Vehicle control method and vehicle

Abstract

The invention provides a vehicle control method and a vehicle. The method is applied to the technical field of vehicle chassis. The method comprises the steps that under the condition that a differential lock in a vehicle is in a locked state, the type of a road surface where the vehicle is located is obtained; if the road surface type is the target road surface type, controlling the differential lock to keep a locking state; if the road surface type is a non-target road surface type, the target state of the differential lock is determined based on the wheel state of the vehicle; and controlling the differential lock based on the target state of the differential lock. According to the method, the differential lock in the vehicle can be controlled, so that the driving safety is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle chassis, and more particularly, to a vehicle control method and a vehicle. Background Art

[0002] With the popularization of automobiles, more and more users regard vehicles as an essential means of travel, and their requirements for vehicle safety are gradually increasing.

[0003] In related technologies, when the vehicle's speed exceeds a preset speed, the differential lock is directly controlled to engage. However, this control method can cause the vehicle to lose necessary traction and stability, making it difficult to ensure driving safety. Therefore, how to control the vehicle's differential lock to improve driving safety has become an urgent problem to be solved. Summary of the Invention

[0004] The present application provides a vehicle control method and a vehicle, wherein the method can control a differential lock in the vehicle to improve driving safety.

[0005] In a first aspect, a vehicle control method is provided, the method comprising:

[0006] When a differential lock in the vehicle is in a locked state, obtaining a road type on which the vehicle is located;

[0007] If the road surface type is the target road surface type, controlling the differential lock to maintain a locked state;

[0008] If the road surface type is a non-target road surface type, determining a target state of a differential lock based on a wheel state of the vehicle;

[0009] Based on the target state of the differential lock, the differential lock is controlled.

[0010] The above technical solution, when the vehicle's differential lock is in a locked state, controls the differential lock to remain locked when the vehicle's road surface type is the target road surface type; when the vehicle's road surface type is a non-target road surface type, determines the target state of the differential lock and controls the differential lock based on the vehicle's wheel state. Compared to the prior art method of directly controlling the differential lock to unlock when the vehicle speed exceeds a preset speed, the present application comprehensively determines the target state of the vehicle's differential lock based on the vehicle's road surface type and the vehicle's wheel state (wheel slippage), thereby ensuring the reliability of the target state of the vehicle's differential lock and thereby improving the vehicle's driving safety. In addition, determining the target state of the differential lock based on the vehicle's road surface type and wheel state can improve the vehicle's passability and stability in complex road conditions or driving scenarios.

[0011] With reference to the first aspect, in certain possible implementations, determining a target state of a differential lock based on a wheel state of the vehicle includes:

[0012] If all wheels of the vehicle are in a slipping state, determining a target state of the differential lock based on the wheel accelerations of the wheels;

[0013] If there is at least one wheel in the vehicle that is not in a slipping state, a target state of the differential lock is determined based on a minimum rotational speed among the wheel rotational speeds of the wheels.

[0014] According to the above technical solution, when all wheels of the vehicle are in a slipping state, whether the vehicle is in a completely out-of-control state can be determined by the wheel acceleration of the vehicle, and the target state of the differential lock is determined based on the wheel acceleration of the wheel, thereby ensuring the accuracy of the target state of the differential lock; when there is at least one wheel in the vehicle that is not in a slipping state, the actual speed of the vehicle can be determined by the minimum speed among the wheel speeds, and the target state of the differential lock is determined based on the minimum speed among the wheel speeds, thereby ensuring the accuracy of the target state of the differential lock, thereby improving driving safety.

[0015] In combination with the first aspect and the above implementations, in certain possible implementations, determining the target state of the differential lock based on the minimum wheel speed among the wheel speeds includes:

[0016] determining a current speed of the vehicle based on the minimum speed;

[0017] If the current vehicle speed is greater than a preset vehicle speed, determining the unlocked state as the target state of the differential lock;

[0018] If the current vehicle speed is less than or equal to a preset vehicle speed, the locked state is determined as a target state of the differential lock.

[0019] The above technical solution determines the current speed of the vehicle based on the minimum speed. When the current speed is greater than the preset speed, the unlocked state is determined as the target state of the differential lock. When the current speed is less than or equal to the preset speed, the locked state is determined as the target state of the differential lock. Since not all wheels in the vehicle are in a slipping state, the current speed of the vehicle can be determined by the minimum speed among the wheel speeds. The target state of the differential lock is determined by the current speed of the vehicle. This can improve the accuracy of the target state of the differential lock in combination with the current vehicle driving scenario, thereby ensuring driving safety.

[0020] In combination with the first aspect and the above implementations, in some possible implementations, the method further includes: obtaining a longitudinal acceleration and a target acceleration of the vehicle, wherein the target acceleration is obtained based on a wheel-end torque of the vehicle;

[0021] The determining the target state of the differential lock based on the wheel acceleration of the wheel includes:

[0022] If the wheel acceleration is greater than the longitudinal acceleration or the wheel acceleration is greater than the target acceleration, determining the locked state as the target state of the differential lock;

[0023] If the wheel acceleration is less than or equal to the longitudinal acceleration, and the wheel acceleration is less than or equal to the target acceleration, a target state of the differential lock is determined based on a driving mode or an accelerator pedal opening of the vehicle.

[0024] In the above technical solution, when the wheel acceleration is greater than the longitudinal acceleration or the wheel acceleration is greater than the target acceleration, the locked state is determined as the target state of the differential lock. Since the wheel acceleration is greater than the longitudinal acceleration or the wheel acceleration is greater than the target acceleration, it indicates that the vehicle is completely out of control, and the locked state is determined as the target state of the differential lock to ensure the necessary traction and stability of the vehicle. When the wheel acceleration is less than or equal to the longitudinal acceleration, and the wheel acceleration is less than or equal to the target acceleration, the target state of the differential lock is determined based on the vehicle's driving mode or accelerator pedal position. Since the wheel acceleration is less than or equal to the longitudinal acceleration and the wheel acceleration is less than or equal to the target acceleration, the vehicle state is controllable. The target state of the differential lock is further determined based on the vehicle's driving mode or accelerator pedal position, thereby improving the reliability of the target state determination.

[0025] In combination with the first aspect and the above implementations, in some possible implementations, determining the target state of the differential lock based on the driving mode or accelerator pedal opening of the vehicle includes:

[0026] If the driving mode is the off-road mode or the accelerator pedal opening is greater than a preset opening, a target state of the differential lock is determined based on the current speed of the vehicle.

[0027] The above technical solution determines the target state of the differential lock based on the current speed of the vehicle when the driving mode is off-road mode or the accelerator pedal opening is greater than the preset opening; when the driving mode of the vehicle is off-road mode or the accelerator pedal opening is greater than the preset opening, it indicates that the current vehicle requires greater power. Then, combined with the current speed of the vehicle, it can be comprehensively determined whether the differential lock of the vehicle needs to be unlocked, and then the target state of the differential lock in the vehicle can be determined, which can improve the reliability of the target state of the differential lock.

[0028] In combination with the first aspect and the above implementations, in some possible implementations, determining the target state of the differential lock based on the current speed of the vehicle includes:

[0029] If the current vehicle speed is less than or equal to a preset vehicle speed, determining the locking state as a target state of the differential lock;

[0030] If the current vehicle speed is greater than the preset vehicle speed, obtaining a duration in a target state, wherein the target state is used to indicate that the current vehicle speed is greater than the preset vehicle speed;

[0031] The target state of the differential lock is determined based on a duration in the target state.

