Vehicle driving position feedback method and system and vehicle

Abstract

The invention relates to a vehicle driving position feedback method and system and a vehicle, and belongs to the technical field of vehicle drive.The method comprises the steps that after a driving enable signal is received, whether an encoder function is started or not is selected; after the encoder function is enabled, judging whether the duty ratio of a motor driving signal is 0 or not, and judging whether the received position feedback value of the position encoder is changed or not; when the duty ratio of the motor driving signal is 0 and the position feedback value is changed, judging whether the continuous invariant time of the changed position feedback value is greater than a first set time threshold value or not; when the continuous invariant time is less than or equal to a first set time threshold value, taking the position feedback value before change as a position output value; and when the continuous invariant time is greater than a first set time threshold value, taking the changed position feedback value as a position output value. According to the invention, the problem that the fault of the position encoder is misreported due to the jitter and jump of the position encoder is solved, and the function robustness of the four-wheel drive system is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle driving, in particular to a vehicle driving position feedback method and system, and a vehicle. BACKGROUND

[0002] In an automobile four-wheel drive system, the transfer motor is a core component for realizing four-wheel drive mode switching, and its working stability directly determines the vehicle driving performance and user driving experience.

[0003] The control logic of the existing four-wheel drive system usually adopts a three-level control structure of an engine control unit (Engine Control Module, hereinafter referred to as ECM) + four-wheel drive controller + transfer motor. The ECM integrates the core control strategy, sends a control signal to the four-wheel drive controller according to the user operation instruction (such as mode switching key), and then drives the transfer motor to operate to complete the corresponding gear switching action, and the whole control process relies on the position information fed back by the position encoder on the transfer motor to realize precise control.

[0004] In the actual application process of the vehicle, the four-wheel drive controller of the vehicle occasionally has a "position encoder invalid" fault problem. For this fault, the mainstream processing method currently adopted is to replace the transfer motor, which can temporarily solve the fault problem to some extent, but increases the maintenance cost, and the occasional occurrence of the fault will directly affect the normal use of the vehicle by the user, especially in the key driving scenarios requiring high-speed two-wheel drive (2-Wheel Drive High, hereinafter referred to as 2H) and high-speed four-wheel drive (4-Wheel Drive High, hereinafter referred to as 4H) mode switching, the occurrence of the fault affects the user's driving experience. SUMMARY

[0005] In view of the above problems existing in the prior art, the present application provides a vehicle driving position feedback method and system, and a vehicle, which solves the problem of false alarm of the position encoder of the four-wheel drive system caused by the jitter jump of the position encoder in the four-wheel drive system switching into the 4H mode or switching out of the 4H mode, and improves the robustness of the four-wheel drive system.

[0006] In a first aspect, a vehicle driving position feedback method is provided, applied to a vehicle four-wheel drive system. The method comprises: After receiving a driving enable signal, it is determined whether to enable the encoder function; After the encoder function is enabled, it is determined whether the duty cycle of the motor driving signal is 0, and whether the received position encoder position feedback value changes; When the duty cycle of the motor driving signal is 0 and the position feedback value changes, it is determined whether the changed position feedback value is continuous and unchanged for more than a first set time threshold. when the continuous unchanged time is less than or equal to the first set time threshold, taking the position feedback value before the change as the position output value; and when the continuous unchanged time is greater than the first set time threshold, taking the position feedback value after the change as the position output value.

[0007] In a pulse width modulation (PWM) driving mode, a duty cycle refers to a ratio (usually expressed in percentage: 0%-100%) of a duration of a high-level signal in a period to a total time of the period. For a transfer case motor, a duty cycle of a driving signal of the transfer case motor directly determines an average current / voltage output by a driving circuit, and is a core parameter for controlling an operating state of the transfer case motor. A core condition for stopping the transfer case motor is that the duty cycle of the driving signal of the transfer case motor is lower than a minimum driving threshold (including 0). In a control process of switching into a 4H mode in an automobile four-wheel drive system, an ECM sends a control signal in which a duty cycle of a motor driving signal is equal to 0 when the ECM receives a position code corresponding to a 4H gear, and controls the transfer case motor to stop driving through the control signal. At this time, the duty cycle of the driving signal of the transfer case motor is 0.

[0008] In the embodiments of the present application, when the four-wheel drive system switches into the 4H mode, on the basis of judging whether the duty cycle of the motor driving signal is 0 and whether the position feedback value of the position encoder changes, when the duty cycle of the motor driving signal is 0 and the position feedback value changes, whether the continuous unchanged time of the changed position feedback value is greater than a first set time threshold is determined to determine a position output value, the position encoder jitter jump is filtered out through filtering, so that the four-wheel drive system does not report an error, and the problem that the four-wheel drive system misreports a position encoder fault due to the position encoder jitter jump is solved, and the functional robustness of the four-wheel drive system is improved.

[0009] In combination with the first aspect, in some implementations of the first aspect, the method further includes: when the duty cycle of the motor driving signal is not 0 and the position feedback value changes, judging whether the continuous unchanged time of the changed position feedback value is greater than a second set time threshold; and the second set time threshold is less than the first set time threshold; when the continuous unchanged time is less than or equal to the second set threshold, taking the position feedback value before the change as the position output value; and when the continuous unchanged time is greater than the second set threshold, taking the position feedback value after the change as the position output value.

