Torque distribution method and device for double-electric-drive-axle tractor and storage medium

Abstract

The invention discloses a double-electric-drive-axle tractor torque distribution method and device and a storage medium, and belongs to the technical field of vehicle dynamics control. The method comprises the steps that the gear and speed ratio of an intermediate axle gearbox controller, the gear and speed ratio of a rear axle gearbox controller and the current accelerator pedal opening degree are obtained; acquiring a required motor torque according to the current accelerator pedal opening degree; when the gears of the intermediate axle gearbox controller and the rear axle gearbox controller are consistent, the required motor torque is averagely distributed to an intermediate axle motor and a rear axle motor; and when the gears of the intermediate axle gearbox controller and the rear axle gearbox controller are not consistent, the required motor torque is distributed to an intermediate axle motor and a rear axle motor based on the speed ratio of the intermediate axle gearbox controller and the rear axle gearbox controller. The technical problem that when double electric drive axles are adopted for driving in the prior art, wheels of a middle axle or a rear axle slip in the running process, and vehicle maneuverability and driving safety are affected can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle dynamics control, and in particular to a torque distribution method and device for a dual electric drive axle tractor and a storage medium. BACKGROUND

[0002] New energy heavy trucks have made slow progress in terms of long-distance trunk line logistics conditions. The core problem is that there is not enough space for arranging the battery of the whole vehicle, and the central drive form of the drive system has low efficiency, which cannot support the full load of the whole vehicle for long-distance operation. The electric drive axle can effectively solve the problems of insufficient battery arrangement space and low transmission efficiency, so it is an inevitable trend to develop electric drive axles in the new energy field.

[0003] For a 6x4 tractor, dual electric drive axles are required. Since the middle and rear axles have their own gears, but due to different loads on the middle and rear axles, if the torque is evenly distributed between the middle and rear axles, the wheels of the middle or rear axle may slip due to different loads during operation. In severe cases, it may even affect the vehicle's handling and driving safety.

[0004] Therefore, there is an urgent need for a torque distribution method, device and storage medium for a dual electric drive axle tractor to solve the above technical problems. SUMMARY

[0005] The purpose of the present application is to overcome the shortcomings of the prior art and provide a torque distribution method, device and storage medium for a dual electric drive axle tractor, which can solve the technical problem of the prior art that the wheels of the middle or rear axle slip during operation when driven by dual electric drive axles, affecting the vehicle's handling and driving safety.

[0006] To achieve the above-mentioned purpose, the present application is realized by adopting the following technical solutions: In a first aspect, the present application provides a torque distribution method for a dual electric drive axle tractor, comprising: obtaining the gear and speed ratio of the middle axle gearbox controller, the gear and speed ratio of the rear axle gearbox controller, and the current accelerator pedal opening; obtaining the required motor torque according to the current accelerator pedal opening; when the gear of the middle axle gearbox controller and the rear axle gearbox controller is consistent, the required motor torque is evenly distributed to the middle axle motor and the rear axle motor; when the gear of the middle axle gearbox controller and the rear axle gearbox controller is inconsistent, the required motor torque is distributed to the middle axle motor and the rear axle motor based on the speed ratio of the middle axle gearbox controller and the rear axle gearbox controller.

[0007] Further, after the required motor torque is evenly distributed to the middle axle motor and the rear axle motor: obtaining a first wheel speed and a first slip ratio of the axle, limiting the torque obtained by the axle with higher first wheel speed to a first multiple of the average distribution torque when the first slip ratio exceeds a preset first slip threshold, until the first slip ratio decreases to below a preset second slip threshold, and controlling the torque of the middle axle motor and the rear axle motor to return to the average distribution torque.

[0008] Further, if the first slip ratio is still greater than the preset first slip threshold within a preset time range, limiting the torque obtained by the axle with higher first wheel speed to a second multiple of the average distribution torque, until the first slip ratio decreases to below the preset second slip threshold, and controlling the torque of the middle axle motor and the rear axle motor to return to the average distribution torque.