[0032] The above technical solution determines the locking state as the target state of the differential lock when the current vehicle speed is less than or equal to the preset speed; when the current vehicle speed is greater than the preset speed, the target state of the differential lock is determined based on the duration in the target state; the target state indicates that the current vehicle speed is greater than the preset speed. The duration in the target state can avoid the mis-locking phenomenon caused by the instantaneous vehicle speed being greater than the preset speed, thereby ensuring the reliability of the differential lock in the controlled vehicle and thereby improving driving safety.

[0033] In combination with the first aspect and the above implementation manner, in some possible implementation manners, determining the target state of the differential lock based on the duration of the target state includes:

[0034] If the duration is less than or equal to a preset duration, determining the locked state as a target state of the differential lock;

[0035] If the duration is longer than a preset duration, the unlocked state is determined as the target state of the differential lock.

[0036] The above technical solution determines the locked state as the target state of the differential lock when the duration of the target state is less than or equal to the preset duration; and determines the unlocked state as the target state of the differential lock when the duration of the target state is greater than the preset duration. By judging whether the duration of the vehicle being in the target state is greater than the preset duration, it can avoid misunderstanding of the differential lock caused by the instantaneous vehicle speed being greater than the preset speed, thereby ensuring the reliability of the differential lock control.

[0037] In combination with the first aspect and the above implementations, in some possible implementations, obtaining the longitudinal acceleration and target acceleration of the vehicle includes:

[0038] Obtaining the wheel end torque, wheel radius and vehicle mass;

[0039] The target acceleration is determined based on the wheel end torque, the wheel radius and the vehicle mass, and the target acceleration is positively correlated with the wheel end torque.

[0040] The above technical solution determines the target acceleration based on the wheel-end torque, wheel radius and vehicle mass of the vehicle; the actual acceleration of the vehicle (target acceleration) can be determined through the wheel-end torque, and then the target state of the differential lock in the vehicle can be determined through the target acceleration, ensuring the accuracy of the target state of the differential lock.

[0041] In combination with the first aspect and the above implementations, in certain possible implementations, if the road surface type is a non-target road surface type, determining a target state of a differential lock based on a wheel state of the vehicle includes:

[0042] If the road surface type is the non-target road surface type, obtaining a target speed of the vehicle, where the target speed is the speed monitored by radar;

[0043] If the target vehicle speed is less than or equal to a preset vehicle speed, a target state of the differential lock is determined based on the wheel state.

[0044] The above technical solution, when the road surface type is a non-target road surface type, monitors the target speed of the vehicle through radar. When the target speed is less than or equal to the preset speed, the target state of the differential lock is determined based on the wheel status; combining the road surface type, the vehicle speed monitored by the radar and the multi-dimensional data of the wheel status, the target state of the differential is determined and the differential lock is controlled, which can improve the accuracy of the differential lock control in different scenarios, thereby ensuring the stability of the vehicle.

[0045] In combination with the first aspect and the above implementations, in some possible implementations, determining the target state of the differential lock based on the wheel state includes:

[0046] determining whether all wheels of the vehicle are in a slipping state;

[0047] If all wheels of the vehicle are in a slipping state, determining a target state of the differential lock based on the wheel accelerations of the wheels;

[0048] If there is at least one wheel in the vehicle that is not in a slipping state, a target state of the differential lock is determined based on a minimum rotational speed among the wheel rotational speeds of the wheels.

[0049] In a second aspect, a vehicle control device is provided, the vehicle control device comprising:

[0050] a communication module, configured to obtain a type of road surface on which the vehicle is located when a differential lock in the vehicle is in a locked state;

[0051] a processing module, configured to control the differential lock to maintain a locked state if the road surface type is a target road surface type;

[0052] a processing module, configured to determine a target state of a differential lock based on a wheel state of the vehicle if the road surface type is a non-target road surface type;

[0053] A processing module is configured to control the differential lock based on a target state of the differential lock.

[0054] In conjunction with the second aspect, in some possible implementations, the processing module is specifically configured to:

[0055] If all wheels of the vehicle are in a slipping state, determining a target state of the differential lock based on the wheel accelerations of the wheels;

[0056] If there is at least one wheel in the vehicle that is not in a slipping state, a target state of the differential lock is determined based on a minimum rotational speed among the wheel rotational speeds of the wheels.

[0057] In combination with the second aspect and the above implementation, in some possible implementations, the processing module is specifically configured to:

[0058] determining a current speed of the vehicle based on the minimum speed;

[0059] If the current vehicle speed is greater than a preset vehicle speed, determining the unlocked state as the target state of the differential lock;

[0060] If the current vehicle speed is less than or equal to a preset vehicle speed, the locked state is determined as a target state of the differential lock.

[0061] In combination with the second aspect and the above implementations, in some possible implementations, the communication module is further configured to: obtain the longitudinal acceleration and target acceleration of the vehicle, where the target acceleration is obtained based on the wheel-end torque of the vehicle;

[0062] The processing module is specifically used to:

[0063] If the wheel acceleration is greater than the longitudinal acceleration or the wheel acceleration is greater than the target acceleration, determining the locked state as the target state of the differential lock;

[0064] If the wheel acceleration is less than or equal to the longitudinal acceleration, and the wheel acceleration is less than or equal to the target acceleration, a target state of the differential lock is determined based on a driving mode or an accelerator pedal opening of the vehicle.

[0065] In combination with the second aspect and the above implementation, in some possible implementations, the processing module is specifically configured to:

[0066] If the driving mode is the off-road mode or the accelerator pedal opening is greater than a preset opening, a target state of the differential lock is determined based on the current speed of the vehicle.

[0067] In combination with the second aspect and the above implementation, in some possible implementations, the processing module is specifically configured to:

[0068] If the current vehicle speed is less than or equal to a preset vehicle speed, determining the locking state as a target state of the differential lock;

[0069] If the current vehicle speed is greater than the preset vehicle speed, obtaining a duration in a target state, wherein the target state is used to indicate that the current vehicle speed is greater than the preset vehicle speed;

[0070] The target state of the differential lock is determined based on a duration in the target state.

[0071] In combination with the second aspect and the above implementation, in some possible implementations, the processing module is specifically configured to:

[0072] If the duration is less than or equal to a preset duration, determining the locked state as a target state of the differential lock;

[0073] If the duration is longer than a preset duration, the unlocked state is determined as the target state of the differential lock.

[0074] In combination with the second aspect and the above implementation, in some possible implementations, the communication module is specifically configured to:

[0075] Obtaining the wheel end torque, wheel radius and vehicle mass;

[0076] The target acceleration is determined based on the wheel end torque, the wheel radius and the vehicle mass, and the target acceleration is positively correlated with the wheel end torque.

[0077] In combination with the second aspect and the above implementation, in some possible implementations, the processing module is specifically configured to:

[0078] If the road surface type is the non-target road surface type, obtaining a target speed of the vehicle, where the target speed is the speed monitored by radar;

[0079] If the target vehicle speed is less than or equal to a preset vehicle speed, a target state of the differential lock is determined based on the wheel state.

