Vehicle control method, vehicle and storage medium

Abstract

The invention provides a vehicle control method, a vehicle and a storage medium, the vehicle comprises a transmission, a transfer case, a transmission shaft and wheels, an output shaft of the transmission is connected with an input shaft of the transfer case, and an output shaft of the transfer case is connected with the wheels through the transmission shaft. The method comprises the following steps: judging whether an entry request of a trailer mode of a vehicle is detected or not; if the entering request of the trailer mode is detected, the vehicle is controlled to enter the trailer mode; wherein in the trailer mode, the gear of a transfer case of the vehicle is in the neutral position. The method can reduce the risk of damage to the transmission.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and more particularly, to a control method of a vehicle, a vehicle and a storage medium in the technical field of vehicle control. BACKGROUND

[0002] At present, among many vehicle models, there is a vehicle model equipped with an AT transmission (Automatic Transmission, i.e., an automatic transmission) and a transfer. For the above vehicle model, due to the limitation of the internal structure of the AT transmission, during the process of towing a trailer, the wheels will tow the transmission in reverse, at which time the internal gears of the transmission are continuously in meshing state, but the mechanical oil pump of the transmission cannot work normally, thereby causing insufficient lubrication inside the transmission, and further possibly causing damage to the transmission. Therefore, such a vehicle model can only tow a trailer for a short distance at low speed, which not only greatly reduces the rescue efficiency, but also has a risk of damaging the transmission to some extent. SUMMARY

[0003] The present application provides a control method of a vehicle, a vehicle and a storage medium, which can reduce the risk of damage to the transmission to realize long-distance high-speed towing of the trailer.

[0004] In a first aspect, a control method of a vehicle is provided, the vehicle comprising a transmission, a transfer, a transmission shaft and a wheel, an output shaft of the transmission being connected to an input shaft of the transfer, an output shaft of the transfer being connected to the wheel through the transmission shaft, the method comprising: judging whether an entering request of a towing mode of the vehicle is detected; if the entering request of the towing mode is detected, controlling the vehicle to enter the towing mode; wherein in the towing mode, a gear position of the transfer of the vehicle is in neutral.

[0005] The above technical solution, by judging whether the entering request of the towing mode of the vehicle is detected, ensures that only when the user has a clear towing demand, the subsequent operation will be further considered, avoiding unnecessary misoperation. In the towing mode, the gear position of the transfer of the vehicle is in neutral, so that the connection between the input shaft of the transfer and the output shaft of the transfer is disconnected, so that the output shaft of the transmission and the engine will not be rotated by the wheels in reverse, effectively reducing the wear of the transmission during towing, and at the same time ensuring the safety of the towing process, to realize long-distance high-speed towing of the trailer.

[0006] In combination with the first aspect, in some possible implementation manners, if the entering request of the tow mode is detected, the vehicle is controlled to enter the tow mode, including: if the entering request of the tow mode is detected, it is judged whether the gear of the transmission of the vehicle is in the parking gear; if it is determined that the gear of the transmission is in the parking gear, the vehicle is controlled to enter the tow mode; if it is determined that the gear of the transmission is not in the parking gear, first prompt information is output to prompt the driver to place the gear of the transmission in the parking gear.

[0007] The above technical solution, after detecting the entering request of the tow mode, further judges whether the gear of the transmission is in the parking gear, which can enhance the safety of the tow process. The transmission in the parking gear can prevent the vehicle from moving unexpectedly during the tow process, thereby ensuring the safety of the tow operator, the surrounding environment and the vehicle itself. If the gear of the transmission is in the parking gear, the vehicle is directly controlled to enter the tow mode. When the gear of the transmission is not in the parking gear, first prompt information is output to prompt the driver to place the gear of the transmission in the parking gear. This prompt mechanism not only gives clear operation guidance to the driver, but also avoids tow failures or dangers caused by incorrect gears.

[0008] In combination with the first aspect and the above implementation manners, in some possible implementation manners, when the vehicle is in the tow mode, the method further includes: the gear of the transfer case is controlled to be in the neutral gear, the gear of the transmission is kept locked in the parking gear, and the electronic hand brake of the vehicle is controlled to be in the released state.

[0009] The above technical solution, when the vehicle is in the tow mode, the gear of the transfer case is controlled to be in the neutral gear, which can effectively cut off the power transmission between the transfer case and the transmission shaft, avoid the transmission connected with the transfer case from being towed in reverse, and reduce the wear of the transmission. The gear of the transmission is kept locked in the parking gear, which can ensure that the abnormal meshing of the gear set caused by the accidental change of the gear of the transmission during the tow process is prevented, thereby preventing the internal gear of the transmission from being broken. The electronic hand brake of the vehicle is controlled to be in the released state, which can avoid the braking effect of the electronic hand brake on the tires of the vehicle, prevent unnecessary wear of the tires and the braking system caused by the electronic hand brake not being released during the tow, and ensure the normal service life of the related components of the vehicle. Through the above three control strategies, the safety of the vehicle in the tow mode can be ensured.

[0010] In combination with the first aspect and the above implementation manners, in some possible implementation manners, the method further includes: when the vehicle is in the tow mode, it is judged whether an exiting request of the tow mode is detected; if the exiting request of the tow mode is detected, the current speed of the vehicle is acquired; if the current speed is less than or equal to a preset speed threshold, the vehicle is controlled to exit the tow mode; if the current speed is greater than the preset speed threshold, second prompt information is output to prompt the driver to reduce the current speed to be less than or equal to the preset speed threshold.

[0011] The technical solution can determine the trigger mechanism for exiting the trailer mode, avoid accidental exit of the trailer mode caused by misoperation, and ensure the orderliness of the trailer process. After detecting the trailer mode entry request, if the current speed of the vehicle is less than or equal to the preset speed threshold, it indicates that the vehicle is in a relatively safe speed range. At this time, the vehicle is controlled to exit the trailer mode, which can ensure that the vehicle is in a stable state and reduce the risk caused by state switching. In the case where the current speed is greater than the preset speed threshold, a second prompt information is output to prompt the driver to reduce the vehicle speed. This not only gives the driver clear operation guidance, but also avoids dangerous situations such as vehicle out of control caused by exiting the trailer mode at a high speed. The prompt information helps the driver make correct decisions, ensures the safety and reliability of the trailer mode exit process, and improves the safety of vehicle driving.

[0012] In combination with the first aspect and the above implementation manners, in some possible implementation manners, in the case where the vehicle exits the trailer mode, the method further includes: controlling the gear of the transfer case to exit the neutral gear, releasing the gear lock of the transmission from the parking gear, and controlling the electronic hand brake of the vehicle to be in the braking state.

[0013] The technical solution can ensure that the vehicle safely and smoothly exits the trailer mode, avoid safety hazards caused by improper state switching, and improve the safety and reliability of vehicle driving.

[0014] In combination with the first aspect and the above implementation manners, in some possible implementation manners, if the entry request of the trailer mode is detected, the vehicle is controlled to enter the trailer mode, including: if the entry request of the trailer mode is detected and the vehicle meets the first preset condition for entering the trailer mode, the vehicle is controlled to enter the trailer mode; wherein the first preset condition represents that the vehicle does not have a fault that prevents the vehicle from entering the trailer mode.

