the all-terrain vehicle is not the stationary steering mode; on the contrary, if the driving mode of the all-terrain vehicle is the stationary steering mode, it is directly determined that the differential lock of the all-terrain vehicle does not meet the locking condition, thereby improving the reliability of the solution.

[0125] As an optional embodiment, after sending the electrical signal to the differential lock motor of the differential lock, the method further includes:

[0126] determining whether the differential lock is detected to be in a pre-locking state within a preset time;

[0127] If the differential lock is not detected in the pre-locking state within the preset time, a corresponding alarm will be issued.

[0128] In the present invention, considering that the differential lock of the all-terrain vehicle is composed of a differential lock motor and a differential lock position feedback signal device, wherein the differential lock position feedback signal device monitors the current unlocked state of the differential lock, so after the controller sends a first electrical signal to the differential lock motor of the differential lock, the controller also needs to determine whether the differential lock is detected to be in a locked state within a first preset time, that is, whether the state signal of the differential lock fed back by the differential lock position feedback signal device is detected within the first preset time after the first electrical signal is sent, and whether the state signal indicates that the state of the differential lock is a locked state. If the differential lock is not detected to be in a locked state within the first preset time, a corresponding alarm needs to be issued; similarly, if the differential lock is not detected to be in a pre-locked state within the second preset time, a corresponding alarm is issued to promptly remind the user or operator that one or more devices in the differential lock position feedback signal device, the differential lock motor, and the controller may have a fault.

[0129] Please refer to Figure 2 , Figure 2 This is a schematic diagram of the structure of a differential lock control device provided by the present invention. The differential lock control device includes:

[0130] An acquisition module 11 is configured to acquire the left front wheel speed, the right front wheel speed, the current state of the differential lock of the all-terrain vehicle, the current state of the differential lock switch of the all-terrain vehicle, and the current control mode of the differential lock;

[0131] a determination module 12, configured to determine the speed of the all-terrain vehicle based on the left front wheel speed and the right front wheel speed;

[0132] A first judgment module 13 is used to judge whether the current state of the differential lock switch is unlocked and whether the current control mode is automatic mode;

[0133] a second determining module 14 for determining whether the differential lock meets a locking condition based on the vehicle speed and the current state of the differential lock if the current state of the differential lock switch is unlocked and the current control mode is automatic;

[0134] A first determination module 15 is configured to determine that the differential lock meets a locking condition when the vehicle speed is not greater than a preset vehicle speed threshold and the current state of the differential lock is a pre-locking state;

[0135] The second determination module 16 is configured to determine that the differential lock of the all-terrain vehicle does not meet the locking condition when the vehicle speed is greater than a preset vehicle speed threshold and the current state is the locked state, and then send an electrical signal to the differential lock motor of the differential lock to control the differential lock to unlock.

[0136] As an optional embodiment, the method further includes:

[0137] a third judgment module, configured to judge whether the differential lock is detected to be in a pre-locking state within a preset time;

[0138] The alarm module is used to issue a corresponding alarm when the differential lock is not detected in the pre-locking state within a preset time.

[0139] The differential lock control device provided in this embodiment corresponds to the above method and thus has the same beneficial effects as the above method. Therefore, for the embodiments of the differential lock control device, please refer to the description of the embodiments of the method, which will not be repeated here.

[0140] Please refer to Figure 3 , Figure 3 This is a schematic diagram of the structure of an electronic device provided by the present invention. The electronic device includes:

[0141] Memory 20, for storing computer programs;

[0142] The processor 21 is configured to implement the steps of the differential lock control method described above when executing a computer program.

[0143] The electronic device provided in this embodiment may include but is not limited to a smart phone, a tablet computer, a laptop computer, or a desktop computer.

[0144] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one hardware form of a digital signal processor (DSP), a field programmable gate array (FPGA), and a programmable logic array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0145] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory, and non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used to store the following computer program 201, wherein, after the computer program is loaded and executed by the processor 21, it can implement the relevant steps of the differential lock control method disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include but is not limited to the differential lock control method, etc.