[0080] In a third aspect, a vehicle is provided, comprising a memory and a processor, wherein the memory is used to store executable program code; the processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0081] In a fourth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0082] In a fifth aspect, a computer program product is provided, which includes: computer program code, which, when running on a computer, enables the computer to execute the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] Figure 1 This is a schematic diagram of a scenario of a vehicle control method provided by an embodiment of the present application;

[0084] Figure 2 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0085] Figure 3 is a schematic flow chart of another vehicle control method provided in an embodiment of the present application;

[0086] Figure 4 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0087] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0088] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0089] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0090] Figure 1 This is a scenario diagram of a vehicle control method provided in an embodiment of the present application.

[0091] For example, Figure 1 As shown, when the vehicle 100 is traveling on a target road type (such as a snowy road or a sandy road), the differential lock in the vehicle 100 needs to be locked to ensure vehicle traction and safety. When the vehicle 100 is traveling on a highway, the differential lock in the vehicle 100 needs to be unlocked to improve the flexibility and stability of the vehicle 100.

[0092] In related technologies, regardless of the type of road surface, the differential lock automatically unlocks when the vehicle's speed exceeds a preset speed. However, this control method can cause the vehicle to lose necessary traction and stability, making it difficult to ensure driving safety. Furthermore, this method can lead to a loss of control at critical moments, potentially increasing the risk of accidents.

[0093] In light of this, the present application provides a vehicle control method and vehicle that comprehensively determines the target state of the vehicle's differential lock by combining the vehicle's road surface type and the vehicle's wheel state (wheel slippage). This ensures the reliability of the target state of the vehicle's differential lock, thereby improving vehicle driving safety. Furthermore, determining the target state of the differential lock based on the vehicle's road surface type and wheel state can improve the vehicle's maneuverability and stability in complex road conditions or driving scenarios.

[0094] Of course, the vehicle control method in this application comprehensively determines the target state of the differential lock by combining vehicle parameters and road type in real time, which can ensure the reliability of controlling the differential lock and ensure driving safety.

[0095] Figure 2 It is a schematic flow chart of a vehicle control method provided in an embodiment of the present application.

[0096] For example, Figure 2 The method shown can be executed by a vehicle controller or chip of the vehicle.

[0097] For example, Figure 2 As shown, the vehicle control method 200 includes steps S210-S240.

[0098] S210 , when the differential lock in the vehicle is in a locked state, obtaining the type of road surface on which the vehicle is located.

[0099] For example, a vehicle's differential lock is a device that helps ensure the vehicle's ability to maneuver on special road surfaces (such as snowy or muddy roads). Its core function is to mechanically lock the wheels on both sides to rotate at the same speed when there is a difference in wheel speed, thereby improving the vehicle's maneuverability and ability to escape from obstacles. The differential lock operates in two states: locked and unlocked. When locked, the wheels on both sides are forced to rotate at the same speed; when unlocked, the wheels on both sides can rotate at different speeds.

[0100] For example, when a vehicle's differential lock is locked, a sensor identifies the type of road surface the vehicle is on and determines whether the road surface type is a target road surface type. If the road surface type is the target road surface type, the vehicle's differential lock is controlled to remain locked. If the road surface type is not the target road surface type, the target state of the differential lock is determined based on the vehicle's wheel status, and the vehicle's differential lock is controlled based on the target state.

[0101] Optionally, the type of road on which the vehicle is located may be, but is not limited to: snowy road, muddy road, sandy road, cement road, asphalt road, etc.

[0102] Optionally, the target road surface type includes but is not limited to: snowy road surface, muddy road surface, sandy road surface, rocky road surface, etc., which are not specifically limited here. It is understandable that when the vehicle travels on the target road surface type, the vehicle's adhesion is low.

[0103] For example, the road type of the vehicle can be obtained through navigation software. Alternatively, a sensor can capture an image of the road surface the vehicle is on and input the image into a road surface recognition model to identify the road surface type. The road surface recognition model is trained using sample data.

[0104] S220: If the road surface type is the target road surface type, control the differential lock to remain in a locked state.

[0105] For example, when the differential lock in the vehicle is in a locked state, the road type on which the vehicle is located is obtained to determine whether the road type on which the vehicle is located is a target road type. When the road type on which the vehicle is located is the target road type, the differential lock is controlled to remain in a locked state to improve driving safety.

[0106] It can be understood that when the road type on which the vehicle is located is the target road type, it indicates that the adhesion of the vehicle on the target road type is low, and the differential lock is controlled to remain in a locked state to ensure the traction and stability of the vehicle, thereby improving driving safety.

[0107] For example, when the differential lock in the vehicle is in the locked state, the vehicle is driving on a snowy road. Since the snowy road belongs to the target road type, the differential lock is controlled to remain in the locked state, which can avoid the vehicle from slipping as much as possible and thus improve driving safety.

[0108] S230: If the road surface type is a non-target road surface type, determine a target state of the differential lock based on the wheel state of the vehicle.

[0109] For example, when a differential lock is in a locked state, the vehicle's road surface type is obtained to determine whether the road surface type is a target road surface type. If the road surface type is not a target road surface type, the target state of the differential lock is determined based on the vehicle's wheel conditions. For example, if a wheel of the vehicle is slipping, the locked state is determined as the target state of the differential lock, and the differential lock is controlled based on the target state of the differential lock, thereby improving vehicle safety.

[0110] Exemplarily, the target state of the differential lock includes a locked state and an unlocked state; when the target state of the differential lock is the locked state, the differential lock is controlled to maintain the locked state; when the target state of the differential lock is the unlocked state, the differential lock is controlled to switch from the locked state to the unlocked state.

[0111] Exemplarily, the wheel status of the vehicle is used to indicate whether the wheel is in a slipping state, for example, one wheel in the vehicle is in a slipping state, or all wheels in the vehicle are in a slipping state.

[0112] Alternatively, whether a wheel is slipping can be determined by the difference in wheel speeds, or by monitoring by sensors within the vehicle. Alternatively, the determination can be made based on the vehicle's road speed and the vehicle's speed. The wheel status can be determined based on actual circumstances and is not specifically limited herein.

[0113] In one example, when the differential lock in the vehicle is in a locked state, the road type on which the vehicle is located is obtained to determine whether the road type is a target road type. When the road type is a non-target road type, the target state of the differential lock is determined based on the wheel state of the vehicle and the differential lock in the vehicle is controlled.

[0114] In another example, when the differential lock in the vehicle is in a locked state, the road type of the vehicle is obtained to determine whether the road type is a target road type. When the road type is a non-target road type, the target speed of the vehicle is obtained, which is the speed monitored by radar. It is determined whether the target speed is less than or equal to a preset speed. When the target speed is greater than the preset speed, the differential lock in the vehicle is controlled to switch from a locked state to an unlocked state; when the target speed is less than or equal to the preset differential speed, the target state of the differential lock is determined based on the wheel state of the vehicle and the differential lock in the vehicle is controlled.

[0115] Optionally, the target speed may be a speed monitored by a radar, a camera, etc., or a speed determined by a moving distance in navigation. Preferably, the target speed is a speed monitored by a radar.

[0116] For example, the target speed of a vehicle is used to indicate the actual speed of the vehicle as monitored by radar. Specifically, the vehicle-mounted radar obtains the travel distance from a first moment to a second moment, and the ratio of the travel distance to the time duration from the first moment to the second moment is determined as the target speed.

[0117] Optionally, the preset vehicle speed may be 40 kph, 35 kph, 45 kph, etc., which is not specifically limited here.