[0015] The technical solution can ensure that the vehicle enters the trailer mode in the case where the vehicle does not have a fault that prevents the vehicle from entering the trailer mode.

[0016] With reference to the first aspect and the above implementation manner, in a possible implementation manner, the current speed of the vehicle is obtained if the exit request of the trailer mode is detected and the second preset condition for exiting the trailer mode is met, wherein the second preset condition represents that the vehicle does not have a fault that cannot exit the trailer mode.

[0017] The above technical solution further judges whether the second preset condition for exiting the trailer mode is met after the exit request is detected, to ensure that the vehicle exits the trailer mode without a fault that cannot exit the trailer mode.

[0018] With reference to the first aspect and the above implementation manner, in a possible implementation manner, the method further includes: if the exit request of the trailer mode is detected and the second preset condition for exiting the trailer mode is not met when the vehicle is in the trailer mode, outputting third prompt information to prompt the driver that the vehicle cannot exit the trailer mode, wherein the second preset condition represents that the vehicle does not have a fault that cannot exit the trailer mode; and if the entry request of the trailer mode is detected and the first preset condition for entering the trailer mode is not met when the vehicle is not in the trailer mode, outputting fourth prompt information to prompt the driver that the vehicle cannot enter the trailer mode, wherein the first preset condition represents that the vehicle does not have a fault that cannot enter the trailer mode.

[0019] The above technical solution outputs the third prompt information to inform the driver that the vehicle cannot exit the trailer mode if the exit request is detected but the second preset condition for exiting the trailer mode is not met when the vehicle is in the trailer mode, which avoids blindly exiting the trailer mode when the state of the vehicle does not meet the safety exit requirement, prevents the vehicle from losing control due to forced exit, and ensures the safety of the vehicle and the trailer during the towing process. Meanwhile, the timely and clear prompt enables the driver to clearly understand the current state of the vehicle, so that the driver can take further measures. If the entry request is detected but the first preset condition for entering the trailer mode is not met when the vehicle is not in the trailer mode, the fourth prompt information is output to prompt the driver that the vehicle cannot enter the trailer mode, which helps to avoid the vehicle entering the trailer mode in an inappropriate state, avoid the fault expanding or new safety problems caused by recklessly entering the trailer mode, and the clear prompt enables the driver to clearly understand the current state of the vehicle, so that the driver can take further measures. In summary, the two kinds of prompt information can provide clear operation guidance for the driver, enhance the controllability and safety of the trailer mode entering and exiting process of the vehicle, and improve the user experience and reliability of the vehicle.

[0020] With reference to the first aspect and the above implementation manner, in a possible implementation manner, the first preset condition includes that gear information of a transfer of the vehicle is valid and gear information of a transmission of the vehicle is valid.

[0021] The above technical solution sets the gear information of the transfer of the vehicle being valid and the gear information of the transmission of the vehicle being valid as the first preset condition, so that the transfer and the transmission can be in the correct state as expected after the vehicle enters the trailer mode, and the safety hazard of the vehicle in the trailer process caused by incorrect gear information is avoided, the safety and stable operation of the trailer mode is ensured, and the reliability and safety of the trailer process are improved.

[0022] In combination with the first aspect and the above implementation manners, in some possible implementation manners, the second preset condition includes the gear information of the transfer of the vehicle being valid and the current speed of the vehicle being valid.

[0023] The above technical solution sets the gear information of the transfer of the vehicle being valid and the current speed of the vehicle being valid as the second preset condition, so that the abnormal power transmission caused by the unclear or incorrect gear information of the transfer is avoided, and the safety and stability of the vehicle are affected, and the vehicle is controlled to exit the trailer mode in the stationary state, so that the vehicle is ensured to be in a controllable state, and the vehicle is further ensured to exit the trailer mode in a safe state.

[0024] In a second aspect, a control device of a vehicle is provided, which includes: a judgment module configured to judge whether an entering request of a trailer mode of the vehicle is detected; and a control module configured to control the vehicle to enter the trailer mode if the entering request of the trailer mode is detected, wherein in the trailer mode, a gear of a transfer of the vehicle is in a neutral gear.

[0025] In combination with the second aspect, in some implementation manners of the second aspect, the control module is specifically configured to: if the entering request of the trailer mode is detected, and the vehicle is controlled to enter the trailer mode, including: if the entering request of the trailer mode is detected, judging whether a gear of a transmission of the vehicle is in a parking gear; if it is determined that the gear of the transmission is in the parking gear, controlling the vehicle to enter the trailer mode; and if it is determined that the gear of the transmission is not in the parking gear, outputting first prompt information to prompt the driver to set the gear of the transmission to the parking gear.

[0026] In combination with the second aspect and the above implementation manners, in some implementation manners of the second aspect, the control module is specifically configured to: in a case where the vehicle is in the trailer mode, the method further includes: controlling the gear of the transfer to be in the neutral gear, keeping the gear of the transmission locked in the parking gear, and controlling an electronic hand brake of the vehicle to be in a released state.

[0027] With reference to the second aspect and the foregoing implementation manners, in some implementations of the second aspect, the control module is specifically configured to: in a case where the vehicle exits the trailer mode, the method further includes: controlling the gear of the transfer to exit the neutral gear, releasing the gear of the transmission from being locked in the parking gear, and controlling the electronic hand brake of the vehicle to be in the braking state.

[0028] With reference to the second aspect and the foregoing implementation manners, in some implementations of the second aspect, the control module is specifically configured to: in a case where the vehicle exits the trailer mode, the method further includes: controlling the gear of the transfer to exit the neutral gear, releasing the gear of the transmission from being locked in the parking gear, and controlling the electronic hand brake of the vehicle to be in the braking state.

[0029] With reference to the second aspect and the foregoing implementation manners, in some implementations of the second aspect, the control module is specifically configured to: in a case where the vehicle exits the trailer mode, the method further includes: controlling the gear of the transfer to exit the neutral gear, releasing the gear of the transmission from being locked in the parking gear, and controlling the electronic hand brake of the vehicle to be in the braking state.

[0030] With reference to the second aspect and the foregoing implementation manners, in some implementations of the second aspect, the control module is specifically configured to: in a case where the vehicle exits the trailer mode, the method further includes: controlling the gear of the transfer to exit the neutral gear, releasing the gear of the transmission from being locked in the parking gear, and controlling the electronic hand brake of the vehicle to be in the braking state.

[0031] With reference to the second aspect and the foregoing implementation manners, in some implementations of the second aspect, the apparatus further includes an output module, which is specifically configured to: in a case where the vehicle is in the trailer mode, if the exit request of the trailer mode is detected and the second preset condition for exiting the trailer mode is not met, the output module outputs third prompt information to prompt the driver that the vehicle cannot exit the trailer mode; and in a case where the vehicle is not in the trailer mode, if the entry request of the trailer mode is detected and the first preset condition for entering the trailer mode is not met, the output module outputs fourth prompt information to prompt the driver that the vehicle cannot enter the trailer mode.

