Differential lock control method and device, vehicle and storage medium

Abstract

The invention provides a differential lock control method and device, a vehicle and a storage medium, the method is applied to the technical field of power control, and the method comprises the steps that under the condition that a differential lock of the vehicle is in a locked state, the current vehicle speed of the vehicle is obtained, whether the current vehicle speed is within a preset vehicle speed range or not is judged, and if yes, the differential lock is locked; under the condition that the current vehicle speed is within the preset vehicle speed range, the duration of the current vehicle speed within the preset vehicle speed range is determined, if the duration is larger than or equal to the first preset duration, the differential lock is controlled to be unlocked, and under the condition that the duration is smaller than the first preset duration, the differential lock is controlled to be unlocked. If the current vehicle speed of the vehicle is larger than the upper limit value of the preset vehicle speed range, the differential lock is controlled to be unlocked. According to the method, possible dangerous conditions of the vehicle can be effectively avoided, and more reasonable differential lock unlocking control is achieved.

Description

Technical Field

[0001] The present application relates to the field of power control technology, and more specifically, to a control method, device, vehicle, and storage medium for a differential lock in the field of power control technology. Background Art

[0002] Currently, some vehicles are equipped with a differential lock, which can be used to lock the differentials between the left and right wheels of the vehicle, so that both wheels rotate at the same speed, preventing one side from slipping and spinning. Users usually enable the differential lock function in off-road scenarios.

[0003] When the differential lock is engaged, the wheels lose their ability to differentiate. If a vehicle is turning at high speed with the differential lock engaged, the wheels may slip, causing loss of vehicle control and even rollover. Therefore, existing vehicles typically have the differential lock automatically released when the vehicle speed reaches a certain threshold.

[0004] However, if the actual situation of the vehicle is not taken into consideration and the differential lock is automatically unlocked when the vehicle speed reaches a certain threshold, it may cause other dangerous situations in the vehicle, resulting in a poor user experience. Summary of the Invention

[0005] The present application provides a differential lock control method, device, vehicle and storage medium, which can effectively avoid dangerous situations that may occur in the vehicle and achieve more reasonable differential lock unlocking control.

[0006] In a first aspect, a method for controlling a differential lock is provided, the method comprising: when the differential lock of the vehicle is in a locked state, obtaining the current vehicle speed of the vehicle and determining whether the current vehicle speed is within a preset speed range; when the current vehicle speed is within the preset speed range, determining the duration for which the current vehicle speed is within the preset speed range; when the duration is greater than or equal to a first preset duration, controlling the differential lock to be unlocked; when the duration is less than the first preset duration, if the current vehicle speed is greater than an upper limit value of the preset speed range, controlling the differential lock to be unlocked.

[0007] The above technical solution obtains the vehicle's current speed when the differential lock is locked and determines whether it is within a preset speed range. This determination facilitates determining whether the differential lock needs to be unlocked based on the vehicle's actual driving state. If the vehicle's current speed is within the preset range and has remained within this range for a first preset duration, the differential lock is unlocked. Upon determining that the differential lock meets the unlocking conditions, a delayed unlocking strategy is implemented to avoid direct unlocking of the differential lock due to brief speed fluctuations. This prevents safety hazards caused by differential lock unlocking in complex road conditions, effectively avoiding potentially dangerous vehicle situations and achieving more reasonable differential lock unlocking control. Furthermore, if the current vehicle speed exceeds the upper limit of the preset speed range, direct unlocking of the differential lock is controlled, effectively preventing overload damage to the differential lock hardware due to high-speed operation, thereby effectively ensuring the safety of the differential lock.

[0008] In combination with the first aspect, in certain implementations of the first aspect, the method also includes: when the duration is less than the first preset duration, if the current speed of the vehicle is less than the lower limit of the preset speed range, returning to execute the step of obtaining the current speed of the vehicle and determining whether the current speed is within the preset speed range.

[0009] The above technical solution, when the duration is less than the first preset duration, if the current vehicle speed is less than the lower limit of the preset vehicle speed range, returns to re-detection, which can effectively avoid false operations caused by transient changes and improve system reliability.

[0010] In combination with the first aspect and the above-mentioned implementation methods, in certain implementation methods of the first aspect, when the differential lock of the vehicle is in a locked state, the current speed of the vehicle is obtained, and it is determined whether the current speed is within a preset speed range, including: when the differential lock of the vehicle is detected to be in a locked state for the first time in the current power-on cycle, the current speed of the vehicle is obtained, and it is determined whether the current speed is within the preset speed range.

[0011] In combination with the first aspect and the above-mentioned implementation methods, in some implementation methods of the first aspect, after controlling the differential lock to unlock, the method also includes: in the current power-on cycle, if it is detected that the differential lock of the vehicle is in a locked state again within a second preset time period after the differential lock is unlocked, and the current vehicle speed is again detected to be within the preset speed range, then the current steering angle of the steering wheel of the vehicle is obtained; if the current steering angle of the steering wheel is less than the preset angle threshold, then return to the step of obtaining the current vehicle speed and determining whether the current vehicle speed is within the preset speed range.

[0012] According to the above technical solution, in the current power-on cycle, if it is detected that the vehicle's differential lock is in a locked state again within the second preset time period after the differential lock is unlocked, and the current vehicle speed is again detected to be within the preset vehicle speed range, the steering wheel steering angle is introduced as a judgment basis, which can effectively identify whether the current working condition is a trapped working condition, thereby more reasonably controlling the differential lock, and when the current steering angle is less than the preset angle threshold, returning to re-detection can effectively avoid malfunction caused by transient changes, improve system reliability, and effectively ensure the safety of the differential lock.

[0013] In combination with the first aspect and the above-mentioned implementation methods, in some implementation methods of the first aspect, after obtaining the current steering angle of the vehicle's steering wheel, the method also includes: if the current steering angle of the steering wheel is greater than or equal to a preset angle threshold, then when the current speed of the vehicle is greater than the upper limit value of the preset speed range, controlling the differential lock to unlock.

[0014] The above technical solution, when the current steering wheel angle is greater than or equal to a preset angle threshold, indicating that the vehicle is in a trapped condition, can maintain the differential lock in a locked state when the current vehicle speed is less than or equal to the upper limit of the preset speed range. This evenly distributes power to the drive wheels, preventing slippage, significantly improving the vehicle's traction and maneuverability, and ensuring vehicle safety. Furthermore, when the current vehicle speed exceeds the upper limit of the preset speed range, the differential lock is controlled to unlock, preventing irreversible damage to the differential lock hardware.