[0009] Further, when the gear positions of the middle axle gearbox controller and the rear axle gearbox controller are inconsistent, distributing the demand motor torque to the middle axle motor and the rear axle motor based on the speed ratios of the middle axle gearbox controller and the rear axle gearbox controller comprises: the proportion of the demand motor torque distributed to the middle axle motor and the rear axle motor is inversely proportional to the speed ratios of the middle axle gearbox controller and the rear axle gearbox controller; After distributing the demand motor torque to the middle axle motor and the rear axle motor: if the torque obtained by at most one of the middle axle motor and the rear axle motor exceeds its upper limit of capacity, balancing the excess torque to the other electric drive axle motor through the inverse relationship between torque and speed ratio until the upper limit of capacity of the other electric drive axle motor is reached.

[0010] Further, after distributing the driver demand motor torque to the middle axle motor and the rear axle motor based on the speed ratios of the middle axle gearbox controller and the rear axle gearbox controller when the gear positions of the middle axle gearbox controller and the rear axle gearbox controller are inconsistent: obtaining a second wheel speed and a second slip ratio of the axle, limiting the torque obtained by the axle with higher second wheel speed to a first multiple of the speed ratio distribution torque when the second slip ratio exceeds a preset first slip threshold, until the second slip ratio decreases to below a preset second slip threshold, and controlling the torque of the middle axle motor and the rear axle motor to return to the speed ratio distribution torque.

[0011] Further, if the second slip ratio is still greater than the preset first slip threshold within a preset time range, limiting the torque obtained by the axle with higher second wheel speed to a second multiple of the speed ratio distribution torque, until the second slip ratio decreases to below the preset second slip threshold, and controlling the torque of the middle axle motor and the rear axle motor to return to the speed ratio distribution torque.

[0012] Further, it further comprises: When the gear positions of the mid-axle gearbox controller and the rear-axle gearbox controller are inconsistent, the motor speed corresponding to the low gear of the electric drive axle of the mid-axle gearbox controller and the rear-axle gearbox controller is obtained, and when the motor speed exceeds the preset speed limit, the motor output torque is adjusted through PI to control the motor speed not to exceed the preset speed limit, and the low gear of the electric drive axle is controlled to shift up, and after the shift up is successful, the PI torque adjustment is cancelled, and the vehicle is normally driven until the speed exceeds the preset speed limit again.

[0013] In a second aspect, the present application provides a dual electric drive axle traction vehicle torque distribution device, comprising: The acquisition module is configured to obtain the gear position and speed ratio of the mid-axle gearbox controller, the gear position and speed ratio of the rear-axle gearbox controller, and the current accelerator pedal opening degree. The identification module is configured to obtain the required motor torque according to the current accelerator pedal opening degree. The consistent distribution module is configured to, when the gear positions of the mid-axle gearbox controller and the rear-axle gearbox controller are consistent, evenly distribute the required motor torque to the mid-axle motor and the rear-axle motor. The inconsistent distribution module is configured to, when the gear positions of the mid-axle gearbox controller and the rear-axle gearbox controller are inconsistent, distribute the required motor torque to the mid-axle motor and the rear-axle motor based on the speed ratios of the mid-axle gearbox controller and the rear-axle gearbox controller.

[0014] In a third aspect, the present application provides an electronic terminal, comprising a processor and a memory connected to the processor, and the memory stores a computer program, and when the computer program is executed by the processor, the steps of the method according to any one of the above aspects are executed.

[0015] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of the above aspects are implemented.