[0146] In some embodiments, the electronic device may further include a display screen 22 , an input / output interface 23 , a communication interface 24 , a power supply 25 , and a communication bus 26 .

[0147] Those skilled in the art will understand that Figure 3 The structure shown in the figure does not constitute a limitation of the electronic device, and may include more or fewer components than shown in the figure.

[0148] The present embodiment aims to provide an electronic device in which the memory 20 is used to store a computer program, and the processor 21 is used to implement the steps of the differential lock control method described above when executing the computer program, thereby making the control process more efficient and accurate.

[0149] The present invention also provides an embodiment corresponding to a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the differential lock control method as described above are implemented.

[0150] It is understood that if the methods in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0151] The computer-readable storage medium provided in this embodiment corresponds to the above method and therefore has the same beneficial effects as the above method. Therefore, for the embodiments of the computer-readable storage medium part, please refer to the description of the embodiments of the method part, which will not be repeated here.

[0152] It should be noted that, in this specification, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising 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, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0153] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A differential lock control method, characterized in that: include: Acquiring the left front wheel speed, the right front wheel speed, the current state of the differential lock of the all-terrain vehicle, the current state of the differential lock switch of the all-terrain vehicle, and the current control mode of the differential lock; determining a speed of the all-terrain vehicle according to the left front wheel speed and the right front wheel speed; Determining whether the current state of the differential lock switch is unlocked and whether the current control mode is automatic mode; If the current state of the differential lock switch is unlocked and the current control mode is automatic, determining whether the differential lock meets a locking condition based on the vehicle speed and the current state of the differential lock; If the vehicle speed is not greater than a preset vehicle speed threshold and the current state of the differential lock is a pre-locking state, determining that the differential lock meets a locking condition; If the vehicle speed is greater than a preset vehicle speed threshold and the current state is a locked state, it is determined that the differential lock of the all-terrain vehicle does not meet the locking condition, and an electrical signal is sent to the differential lock motor of the differential lock to control the differential lock to unlock.

2. The differential lock control method according to claim 1, wherein: Before determining whether the differential lock satisfies a locking condition based on the vehicle speed and the current state of the differential lock, the method further includes: obtaining a steering angle of the all-terrain vehicle; taking the absolute value of the left front wheel speed minus the right front wheel speed as the speed difference between the left and right front wheels of the all-terrain vehicle; Accordingly, determining whether the differential lock satisfies a locking condition based on the vehicle speed and the current state of the differential lock includes: determining whether the differential lock satisfies a locking condition based on the steering angle, the speed difference, the vehicle speed, and a current state of the differential lock; Accordingly, if the vehicle speed is not greater than the preset vehicle speed threshold and the current state of the differential lock is the pre-locking state, determining that the differential lock meets the locking condition includes: If the steering angle is within a preset steering angle range, the speed difference is not less than a preset speed difference threshold, the vehicle speed is not greater than a preset vehicle speed threshold, and the current state of the differential lock is a pre-locking state, it is determined that the differential lock of the all-terrain vehicle meets the locking condition.

3. The differential lock control method according to claim 1, wherein: Before determining whether the differential lock satisfies a locking condition based on the vehicle speed and the current state of the differential lock, the method further includes: Obtaining a power gear position and a driving gear position of the all-terrain vehicle; Accordingly, determining whether the differential lock satisfies a locking condition based on the vehicle speed and the current state of the differential lock includes: determining whether the differential lock meets a locking condition based on the power gear, the driving gear, the vehicle speed, and a current state of the differential lock; Accordingly, if the vehicle speed is not greater than the preset vehicle speed threshold and the current state of the differential lock is the pre-locking state, determining that the differential lock meets the locking condition includes: If the power gear is in the Ready gear, the driving gear is in the forward gear or the reverse gear, the vehicle speed is not greater than a preset vehicle speed threshold, and the current state of the differential lock is in the pre-locking state, it is determined that the differential lock of the all-terrain vehicle meets the locking condition.