[0118] The above technical solution, when the road surface type is a non-target road surface type, monitors the target speed of the vehicle through radar. When the target speed is less than or equal to the preset speed, the target state of the differential lock is determined based on the wheel status; combining the road surface type, the vehicle speed monitored by the radar and the multi-dimensional data of the wheel status, the target state of the differential is determined and the differential lock is controlled, which can improve the accuracy of the differential lock control in different scenarios, thereby ensuring the stability of the vehicle.

[0119] For example, when the vehicle's differential lock is in a locked state, the vehicle's road surface type is obtained. When the road surface type is a target road surface type, the differential lock is controlled to remain locked. When the road surface type is a non-target road surface type, a target state of the differential lock is determined based on the vehicle's wheel status and / or a target vehicle speed, where the target vehicle speed is the vehicle speed monitored by radar.

[0120] Specifically, when the road surface type is a non-target road surface type, a determination is made as to whether the vehicle's target speed is greater than a preset speed. If so, the unlocked state is determined as the target state of the differential lock. When the target speed is less than or equal to the preset speed, the target state of the differential lock is determined based on the vehicle's wheel conditions, and the differential lock is controlled based on the target state.

[0121] Optionally, the method for determining the target state of the differential lock based on the wheel state of the vehicle may refer to the determination method of the disclosed embodiment, which will not be repeated here.

[0122] The following is a detailed introduction to determining the target state of the differential lock based on the vehicle's wheel state.

[0123] Optionally, the target state of the differential lock can be determined based on the wheel state of the vehicle when the vehicle's road surface type is non-target road surface type; or the target state of the differential lock can be determined based on the wheel state of the vehicle when the vehicle's road surface type is non-target road surface type and the vehicle's target speed is less than or equal to a preset speed.

[0124] For example, when the vehicle is on a non-target road surface type, the vehicle's wheel states are obtained to determine whether all wheels are slipping. If all wheels are slipping, the target state of the differential lock is determined based on the wheel accelerations. If at least one wheel is not slipping, the target state of the differential lock is determined based on the minimum wheel speed among the wheel speeds.

[0125] Illustratively, the wheel acceleration is used to indicate the maximum acceleration among a plurality of wheel accelerations in the vehicle.

[0126] For example, when at least one wheel in the vehicle is not slipping, multiple wheel speeds are determined, and the minimum speed among the multiple wheels is selected. For example, when no wheel in the vehicle is slipping, the wheel speeds of the multiple wheels may be the same, and the same speed is determined as the minimum speed. When a wheel in the vehicle is slipping, the minimum speed among the wheel speeds can be used to determine the current vehicle speed, and thus determine the target state of the differential lock.

[0127] For example, when all wheels of a vehicle are slipping, the vehicle is determined to be in a completely slipping state (uncontrollable), and the locked state is determined as the target state of the differential lock to ensure vehicle safety. If at least one wheel in the vehicle is not slipping, the actual vehicle speed can be determined by the minimum speed among the wheel speeds. A determination is then made as to whether the minimum speed is greater than a preset speed. If the minimum speed is greater than the preset speed, the unlocked state is determined as the target state of the differential lock. If the minimum speed is less than or equal to the preset speed, the locked state is determined as the target state of the differential lock.

[0128] According to the above technical solution, when all wheels of the vehicle are in a slipping state, whether the vehicle is in a completely out-of-control state can be determined by the wheel acceleration of the vehicle, and the target state of the differential lock is determined based on the wheel acceleration of the wheel, thereby ensuring the accuracy of the target state of the differential lock; when there is at least one wheel in the vehicle that is not in a slipping state, the actual speed of the vehicle can be determined by the minimum speed among the wheel speeds, and the target state of the differential lock is determined based on the minimum speed among the wheel speeds, thereby ensuring the accuracy of the target state of the differential lock, thereby improving driving safety.

[0129] For example, there is at least one wheel in the vehicle that is not in a slipping state, multiple wheel speeds of the wheel are obtained, a minimum speed among the multiple wheel speeds is selected, and a target state of the differential lock is determined based on the minimum speed.

[0130] Specifically, when at least one wheel in the vehicle is not slipping, the current vehicle speed is determined based on the minimum wheel speed. A determination is then made as to whether the current vehicle speed is greater than a preset speed. If so, the unlocked state is determined as the target state for the differential lock; if less than or equal to the preset speed, the locked state is determined as the target state for the differential lock.

[0131] For example, the circumference of the wheel can be determined based on the wheel radius, and the current vehicle speed can be obtained based on the product of the wheel circumference and the minimum speed. It is understood that the wheel speed can be acquired by a sensor, and the wheel radius is a fixed value.

[0132] The above technical solution determines the current speed of the vehicle based on the minimum speed. When the current speed is greater than the preset speed, the unlocked state is determined as the target state of the differential lock. When the current speed is less than or equal to the preset speed, the locked state is determined as the target state of the differential lock. Since not all wheels in the vehicle are in a slipping state, the current speed of the vehicle can be determined by the minimum speed among the wheel speeds. The target state of the differential lock is determined by the current speed of the vehicle. This can improve the accuracy of the target state of the differential lock in combination with the current vehicle driving scenario, thereby ensuring driving safety.

[0133] For example, when all wheels of the vehicle are in a slipping state, multiple reference wheel accelerations of multiple wheels in the vehicle are obtained, and the maximum acceleration among the multiple reference wheel accelerations is determined as the wheel acceleration. Based on the vehicle wheel accelerations, a target state of the differential lock is determined.

[0134] In one example, when all wheels of a vehicle are slipping, the vehicle's longitudinal acceleration is obtained to determine whether the wheel acceleration is greater than the longitudinal acceleration. If the wheel acceleration is greater than the longitudinal acceleration, the locked state is determined as the target state for the differential lock; if the wheel acceleration is less than or equal to the longitudinal acceleration, the unlocked state is determined as the target state for the differential lock.

[0135] In another embodiment, the vehicle's longitudinal acceleration and target acceleration are obtained. The target acceleration is derived based on the vehicle's wheel-end torque. A determination is made as to whether the vehicle's wheel acceleration is greater than the longitudinal acceleration or greater than the target acceleration. When the wheel acceleration is greater than the longitudinal acceleration or greater than the target acceleration, the locked state is determined as the target state of the differential lock. When the wheel acceleration is less than or equal to the longitudinal acceleration, and the wheel acceleration is less than or equal to the target acceleration, the target state of the differential lock is determined based on the vehicle's driving mode or accelerator pedal position.

[0136] For example, the longitudinal acceleration of the vehicle can be acquired by sensors in the vehicle.

[0137] For example, the target acceleration of the vehicle is used to indicate the actual acceleration in the vehicle, and the target acceleration may be obtained based on the wheel end torque of the vehicle.

[0138] For example, the driving modes of the vehicle may include, but are not limited to, snow mode, sports mode, off-road mode, standard mode, etc., which are not specifically limited here.

[0139] For example, the greater the accelerator pedal opening, the greater the power required by the vehicle; and the smaller the accelerator pedal opening, the smaller the power required by the vehicle. The accelerator pedal opening of the vehicle can be acquired by a sensor.