[0015] In combination with the first aspect and the above implementations, in certain implementations of the first aspect, the upper limit of the preset vehicle speed range is a vehicle speed corresponding to a maximum degree of wear allowed for hardware included in the differential lock.

[0016] The above technical solution sets the upper limit of the preset vehicle speed range to the vehicle speed corresponding to the maximum degree of wear of the hardware contained in the differential lock. This can ensure the vehicle's ability to pass under trapped conditions while avoiding irreversible damage to the differential lock.

[0017] In combination with the first aspect and the above-mentioned implementation methods, in certain implementation methods of the first aspect, when the current vehicle speed is within a preset vehicle speed range, the method further includes: obtaining the wheel speed difference between the front wheel speed and the rear wheel speed of the vehicle, and obtaining the current longitudinal acceleration of the vehicle; based on the wheel speed difference and the longitudinal acceleration, determining whether the preset conditions for controlling the differential lock to be in a locked state are currently met; wherein the preset conditions include that the absolute value of the wheel speed difference is greater than or equal to a preset difference threshold and the longitudinal acceleration is less than a preset acceleration threshold; when the preset conditions are met, the differential lock is controlled to be in a locked state until the preset conditions are not currently met or the current vehicle speed is greater than the upper limit of the preset vehicle speed range.

[0018] In the above technical solution, when the absolute value of the wheel speed difference is greater than or equal to a preset difference threshold and the longitudinal acceleration is less than a preset acceleration threshold, it generally indicates that the vehicle is in a trapped condition. By locking the differential lock, power is evenly distributed to the drive wheels, preventing slip and significantly improving the vehicle's traction and maneuverability. When the preset conditions are no longer met or the current vehicle speed exceeds the upper limit of the preset speed range, the differential lock is unlocked, ensuring that the differential lock hardware is not damaged and effectively ensuring the safety of the differential lock.

[0019] In a second aspect, a control device for a differential lock is provided, which includes: a judgment module for obtaining the current vehicle speed of the vehicle and judging whether the current vehicle speed is within a preset speed range when the differential lock of the vehicle is in a locked state; a determination module for determining the duration for which the current vehicle speed is within the preset speed range when the current vehicle speed is within the preset speed range; a first control module for controlling the differential lock to be unlocked when the duration is greater than or equal to a first preset duration; and a second control module for controlling the differential lock to be unlocked when the duration is less than the first preset duration and the current vehicle speed is greater than an upper limit of the preset speed range.

[0020] In combination with the second aspect, in certain implementations of the second aspect, the device also includes a return execution module, which is specifically used to: when the duration is less than the first preset duration, if the current speed of the vehicle is less than the lower limit of the preset speed range, return to execute the steps of obtaining the current speed of the vehicle and determining whether the current speed is within the preset speed range.

[0021] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the judgment module is specifically used to: when the vehicle's differential lock is detected to be in a locked state for the first time in the current power-on cycle, obtain the vehicle's current speed and determine whether the current speed is within a preset speed range.

[0022] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the device also includes an acquisition module, which is specifically used to: in the current power-on cycle, if it is detected that the vehicle's differential lock is in a locked state again within a second preset time period after the differential lock is unlocked, and the current vehicle speed is again detected to be within the preset speed range, then the current steering angle of the vehicle's steering wheel is obtained; if the current steering angle of the steering wheel is less than the preset angle threshold, then return to execute the step of obtaining the vehicle's current speed and determining whether the current vehicle speed is within the preset speed range.

[0023] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the device also includes a third control module, which is specifically used to: if the current steering angle of the steering wheel is greater than or equal to the preset angle threshold, then when the current speed of the vehicle is greater than the upper limit value of the preset speed range, control the differential lock to unlock.

[0024] In combination with the second aspect and the above implementations, in certain implementations of the second aspect, the upper limit of the preset vehicle speed range is a vehicle speed corresponding to a maximum degree of wear allowed for hardware included in the differential lock.

[0025] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the device also includes a fourth control module, which is specifically used to: obtain the wheel speed difference between the front wheel speed and the rear wheel speed of the vehicle, and obtain the current longitudinal acceleration of the vehicle; based on the wheel speed difference and the longitudinal acceleration, determine whether the preset conditions for controlling the differential lock to be in a locked state are currently met; wherein the preset conditions include the absolute value of the wheel speed difference being greater than or equal to the preset difference threshold and the longitudinal acceleration being less than the preset acceleration threshold; when the preset conditions are met, the differential lock is controlled to be in a locked state until the preset conditions are not met or the current vehicle speed is greater than the upper limit of the preset vehicle speed range.

[0026] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is configured to store executable program code, and the processor is configured to retrieve and execute the executable program code from the memory, so that the vehicle executes the differential lock control method of the first aspect and any possible implementation of the first aspect.

[0027] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the differential lock control method in the first aspect and any possible implementation of the first aspect.

[0028] In a fifth 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 differential lock control method in the above-mentioned first aspect and any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic flow chart of a differential lock control method provided in an embodiment of the present application;

[0030] Figure 2 is a schematic flow chart of another differential lock control method provided in an embodiment of the present application;

[0031] Figure 3 1 is a schematic structural diagram of a differential lock control device provided in an embodiment of the present application;

[0032] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] 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.

[0034] 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.

[0035] Currently, some vehicles are equipped with a differential lock, which can be used to lock the differentials between the left and right wheels of the vehicle, so that both wheels rotate at the same speed, preventing one side from slipping and spinning. Users usually enable the differential lock function in off-road scenarios.

[0036] Because the wheels lose their differential ability when the differential lock is engaged, if the vehicle is traveling at high speed and turning while the differential lock is engaged, it can cause wheel slippage, vehicle loss of control, or even rollover. Furthermore, driving at high speeds with the differential lock engaged can also damage the hardware in the differential lock. For example, on a specific test road section, the vehicle is controlled to travel at various speeds while the differential lock is forced to remain locked throughout the entire process. Certain parameters are obtained when the differential lock is engaged. For example, if the parameter obtained is the relative speed between the cam plate and the coil, the specific data can be shown in Table 1 below:

[0037] Table 1

[0038]

[0039] As shown in Table 1, as the test vehicle speed increases, the relative speed between the cam plate and the electromagnetic coil in the differential lock increases. This increasing relative speed can cause wear between the cam plate and the electromagnetic coil, leading to hardware damage in the differential lock.

[0040] Based on this, existing vehicles usually set the differential lock to automatically release when the vehicle speed reaches a certain threshold, such as 40km / h, to avoid vehicle danger or hardware damage in the differential lock.