4. The differential lock control method according to claim 1, wherein: Before determining whether the differential lock satisfies a locking condition based on the vehicle speed and the current state of the differential lock, the method further includes: obtaining a driving mode of the all-terrain vehicle; Accordingly, determining whether the differential lock satisfies a locking condition based on the vehicle speed and the current state of the differential lock includes: Whether the differential lock meets a locking condition is determined based on the driving mode of the all-terrain vehicle, the vehicle speed, and a current state of the differential lock.

5. The differential lock control method according to claim 4, wherein: The determining whether the differential lock satisfies a locking condition based on the driving mode of the all-terrain vehicle, the vehicle speed, and the current state of the differential lock includes: determining whether the driving mode of the all-terrain vehicle is an in-place steering mode, the vehicle speed is not greater than a preset vehicle speed threshold, and the current state of the differential lock is a pre-locking state, and determining whether the differential lock meets a locking condition; Accordingly, if the vehicle speed is not greater than the preset vehicle speed threshold and the current state of the differential lock is the pre-locking state, determining that the differential lock meets the locking condition includes: If the driving mode of the all-terrain vehicle is not the stationary steering mode, the vehicle speed is not greater than a preset vehicle speed threshold, and the current state of the differential lock is a pre-locking state, determining that the differential lock of the all-terrain vehicle meets the locking condition; Accordingly, if the vehicle speed is greater than a preset vehicle speed threshold and the current state is a locked state, determining that the differential lock of the all-terrain vehicle does not meet the locking condition includes: If the driving mode of the all-terrain vehicle is the stationary steering mode, the vehicle speed is greater than a preset vehicle speed threshold, and the current state is a locked state, it is determined that the differential lock of the all-terrain vehicle does not meet the locking condition.

6. The differential lock control method according to any one of claims 1 to 5, characterized in that: After sending an electrical signal to the differential lock motor of the differential lock, the method further comprises: determining whether the differential lock is detected to be in a pre-locking state within a preset time; If the differential lock is not detected in the pre-locking state within a preset time, a corresponding alarm is issued.

7. A differential lock control device, characterized in that: include: an acquisition module, configured to acquire a left front wheel speed, a right front wheel speed, a current state of a differential lock of the all-terrain vehicle, a current state of a differential lock switch of the all-terrain vehicle, and a current control mode of the differential lock; a determination module, configured to determine a speed of the all-terrain vehicle according to the left front wheel speed and the right front wheel speed; a first determining module, configured to determine whether the current state of the differential lock switch is an unlocked state and whether the current control mode is an automatic mode; a second determination module, configured to determine whether the differential lock satisfies a locking condition based on the vehicle speed and the current state of the differential lock if the current state of the differential lock switch is unlocked and the current control mode is automatic; a first determining module, configured to determine that the differential lock satisfies a locking condition when the vehicle speed is not greater than a preset vehicle speed threshold and the current state of the differential lock is a pre-locking state; The second determination module is configured to determine that the differential lock of the all-terrain vehicle does not meet the locking condition when the vehicle speed is greater than a preset vehicle speed threshold and the current state is a locked state, and to send an electrical signal to a differential lock motor of the differential lock to control the differential lock to unlock.

8. The differential lock control device according to claim 7, wherein: Also includes: a third judgment module, configured to judge whether the differential lock is detected to be in a pre-locking state within a preset time; The alarm module is used to issue a corresponding alarm when the differential lock is not detected in the pre-locking state within a preset time.

9. An electronic device, characterized in that: include: memory for storing computer programs; A processor, configured to implement the steps of the differential lock control method according to any one of claims 1 to 6 when executing the computer program.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the differential lock control method according to any one of claims 1 to 6 are implemented.

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