[0140] In the above technical solution, when the wheel acceleration is greater than the longitudinal acceleration or the wheel acceleration is greater than the target acceleration, the locked state is determined as the target state of the differential lock. Since the wheel acceleration is greater than the longitudinal acceleration or the wheel acceleration is greater than the target acceleration, it indicates that the vehicle is completely out of control, and the locked state is determined as the target state of the differential lock to ensure the necessary traction and stability of the vehicle. When the wheel acceleration is less than or equal to the longitudinal acceleration, and the wheel acceleration is less than or equal to the target acceleration, the target state of the differential lock is determined based on the vehicle's driving mode or accelerator pedal position. Since the wheel acceleration is less than or equal to the longitudinal acceleration and the wheel acceleration is less than or equal to the target acceleration, the vehicle state is controllable. The target state of the differential lock is further determined based on the vehicle's driving mode or accelerator pedal position, thereby improving the reliability of the target state determination.

[0141] Specifically, when the wheel acceleration is less than or equal to the longitudinal acceleration and the wheel acceleration is less than or equal to the target acceleration, the vehicle's driving mode or accelerator pedal position is obtained to determine whether the vehicle's driving mode is off-road mode and whether the accelerator pedal position is greater than a preset position. If the vehicle's driving mode is off-road mode or the accelerator pedal position is greater than the preset position, the target state of the differential lock is determined based on the vehicle's current speed.

[0142] Furthermore, when the driving mode of the vehicle is not the off-road mode and the accelerator pedal opening of the vehicle is less than or equal to a preset opening, a target state of the differential lock is determined based on a minimum speed among the wheel speeds of the vehicle.

[0143] Optionally, the method of determining the target state of the differential lock based on the minimum speed among the wheel speeds of the vehicle can refer to the method in the aforementioned disclosed embodiment, and will not be repeated here.

[0144] Optionally, the preset opening degree may be 90, 85, etc. The preset opening degree may be determined according to actual conditions and is not specifically limited here.

[0145] Optionally, the current vehicle speed is the speed displayed on the instrument panel, or the current vehicle speed calculated based on the minimum wheel speed. The current vehicle speed can be determined according to actual conditions and is not specifically limited here.

[0146] The above technical solution determines the target state of the differential lock based on the current speed of the vehicle when the driving mode is off-road mode or the accelerator pedal opening is greater than the preset opening; when the driving mode of the vehicle is off-road mode or the accelerator pedal opening is greater than the preset opening, it indicates that the current vehicle requires greater power. Then, combined with the current speed of the vehicle, it can be comprehensively determined whether the differential lock of the vehicle needs to be unlocked, and then the target state of the differential lock in the vehicle can be determined, which can improve the reliability of the target state of the differential lock.

[0147] In one example, when the vehicle's driving mode is off-road mode or the accelerator pedal opening is greater than a preset opening, a determination is made as to whether the vehicle's current speed is greater than a preset speed. If the vehicle's current speed is greater than the preset speed, the unlocked state is determined as the target state for the differential lock; if the vehicle's current speed is less than or equal to the preset differential speed, the locked state is determined as the target state for the differential lock.

[0148] In another example, when the vehicle's driving mode is off-road mode or the accelerator pedal opening is greater than a preset opening, by combining the vehicle's current speed, it is confirmed whether the vehicle has a need to unlock the differential lock, and then the target state of the differential lock is determined.

[0149] Specifically, when the vehicle's driving mode is off-road mode or the accelerator pedal opening is greater than a preset opening, a determination is made as to whether the vehicle's current speed is greater than the preset speed. If the current speed is less than or equal to the preset speed, the locked state is determined as the target state of the differential lock. If the current speed is greater than the preset speed, the duration of the target state is obtained. The target state indicates that the current speed is greater than the preset speed, and the target state of the differential lock is determined based on the duration of the target state.

[0150] It should be noted that the target state indicates that the current speed of the vehicle is greater than the preset speed. By obtaining the duration during which the current speed of the vehicle is continuously greater than the preset speed, and then the duration of the target state, the target state of the differential lock is determined to avoid misunderstanding the lock caused by the instantaneous speed of the vehicle being greater than the preset speed.

[0151] The above technical solution determines the locking state as the target state of the differential lock when the current vehicle speed is less than or equal to the preset speed; when the current vehicle speed is greater than the preset speed, the target state of the differential lock is determined based on the duration in the target state; the target state indicates that the current vehicle speed is greater than the preset speed. The duration in the target state can avoid the mis-locking phenomenon caused by the instantaneous vehicle speed being greater than the preset speed, thereby ensuring the reliability of the differential lock in the controlled vehicle and thereby improving driving safety.

[0152] It can be understood that when the current speed of the vehicle is greater than the preset speed, in order to avoid the unlocking error of the differential lock caused by the instantaneous speed being greater than the preset speed, the duration of the vehicle's current speed being greater than the preset differential can be determined, and then the target state of the differential lock can be determined based on the duration.

[0153] For example, when the vehicle's current speed is greater than a preset speed, the duration of the target state is obtained, and a determination is made as to whether the target state duration is greater than the preset duration. If the duration is less than or equal to the preset duration, the locked state is determined as the target state for the differential lock; if the duration is greater than the preset duration, the unlocked state is determined as the target state for the differential lock.

[0154] It is understandable that when collecting the duration of the vehicle being in the target state, if the collected duration is greater than the first preset duration, the first preset duration is determined as the duration of the vehicle being in the target state. The first preset duration is greater than the preset duration.

[0155] Optionally, the preset duration may be 9 seconds, 10 seconds, etc., which is not specifically limited here.

[0156] For example, when the preset duration is 10 seconds, the first preset duration may be 12 seconds. When the preset duration is 9 seconds, the first preset duration may be 10 seconds.

[0157] The above technical solution determines the locked state as the target state of the differential lock when the duration of the target state is less than or equal to the preset duration; and determines the unlocked state as the target state of the differential lock when the duration of the target state is greater than the preset duration. By judging whether the duration of the vehicle being in the target state is greater than the preset duration, it can avoid misunderstanding of the differential lock caused by the instantaneous vehicle speed being greater than the preset speed, thereby ensuring the reliability of the differential lock control.

[0158] It should be noted that wheel acceleration refers to the acceleration of a vehicle's wheels. Wheel acceleration indicates the maximum acceleration of a wheel. Specifically, the acceleration of each wheel in the vehicle is derived by taking the derivative of the wheel speed. If multiple accelerations of a vehicle's wheels are obtained, the maximum of these accelerations is determined as the wheel acceleration.

[0159] Exemplarily, the wheel end torque, wheel radius and vehicle mass of the vehicle are obtained, and based on the wheel end torque, wheel radius and vehicle mass, a target acceleration is determined, and the target acceleration is positively correlated with the wheel end torque.

[0160] It's important to note that a vehicle's wheel torque indicates the rotational torque applied to the wheels. Wheel torque is the key force that drives the wheels and enables vehicle movement. The magnitude of wheel torque directly affects the vehicle's performance, including acceleration, climbing, and escape.

[0161] For example, the expression for target acceleration can be expressed as follows:

[0162]

[0163] Where a represents the target acceleration, T represents the vehicle's wheel-end torque, r represents the wheel radius, and M represents the vehicle mass. Specifically, the ratio of the vehicle's wheel-end torque to the wheel radius is first determined. The target acceleration is then determined by multiplying this ratio by the vehicle mass.