[0041] Typically, the speed signal received by the differential lock is calculated by the vehicle's control unit and forwarded via the Controller Area Network (CAN) bus. The speed value forwarded by the CAN bus is calculated by dividing the sum of the left and right wheel speeds of the main drive wheels by 2. That is, the speed value forwarded by the CAN bus is the average of the left and right wheel speeds of the main drive wheels. When the vehicle is driving normally, the speed value forwarded by the CAN bus is usually consistent with the vehicle's actual speed. However, when the vehicle is stuck, the speed value forwarded by the CAN bus may not be consistent with the vehicle's actual speed. This usually means that the wheels are slipping, but the vehicle is not actually moving forward or backward.

[0042] When the vehicle is in an off-road situation or driving in conditions such as snow, mud, or sand, the wheels are prone to slipping. If the vehicle's main drive wheels slip, the average wheel speed of the left and right main drive wheels may exceed a threshold (for example, 40 km / h), causing the differential lock to automatically unlock. Unlocking the differential lock can make it impossible to escape, and the user usually needs to press the differential lock switch to lock it.

[0043] Based on the above content, it can be seen that if the actual situation of the vehicle is not taken into consideration and the differential lock is automatically unlocked when the vehicle speed reaches a certain threshold, it may cause other dangerous situations in the vehicle, resulting in a poor user experience.

[0044] To address the aforementioned technical issues, embodiments of the present application provide a differential lock control method. This method is implemented by a vehicle, specifically a controller within the vehicle. Upon determining that the differential lock meets unlocking conditions, the method implements a delayed unlocking strategy. This strategy avoids direct unlocking of the differential lock due to brief vehicle speed fluctuations, achieving more reasonable differential lock unlocking control. Furthermore, when the current vehicle speed exceeds the upper limit of a preset speed range, the differential lock is directly unlocked, effectively preventing overload damage to the differential lock hardware due to high-speed operation, thereby effectively ensuring the safety of the differential lock.

[0045] Figure 1 This is a schematic flow chart of a differential lock control method provided in an embodiment of the present application.

[0046] For example, Figure 1 As shown, the method 100 includes:

[0047] Step 101 : When the differential lock of the vehicle is in a locked state, obtain the current speed of the vehicle and determine whether the current speed is within a preset speed range.

[0048] Exemplarily, if the current vehicle speed is within the preset vehicle speed range, step 102 is executed; if the current vehicle speed is not within the preset vehicle speed range, step 101 is continued to be executed.

[0049] Step 102 : Determine the duration of time that the current vehicle speed is within a preset vehicle speed range.

[0050] Step 103: When the duration is greater than or equal to the first preset duration, control the differential lock to unlock.

[0051] Step 104 : When the duration is less than the first preset duration and the current speed of the vehicle is greater than the upper limit of the preset speed range, the differential lock is controlled to be unlocked.

[0052] In an embodiment of the present application, when the differential lock is locked, the vehicle's current speed is obtained and a determination is made as to whether the current speed is within a preset speed range. This determination facilitates determining whether the differential lock needs to be unlocked based on the vehicle's actual driving state. If the vehicle's current speed is within the preset range and has remained within this range for a first preset duration, the differential lock is unlocked. Upon determining that the differential lock meets the unlocking conditions, a delayed unlocking strategy is implemented to avoid direct unlocking of the differential lock due to brief speed fluctuations. This prevents safety hazards caused by differential lock unlocking in complex road conditions, effectively avoiding potentially dangerous vehicle situations and achieving more reasonable differential lock unlocking control. Furthermore, if the current vehicle speed exceeds the upper limit of the preset speed range, the differential lock is directly unlocked, effectively preventing overload damage to the differential lock hardware due to high-speed operation, thereby effectively ensuring the safety of the differential lock.

[0053] Below Figure 1 The specific implementation of each step in the embodiment shown is described in detail:

[0054] In step 101, the differential lock is a locking device installed on the vehicle's differential. Its essence is to "temporarily cancel the differential function of the differential" by mechanical or electronic means, so that the left and right wheels (or front and rear axles) are forced to rotate synchronously.

[0055] The differential lock being in the locked state means that the differential lock has been activated and locked the rotation speed of the left and right wheels (or front and rear axles), so that the left and right wheels (or front and rear axles) are forced to rotate synchronously.

[0056] In some embodiments, the differential lock may include components such as a housing, a locking gear, a locking ring, a cam plate, an electromagnetic coil, and a push rod. During vehicle operation, if one wheel on the vehicle slips, the driver can press the differential lock lock control switch. A differential lock control unit in the vehicle, which controls the differential lock, can activate the electromagnetic coil upon determining that the differential lock is currently suitable. When the electromagnetic coil is energized, the electromagnetic force engages the cam plate. As the differential rotates, the push rod slides, which pushes the locking ring. The internal splines of the locking ring engage with the external splines of the locking gear, which then engage with grooves in the differential housing. The locking ring then locks the left locking gear to the differential housing, locking the differential lock.

[0057] While the vehicle is in motion, the differential lock is usually in an unlocked state. A user can typically initiate a lock command for the differential lock, and upon receiving the lock command, the vehicle's controller controls the differential lock to enter a locked state.

[0058] For example, a user can initiate a locking command or unlocking command for the differential lock by operating the differential lock switch configured on the vehicle. Alternatively, a user can initiate an "unlock differential lock" voice command as an unlocking command or an "lock differential lock" voice command as a locking command. The locking command is typically used to lock the differential lock, while the unlocking command is typically used to unlock the differential lock. The specific methods for initiating the locking and unlocking commands for the differential lock are not limited in this embodiment of the present application.

[0059] In one possible implementation, when the vehicle's differential lock is in a locked state, the vehicle's current speed is obtained, and it is determined whether the current speed is within a preset speed range, including: when the vehicle's differential lock is detected to be in a locked state for the first time in the current power-on cycle, the vehicle's current speed is obtained, and it is determined whether the current speed is within the preset speed range.

[0060] The power cycle mentioned above refers to a complete cycle of the vehicle from starting (power on) to shutting down (power off).

[0061] It can be understood that if the vehicle's differential lock is detected to be in a locked state for the first time within the current power-on cycle, it means that the differential lock is detected to be in a locked state for the first time after the vehicle is powered on. The vehicle's differential lock may always be in a locked state after the vehicle is powered on, or the user may control the differential lock to be in a locked state by operating the differential lock switch after the vehicle is powered on.

[0062] Taking into account that frequent control of locking and unlocking of the differential lock will cause hardware wear, a differentiated control strategy can be formulated based on the current detection sequence. That is, when the differential lock is detected to be in a locked state for the first time, the differential lock can be controlled according to a certain strategy. When the differential lock is detected to be in a locked state for the second time, the differential lock can be controlled according to another strategy.