[0032] With reference to the second aspect and the above implementation manners, in some implementations of the second aspect, the first preset condition comprises that gear information of the transfer of the vehicle is valid and gear information of the transmission of the vehicle is valid.

[0033] With reference to the second aspect and the above implementation manners, in some implementations of the second aspect, the second preset condition comprises that gear information of the transfer of the vehicle is valid and a current speed of the vehicle is valid.

[0034] 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 invoke and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation manner of the first aspect.

[0035] In a fourth aspect, a computer program product is provided, which comprises computer program code. When the computer program code is run on a computer, the computer program code causes the computer to execute the method in the first aspect or any possible implementation manner of the first aspect.

[0036] In a fifth aspect, a computer-readable storage medium is provided, which stores computer program code. When the computer program code is run on a computer, the computer program code causes the computer to execute the method in the first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 FIG. 1 is a vehicle architecture diagram provided by an embodiment of the present application.

[0038] Figure 2 FIG. 2 is a schematic flowchart of a control method of a vehicle provided by an embodiment of the present application.

[0039] Figure 3 FIG. 3 is a schematic flowchart of a vehicle entering a trailer mode provided by an embodiment of the present application.

[0040] Figure 4 FIG. 4 is a schematic flowchart of a vehicle exiting a trailer mode provided by an embodiment of the present application.

[0041] Figure 5 FIG. 5 is a structural schematic diagram of a control device of a vehicle provided by an embodiment of the present application.

[0042] Figure 6 FIG. 6 is a structural schematic diagram of a vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION

[0043] The technical solutions in the present application will be clearly and completely described below with reference to the drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B: "and / or" in the text only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0044] Hereinafter, the terms "first" and "second" are used only for descriptive purposes and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features.

[0045] At present, among many vehicle models, there is a vehicle model equipped with an AT transmission (Automatic Transmission, i.e. automatic transmission) and a transfer. For the above vehicle model, the vehicle can include an engine, an AT transmission, a transfer, a transmission shaft and wheels; wherein the engine includes the output shaft of the engine (also referred to as the engine crankshaft), the AT transmission includes the input shaft of the transmission and the output shaft of the transmission, the transfer includes the input shaft of the transfer and the output shaft of the transfer, and the engine crankshaft is connected to the input shaft of the transmission, the output shaft of the transmission is connected to the input shaft of the transfer, and the output shaft of the transfer is connected to the wheels through the transmission shaft.

[0046] As shown in Figure 1 , Figure 1 is a vehicle architecture diagram provided by an embodiment of the present application. The figure includes a vehicle 100, which includes wheels, an engine 105, a transmission 106 (such as the above-mentioned AT transmission), a transfer 107, a front main reducer 108 and a rear main reducer 109. The above-mentioned wheels include a left front wheel 101, a right front wheel 102, a left rear wheel 103 and a right rear wheel 104; wherein the output shaft of the engine 105 is connected to the input shaft of the transmission 106, the output shaft of the transmission 106 is connected to the input shaft of the transfer 107, the output shaft of the transfer 107 is connected to the rear main reducer 109, and the rear main reducer 109 is respectively connected to the left rear wheel 103 and the right rear wheel 104 through the transmission shaft; the output shaft of the transfer 107 is also connected to the front main reducer 108, and the front main reducer 108 is respectively connected to the left front wheel 101 and the right front wheel 102 through the transmission shaft; and the power of the vehicle is transmitted to the front main reducer 108 and the rear main reducer 109 by the transfer 107, and distributed to the left front wheel 101 and the right front wheel 102 by the front main reducer 108, and to the left rear wheel 103 and the right rear wheel 104 by the rear main reducer 109.

[0047] In the related art, when the vehicle is in the tow mode, the transmission 106 needs to be placed in the neutral position, in which case the transmission system is disconnected from the position of the transmission 106 (i.e., disconnected from between the input shaft of the transmission 106 and the output shaft of the transmission 106), and in the towing process, neither the output shaft of the engine 105 nor the input shaft of the transmission 106 is counter-rotated by the wheels, but the rotation of the wheels counter-rotates the output shaft of the transmission 106. Due to the limitation of the internal structure of the transmission 106, the gears in the planetary gear set inside the transmission 106 are always in meshing state, i.e., the internal gears of the transmission 106 are continuously in meshing state. However, since the mechanical oil pump of the transmission 106 is located on the input shaft of the transmission 106, and considering that the input shaft of the transmission 106 is not counter-rotated by the wheels during the towing process, the mechanical oil pump of the transmission 106 cannot work normally, i.e., the mechanical oil pump of the transmission 106 cannot pump oil normally, thereby causing insufficient lubrication inside the transmission 106 and the transmission 106 cannot dissipate heat, which may cause damage to the transmission 106. Therefore, such a vehicle can only tow for a short distance at a low speed, which not only greatly reduces the rescue efficiency, but also has a risk of damaging the transmission to some extent.

[0048] To at least solve the above problems, the embodiments of the present application provide a control method of a vehicle, which is applied to a controller and can reduce the risk of damage to the transmission during the towing process.

[0049] Figure 2 FIG. 1 is a schematic flowchart of a control method of a vehicle provided by an embodiment of the present application.

[0050] For example, as shown in FIG. 2, the method 200 includes the following steps. Figure 2 Step 201: Determine whether an entering request of a tow mode of the vehicle is detected.

[0051] Step 202: If the entering request of the tow mode is detected, control the vehicle to enter the tow mode; wherein in the tow mode, the gear position of the transfer case of the vehicle is in the neutral position.

[0052] In the embodiments of the present application, by determining whether the entering request of the tow mode of the vehicle is detected, it is ensured that only when the user has a clear towing demand, the subsequent operation will be further considered, thereby avoiding unnecessary misoperation. In the tow mode, the gear position of the transfer case of the vehicle is in the neutral position, so that the connection between the input shaft of the transfer case and the output shaft of the transfer case is disconnected, thereby realizing that neither the output shaft of the transmission nor the output shaft of the engine is counter-rotated by the wheels, effectively reducing the wear of the transmission during the towing process, and at the same time ensuring the safety of the towing process, so as to realize long-distance towing.

[0053] For example, as shown in FIG. 2, the method 200 includes the following steps.​Figure 1 When the gear position of the transfer 107 is in the neutral position, the transmission system is disconnected from the position of the transfer 107 (that is, disconnected from between the input shaft of the transfer 107 and the output shaft of the transfer 107), and during the trailer process, the output shaft of the engine 105, the transmission and the input shaft of the transfer 107 are not rotated by the wheels. However, since the mechanical oil pump of the transfer 107 is located on the output shaft of the transfer 107, it is considered that the output shaft of the transfer 107 will be rotated by the wheels during the trailer process, so the mechanical oil pump of the transfer 107 can work normally, that is, the transfer 107 mechanical oil pump can normally pump oil, and can be used for heat dissipation of the transfer 107, so long distance and high speed trailer can be realized.

[0054] The implementation of each step of the embodiment shown in the following is specifically described. Figure 2 The implementation of each step of the embodiment shown in the following is specifically described.

[0055] For step 201, it can be understood that the above-mentioned entering request can be detected by the vehicle controller.