[0164] The above technical solution determines the target acceleration based on the wheel-end torque, wheel radius and vehicle mass of the vehicle; the actual acceleration of the vehicle (target acceleration) can be determined through the wheel-end torque, and then the target state of the differential lock in the vehicle can be determined through the target acceleration, ensuring the accuracy of the target state of the differential lock.

[0165] S240: Control the differential lock based on the target state of the differential lock.

[0166] Exemplarily, when a target state of a vehicle's differential lock is determined, the differential lock is controlled based on the target state of the differential lock. Furthermore, when the vehicle's differential lock remains in a locked state, vehicle parameters are continuously monitored, and the target state of the differential lock is determined to control the differential lock.

[0167] The above technical solution, when the vehicle's differential lock is in a locked state, controls the differential lock to remain locked when the vehicle's road surface type is the target road surface type; when the vehicle's road surface type is a non-target road surface type, determines the target state of the differential lock and controls the differential lock based on the vehicle's wheel state. Compared to the prior art method of directly controlling the differential lock to unlock when the vehicle speed exceeds a preset speed, the present application comprehensively determines the target state of the vehicle's differential lock based on the vehicle's road surface type and the vehicle's wheel state (wheel slippage), thereby ensuring the reliability of the target state of the vehicle's differential lock and thereby improving the vehicle's driving safety. In addition, determining the target state of the differential lock based on the vehicle's road surface type and wheel state can improve the vehicle's passability and stability in complex road conditions or driving scenarios.

[0168] Figure 3 It is a schematic flowchart of another vehicle control method provided in an embodiment of the present application.

[0169] For example, Figure 3 The method shown can be executed by a vehicle controller or chip in the vehicle.

[0170] For example, Figure 3 As shown, the vehicle control method 300 includes steps S201-S322.

[0171] S301: When the differential lock in the vehicle is in a locked state, obtain a road surface type.

[0172] For example, when the vehicle's differential lock is engaged, a sensor identifies the type of road surface the vehicle is on. Specifically, the road surface type can be acquired through navigation software. Alternatively, a sensor captures an image of the road surface the vehicle is on and inputs the image into a road surface recognition model to identify the road surface type. The road surface recognition model is trained using sample data.

[0173] Optionally, the type of road on which the vehicle is located may be, but is not limited to: snowy road, muddy road, sandy road, cement road, asphalt road, etc.

[0174] S302, determine whether the road surface type is the target road surface type; if so, execute S303; if not, execute S304.

[0175] Optionally, the target road surface type includes but is not limited to: snowy road surface, muddy road surface, sandy road surface, rocky road surface, etc., which are not specifically limited here. It is understandable that when the vehicle travels on the target road surface type, the vehicle's adhesion is low.

[0176] For example, by determining whether the road surface type is the target road surface type, it can be determined whether the differential lock in the vehicle needs to be unlocked.

[0177] S303: Control the differential lock to maintain a locked state.

[0178] For example, when the differential lock in the vehicle is in a locked state, the road type on which the vehicle is located is obtained to determine whether the road type on which the vehicle is located is a target road type. When the road type on which the vehicle is located is the target road type, the differential lock is controlled to remain in a locked state to improve driving safety.

[0179] It can be understood that when the road type on which the vehicle is located is the target road type, it indicates that the adhesion of the vehicle on the target road type is low, and the differential lock is controlled to remain in a locked state to ensure the traction and stability of the vehicle, thereby improving driving safety.

[0180] S304: Monitor the target speed of the vehicle through radar.

[0181] For example, when the differential lock in the vehicle is in a locked state, the road type of the vehicle is obtained to determine whether the road type of the vehicle is a target road type. When the road type of the vehicle is a non-target road type, the target speed of the vehicle is monitored by radar.

[0182] It should be noted that the vehicle's target speed indicates the vehicle's actual speed as monitored by radar. Specifically, the vehicle's radar obtains the distance traveled from a first moment to a second moment, and the target speed is determined as the ratio of the distance traveled to the duration from the first moment to the second moment.

[0183] S305, determine whether the target vehicle speed is greater than 40; if so, execute S306; if not, execute S307.

[0184] Exemplarily, it is determined whether the target vehicle speed is greater than 40 (preset vehicle speed), thereby determining whether the differential lock in the vehicle needs to be unlocked.

[0185] S306, controlling the differential to switch to an unlocked state.

[0186] For example, when the target vehicle speed is greater than 40, the differential lock in the vehicle is controlled to switch from a locked state to an unlocked state.

[0187] S307, determine whether all wheels are in a slipping state; if not, execute S308; if so, execute S312.

[0188] Exemplarily, when the target vehicle speed is less than or equal to 40, it is determined whether all wheels are in a slipping state.

[0189] Exemplarily, the wheel status of the vehicle is used to indicate whether the wheel is in a slipping state, for example, one wheel in the vehicle is in a slipping state, or all wheels in the vehicle are in a slipping state.

[0190] Alternatively, whether a wheel is slipping can be determined by the difference in wheel speeds, or by monitoring by sensors within the vehicle. Alternatively, the determination can be made based on the vehicle's road speed and the vehicle's speed. The wheel status can be determined based on actual circumstances and is not specifically limited herein.

[0191] S308: Determine the current vehicle speed based on the minimum wheel speed.

[0192] Exemplarily, when there is at least one wheel in the vehicle that is not in a slipping state, the current vehicle speed is determined based on a minimum rotational speed among the wheel rotational speeds.

[0193] Specifically, the circumference of the wheel can be determined based on the wheel radius, and the current speed of the vehicle can be obtained based on the product of the wheel circumference and the minimum speed. It is understandable that the wheel speed can be acquired by a sensor, and the wheel radius is a fixed value.

[0194] S309, determine whether the current vehicle speed is greater than 40; if so, execute S310; if not, execute S311.

[0195] Exemplarily, the current vehicle speed is determined based on the minimum speed among the wheel speeds, and it is determined whether the current vehicle speed is greater than 40 (preset vehicle speed).

[0196] S310: Determine the unlocked state as the target state of the differential lock.

[0197] For example, when the current vehicle speed is greater than 40, the unlocked state is determined as the target state of the differential lock.

[0198] S311: The locked state is determined as the target state of the differential lock.

[0199] For example, when the current vehicle speed is less than or equal to 40, the locked state is determined as the target state of the differential lock.

[0200] S312: Obtain longitudinal acceleration, target acceleration, and wheel acceleration.

[0201] Exemplarily, when all wheels in the vehicle are in a slipping state, the longitudinal acceleration, target acceleration, and wheel acceleration of the vehicle are obtained.

[0202] For example, the longitudinal acceleration of the vehicle can be acquired by sensors in the vehicle.

[0203] It should be noted that wheel acceleration is used to indicate the maximum acceleration of a wheel. Specifically, the acceleration of each wheel in the vehicle is obtained by derivation of the wheel speed. When multiple accelerations of the wheels in the vehicle are obtained, the maximum acceleration among the multiple accelerations is determined as the wheel acceleration.

[0204] Exemplarily, the wheel end torque, wheel radius and vehicle mass of the vehicle are obtained, and based on the wheel end torque, wheel radius and vehicle mass, a target acceleration is determined, and the target acceleration is positively correlated with the wheel end torque.

[0205] Optionally, the method for determining the target acceleration may refer to the method in the aforementioned disclosed embodiment, which will not be repeated here.

[0206] S313, determining whether the wheel acceleration is greater than the longitudinal acceleration or whether the wheel acceleration is greater than the target acceleration; if so, executing S311; if not, executing S314.