[0016] Compared with the prior art, the present application has the following beneficial effects: The present application obtains the required motor torque by obtaining the current accelerator pedal opening degree, evenly distributes the required motor torque to the mid-axle motor and the rear-axle motor when the gear positions of the mid-axle gearbox controller and the rear-axle gearbox controller are consistent, and distributes the required motor torque to the mid-axle motor and the rear-axle motor based on the obtained speed ratios of the mid-axle gearbox controller and the rear-axle gearbox controller when the gear positions of the mid-axle gearbox controller and the rear-axle gearbox controller are inconsistent, and through the judgment of the slip rate and the corresponding torque distribution adjustment, the driving safety and the maneuverability of the vehicle can be improved through the distribution of the torque. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1is a flow chart of a torque distribution method of a dual electric drive axle tractor provided by embodiment one of the present application. Figure 2 is a skid prevention strategy schematic diagram of a torque distribution method of a dual electric drive axle tractor provided by embodiment one of the present application. Figure 3 is a gear shift protection strategy schematic diagram of a torque distribution method of a dual electric drive axle tractor provided by embodiment one of the present application. Figure 4 is a structural schematic diagram of a torque distribution device of a dual electric drive axle tractor provided by embodiment one of the present application. DETAILED DESCRIPTION

[0018] The technical solutions of the present application will be described in detail below through the accompanying drawings and specific embodiments. It should be understood that the specific features in the embodiments and the specific features in the embodiments are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application. In the case of no conflict, the technical features in the embodiments and the embodiments can be combined with each other.

[0019] The term "and / or" in this paper is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the associated objects before and after are in an "or" relationship.

[0020] In order to facilitate understanding, the proper nouns mentioned in this application are explained here: EBS (Electronic-Brake-System, electronic brake system) is an upgraded form of traditional mechanical hydraulic brake system, the core of which controls the braking process through electronic signals, and is widely used in modern passenger cars, commercial vehicles (trucks, buses) and new energy vehicles. It should be noted that all wheel speeds and slip rates mentioned in this application are obtained through EBS. The specific acquisition process belongs to conventional prior art and will not be described here. Embodiment one

[0021] Figure 1 is a flow chart of a torque distribution method of a dual electric drive axle tractor in embodiment one of the present application. The flow chart only shows the logical order of the method described in the embodiment. In the case of no conflict, the steps shown or described can be completed in an order different from that shown in other possible embodiments of the present application. Figure 1

[0022] ​The torque distribution method of the double electric drive axle tractor provided by the embodiment can be applied to a terminal and can be executed by a mechanical equipment fault identification device. The device can be implemented by software and / or hardware, and can be integrated in the terminal, such as any smart phone, tablet computer or computer device with a communication function.

[0023] Referring to Figure 1 The method of the embodiment specifically includes the following steps: Step 1: Obtain the gear position and speed ratio of the middle axle gearbox controller, the gear position and speed ratio of the rear axle gearbox controller and the current accelerator pedal opening degree; Step 2: Obtain the required motor torque according to the current accelerator pedal opening degree; It should be noted that the relationship between the accelerator pedal opening degree and the required motor torque is linear, and how to obtain the corresponding required motor torque according to the pre-constructed linear relationship after inputting the accelerator pedal opening degree belongs to the conventional prior art, which will not be described here.

[0024] Step 3: as Figure 2 When the gear positions of the middle axle gearbox controller and the rear axle gearbox controller are consistent, the required motor torque is evenly distributed to the middle axle motor and the rear axle motor; Then, the first wheel speed and the first slip rate of the axle are obtained, and when the first slip rate exceeds a preset first slip threshold, which can be 15% in the embodiment, the torque obtained by the axle with a high first wheel speed is limited to a first multiple of the average distribution torque, which can be 80% in the embodiment, and until the first slip rate decreases to a preset second slip threshold, which can be 13% in the embodiment, the torque of the middle axle motor and the rear axle motor is controlled to return to the average distribution torque.

[0025] After the torque obtained by the axle with a high first wheel speed is limited to the first multiple of the average distribution torque, if the first slip rate is still greater than the preset first slip threshold within a preset time range, the torque obtained by the axle with a high first wheel speed is limited to a second multiple of the average distribution torque, which can be 60%, and until the first slip rate decreases to below the preset second slip threshold, the torque of the middle axle motor and the rear axle motor is controlled to return to the average distribution torque.

[0026] When the first slip rate exceeds the preset first slip threshold, it is determined that the working condition is slipping, and the slipping working condition is transmitted to and displayed on the display device of the tractor to remind the driver to pay attention. When the first slip rate is lower than the preset second slip threshold, it is determined that the working condition is normal, and the normal working condition is transmitted to and displayed on the display device of the tractor.