[0056] In some embodiments, determining whether an entering request of a trailer mode of the vehicle is detected includes: displaying a user interface, the user interface including a first option of entering the trailer mode; and determining that the entering request of the trailer mode of the vehicle is detected if the first option is detected to be triggered by a user.

[0057] It can be understood that the above-mentioned user interface can be displayed on a display screen in the vehicle, and the display screen includes but is not limited to an instrument, a central control screen, a co-pilot display screen, a chair back screen and a ceiling screen.

[0058] If the vehicle controller detects that the user clicks the first option in the user interface, it is determined that the vehicle controller detects the entering request of the trailer mode of the vehicle; or if the vehicle controller detects that the user outputs a voice instruction of selecting the first option, it is determined that the vehicle controller detects the entering request of the trailer mode of the vehicle.

[0059] For step 202, it can be understood that in the case that the vehicle controller detects that the user clicks the first option in the user interface, the vehicle controller sends the above-mentioned entering request to the vehicle controller, and after the vehicle controller receives the above-mentioned entering request, the vehicle enters the trailer mode.

[0060] In some embodiments, if the entering request of the trailer mode is detected, the vehicle is controlled to enter the trailer mode, including: if the entering request of the trailer mode is detected and the vehicle meets a first preset condition for entering the trailer mode, the vehicle is controlled to enter the trailer mode; wherein the first preset condition indicates that the vehicle does not have a fault that cannot enter the trailer mode.

[0061] It can be understood that the first preset condition represents that the vehicle does not have a fault that cannot enter the towed mode, that is, the first preset condition is used to determine whether the vehicle meets the prerequisite for entering the towed mode.

[0062] After the vehicle controller receives the entering request, it is determined whether the vehicle meets the first preset condition for entering the towed mode. If it is determined that the vehicle meets the first preset condition for entering the towed mode, the vehicle is controlled to enter the towed mode.

[0063] The above technical solution controls the vehicle to enter the towed mode when the entering request is detected and the vehicle meets the first preset condition. This judgment mechanism ensures that the vehicle enters the towed mode in the absence of a fault that cannot enter the towed mode.

[0064] In some embodiments, the first preset condition includes valid gear information of a transfer case of the vehicle and valid gear information of a transmission of the vehicle.

[0065] It can be understood that the transfer case is a core component of a time-on-demand (TOD) torque distribution system, which can also be referred to as a four-wheel drive system.

[0066] The vehicle further includes a transfer case controller, which is a control component of the transfer case and is responsible for monitoring and managing the operation of the transfer case to obtain gear information of the transfer case. The gear information of the transfer case is used to determine whether the vehicle meets the first preset condition. The gears of the transfer case can include neutral, two-wheel high-speed gear, four-wheel high-speed gear, and four-wheel low-speed gear.

[0067] The vehicle further includes a transmission control unit (TCU), which is a core electronic control component of the transmission and is responsible for monitoring and managing the operation of the transmission to obtain gear information of the transmission. The gear information of the transmission is also used to determine whether the vehicle meets the first preset condition. The gears of the transmission include a parking gear, a neutral gear, a forward gear, and the like.

[0068] The valid gear information of the transfer case of the vehicle means that the vehicle controller can receive correct gear information of the transfer case, and the valid gear information of the transmission means that the vehicle controller can correctly receive gear information of the transmission.

[0069] The above technical solution sets the gear information of the vehicle's transfer case and the gear information of the vehicle's transmission as the first preset condition, which can ensure that the transfer case and the transmission are in the correct state as expected after the vehicle enters the tow mode, avoid safety hazards caused by incorrect gear information during the towing process, ensure the safe and stable operation of the tow mode, and improve the reliability and safety of the towing process.

[0070] In the case that the vehicle control unit can receive correct gear information of the transfer case and the vehicle control unit can receive correct gear information of the transmission, the vehicle control unit determines that the vehicle meets the first preset condition for entering the tow mode. At this time, the vehicle control unit can control the vehicle to enter the tow mode.

[0071] In the case that the vehicle enters the tow mode, the gear position of the transfer case is in neutral. When the transfer case is in neutral, the transmission system is disconnected from the transfer case position, which is equivalent to inserting a breakpoint between the transfer case input shaft and the transfer case output shaft. During the towing process, even if the wheels rotate the transfer case output shaft, the transfer case input shaft will no longer be rotated, and therefore the transmission connected to the transfer case input shaft will no longer be towed in reverse, thereby achieving the effect of protecting the transmission.

[0072] In some embodiments, if the entry request of the tow mode is detected, the vehicle enters the tow mode, including: if the entry request of the tow mode is detected, it is determined whether the gear of the transmission of the vehicle is in the parking gear; if it is determined that the gear of the transmission is in the parking gear, the vehicle enters the tow mode; if it is determined that the gear of the transmission is not in the parking gear, output the first prompt information to prompt the driver to put the gear of the transmission in the parking gear.

[0073] It can be understood that when the gear of the transmission is in the parking gear, not only can a breakpoint be inserted between the transmission input shaft and the transmission output shaft to cut off the power transmission path, but also the transmission output shaft can be locked to further prevent the transmission from being towed in reverse.

[0074] Therefore, in the case that the vehicle control unit receives the entry request, the vehicle control unit determines whether the gear of the transmission is in the parking gear. If the vehicle control unit determines that the gear of the transmission is in the parking gear, the vehicle enters the tow mode.

[0075] The above first prompt information can be displayed on the user interface to prompt the driver to put the gear of the transmission in the parking gear. For example, the above first prompt information can be "Enter tow mode, please put in parking gear".

[0076] The above technical solution, after detecting the trailer mode entering request, further judges whether the gear of the transmission is in the parking gear, which can enhance the safety of the trailer process. The transmission in the parking gear can prevent the vehicle from moving unexpectedly during the trailer process, thereby ensuring the safety of the trailer operator, the surrounding environment and the vehicle itself. If the transmission gear is in the parking gear, the vehicle is directly controlled to enter the trailer mode. When the transmission gear is not in the parking gear, the first prompt information is output to prompt the driver to place the transmission gear in the parking gear. This prompt mechanism not only gives the driver clear operation guidance, but also avoids trailer failure or danger caused by incorrect gear.

[0077] In some embodiments, when the vehicle is in the trailer mode, the method further comprises: controlling the gear of the transfer case to be in the neutral gear, keeping the gear of the transmission locked in the parking gear, and controlling the electronic hand brake of the vehicle to be in the released state.

[0078] It can be understood that when the vehicle is in the trailer mode, in addition to placing the gear of the transfer case in the neutral gear to cut off the power transmission path, the vehicle controller also needs to send first notification information to the TCU to make the TCU control the gear of the transmission to be locked in the parking gear. The TCU fixes the transmission output shaft through the built-in mechanical locking structure to prevent abnormal meshing of the gear set during the trailer process due to accidental changes in the transmission gear, thereby causing faults such as transmission internal gear breakage.

[0079] The above electronic hand brake can realize parking brake through electronic control. The above electronic hand brake can also be called electronic parking brake system (EPB, Electronic Parking Brake). The body electronic stability system (ESP, Electronic Stability Program) can be used to send control instructions to the electronic parking brake control unit of the electronic hand brake to adjust the working state of the electronic hand brake.