[0063] Based on this, the embodiment of the present application can perform the above operation of determining whether the current vehicle speed is within the preset vehicle speed range when it is detected for the first time in the current power-on cycle that the vehicle's differential lock is in a locked state.

[0064] Furthermore, when the differential lock is engaged, the left and right wheels (or front and rear axles) are rigidly connected through mechanical gearing and multi-plate clutch compression, forcing their speeds to synchronize. However, if the differential lock remains engaged at high speeds, serious handling issues such as tire slip and loss of vehicle control can occur during cornering, significantly impacting driving safety and stability. Furthermore, at high speeds, the speed difference between the inner and outer wheels is even greater. If the differential lock remains engaged, one or both wheels will slip, causing additional mechanical stress and wear on the differential lock, drive shaft, and other related components.

[0065] Based on this, the current speed of the vehicle can be monitored in real time, and it can be determined whether the current speed is within the preset speed range.

[0066] The above-mentioned preset vehicle speed range refers to a vehicle speed range that may cause additional mechanical stress and wear to the differential lock, drive shaft and other related components.

[0067] Exemplarily, the above-mentioned preset vehicle speed range can be set in combination with the hardware performance of the differential lock. Specifically, the extreme operating condition data of the differential lock, including the critical damage threshold and the wear tolerance range, can be obtained through experimental testing, and the preset vehicle speed range can be set based on the obtained extreme operating condition data.

[0068] For example, if the vehicle speed exceeds 60km / h, the differential lock will suffer structural damage due to mechanical stress overload; if the vehicle speed is greater than or equal to 40km / h and less than or equal to 60km / h, although the differential lock suffers certain wear, it is still within the safe operating range. Based on the above data, the preset vehicle speed range can be set to [40km / h, 60km / h].

[0069] If the current vehicle speed is within the preset speed range, it's possible that the vehicle's wheels are slipping, causing the detected current speed to be too high, even though the vehicle isn't actually moving. Based on this, the system can obtain the vehicle's current operating parameters to determine if the vehicle is stranded. If so, the differential lock unlocking operation can be temporarily disabled.

[0070] In one possible implementation, when the current vehicle speed is within a preset speed range, the method further includes: obtaining the wheel speed difference between the front wheel speed and the rear wheel speed of the vehicle and the current longitudinal acceleration of the vehicle; based on the wheel speed difference and the longitudinal acceleration, determining whether a preset condition for controlling the differential lock to be in a locked state is currently met; wherein the preset condition includes that the absolute value of the wheel speed difference is greater than or equal to a preset difference threshold and the longitudinal acceleration is less than a preset acceleration threshold; when the preset condition is met, the differential lock is controlled to be in a locked state until the preset condition is not currently met or the current vehicle speed is greater than the upper limit of the preset speed range.

[0071] The front wheel speed and rear wheel speed can be obtained by the wheel speed sensor in the vehicle, and the unit is revolutions per minute (rpm); the longitudinal acceleration refers to the rate of change of the vehicle's speed in the forward or backward direction (i.e. longitudinal direction), which can usually be obtained by the acceleration sensor installed in the vehicle, and the unit is meter per second squared (m / s 2 ).

[0072] It can be understood that the wheel speed difference between the above-mentioned front wheel speed and the rear wheel speed can directly reflect whether the wheel is slipping. When the vehicle is driving normally, the absolute value of the wheel speed difference will usually be less than or equal to the preset difference threshold. If the absolute value of the wheel speed difference is greater than the preset difference threshold, it means that the wheel is slipping.

[0073] The above longitudinal acceleration can directly reflect the rate of change of the vehicle's longitudinal speed. If the longitudinal acceleration is less than the preset acceleration threshold, it means that the vehicle may not have moved, but the vehicle's current speed is within the preset speed range, indicating that the vehicle may be in a trapped condition.

[0074] Therefore, by combining the above wheel speed difference and longitudinal acceleration, it can be determined whether the vehicle is currently in a trapped condition. When it is determined that the vehicle is currently in a trapped condition, it can be determined that the preset conditions for controlling the differential lock to be in a locked state are currently met.

[0075] For example, the above-mentioned preset difference threshold can be set according to actual needs, for example, it can be set to 30rpm; the above-mentioned preset acceleration threshold can also be set according to actual needs, for example, it can be set to 0.05m / s 2 .

[0076] If the absolute value of the wheel speed difference is greater than or equal to 30 rpm and the longitudinal acceleration is less than 0.05 m / s 2 , it is determined that the vehicle is currently in a trapped condition.

[0077] Furthermore, if the vehicle is currently in a trapped condition, and directly controlling the differential lock to unlock may cause the vehicle to be unable to escape, it can be determined that the preset conditions for controlling the differential lock to be in a locked state are currently met, and the differential lock can be kept in a locked state until the vehicle is successfully escaped or the current vehicle speed exceeds the upper limit of the preset speed range.

[0078] It can be understood that when the absolute value of the wheel speed difference is less than or equal to the preset difference threshold, or the vehicle's current longitudinal acceleration is greater than or equal to the preset acceleration threshold, it usually means that the vehicle has successfully escaped, and there is no need to continue to control the differential lock to remain in a locked state, and the differential lock can be controlled to be unlocked.

[0079] If the current vehicle speed exceeds the upper limit of the preset speed range, it means that the current vehicle speed is too high. If the differential lock continues to be locked, it may cause irreversible damage to the hardware of the differential lock. Therefore, when the current vehicle speed is greater than the upper limit of the preset speed range, the differential lock can be immediately controlled to unlock.

[0080] In the above method, when the absolute value of the wheel speed difference is greater than or equal to a preset difference threshold and the longitudinal acceleration is less than a preset acceleration threshold, it generally indicates that the vehicle is in a trapped condition. By locking the differential lock, power is evenly distributed to the drive wheels, preventing slip and significantly improving the vehicle's traction and maneuverability. When the preset conditions are no longer met or the current vehicle speed exceeds the upper limit of the preset speed range, the differential lock is unlocked, ensuring that the differential lock hardware is not damaged and effectively ensuring the safety of the differential lock.

[0081] In step 102, if the current vehicle speed is within the preset speed range, it indicates that the differential lock is currently at risk of damage. However, the vehicle speed may fluctuate frequently during driving (such as climbing a slope, cornering, accelerating / decelerating). Simply judging "whether the current vehicle speed is within the preset range" cannot actually distinguish whether the current vehicle speed is increased due to short-term fluctuations or whether the vehicle is currently continuously in a high-speed state.