[0027] Step four: when the mid-axle transmission controller and the rear-axle transmission controller are not consistent, the required motor torque is distributed to the mid-axle motor and the rear-axle motor based on the speed ratio of the mid-axle transmission controller and the rear-axle transmission controller: The ratio of the required motor torque distributed to the mid-axle motor and the rear-axle motor is inversely proportional to the speed ratio of the mid-axle transmission controller and the rear-axle transmission controller, for example, the mid-axle speed ratio is 30 and the rear-axle speed ratio is 15, then the mid-axle torque and the rear-axle torque are distributed in a ratio of 1:2; After the required motor torque is distributed to the mid-axle motor and the rear-axle motor: If the torque obtained by at most one of the mid-axle motor and the rear-axle motor exceeds its upper limit, the excess torque is balanced to the other electric drive axle motor through the inverse relationship between torque and speed ratio until the upper limit of the other electric drive axle motor is reached. How to balance the torque is a prior art based on the speed ratio, which will not be described here.

[0028] The second wheel speed and the second slip ratio of the axle are obtained, and when the second slip ratio exceeds the preset first slip threshold, the torque obtained by the axle with the higher second wheel speed is limited to a first multiple of the speed ratio distribution torque. In this embodiment, the first multiple can be 80%, and the torque of the mid-axle motor and the rear-axle motor is restored to the speed ratio distribution torque when the second slip ratio is reduced to below the preset second slip threshold. The speed ratio distribution torque refers to the torque distributed to the mid-axle motor and the rear-axle motor based on the speed ratio of the mid-axle transmission controller and the rear-axle transmission controller.

[0029] If the second slip ratio is still greater than the preset first slip threshold within a preset time range, the torque obtained by the axle with the higher second wheel speed is limited to a second multiple of the speed ratio distribution torque. In this embodiment, the second multiple can be 60%, and the torque of the mid-axle motor and the rear-axle motor is restored to the speed ratio distribution torque when the second slip ratio is reduced to below the preset second slip threshold.

[0030] When the second slip ratio exceeds the preset first slip threshold, it is judged as a slipping working condition, and the slipping working condition is transmitted to and displayed on the display device of the towing vehicle to remind the driver to pay attention. When the second slip ratio is lower than the preset second slip threshold, it is judged as a normal working condition, and the normal working condition is transmitted to and displayed on the display device of the towing vehicle.

[0031] It should be noted that although the complete method execution processes of steps three and four are not the same, the anti-slip logic is the same.

[0032] In addition, as Figure 3 indicated, it also includes an alternate gear shifting protection strategy: When the gear positions of the mid-axle gearbox controller and the rear-axle gearbox controller are inconsistent, the motor speed corresponding to the low gear of the mid-axle gearbox controller and the rear-axle gearbox controller is obtained, when the motor speed exceeds the preset speed limit, the motor output torque is adjusted through PI to prevent the motor from overspeeding, the motor speed is controlled to not exceed the preset speed limit, the upshift instruction is sent to the low gear gearbox controller, and the low gear electric drive axle is controlled to upshift after the gearbox controller receives the upshift instruction, which is specifically represented as clearing torque, shifting gear, adjusting speed, engaging gear and returning torque to match the current vehicle speed demand, and after the upshift is successful, the PI torque adjustment is cancelled, and the vehicle is normally driven until the speed again exceeds the preset speed limit. Embodiment two

[0033] The embodiment two of the present application provides a dual electric drive axle traction vehicle torque distribution device, as shown in the figure, which comprises: Figure 4 A collection module is configured to obtain the gear position and speed ratio of the mid-axle gearbox controller, the gear position and speed ratio of the rear-axle gearbox controller and the current accelerator pedal opening degree, and the mid-axle gearbox controller and the rear-axle gearbox controller are controlled by a vehicle controller, A recognition module is configured to obtain the required motor torque according to the current accelerator pedal opening degree, which can be realized by the vehicle controller in the figure. Figure 4 A consistent distribution module is configured to, when the gear positions of the mid-axle gearbox controller and the rear-axle gearbox controller are consistent, distribute the required motor torque to the mid-axle motor and the rear-axle motor equally, and the mid-axle motor and the rear-axle motor are controlled by a mid-axle motor controller and a rear-axle motor controller respectively. An inconsistent distribution module is configured to, when the gear positions of the mid-axle gearbox controller and the rear-axle gearbox controller are inconsistent, distribute the required motor torque to the mid-axle motor and the rear-axle motor based on the speed ratios of the mid-axle gearbox controller and the rear-axle gearbox controller.