[0080] When the vehicle is in the trailer mode, the vehicle controller also needs to send second notification information to the electronic parking brake control unit of the electronic hand brake to make the electronic parking brake control unit control the electronic hand brake to be in the released state. If the electronic hand brake is not released, the brake caliper of the wheel will continue to clamp the brake disc. During the trailer process, the forced friction between the brake disc and the friction plate will reversely transmit torque to the transmission output shaft through the brake disc, forcing the internal gears of the transmission to rotate and aggravating the gear wear. Therefore, during the trailer process, the electronic hand brake needs to be released to reduce the wear of the transmission.

[0081] The above technical solution, when the vehicle is in the trailer mode, the gear position of the transfer case is in neutral, which can effectively cut off the power transmission between the transfer case and the drive shaft, avoid the transmission connected with the transfer case from being towed in reverse, thereby reducing the wear of the transmission; the gear position of the transmission is locked in the parking gear, which can ensure that the gear set is not abnormally engaged due to the accidental change of the gear position of the transmission during the towing process, thereby preventing the internal gear of the transmission from being broken; the electronic hand brake of the vehicle is in the released state, which can avoid the braking effect of the electronic hand brake on the vehicle tires, prevent unnecessary wear of the tires and the braking system due to the non-release of the electronic hand brake, and ensure the normal service life of the related parts of the vehicle. Through the above three control strategies, the safety of the vehicle in the trailer mode can be ensured.

[0082] In some embodiments, the method further comprises: in a case where the vehicle is in the trailer mode, determining whether an exit request of the trailer mode is detected; if the exit request of the trailer mode is detected, obtaining a current speed of the vehicle; if the current speed is less than or equal to a preset speed threshold, controlling the vehicle to exit the trailer mode; and if the current speed is greater than the preset speed threshold, outputting a second prompt information to prompt the driver to reduce the current speed to less than or equal to the preset speed threshold.

[0083] It can be understood that the above exit request can also be detected by the vehicle controller.

[0084] In some embodiments, determining whether the exit request of the trailer mode is detected comprises: displaying a user interface, the user interface comprising a second option for exiting the trailer mode; and if the second option is detected to be triggered by the user, it is determined that the exit request of the trailer mode of the vehicle is detected.

[0085] Specifically, if the vehicle controller detects that the user clicks the second option in the user interface, it is determined that the vehicle controller detects the exit request of the trailer mode of the vehicle; or if the vehicle controller detects that the user outputs a voice instruction for selecting the second option, it is determined that the vehicle controller detects the exit request of the trailer mode of the vehicle.

[0086] In a case where the vehicle controller detects that the user clicks the second option in the user interface, the vehicle controller sends the above exit request to the vehicle controller, and the vehicle controller obtains the current speed of the vehicle after receiving the above exit request.

[0087] In some embodiments, if the exit request of the trailer mode is detected, the current speed of the vehicle is obtained, comprising: if the exit request of the trailer mode is detected and the vehicle satisfies a second preset condition for exiting the trailer mode, the current speed of the vehicle is obtained; wherein the second preset condition indicates that the vehicle does not have a fault that cannot exit the trailer mode.

[0088] It can be understood that the second preset condition represents that the vehicle does not have a fault that cannot exit the trailer mode, that is, the second preset condition is used to determine whether the vehicle meets the prerequisite for exiting the trailer mode.

[0089] After the vehicle controller receives the exit request, it is determined whether the vehicle meets the second preset condition for exiting the trailer mode. If it is determined that the vehicle meets the second preset condition for exiting the trailer mode, the current speed of the vehicle is obtained.

[0090] The above technical solution further determines whether the vehicle meets the second preset condition for exiting the trailer mode after detecting the exit request, ensuring that the vehicle exits the trailer mode without a fault that cannot exit the trailer mode.

[0091] In some embodiments, the second preset condition includes valid gear information of the transfer case of the vehicle and valid current speed of the vehicle.

[0092] It can be understood that the current speed of the vehicle refers to the instantaneous speed of the vehicle in a certain direction at a certain time, which is usually obtained through a vehicle speed sensor. The vehicle speed sensor transmits the obtained current speed to the vehicle controller through a controller area network for determining whether the vehicle can exit the trailer mode.

[0093] The valid current speed of the vehicle means that the vehicle controller can receive the correct current speed.

[0094] The above technical solution sets the valid gear information of the transfer case of the vehicle and the valid current speed of the vehicle as the second preset condition, which can avoid abnormal power transmission due to unclear or incorrect gear information of the transfer case, thereby affecting the safety and stability of the vehicle. At the same time, the vehicle exits the trailer mode in a stationary state, which can ensure that the vehicle is in a controllable state and further ensure that the vehicle exits the trailer mode in a safe state.

[0095] The preset speed threshold is used to determine whether the vehicle is in a stationary state. The preset speed threshold can be pre-calibrated. Optionally, the preset speed threshold can be calibrated to 0-3 km / h.

[0096] If the current speed is less than or equal to the preset speed threshold, it means that the current speed of the vehicle is slow, so the vehicle can be in a stationary state. When the vehicle is in a stationary state, it means that the trailer has been completed.

[0097] Therefore, when the vehicle controller receives the exit request, the vehicle controller determines whether the current speed of the vehicle is less than or equal to the preset speed threshold. If the vehicle controller determines that the current speed is less than or equal to the preset speed threshold, the vehicle exits the trailer mode.

[0098] The second prompt information can be displayed on the user interface to prompt the driver to reduce the current speed to less than or equal to the preset speed threshold, and can also be understood as: to prompt the driver to reduce the current speed to 0. For example, the second prompt information can be "exit the trailer mode, please keep the current speed as 0".

[0099] The technical solution can determine the trigger mechanism for exiting the trailer mode by judging whether the exit request of the trailer mode is detected, avoid the trailer mode from being accidentally exited due to misoperation, and ensure the orderliness of the trailer process. After the entry request of the trailer mode is detected, if the current speed of the vehicle is less than or equal to the preset speed threshold, it indicates that the vehicle is in a relatively safe speed range, and the vehicle is controlled to exit the trailer mode at this time, which can ensure that the vehicle is in a stable state and reduce the risk caused by state switching. In the case where the current speed is greater than the preset speed threshold, the second prompt information is output to prompt the driver to reduce the vehicle speed, which not only gives the driver clear operation guidance, but also avoids dangerous situations such as vehicle out of control caused by exiting the trailer mode due to high speed. The prompt information helps the driver to make correct decisions, ensures the safety and reliability of the trailer mode exit process, and improves the safety of vehicle driving.

[0100] In some embodiments, in the case where the vehicle exits the trailer mode, the method further includes: controlling the gear of the transfer case to exit the neutral gear, releasing the gear lock of the transmission to the park gear, and controlling the electronic hand brake of the vehicle to be in the braking state.