[0207] Exemplarily, the longitudinal acceleration, target acceleration, and wheel acceleration of the vehicle are obtained to determine whether the wheel acceleration of the vehicle is greater than the longitudinal acceleration, or whether the wheel acceleration of the vehicle is greater than the target acceleration.

[0208] Illustratively, when the wheel acceleration is greater than the longitudinal acceleration or the wheel acceleration is greater than the target acceleration, the locking state is determined as the target state of the differential lock.

[0209] S314: Acquire the vehicle's driving mode or accelerator pedal opening.

[0210] Exemplarily, when the wheel acceleration is less than or equal to the longitudinal acceleration, and the wheel acceleration is less than or equal to the target acceleration, the vehicle's driving mode or accelerator pedal opening is obtained, and based on the vehicle's driving mode or accelerator pedal opening, the target state of the differential lock is determined.

[0211] For example, the driving modes of the vehicle may include, but are not limited to, snow mode, sports mode, off-road mode, standard mode, etc., which are not specifically limited here.

[0212] For example, the greater the accelerator pedal opening, the greater the power required by the vehicle; and the smaller the accelerator pedal opening, the smaller the power required by the vehicle. The accelerator pedal opening of the vehicle can be acquired by a sensor.

[0213] S315: If the driving mode is off-road mode or the accelerator pedal opening is greater than 90, obtain the current speed of the vehicle.

[0214] Exemplarily, when the driving mode of the vehicle is off-road mode or the accelerator pedal opening is greater than 90 degrees (preset opening), the current speed of the vehicle is obtained, and the target state of the differential lock is determined based on the current speed of the vehicle.

[0215] Optionally, the method of determining the target state of the differential lock based on the minimum speed among the wheel speeds of the vehicle can refer to the method in the aforementioned disclosed embodiment, and will not be repeated here.

[0216] Optionally, the current vehicle speed is the speed displayed on the instrument panel, or the current vehicle speed calculated based on the minimum wheel speed. The current vehicle speed can be determined according to actual conditions and is not specifically limited here.

[0217] S316, determine whether the current vehicle speed is greater than 40; if not, execute S317; if so, execute S318.

[0218] For example, when the driving mode of the vehicle is off-road mode or the accelerator pedal opening is greater than 90, the current speed of the vehicle is obtained to determine whether the current speed of the vehicle is greater than 40.

[0219] S317: The locked state is determined as the target state of the differential lock.

[0220] For example, when the current vehicle speed is less than or equal to 40, the locked state is determined as the target state of the differential lock.

[0221] S318, obtaining the duration of the target state.

[0222] Exemplarily, when the current vehicle speed is greater than 40, the duration of the target state is obtained, and the target state is used to indicate that the current vehicle speed is greater than 40.

[0223] It should be noted that the target state indicates that the current speed of the vehicle is greater than 40. By obtaining the duration during which the current speed of the vehicle is continuously greater than 40, and then the duration in the target state, the target state of the differential lock is determined to avoid misunderstanding the lock caused by the instantaneous speed of the vehicle being greater than 40.

[0224] S319, determine whether the duration is greater than 10; if not, execute S320; if so, execute S321.

[0225] Exemplarily, when the current speed of the vehicle is greater than 40, the duration of the target state is obtained, and it is determined whether the duration of the target state is greater than 10.

[0226] S320: Determine the locked state as the target state of the differential lock.

[0227] Exemplarily, when the duration in the target state is less than or equal to 10, the locked state is determined as the target state of the differential lock.

[0228] S321: Determine the unlocked state as the target state of the differential lock.

[0229] For example, when the duration of the target state is greater than 10, the unlocked state is determined as the target state of the differential lock.

[0230] S322: Control the differential lock based on the target state of the differential lock.

[0231] Exemplarily, when a target state of a differential lock of the vehicle is determined, the differential lock is controlled based on the target state of the differential lock.

[0232] The above technical solution, based on the vehicle's road surface type and wheel condition (wheel slip), comprehensively determines the target state of the vehicle's differential lock, ensuring the reliability of the target state of the vehicle's differential lock and thereby improving vehicle driving safety. Furthermore, determining the target state of the differential lock based on the vehicle's road surface type and wheel condition can improve the vehicle's maneuverability and stability in complex road conditions or driving scenarios.

[0233] It should be understood that the above examples are intended to help those skilled in the art understand the embodiments of the present application, and are not intended to limit the embodiments of the present application to the specific numerical values or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or variations based on the above examples, and such modifications or variations also fall within the scope of the embodiments of the present application.

[0234] Combined with the above Figures 1 to 3 The vehicle control method provided by the embodiment of the present application is described in detail; Figure 4 and Figure 5 The device embodiments of the present application are described in detail. It should be understood that the devices in the embodiments of the present application can execute the various methods of the aforementioned embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the aforementioned method embodiments.

[0235] Figure 4 It is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application.

[0236] For example, Figure 4 As shown, the vehicle control device 400 includes:

[0237] Communication module 410: used to obtain the type of road surface on which the vehicle is located when the differential lock in the vehicle is in a locked state;

[0238] Processing module 420: for controlling the differential lock to remain in a locked state if the road surface type is the target road surface type;

[0239] Processing module 420: for determining a target state of a differential lock based on a wheel state of the vehicle if the road surface type is a non-target road surface type;

[0240] The processing module 420 is configured to control the differential lock based on the target state of the differential lock.

[0241] Optionally, as an embodiment, the processing module 420 is specifically configured to:

[0242] If all wheels of the vehicle are in a slipping state, determining a target state of the differential lock based on the wheel accelerations of the wheels;

[0243] If there is at least one wheel in the vehicle that is not in a slipping state, a target state of the differential lock is determined based on a minimum rotational speed among the wheel rotational speeds.

[0244] Optionally, as an embodiment, the processing module 420 is specifically configured to:

[0245] Based on the minimum speed, determine the current speed of the vehicle;

[0246] If the current vehicle speed is greater than the preset vehicle speed, the unlocked state is determined as the target state of the differential lock;

[0247] If the current vehicle speed is less than or equal to the preset vehicle speed, the locking state is determined as the target state of the differential lock.

[0248] Optionally, as an embodiment, the communication module 410 is further configured to:

[0249] Obtain the vehicle's longitudinal acceleration and target acceleration, where the target acceleration is based on the vehicle's wheel-end torque;

[0250] The processing module 420 is specifically configured to:

[0251] If the wheel acceleration is greater than the longitudinal acceleration or the wheel acceleration is greater than the target acceleration, the locking state is determined as the target state of the differential lock;

[0252] If the wheel acceleration is less than or equal to the longitudinal acceleration, and the wheel acceleration is less than or equal to the target acceleration, a target state of the differential lock is determined based on the vehicle's driving mode or accelerator pedal opening.

[0253] Optionally, as an embodiment, the processing module 420 is specifically configured to:

[0254] If the driving mode is off-road mode or the accelerator pedal opening is greater than a preset opening, the target state of the differential lock is determined based on the current vehicle speed.

[0255] Optionally, as an embodiment, the processing module 420 is specifically configured to:

[0256] If the current vehicle speed is less than or equal to the preset vehicle speed, the locking state is determined as the target state of the differential lock;

[0257] If the current vehicle speed is greater than the preset speed, the duration of the target state is obtained, where the target state indicates that the current vehicle speed is greater than the preset speed;

[0258] The target state of the differential lock is determined based on the duration of the target state.