[0082] Based on this, when it is determined that the current vehicle speed is within the preset vehicle speed range, the embodiment of the present application can continue to monitor the duration for which the current vehicle speed is within the preset vehicle speed range.

[0083] In some embodiments, when it is monitored that the current speed of the vehicle is within a preset speed range, timing can be started immediately to obtain the timing duration, and the duration of the current speed being within the preset speed range can be determined based on the obtained timing duration.

[0084] It is understandable that by monitoring the duration for which the current vehicle speed is within the preset vehicle speed range, the duration can be used as a reference for the subsequent control strategy of the differential lock.

[0085] In step 103, if the duration of the current vehicle speed being within the preset speed range is greater than or equal to the first preset time, it indicates that the current vehicle speed is relatively stable and has reached the preset speed range in which the differential lock is subject to certain wear. If the differential lock continues to be locked and the current vehicle speed continues to be within the preset speed range, the hardware of the differential lock may continue to wear, thereby affecting the service life of the differential lock hardware.

[0086] Based on this, the differential lock can be controlled to unlock when the current vehicle speed is within the preset speed range for a duration greater than or equal to the first preset time to ensure the safety of the differential lock. That is, when the current vehicle speed is within the preset speed range, the differential lock is controlled to unlock after a delay of the first preset time.

[0087] The first preset time length may be a maximum wear time threshold that the differential lock can withstand when the vehicle speed is continuously locked within a preset vehicle speed range.

[0088] For example, experimental tests have determined that the maximum time the differential lock is allowed to be continuously locked when the vehicle speed is within a preset speed range is 10 seconds (S). Exceeding this time will cause hardware wear beyond a safe range. Therefore, the above-mentioned first preset time can be set to 10S.

[0089] Assuming that the above-mentioned first preset time length is 10S, and the above-mentioned preset speed range is [40km / h, 60km / h], when the vehicle's differential lock is detected to be in a locked state for the first time in the current power-on cycle, the current speed of the vehicle is obtained. If the current speed of the vehicle is 42km / h, it can be determined that the current speed is within the preset speed range, and the duration of the current speed within the preset speed range can be further determined. If the duration of the current speed within the preset speed range has reached 10S, the differential lock can be immediately controlled to unlock.

[0090] As previously mentioned, the differential lock control unit, which controls the differential lock, inputs current into the electromagnetic coil, generating an electromagnetic force that prevents the cam plate from rotating. The push rod then presses the locking ring in, locking the differential lock. Therefore, when the differential lock control unit cuts off the current to the electromagnetic coil, the electromagnetic coil loses its electromagnetic force. At this point, the return spring pushes the locking ring out, opening the differential lock, effectively unlocking the differential lock.

[0091] In step 104, if the duration is less than the first preset duration, it means that the current vehicle speed has changed and is no longer within the preset speed range, that is, the current vehicle speed may change outside the preset speed range, such as changing to a value less than the lower limit of the preset speed range, or changing to a value greater than the upper limit of the preset speed range.

[0092] In one possible situation, if the current vehicle speed changes to a value greater than an upper limit of a preset vehicle speed range, the differential lock is immediately controlled to be unlocked.

[0093] In one possible implementation, the upper limit of the preset vehicle speed range is a vehicle speed corresponding to a maximum degree of wear allowed for hardware included in the differential lock.

[0094] As mentioned above, the hardware included in the differential lock may include but is not limited to: a housing, a locking gear, a locking ring, a cam plate, an electromagnetic coil, and a push rod.

[0095] It is understandable that when the current vehicle speed is high, if the differential lock is still in the locked state, it may cause wear on the tooth surface of the locking gear, wear on the housing and its transmission components, and as the vehicle speed increases, the coil temperature will also increase synchronously, which may cause the insulation layer of the coil to age and crack due to the increase in vehicle speed, and may also cause wear on the magnetic core in the coil.

[0096] Therefore, experimental testing can be used to determine the vehicle speed that corresponds to the maximum degree of wear allowed for the hardware contained in the differential lock.

[0097] For example, on a specific test route, the vehicle is controlled at various speeds while the differential lock is locked throughout the entire test, ensuring that the cumulative test duration covers the differential lock's design lifecycle. After multiple rounds of cyclic testing, wear data on the differential lock's hardware is collected, and the critical speed at which each hardware indicator reaches the design limit is analyzed. This speed represents the threshold for the maximum acceptable wear of the differential lock's hardware and serves as the upper limit of the preset speed range.

[0098] Assuming that after multiple experimental tests, it is determined that the critical vehicle speed when each hardware indicator just reaches the design allowable limit value is 60km / h, then 60km / h can be used as the upper limit value of the preset vehicle speed range.

[0099] Furthermore, if the current vehicle speed changes to a value greater than the upper limit of the preset speed range, it means that the current vehicle speed has exceeded the vehicle speed corresponding to the maximum wear level allowed for the hardware contained in the differential lock. At this time, if the differential lock is still in the locked state, it may cause irreversible damage to the hardware contained in the differential lock.

[0100] Therefore, when the current vehicle speed is greater than the upper limit of the preset vehicle speed range, the differential lock can be immediately controlled to be unlocked.

[0101] For example, assuming that the upper limit of the preset speed range is 60km / h, and the first preset time is set to 10S, when the vehicle's differential lock is detected to be in a locked state for the first time in the current power-on cycle, the vehicle's current speed is obtained. If the vehicle's current speed is 42km / h, it can be determined that the current speed is within the preset speed range, and the duration for which the current speed is within the preset speed range can be further determined. If the current speed changes to 65km / h within the first preset time, i.e., 10S, that is, the duration for which the current speed is within the preset speed range is less than the first preset time, and the current speed is greater than the upper limit of the preset speed range, 60km / h, the differential lock can be controlled to be unlocked directly, thereby preventing damage to the hardware of the differential lock.

[0102] The above method sets the upper limit of the preset vehicle speed range to the vehicle speed corresponding to the maximum degree of wear of the hardware contained in the differential lock. This can ensure the vehicle's ability to pass under trapped conditions while avoiding irreversible damage to the differential lock.

[0103] In another possible situation, if the current vehicle speed changes to a value less than a lower limit of a preset vehicle speed range, the differential lock may not be controlled to be unlocked temporarily.

[0104] In one possible implementation, the method also includes: when the duration is less than the first preset duration, if the current speed of the vehicle is less than the lower limit of the preset speed range, returning to execute the step of obtaining the current speed of the vehicle and determining whether the current speed is within the preset speed range.