[0101] It can be understood that, in the case where the vehicle exits the trailer mode, the vehicle controller can send third notification information to the transfer case controller of the transfer case, so that the gear of the transfer case exits the neutral gear. In the case where the gear of the transfer case exits the neutral gear, the gear of the transfer case can be adjusted according to the current demand of the vehicle; and the vehicle controller can also send fourth notification information to the TCU, so that the gear of the transmission can be adjusted according to the current demand of the vehicle; at the same time, the vehicle controller can also send fifth notification information to the electronic parking brake control unit of the electronic hand brake, so that the electronic hand brake is in the braking state to prevent the vehicle from rolling.

[0102] The above technical solution, when the vehicle exits the trailer mode, controls the gear of the transfer to exit the neutral position, so that the transfer returns to the normal working state, and the gear can be adjusted according to the driving demand; the gear locking of the transmission is released to the parking gear, so that the transmission returns to the gear shifting function; the electronic hand brake of the vehicle is controlled to be in the braking state, which can effectively prevent the vehicle from sliding and other dangerous situations due to power recovery or improper operation, thereby providing safety protection for the vehicle and the surrounding environment, and ensuring that the vehicle can be stably parked at the original position or safely started according to the intention of the driver after exiting the trailer mode. Through the above three strategies, the vehicle can safely and smoothly exit the trailer mode, avoiding safety hazards caused by improper state switching, and improving the safety and reliability of vehicle driving.

[0103] In some embodiments, the method further comprises: if the vehicle is in the trailer mode, detecting an exit request of the trailer mode, and the second preset condition for exiting the trailer mode is not met, outputting third prompt information to prompt the driver that the vehicle cannot exit the trailer mode; wherein the second preset condition indicates that the vehicle does not have a fault that cannot exit the trailer mode; if the vehicle is not in the trailer mode, detecting an entry request of the trailer mode, and the first preset condition for entering the trailer mode is not met, outputting fourth prompt information to prompt the driver that the vehicle cannot enter the trailer mode; wherein the first preset condition indicates that the vehicle does not have a fault that cannot enter the trailer mode.

[0104] It can be understood that the second preset condition for exiting the trailer mode not being met can be understood as: the gear information of the transfer of the vehicle being invalid or the current speed of the vehicle being invalid.

[0105] The invalid gear information of the transfer of the vehicle means that the vehicle controller does not receive the gear information of the transfer, or the vehicle controller receives incorrect gear information of the transfer.

[0106] The invalid current speed of the vehicle means that the vehicle speed sensor responsible for detecting the current speed and transmitting the current speed to the vehicle controller fails, or the communication between the vehicle speed sensor and the vehicle controller fails, or the vehicle controller itself fails, so that the vehicle speed controller cannot receive the current speed sent by the vehicle speed sensor, or the vehicle controller receives incorrect current speed.

[0107] In the case where the vehicle is in the trailer mode, if the vehicle controller detects an exit request of the trailer mode, but the gear information of the transfer of the vehicle is invalid or the current speed of the vehicle is invalid, the vehicle controller sends sixth notification information to the vehicle controller to make the vehicle controller output third prompt information on the user interface to prompt the driver that the current trailer mode cannot be exited.

[0108] The third prompt information can be displayed on the user interface to prompt the driver that the trailer mode cannot be exited at present. For example, the third prompt information can be "the trailer mode cannot be exited, please go to the service station for maintenance".

[0109] The first preset condition that is not met for entering the trailer mode can be understood as that the range information of the vehicle or the gear information of the transmission of the vehicle is invalid.

[0110] The gear information of the transmission of the vehicle being invalid means that the gear information of the transmission is not received by the vehicle controller or the gear information of the transmission received by the vehicle controller is incorrect.

[0111] When the vehicle is not in the trailer mode, if the head unit controller detects an entering request of the trailer mode, but the range information of the vehicle or the gear information of the transmission of the vehicle is invalid, the vehicle controller sends seventh notification information to the head unit controller, so that the head unit controller outputs fourth prompt information on the user interface to prompt the driver that the trailer mode cannot be entered at present.

[0112] The fourth prompt information can be displayed on the user interface to prompt the driver that the trailer mode cannot be entered at present. For example, the fourth prompt information can be "the trailer mode cannot be entered, please go to the service station for maintenance".

[0113] The technical solution can output the third prompt information to inform the driver that the vehicle cannot exit the trailer mode when the vehicle is in the trailer mode and an exit request is detected but the second preset condition for exiting the trailer mode is not met. This method avoids the situation that the vehicle exits the trailer mode blindly when the state of the vehicle does not meet the safety exit requirement, prevents the vehicle from losing control due to forced exit, and ensures the safety of the vehicle and the trailer during the towing process. In addition, the timely and clear prompt can enable the driver to clearly understand the current state of the vehicle so that further measures can be taken. When the vehicle is not in the trailer mode, if an entering request is detected but the first preset condition for entering the trailer mode is not met, the fourth prompt information is output to prompt the driver that the vehicle cannot enter the trailer mode. This method can help to avoid the vehicle entering the trailer mode in an inappropriate state, avoid the fault expanding or new safety problems caused by recklessly entering the trailer mode, and the clear prompt can enable the driver to clearly understand the current state of the vehicle so that further measures can be taken. In summary, through the two kinds of prompt information, clear operation guidance can be provided for the driver, the controllability and safety of the entering and exiting process of the trailer mode of the vehicle are enhanced, and the user experience and reliability of the vehicle are improved.

[0114] Figure 3 The embodiment of the application provides a schematic flowchart of a vehicle entering a trailer mode.

[0115] For example, such as Figure 3 As shown, the method 300 includes: Step 301: HUT detects the vehicle's request to enter trailer mode.

[0116] Step 302: HUT determines whether the vehicle's transmission is in park. If yes, proceed to step 303; otherwise, proceed to step 307.

[0117] Step 303: HUT controls the vehicle to enter trailer mode.

[0118] Step 304: The transfer case controller controls the transfer case to neutral.

[0119] Step 305: The TCU keeps the transmission locked in the parking gear.

[0120] Step 306: The electronic parking brake control unit controls the vehicle's electronic parking brake to be in the released state.

[0121] Understandably, HUT sends notification messages to the transfer case controller, transmission control unit, and electronic parking brake control unit to ensure that the transfer case, transmission, and electronic parking brake are all in the correct state as expected.

[0122] Step 307: HUT outputs the first prompt message to remind the driver to put the transmission in park.

[0123] Figure 4 This is a schematic flowchart illustrating a vehicle exiting a trailer mode, as provided in an embodiment of this application.

[0124] For example, such as Figure 4 As shown, the method 400 includes: Step 401, HUT detects the vehicle's request to exit trailer mode.

[0125] Step 402: HUT determines whether the vehicle's current speed is less than or equal to a preset speed threshold. If yes, proceed to step 403; otherwise, proceed to step 407.

[0126] Step 403: HUT controls the vehicle to exit trailer mode.

[0127] Step 404: The transfer case controller controls the transfer case to exit neutral.

[0128] Step 405: The TCU releases the gear lock of the transmission from the parking gear.

[0129] Step 406: The electronic parking brake control unit controls the vehicle's electronic parking brake to be in a braking state.