[0034] It also comprises an instrument for displaying the slipping working condition and the normal working condition and an EBS for obtaining the wheel speed and the slip ratio.

[0035] The dual electric drive axle traction vehicle torque distribution device provided by the embodiment two of the present application can execute the dual electric drive axle traction vehicle torque distribution method provided by the embodiment of the present application, and has the corresponding function modules and beneficial effects of the execution method. Embodiment three

[0036] The embodiment three of the present application also provides an electronic terminal comprising a processor and a memory connected with the processor, and the memory stores a computer program, and the processor is configured to operate according to the instruction to execute the steps of the method in the embodiment one.

[0037] ​​The electronic terminal provided in the third embodiment of the present application can execute the torque distribution method for the dual electric drive axle tractor provided in the first embodiment of the present application, and has the function modules and beneficial effects corresponding to the execution method. Embodiment four

[0038] The fourth embodiment of the present application also provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the steps of the method according to the first embodiment, and has the function modules and beneficial effects corresponding to the execution method.

[0039] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, device, or computer program product. Therefore, the present application can adopt a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt a computer program product in the form of being implemented on one or more computer usable storage media containing computer usable program codes (including but not limited to disk storage, CD-ROM, optical storage, etc.).

[0040] The present application is described with reference to flowcharts and / or block diagrams of the methods, devices (apparatuses), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks. Figure 1 The devices for implementing the functions specified in one or more flows and / or blocks.

[0041] These computer program instructions can also be stored in a computer readable storage medium capable of guiding a computer or other programmable data processing devices to work in a specific manner, so that the instructions stored in the computer readable storage medium produce a product including instruction devices, which implement the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks. Figure 1 The devices for implementing the functions specified in one or more flows and / or blocks.

[0042] These computer program instructions can also be loaded into a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable data processing device to produce a computer implemented process, so that the instructions executed on the computer or other programmable data processing device provide a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks. Figure 1steps of the functions specified in the block or blocks.

[0043] The above description is merely that of the preferred embodiments of the application, and it is to be understood that numerous improvements and modifications will occur to those skilled in the art, and it is intended that the following claims cover all such improvements and modifications as fall within the true spirit and scope of the application.

Claims

1. A method for torque distribution of a dual electric drive axle tractor, characterized in that, The method comprises: obtaining the gear and speed ratio of the mid-axle gearbox controller, the gear and speed ratio of the rear-axle gearbox controller, and the current accelerator pedal opening; obtaining the required motor torque according to the current accelerator pedal opening; when the gears of the mid-axle gearbox controller and the rear-axle gearbox controller are consistent, the required motor torque is evenly distributed to the mid-axle motor and the rear-axle motor; when the gears of the mid-axle gearbox controller and the rear-axle gearbox controller are inconsistent, the required motor torque is distributed to the mid-axle motor and the rear-axle motor based on the speed ratios of the mid-axle gearbox controller and the rear-axle gearbox controller.

2. The dual electric drive axle tug vehicle torque distribution method of claim 1, wherein, After the required motor torque is evenly distributed to the mid-axle motor and the rear-axle motor: obtain the first wheel speed and the first slip rate of the axle, and when the first slip rate exceeds a preset first slip threshold, limit the torque obtained by the axle with higher first wheel speed to a first multiple of the evenly distributed torque until the first slip rate decreases to below a preset second slip threshold, and control the torque of the mid-axle motor and the rear-axle motor to return to the evenly distributed torque.