[0105] Exemplarily, the lower limit value of the above-mentioned preset vehicle speed range can be the minimum vehicle speed at which the hardware of the differential lock may wear out. For example, when the current vehicle speed is 40km / h, it is detected that the hardware of the differential lock is just beginning to wear out, the lower limit value of the preset vehicle speed range can be set to 40km / h.

[0106] It can be understood that if the current vehicle speed changes to a value less than the lower limit of the preset speed range, it means that the current vehicle speed has been reduced to a speed that will not cause wear of the hardware of the differential lock. At this time, there is no need to control the differential lock to unlock, and the current vehicle speed can continue to be monitored. If the current vehicle speed falls back to the preset speed range, the duration of time the current vehicle speed is within the preset speed range is determined again, that is, returning to the above step 101 to continue to control the differential lock.

[0107] For example, assuming that the lower limit of the preset speed range is 40km / h and the first preset time is set to 10S, when the vehicle's differential lock is detected to be in a locked state for the first time in the current power-on cycle, the current speed of the vehicle is obtained. If the current speed of the vehicle is 42km / h, it can be determined that the current speed is within the preset speed range, and the duration for which the current speed is within the preset speed range can be further determined. If the current speed changes to 30km / h within the first preset time, i.e., 10S, that is, the duration for which the current speed is within the preset speed range is less than the first preset time, and the current speed is less than the lower limit of the preset speed range, 40km / h, the current speed can continue to be obtained. If the current speed falls back to the preset speed range, the duration for which the current speed is within the preset speed range is determined again.

[0108] In the above method, when the duration is less than the first preset duration, if the current vehicle speed is less than the lower limit of the preset vehicle speed range, it returns to re-detection, which can effectively avoid false operations caused by transient changes and improve system reliability.

[0109] Furthermore, if the vehicle is currently stuck, after controlling the differential lock to unlock, the vehicle may still not be out of trouble. The user may initiate a locking command for the differential lock again to lock the differential lock to help the vehicle out of trouble.

[0110] In one possible implementation, after controlling the differential lock to unlock, the method further includes: in the current power-on cycle, if it is detected that the vehicle's differential lock is in a locked state again within a second preset time period after the differential lock is unlocked, and the current vehicle speed is again detected to be within a preset speed range, then obtaining the current steering angle of the vehicle's steering wheel; if the current steering angle of the steering wheel is less than a preset angle threshold, returning to the step of obtaining the vehicle's current speed and determining whether the current vehicle speed is within the preset speed range.

[0111] The second preset time period can be set based on actual needs. Typically, if the user needs to re-engage the differential lock because the vehicle is not free, they may quickly initiate a lock command for the differential lock. Therefore, after the differential lock is unlocked, it may be detected that the differential lock is locked again soon. Therefore, the second preset time period can be set to a shorter time period, such as 10 minutes.

[0112] The current steering angle of the steering wheel refers to the rotation angle of the steering wheel relative to its middle position in the straight-ahead state, and is usually measured in degrees (°).

[0113] It is understood that if the differential lock is detected to be locked again within the second preset time period after the differential lock is unlocked, it may indicate that the vehicle is not currently free, which has led the user to control the differential lock to be locked again, with the purpose of locking the differential lock to expedite the vehicle's escape. If the differential lock is detected to be locked again within the second preset time period after the differential lock is unlocked, the vehicle's current speed can continue to be monitored. If the vehicle's current speed is again within the preset speed range, it indicates that the differential lock needs to be controlled to be unlocked again.

[0114] Usually when a vehicle is in a trapped condition, such as a wheel is stuck and the vehicle is trapped, the user will usually turn the steering wheel significantly (for example, control the steering wheel to the maximum turning angle) to make the wheel produce a larger steering angle, thereby changing the direction of the wheel force, so that the wheel force changes from "single longitudinal" to "longitudinal + lateral" combined force. The lateral force can break the adsorption resistance of the pit to the wheel (such as friction in the mud), forming an effective displacement, and the driving force of the unstuck wheel after turning, drives the entire body of the vehicle to move, so that the trapped vehicle can be freed.

[0115] Based on this, in the embodiment of the present application, if it is detected that the vehicle's differential lock is in a locked state again within the second preset time period after the differential lock is unlocked, and the current vehicle speed is again detected to be within the preset vehicle speed range, the current steering angle of the steering wheel can usually be obtained, and it can be determined whether the current steering angle of the steering wheel is less than the preset angle threshold.

[0116] If the current steering angle of the steering wheel is less than the preset angle threshold, it means that the user has not turned the steering wheel significantly, and the user may not control the differential lock to lock because the vehicle is trapped. In this case, the strategy executed when the differential lock is first detected to be in a locked state can continue to be executed, that is, return to the above step 101 to continue to control the differential lock.

[0117] The preset angle threshold can be set according to actual needs, for example, to 60 degrees.

[0118] For example, assuming that the second preset time is 10 minutes and the preset angle threshold is 60 degrees, after controlling the differential lock to be unlocked, if the differential lock is detected to be in a locked state again within 10 minutes, and the current vehicle speed is detected to be within the preset vehicle speed range again, the current steering angle of the vehicle's steering wheel can be obtained. If the current steering angle of the steering wheel is 10 degrees, which is less than 60 degrees, it means that the user has not turned the steering wheel significantly, and the vehicle may not be in a trapped condition. Then, the strategy executed when the differential lock is first detected to be in a locked state can be continued, that is, return to the above step 101 to continue to control the differential lock.

[0119] In the above method, in the current power-on cycle, if it is detected that the vehicle's differential lock is locked again within the second preset time period after the differential lock is unlocked, and the current vehicle speed is again detected to be within the preset vehicle speed range, the steering wheel steering angle is introduced as a judgment basis, which can effectively identify whether the current working condition is a trapped working condition, thereby more reasonably controlling the differential lock, and returning to re-detection when the current steering angle is less than the preset angle threshold, which can effectively avoid malfunction caused by transient changes, improve system reliability, and effectively ensure the safety of the differential lock.

[0120] In one possible implementation, after obtaining the current steering angle of the vehicle's steering wheel, the method further includes: if the current steering angle of the steering wheel is greater than or equal to a preset angle threshold, then when the current speed of the vehicle is greater than the upper limit of a preset speed range, controlling the differential lock to unlock.

[0121] It is understood that if the current steering wheel angle is greater than or equal to the preset angle threshold, it indicates that the user is currently turning the steering wheel significantly, and the user may be controlling the differential lock to lock because the vehicle is trapped. Therefore, the differential lock can be kept locked when the current vehicle speed is within the preset speed range or below the lower limit of the preset speed range. In this case, even if the differential lock is locked, the wear of the differential lock hardware will not exceed its maximum wear tolerance. Therefore, when the current vehicle speed is within the preset speed range or below the lower limit of the preset speed range, the differential lock can be controlled to remain locked, thereby expediting the vehicle's escape.