[0130] It can be understood that the HUT sends notification information to the transfer case controller, the transmission control unit and the electronic parking brake control unit respectively, so that the transfer case, the transmission and the electronic hand brake are all in the correct state as expected.

[0131] In step 407, the HUT outputs second prompt information to prompt the driver to reduce the current speed to be less than or equal to the preset speed threshold.

[0132] In summary, the control method for the vehicle provided in the embodiments of the present application can include three aspects: entering the towing trailer mode strategy, exiting the towing trailer mode strategy and fault handling in the towing trailer mode. First aspect, entering the towing trailer mode strategy If the user clicks the switch for entering the towing trailer mode on the HUT interface, it is determined that the HUT detects the request for entering the towing trailer mode of the vehicle, and the HUT sends the request to the VCU, so that the VCU judges the current gear of the transmission. If the current gear of the transmission is not P, the user interface is prompted to “enter the towing trailer mode, please engage P”. If the current gear of the transmission is P, the VCU controls the vehicle to enter the towing trailer mode.

[0133] In the case that the vehicle enters the towing trailer mode, the following operations also need to be performed: The transfer case controller positions the gear of the transfer case in neutral; The transmission control unit locks the gear of the transmission in the parking gear; The electronic parking brake control unit releases the electronic hand brake.

[0134] Second aspect, exiting the towing trailer mode strategy If the user clicks the switch for exiting the towing trailer mode on the HUT interface, it is determined that the HUT detects the request for exiting the towing trailer mode of the vehicle, and the HUT sends the request to the VCU, so that the VCU judges the current speed of the vehicle. If the current speed of the vehicle ≠ 0, the user interface is prompted to “exit the towing trailer mode, please keep the vehicle speed at 0”. If the current speed of the vehicle = 0, the VCU controls the vehicle to exit the towing trailer mode.

[0135] In the case that the vehicle exits the towing trailer mode, the following operations also need to be performed: The transfer case controller positions the gear of the transfer case out of neutral; The transmission control unit releases the gear lock of the transmission in the parking gear; The electronic parking brake control unit activates the electronic hand brake.

[0136] Third aspect, fault handling in the towing trailer mode The conditions for entering the failure mode include the following three conditions: Condition 1: The gear signal of the transfer is invalid. Condition 2: The gear signal of the transmission is invalid. Condition 3: The current speed signal of the vehicle is invalid. The judgment of the failure mode and the instrument prompt include the following two cases: Case A: In the active state of the trailer mode (that is, the vehicle is in the trailer mode), if condition 1 or condition 3 is monitored, and the user triggers the exit request of the trailer mode on the instrument, the instrument prompts "the trailer mode cannot exit, please go to the service station for maintenance"; Case B: In the inactive state of the trailer mode (that is, the vehicle is not in the trailer mode), if condition 1 or condition 2 is monitored, and the user triggers the entry request of the trailer mode on the instrument, the instrument prompts "the trailer mode cannot enter, please go to the service station for maintenance".

[0137] In summary, the control method of the vehicle provided by the application has the following beneficial effects: First, in the case where the vehicle enters the towing trailer mode, the transfer controller positions the transfer gear in neutral, the transmission control unit locks the transmission gear in the parking gear, and the electronic parking brake control unit releases the electronic hand brake, so that the transmission system is disconnected from the transfer position, the transmission and the engine crankshaft are not involved in rotation, and the transmission shaft only rotates with the movement of the vehicle. In this case, the transmission internal mechanical oil pump can work normally during the towing process, providing necessary lubrication and cooling for the transmission, and there is no limit to the towing distance and vehicle speed, effectively reducing the wear of vehicle parts during the towing process and ensuring the safety of the towing process.

[0138] Second, the application also relates to a failure handling method in the trailer mode, which can help users quickly understand the vehicle state and avoid accidents during the towing process due to failure through timely failure prompt.

[0139] Figure 5 is a structural schematic diagram of a control device of a vehicle provided by an embodiment of the application.

[0140] For example, as shown in Figure 5 The device 500 includes: A judgment module 501 is configured to judge whether an entry request of a trailer mode of a vehicle is detected.

[0141] A control module 502 is configured to control the vehicle to enter the trailer mode if the entry request of the trailer mode is detected; wherein in the trailer mode, the gear of the transfer of the vehicle is in neutral.

[0142] In a possible implementation, the control module is specifically configured to: if the entering request of the towed mode is detected, control the vehicle to enter the towed mode, including: if the entering request of the towed mode is detected, determining whether the gear of the transmission of the vehicle is in the parking gear; if it is determined that the gear of the transmission is in the parking gear, controlling the vehicle to enter the towed mode; if it is determined that the gear of the transmission is not in the parking gear, outputting first prompt information to prompt the driver to place the gear of the transmission in the parking gear.

[0143] In a possible implementation, the control module is specifically configured to: in a case where the vehicle is in the towed mode, the method further includes: controlling the gear of the transfer case to be in the neutral gear, keeping the gear of the transmission locked in the parking gear, and controlling the electronic hand brake of the vehicle to be in the released state.

[0144] In a possible implementation, the control module is specifically configured to: in a case where the vehicle is in the towed mode, the method further includes: determining whether an exiting request of the towed mode is detected; if the exiting request of the towed mode is detected, obtaining the current speed of the vehicle; if the current speed is less than or equal to a preset speed threshold, controlling the vehicle to exit the towed mode; if the current speed is greater than the preset speed threshold, outputting second prompt information to prompt the driver to reduce the current speed to be less than or equal to the preset speed threshold.

[0145] In a possible implementation, the control module is specifically configured to: in a case where the vehicle exits the towed mode, the method further includes: controlling the gear of the transfer case to exit the neutral gear, releasing the gear of the transmission from being locked in the parking gear, and controlling the electronic hand brake of the vehicle to be in the braking state.

[0146] In a possible implementation, the control module is specifically configured to: if the entering request of the towed mode is detected, control the vehicle to enter the towed mode, including: if the entering request of the towed mode is detected, and the vehicle satisfies a first preset condition for entering the towed mode, controlling the vehicle to enter the towed mode; wherein the first preset condition indicates that the vehicle does not have a fault that cannot enter the towed mode.

[0147] In a possible implementation, the control module is specifically configured to: if the exiting request of the towed mode is detected, obtain the current speed of the vehicle, including: if the exiting request of the towed mode is detected, and the vehicle satisfies a second preset condition for exiting the towed mode, obtaining the current speed of the vehicle; wherein the second preset condition indicates that the vehicle does not have a fault that cannot exit the towed mode.

[0148] In one possible implementation, the device further includes an output module, specifically used for: the method further includes: when the vehicle is in trailer mode, if a request to exit trailer mode is detected and a second preset condition for exiting trailer mode is not met, then outputting a third prompt message to prompt the driver that the vehicle cannot exit trailer mode; wherein the second preset condition indicates that the vehicle does not have a fault that prevents it from exiting trailer mode; when the vehicle is not in trailer mode, if a request to enter trailer mode is detected and a first preset condition for entering trailer mode is not met, then outputting a fourth prompt message to prompt the driver that the vehicle cannot enter trailer mode; wherein the first preset condition indicates that the vehicle does not have a fault that prevents it from entering trailer mode.