3. The torque distribution method for a dual electric drive axle tractor according to claim 2, wherein if the first slip rate is still greater than the preset first slip threshold within a preset time range, limit the torque obtained by the axle with higher first wheel speed to a second multiple of the evenly distributed torque until the first slip rate decreases to below the preset second slip threshold, and control the torque of the mid-axle motor and the rear-axle motor to return to the evenly distributed torque.

4. The dual electric drive axle tug vehicle torque distribution method of claim 1, wherein, When the gears of the mid-axle gearbox controller and the rear-axle gearbox controller are inconsistent, the required motor torque is distributed to the mid-axle motor and the rear-axle motor based on the speed ratios of the mid-axle gearbox controller and the rear-axle gearbox controller, which comprises: the proportion of the required motor torque distributed to the mid-axle motor and the rear-axle motor is inversely proportional to the speed ratios of the mid-axle gearbox controller and the rear-axle gearbox controller; After the required motor torque is distributed to the mid-axle motor and the rear-axle motor: if the torque obtained by at most one of the mid-axle motor and the rear-axle motor exceeds its upper limit, balance the excess torque to the other electric drive axle motor through the inverse relationship between torque and speed ratio until the upper limit of the other electric drive axle motor is reached.

5. The dual electric drive axle tug vehicle torque distribution method of claim 1, wherein, After the required motor torque is distributed to the mid-axle motor and the rear-axle motor based on the speed ratios of the mid-axle gearbox controller and the rear-axle gearbox controller when the gears of the mid-axle gearbox controller and the rear-axle gearbox controller are inconsistent: obtain the second wheel speed and the second slip rate of the axle, and when the second slip rate exceeds a preset first slip threshold, limit the torque obtained by the axle with higher second wheel speed to a first multiple of the speed ratio distributed torque until the second slip rate decreases to below a preset second slip threshold, and control the torque of the mid-axle motor and the rear-axle motor to return to the speed ratio distributed torque.

6. The torque distribution method for a dual electric drive axle tractor according to claim 5, wherein if the first slip rate is still greater than the preset first slip threshold within a preset time range, limit the torque obtained by the axle with higher first wheel speed to a second multiple of the evenly distributed torque until the first slip rate decreases to below the preset second slip threshold, and control the torque of the mid-axle motor and the rear-axle motor to return to the evenly distributed torque. If the second slip ratio is still greater than the preset first slip threshold within the preset time range, the torque obtained by the second axle with high wheel speed is limited to the second multiple of the speed ratio distribution torque, and the torque of the middle axle motor and the rear axle motor is restored to the speed ratio distribution torque until the second slip ratio falls below the preset second slip threshold.

7. The dual electric drive axle tug vehicle torque distribution method of claim 1, wherein, Also includes: When the middle axle gearbox controller and the rear axle gearbox controller are inconsistent, the motor speed corresponding to the low gear electric drive axle of the middle axle gearbox controller and the rear axle gearbox controller is obtained, and when the motor speed exceeds the preset speed limit, the motor output torque is adjusted by PI to control the motor speed not to exceed the set speed limit, and the low gear electric drive axle is controlled to shift up, and after the shift up is successful, the PI torque adjustment is cancelled, and the vehicle is normally driven until the speed exceeds the preset speed limit again.

8. A torque distribution device for a dual electric drive axle tractor, characterized in that Including: The acquisition module is used to obtain the gear ratio of the middle axle gearbox controller and the rear axle gearbox controller and the current accelerator pedal opening; The identification module is used to obtain the required motor torque according to the current accelerator pedal opening; The consistent allocation module is used to evenly distribute the required motor torque to the middle axle motor and the rear axle motor when the middle axle gearbox controller and the rear axle gearbox controller are consistent; The inconsistent allocation module is used to distribute the required motor torque to the middle axle motor and the rear axle motor based on the speed ratio of the middle axle gearbox controller and the rear axle gearbox controller when the middle axle gearbox controller and the rear axle gearbox controller are inconsistent.

9. An electronic terminal, characterized in that The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 7. The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 7.

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