[0122] If the current vehicle speed exceeds the upper limit of the preset speed range, if the differential lock continues to be locked, the wear of the differential lock hardware may exceed its maximum wear tolerance. Therefore, if the current vehicle speed exceeds the upper limit of the preset speed range, the differential lock can be immediately controlled to be unlocked to avoid irreversible damage to the differential lock.

[0123] For example, assuming that the second preset time length is 10 minutes and the preset angle threshold is 60 degrees, after controlling the differential lock to be unlocked, if the differential lock is detected to be in a locked state again within 10 minutes, the current steering angle of the vehicle's steering wheel can be obtained. If the current steering angle of the steering wheel is 150 degrees, which is greater than 60 degrees, it means that the user has turned the steering wheel significantly and the vehicle may be in a trapped condition. In this case, the delayed unlocking strategy may no longer be executed, and the differential lock may be controlled to be unlocked only when the current vehicle speed is greater than the upper limit of the preset speed range.

[0124] The above method, when the current steering wheel angle is greater than or equal to a preset angle threshold, indicates that the vehicle is in a trapped condition. When the current vehicle speed is less than or equal to the upper limit of a preset speed range, the differential lock is locked, thereby evenly distributing power to the drive wheels and preventing slip, significantly improving the vehicle's traction and maneuverability, and ensuring vehicle safety. Furthermore, when the current vehicle speed exceeds the upper limit of the preset speed range, the differential lock is unlocked to prevent irreversible damage to the differential lock hardware.

[0125] Figure 2 This is a schematic flow chart of another differential lock control method provided in an embodiment of the present application.

[0126] For example, Figure 2 As shown, the method 200 includes:

[0127] Step 201 : When the differential lock of the vehicle is in a locked state, obtain the current speed of the vehicle.

[0128] It is understandable that reference can be made to the description of step 101 above, which will not be repeated here.

[0129] Step 202: Determine whether the current vehicle speed is within a preset vehicle speed range.

[0130] Exemplarily, the preset vehicle speed range may be [40 km / h, 60 km / h].

[0131] If the current vehicle speed is within the preset speed range, step 203 is executed; if the current vehicle speed is not within the preset speed range, step 202 is continued.

[0132] Step 203: Determine the duration of time that the current vehicle speed is within the preset vehicle speed range.

[0133] It is understandable that reference may be made to the description of step 102 above, which will not be repeated here.

[0134] Step 204 : When the duration is greater than or equal to the first preset duration, control the differential lock to unlock.

[0135] Exemplarily, the first preset time length may be set to 10 seconds.

[0136] Step 205 : When the duration is less than the first preset duration, determine the magnitude relationship between the current vehicle speed and the preset vehicle speed range.

[0137] Step 206 : If the current vehicle speed is greater than the upper limit of the preset vehicle speed range, the differential lock is controlled to be unlocked.

[0138] It is understandable that, as mentioned above, the upper limit of the preset speed range may be 60 km / h. If the current speed of the vehicle is greater than 60 km / h, the differential lock is directly controlled to be unlocked.

[0139] Step 207: If the current vehicle speed is less than the lower limit of the preset vehicle speed range, the process returns to step 201.

[0140] It can be understood that, as mentioned above, the upper limit value of the above-mentioned preset speed range can be 40km / h. If the current speed is less than 40km / h, the current speed of the vehicle can be obtained and it can be determined whether the current speed is within the preset speed range, that is, the above-mentioned step 201 is executed.

[0141] In step 208 , if it is detected that the differential lock is locked again within the second preset time period after the differential lock is unlocked, and the current vehicle speed is again detected to be within the preset vehicle speed range, the current steering angle of the vehicle's steering wheel is obtained.

[0142] Exemplarily, the second preset duration may be set to 10 minutes.

[0143] Step 209 : If the current steering angle of the steering wheel is less than the preset angle threshold, the process returns to step 201 .

[0144] Exemplarily, the preset angle threshold may be set to 60 degrees.

[0145] Step 210 : If the current steering angle of the steering wheel is greater than or equal to the preset angle threshold, then when the current vehicle speed is greater than the upper limit of the preset vehicle speed range, the differential lock is controlled to be unlocked.

[0146] It is understandable that reference can be made to the previous description here and no further details are given here.

[0147] In the above embodiment, when the differential lock is locked, the vehicle's current speed is obtained and a determination is made as to whether the current speed is within a preset speed range. This determination facilitates determining whether the differential lock needs to be unlocked based on the vehicle's actual driving state. If the vehicle's current speed is within the preset range and has remained within this range for a first preset duration, the differential lock is unlocked. Upon determining that the differential lock meets the unlocking conditions, a delayed unlocking strategy is implemented to avoid direct unlocking of the differential lock due to brief speed fluctuations. This prevents safety hazards caused by differential lock unlocking in complex road conditions, effectively avoiding potentially dangerous situations and achieving more effective differential lock unlocking control. If the vehicle's differential lock is locked again within a second preset duration after the differential lock is unlocked, and the current vehicle speed is again determined to be within the preset speed range, the steering wheel angle is introduced as a basis for determination, effectively identifying whether the current driving condition is a trapped condition, thereby more effectively controlling the differential lock. When the current vehicle speed is greater than the upper limit of the preset speed range, directly controlling the differential lock to unlock can effectively prevent the differential lock hardware from being damaged by overload due to high-speed operation, thereby effectively ensuring the safety of the differential lock.

[0148] Figure 3 Schematic diagram of the structure of a differential lock control device provided in an embodiment of the present application.

[0149] For example, Figure 3 As shown, the device 300 includes:

[0150] The judgment module 301 is used to obtain the current speed of the vehicle when the differential lock of the vehicle is in a locked state, and to judge whether the current speed is within a preset speed range.

[0151] The determination module 302 is configured to determine, when the current vehicle speed is within the preset vehicle speed range, a duration for which the current vehicle speed is within the preset vehicle speed range.

[0152] The first control module 303 is configured to control the differential lock to unlock when the duration is greater than or equal to a first preset duration.

[0153] The second control module 304 is configured to control the differential lock to unlock if the current vehicle speed is greater than an upper limit of a preset speed range when the duration is less than a first preset duration.

[0154] Optionally, the device also includes a return execution module, which is specifically used to: when the duration is less than the first preset duration, if the current speed of the vehicle is less than the lower limit of the preset speed range, return to execute the steps of obtaining the current speed of the vehicle and determining whether the current speed is within the preset speed range.