[0259] Optionally, as an embodiment, the processing module 420 is specifically configured to:

[0260] If the duration is less than or equal to the preset duration, the locked state is determined as the target state of the differential lock;

[0261] If the duration is longer than the preset time, the unlocked state is determined as the target state of the differential lock.

[0262] Optionally, as an embodiment, the communication module 410 is specifically configured to:

[0263] Obtain wheel end torque, wheel radius and vehicle mass;

[0264] The target acceleration is determined based on the wheel-end torque, wheel radius and vehicle mass. The target acceleration is positively correlated with the wheel-end torque.

[0265] Optionally, as an embodiment, the processing module 420 is specifically configured to:

[0266] If the road surface type is a non-target road surface type, obtain the target speed of the vehicle, which is the speed monitored by the radar;

[0267] If the target vehicle speed is less than or equal to the preset vehicle speed, a target state of the differential lock is determined based on the wheel state.

[0268] It should be noted that the vehicle control device 400 is implemented in the form of a functional unit. The term "module" herein can be implemented in the form of software and / or hardware, and is not specifically limited thereto.

[0269] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the aforementioned functionality. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (e.g., a shared processor, a dedicated processor, or a group processor) and memory for executing one or more software or firmware programs, combined logic circuits, and / or other suitable components that support the described functionality.

[0270] Therefore, the units of each example described in the embodiments of this application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0271] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0272] For example, the vehicle 500 and Figure 1 The vehicle 100 in FIG. 1 represents the same vehicle.

[0273] For example, Figure 5 As shown, the vehicle 500 includes: a memory 510 and a processor 520, wherein the memory 510 stores an executable program code 530, and the processor 520 is used to call and execute the executable program code 530 to perform a vehicle control method.

[0274] Exemplarily, the memory 510 can be used to store relevant programs of the vehicle control method provided in the embodiments of the present application; the processor 520 can call the relevant programs of the vehicle control method stored in the memory 510 to execute the vehicle control method of the embodiments of the present application; for example, when the differential lock in the vehicle is in a locked state, the road type on which the vehicle is located is obtained; if the road type is a target road type, the differential lock is controlled to remain in a locked state; if the road type is a non-target road type, the target state of the differential lock is determined based on the wheel state of the vehicle; and based on the target state of the differential lock, the differential lock is controlled.

[0275] In this embodiment, the device can be divided into functional modules based on the above-described method examples. For example, each functional module can be mapped to a specific functional module, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division. In actual implementation, other division methods may be used.

[0276] In the case of dividing each functional module into corresponding functional modules, the device may further include a communication module and a processing module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0277] It should be understood that the device provided in this embodiment is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0278] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is used in a vehicle, the processing module may be used to control and manage the vehicle's movements, while the storage module may be used to support the vehicle's execution of relevant program codes.

[0279] The processing module may be a processor or controller that implements or executes the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing system (DSP) and a microprocessor, and the storage module may be a memory.

[0280] In addition, the device provided in the embodiments of the present application can specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiment.

[0281] The present application also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method provided by the above-mentioned embodiment. Among them, computer-readable storage media may include, but are not limited to, any type of disk, including floppy disks, optical disks, Digital Video Discs (DVDs), Compact Disc Read-Only Memory (CD-ROMs), microdrives and magneto-optical disks, Read-Only Memory (ROMs), Random Access Memory (RAMs), Erasable Programmable Read-Only Memory (EPROMs), Electrically Erasable Programmable Read-Only Memory (EEPROMs), Dynamic Random Access Memory (DRAMs), Video Random Access Memory (VRAMs), flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0282] The present application also provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement a vehicle control method provided by the above embodiment.

[0283] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0284] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0285] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0286] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: When a differential lock in the vehicle is in a locked state, obtaining a road type on which the vehicle is located; If the road surface type is the target road surface type, controlling the differential lock to maintain a locked state; If the road surface type is a non-target road surface type, determining a target state of a differential lock based on a wheel state of the vehicle; Based on the target state of the differential lock, the differential lock is controlled.

2. The method according to claim 1, characterized in that The determining a target state of a differential lock based on a wheel state of the vehicle includes: If all wheels of the vehicle are in a slipping state, determining a target state of the differential lock based on the wheel accelerations of the wheels; If there is at least one wheel in the vehicle that is not in a slipping state, a target state of the differential lock is determined based on a minimum rotational speed among the wheel rotational speeds of the wheels.

3. The method according to claim 2, characterized in that The determining the target state of the differential lock based on the minimum rotational speed among the wheel rotational speeds of the wheels includes: determining a current speed of the vehicle based on the minimum speed; If the current vehicle speed is greater than a preset vehicle speed, determining the unlocked state as the target state of the differential lock; If the current vehicle speed is less than or equal to a preset vehicle speed, the locked state is determined as a target state of the differential lock.

4. The method according to claim 2, characterized in that The method further comprises: Obtaining a longitudinal acceleration and a target acceleration of the vehicle, wherein the target acceleration is obtained based on a wheel-end torque of the vehicle; The determining the target state of the differential lock based on the wheel acceleration of the wheel includes: If the wheel acceleration is greater than the longitudinal acceleration or the wheel acceleration is greater than the target acceleration, determining the locked state as the target state of the differential lock; If the wheel acceleration is less than or equal to the longitudinal acceleration, and the wheel acceleration is less than or equal to the target acceleration, a target state of the differential lock is determined based on a driving mode or an accelerator pedal opening of the vehicle.

5. The method according to claim 4, characterized in that The determining the target state of the differential lock based on the driving mode or accelerator pedal opening of the vehicle includes: If the driving mode is the off-road mode or the accelerator pedal opening is greater than a preset opening, a target state of the differential lock is determined based on the current speed of the vehicle.

6. The method according to claim 5, characterized in that Determining a target state of the differential lock based on the current speed of the vehicle includes: If the current vehicle speed is less than or equal to a preset vehicle speed, determining the locking state as a target state of the differential lock; If the current vehicle speed is greater than the preset vehicle speed, obtaining a duration in a target state, wherein the target state is used to indicate that the current vehicle speed is greater than the preset vehicle speed; The target state of the differential lock is determined based on a duration in the target state.

7. The method according to claim 6, characterized in that The determining the target state of the differential lock based on the duration of the target state includes: If the duration is less than or equal to a preset duration, determining the locked state as a target state of the differential lock; If the duration is longer than a preset duration, the unlocked state is determined as the target state of the differential lock.

8. The method according to claim 4, characterized in that The obtaining of the longitudinal acceleration and target acceleration of the vehicle includes: Obtaining the wheel end torque, wheel radius and vehicle mass; The target acceleration is determined based on the wheel end torque, the wheel radius and the vehicle mass, and the target acceleration is positively correlated with the wheel end torque.

9. The method according to any one of claims 1 to 8, characterized in that If the road surface type is a non-target road surface type, determining a target state of a differential lock based on a wheel state of the vehicle includes: If the road surface type is the non-target road surface type, obtaining a target speed of the vehicle; If the target vehicle speed is less than or equal to a preset vehicle speed, a target state of the differential lock is determined based on the wheel state.

10. A vehicle, characterized in that: The vehicle comprises: a memory for storing executable program code; A processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle control method according to any one of claims 1 to 9.

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