[0149] In one possible implementation, the first preset condition includes that the gear position information of the vehicle's transfer case is valid and the gear position information of the vehicle's transmission is valid.

[0150] In one possible implementation, the second preset condition includes that the vehicle's transfer case gear information is valid and the vehicle's current speed is valid.

[0151] Figure 6 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0152] For example, such as Figure 6 As shown, the vehicle 600 includes a memory 601 and a processor 602. The memory 601 stores executable program code 6011, and the processor 602 is used to call and execute the executable program code 6011 to perform a vehicle control method.

[0153] Furthermore, embodiments of this application also protect an apparatus that 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 vehicle control method provided in embodiments of this application.

[0154] This embodiment can divide the device into functional modules based on the above method example. For example, each module can correspond to a separate function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0155] When the functional modules are divided according to their respective functions, the device may also include a judgment module and a control module. It should be noted that all relevant content regarding the steps involved in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here.

[0156] It should be understood that the apparatus provided by the embodiment is used to execute the vehicle control method described above, and thus can achieve the same effects as the implementation method described above.

[0157] In the case of using the integrated unit, the apparatus can include a processing module, a storage module. When the apparatus is applied to a vehicle, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute relevant program codes and the like.

[0158] The processing module can be a processor or a controller, which can implement or execute various exemplary logical blocks, modules and circuits shown in conjunction with the disclosure of the present application. The processor can also be a combination of computing functions, such as including one or more microprocessor combinations, combinations of digital signal processing (digital signal processing, DSP) and microprocessors, and the like. The storage module can be a memory.

[0159] In addition, the apparatus provided by the embodiment of the present application can be a chip, a component or a module, the chip can include a connected processor and a memory; wherein the memory is used to store instructions, when the processor calls and executes the instructions, the chip can execute the vehicle control method provided by the above embodiment.

[0160] The embodiment also provides a computer readable storage medium, the computer readable storage medium stores computer program code, when the computer program code runs on the computer, the computer executes the related method steps to realize the vehicle control method provided by the above embodiment.

[0161] The embodiment also provides a computer program product, when the computer program product runs on the computer, the computer executes the related steps to realize the vehicle control method provided by the above embodiment.

[0162] The apparatus, computer readable storage medium, computer program product or chip provided by the embodiment are used to execute the corresponding method provided above, and thus the beneficial effects that can be achieved are referred to the beneficial effects of the corresponding method provided above, which will not be described here.

[0163] Through the description of the above embodiments, those skilled in the art can understand that, for the convenience and brevity of description, only the above division of functional modules is taken as an example for illustration, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the apparatus is divided into different functional modules to complete all or part of the functions described above.

[0164] In the embodiments of the present disclosure, it should be understood that the disclosed apparatus and method can be implemented in other ways. For example, the apparatus embodiments described above are merely schematic, and the division of the modules or units is merely a logical function division. In actual implementation, another division manner can be adopted, for example, a plurality of units or components can be combined or integrated into another apparatus, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, apparatuses or units, and can be electrical, mechanical or in other forms.

[0165] The above merely describes specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present disclosure, which should be covered by the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A control method of a vehicle, characterized by, The vehicle comprises a transmission, a transfer, a drive shaft and wheels, an output shaft of the transmission is connected with an input shaft of the transfer, an output shaft of the transfer is connected with the wheels through the drive shaft, and the method comprises: determining whether an entering request of a towed mode of the vehicle is detected; if the entering request of the towed mode is detected, controlling the vehicle to enter the towed mode; wherein in the towed mode, a gear of a transfer of the vehicle is in a neutral gear.

2. The method of claim 1, wherein, The if the entering request of the towed mode is detected, controlling the vehicle to enter the towed mode, comprises: if the entering request of the towed mode is detected, determining whether a gear of a transmission of the vehicle is in a parking gear; if it is determined that the gear of the transmission is in the parking gear, controlling the vehicle to enter the towed mode; if it is determined that the gear of the transmission is not in the parking gear, outputting first prompt information to prompt a driver to put the gear of the transmission in the parking gear.

3. The method of claim 1, wherein, In a case where the vehicle is in the towed mode, the method further comprises: controlling the gear of the transfer to be in the neutral gear, keeping the gear of the transmission locked in the parking gear, and controlling an electronic hand brake of the vehicle to be in a released state.

4. The method of claim 1, wherein, The method further comprises: in a case where the vehicle is in the towed mode, determining whether an exiting request of the towed mode is detected; if the exiting request of the towed mode is detected, acquiring a current speed of the vehicle; if the current speed is less than or equal to a preset speed threshold, controlling the vehicle to exit the towed mode; if the current speed is greater than the preset speed threshold, outputting second prompt information to prompt the driver to reduce the current speed to be less than or equal to the preset speed threshold.

5. The method of claim 4, wherein, In a case where the vehicle exits the towed mode, the method further comprises: controlling the gear of the transfer to exit the neutral gear, releasing the gear of the transmission from being locked in the parking gear, and controlling the electronic hand brake of the vehicle to be in a braking state.

6. The method of claim 1, wherein, The if the entering request of the towed mode is detected, controlling the vehicle to enter the towed mode, comprises: if the entering request of the towed mode is detected and the vehicle meets a first preset condition for entering the towed mode, controlling the vehicle to enter the towed mode; wherein the first preset condition represents that the vehicle does not have a fault that cannot enter the towed mode.

7. The method of claim 4, wherein, The if the exiting request of the towed mode is detected, acquiring a current speed of the vehicle, comprises: if the exiting request of the towed mode is detected and the vehicle meets a second preset condition for exiting the towed mode, acquiring the current speed of the vehicle; wherein the second preset condition represents that the vehicle does not have a fault that cannot exit the towed mode.

8. The method of claim 1, wherein, The method further comprises: In a case where the vehicle is in the trailer mode, if an exit request of the trailer mode is detected, and a second preset condition for exiting the trailer mode is not met, third prompt information is output to prompt the driver that the vehicle cannot exit the trailer mode; wherein the second preset condition represents that the vehicle does not have a fault that cannot exit the trailer mode. In a case where the vehicle is not in the trailer mode, if an entry request of the trailer mode is detected, and a first preset condition for entering the trailer mode is not met, fourth prompt information is output to prompt the driver that the vehicle cannot enter the trailer mode; wherein the first preset condition represents that the vehicle does not have a fault that cannot enter the trailer mode.

9. The method according to claim 6 or 8, characterized in that, The first preset condition comprises valid gear information of a transfer of the vehicle and valid gear information of a transmission of the vehicle.

10. The method according to claim 7 or 8, characterized in that, The second preset condition comprises valid gear information of a transfer of the vehicle and valid current speed of the vehicle.

11. A vehicle characterized by comprising: The vehicle comprises: a memory for storing executable program code; a processor for calling and running the executable program code from the memory, so that the vehicle executes the method as claimed in any one of claims 1 to 10.

12. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, which, when executed, implements the method as claimed in any one of claims 1 to 10. The computer readable storage medium stores a computer program, which, when executed, implements the method as claimed in any one of claims 1 to 10.

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