[0155] In one possible implementation, the judgment module is specifically used to: when it is detected for the first time in the current power-on cycle that the differential lock of the vehicle is in a locked state, obtain the current speed of the vehicle and determine whether the current speed is within a preset speed range.

[0156] Optionally, the device also includes an acquisition module, which is specifically used to: in the current power-on cycle, if it is detected that the vehicle's differential lock is in a locked state again within a second preset time period after the differential lock is unlocked, and the current vehicle speed is again detected to be within a preset speed range, then the current steering angle of the vehicle's steering wheel is acquired; if the current steering angle of the steering wheel is less than a preset angle threshold, then return to the step of acquiring the vehicle's current speed and determining whether the current vehicle speed is within the preset speed range.

[0157] Optionally, the device also includes a third control module, which is specifically used to: if the current steering angle of the steering wheel is greater than or equal to a preset angle threshold, then when the current speed of the vehicle is greater than the upper limit of a preset speed range, control the differential lock to unlock.

[0158] In one possible implementation, the upper limit of the preset vehicle speed range is a vehicle speed corresponding to a maximum degree of wear allowed for hardware included in the differential lock.

[0159] Optionally, the device also includes a fourth control module, which is specifically used to: obtain the wheel speed difference between the front wheel speed and the rear wheel speed of the vehicle, and obtain the current longitudinal acceleration of the vehicle; based on the wheel speed difference and the longitudinal acceleration, determine whether the preset conditions for controlling the differential lock to be in a locked state are currently met; wherein the preset conditions include that the absolute value of the wheel speed difference is greater than or equal to a preset difference threshold and the longitudinal acceleration is less than a preset acceleration threshold; when the preset conditions are met, the differential lock is controlled to be in a locked state until the preset conditions are not met or the current vehicle speed is greater than the upper limit of the preset vehicle speed range.

[0160] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0161] For example, Figure 4 As shown, the vehicle 400 includes: a memory 401 and a processor 402, wherein the memory 401 stores an executable program code 4011, and the processor 402 is used to call and execute the executable program code 4011 to perform a differential lock control method.

[0162] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a differential lock control method provided by an embodiment of the present application.

[0163] 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.

[0164] In the case of dividing the functional modules into corresponding functional modules, the device may further include a judgment module, a determination module, a first judgment module, a second judgment 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.

[0165] It should be understood that the device provided in this embodiment is used to execute the above-mentioned method for controlling a differential lock, and thus can achieve the same effect as the above-mentioned implementation method.

[0166] 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. The storage module may be used to support the vehicle's execution of relevant program codes and data.

[0167] 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.

[0168] 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 differential lock control method provided in the above embodiment.

[0169] This embodiment further provides a computer-readable storage medium, which stores computer program code. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a differential lock control method provided in the above embodiment.

[0170] This embodiment further 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 differential lock control method provided in the above embodiment.

[0171] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment 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.

[0172] 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.

[0173] 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.

[0174] 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 method for controlling a differential lock, characterized in that: The method comprises: When a differential lock of the vehicle is in a locked state, obtaining a current speed of the vehicle and determining whether the current speed is within a preset speed range; When the current vehicle speed is within the preset vehicle speed range, determining a duration during which the current vehicle speed is within the preset vehicle speed range; When the duration is greater than or equal to a first preset duration, controlling the differential lock to unlock; When the duration is less than a first preset duration, and the current vehicle speed is greater than an upper limit of the preset speed range, the differential lock is controlled to be unlocked.

2. The method according to claim 1, characterized in that The method further comprises: When the duration is less than the first preset duration, if the current speed of the vehicle is less than the lower limit of the preset speed range, the process returns to the step of obtaining the current speed of the vehicle and determining whether the current speed is within the preset speed range.

3. The method according to claim 1, characterized in that The step of obtaining a current vehicle speed and determining whether the current vehicle speed is within a preset vehicle speed range when a differential lock of the vehicle is in a locked state includes: When it is detected for the first time in the current power-on cycle that the differential lock of the vehicle is in a locked state, a current vehicle speed of the vehicle is obtained, and it is determined whether the current vehicle speed is within a preset vehicle speed range.

4. The method according to claim 3, characterized in that After controlling the differential lock to unlock, the method further includes: In the current power-on cycle, if it is detected that the differential lock of the vehicle is locked again within a second preset time period after the differential lock is unlocked, and the current vehicle speed is again detected to be within a preset vehicle speed range, then obtaining a current steering angle of the steering wheel of the vehicle; If the current steering angle of the steering wheel is less than the preset angle threshold, the process returns to the step of obtaining the current speed of the vehicle and determining whether the current speed is within a preset speed range.

5. The method according to claim 4, characterized in that After obtaining the current steering angle of the steering wheel of the vehicle, the method further includes: If the current steering angle of the steering wheel is greater than or equal to a preset angle threshold, and if the current speed of the vehicle is greater than an upper limit of the preset speed range, the differential lock is controlled to be unlocked.

6. The method according to any one of claims 1 to 5, characterized in that The upper limit of the preset vehicle speed range is a vehicle speed corresponding to a maximum degree of wear of hardware included in the differential lock.

7. The method according to claim 1, characterized in that When the current vehicle speed is within a preset vehicle speed range, the method further includes: Obtaining a wheel speed difference between a front wheel speed and a rear wheel speed of the vehicle, and obtaining a current longitudinal acceleration of the vehicle; Based on the wheel speed difference and the longitudinal acceleration, determining whether a preset condition for controlling the differential lock to be in a locked state is currently satisfied; wherein the preset condition includes that the absolute value of the wheel speed difference is greater than or equal to a preset difference threshold and the longitudinal acceleration is less than a preset acceleration threshold; When the preset condition is met, the differential lock is controlled to be in a locked state until the preset condition is not met or the current vehicle speed is greater than an upper limit of the preset vehicle speed range.

8. A differential lock control device, characterized in that: The device comprises: a determination module, configured to obtain a current vehicle speed of the vehicle when a differential lock of the vehicle is in a locked state, and determine whether the current vehicle speed is within a preset vehicle speed range; a determination module, configured to determine, when the current vehicle speed is within the preset vehicle speed range, a duration for which the current vehicle speed is within the preset vehicle speed range; a first control module, configured to control the differential lock to unlock when the duration is greater than or equal to a first preset duration; The second control module is configured to control the differential lock to unlock if the duration is less than a first preset duration and the current speed of the vehicle is greater than an upper limit of the preset speed range.

9. A vehicle, characterized in that: The vehicle comprises: a memory for storing executable program code; A processor is configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 7.

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, the method according to any one of claims 1 to 7 is implemented.

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