[0010] In the embodiments of the present application, when the duty cycle of the motor driving signal is not 0 and the position feedback value changes, whether the continuous unchanged time of the changed position feedback value is greater than a second set time threshold (for example, 4ms) is determined to determine the position output value. Real-time feedback position information is ensured to facilitate driving control by an engine control unit.

[0011] With reference to the first aspect, in some implementations of the first aspect, the method further includes: when the duty cycle of the motor driving signal is 0 and the position feedback value does not change, taking the current position feedback value as the position output value.

[0012] In the embodiments of the present application, when the duty cycle of the motor driving signal is 0 and the position feedback value does not change, the current position feedback value is taken as the position output value, so that the position output value is consistent with the actual position when the motor has no driving instruction (the duty cycle is 0) and the mechanical position is stationary (the position feedback value does not change), avoiding the drift or false fluctuation of the position signal in the no-driving state, providing a stable and reliable position reference for the system, and ensuring the accurate execution of the subsequent control logic (such as start positioning and state judgment).

[0013] With reference to the first aspect, in some implementations of the first aspect, the method further includes: when the duty cycle of the motor driving signal is not 0 and the position feedback value does not change, taking the current position feedback value as the position output value.

[0014] In the embodiments of the present application, when the duty cycle of the motor driving signal is not 0 and the position feedback value does not change, the current position feedback value is taken as the position output value, avoiding abnormal fluctuation of the position output when the motor driving signal is effective (the duty cycle is not 0) but the mechanical actuator does not act (the position feedback value does not change), ensuring the stability and reliability of the position output value, and providing an accurate position reference for the subsequent control strategy execution.

[0015] With reference to the first aspect, in some implementations of the first aspect, the method of judging whether the received position encoder position feedback value changes includes: judging whether the position encoder position feedback value at the current time is consistent with the position encoder position feedback value at the last time; if the position encoder position feedback value at the current time is consistent with the position encoder position feedback value at the last time, it is considered that the position encoder position feedback value does not change; if the position encoder position feedback value at the current time is not consistent with the position encoder position feedback value at the last time, it is considered that the position encoder position feedback value changes.

[0016] In the embodiments of the present application, through the judgment logic of "direct comparison of the feedback values at the current time and the last time", an explicit identification standard for position signal change is established, which can quickly capture the subtle fluctuation and jump of the position encoder feedback value, improve the sensitivity and identification accuracy of the dynamic change of the signal, and provide reliable data support for position tracking in the mode switching process.

[0017] With reference to the first aspect, in some implementations of the first aspect, the method further includes: after the encoder function is enabled, judging whether the position encoder is in the 4H mode position; when the motor drive signal duty cycle is not 0 and the position encoder rotation direction is rotating to the 2H mode position direction, judging whether a flag bit code of the position encoder position feedback value is a first preset code; when the motor drive signal duty cycle is not 0 and the position encoder rotation direction is rotating to the 2H mode position direction, judging whether a flag bit code of the position encoder position feedback value is a first preset code; when the motor drive signal duty cycle is not 0 and the position encoder rotation direction is rotating to the 2H mode position direction, judging whether a flag bit code of the position encoder position feedback value is a first preset code;

[0018] In the embodiments of the present application, when the four-wheel drive system is cut out of the 4H mode (i.e. switching from the 4H mode to the 2H mode), it is first judged whether the position encoder is in the 4H mode position, and then, on the basis of whether the motor drive signal duty cycle is 0 and whether the position encoder rotation direction is rotating to the 2H mode position direction, it is determined the position output value according to whether the flag bit code of the position encoder position feedback value is a first preset code. Specifically, when the flag bit code of the position encoder position feedback value is the first preset code (for example: 0), it is shielded to the second preset code (for example: 1), and the position encoder jitter jump is shielded by shielding, so that the four-wheel drive system does not report an error, solving the problem of false reporting of the position encoder fault of the four-wheel drive system caused by the jitter jump of the position encoder, and improving the function robustness of the four-wheel drive system.

[0019] In combination with the first aspect, in some implementations of the first aspect, the method of judging whether the position encoder is in the 4H mode position is: judging whether the position encoder position feedback value is the code corresponding to the 4H mode position; if the position encoder position feedback value is the code corresponding to the 4H mode position, it is considered that the position encoder is in the 4H mode position; if the position encoder position feedback value is not the code corresponding to the 4H mode position, it is considered that the position encoder is not in the 4H mode position.

[0020] In the embodiments of the present application, by using the determination logic of directly matching the position encoder feedback value and the 4H mode preset code, the identification standard of the 4H mode position is clearly defined, the position misjudgment caused by ambiguous coding determination is avoided, and the accuracy and reliability of the four-wheel drive system in identifying the 4H mode position are improved.

[0021] In combination with the first aspect, in some implementations of the first aspect, the method of judging whether the position encoder rotation direction is rotating to the 2H mode position direction is: judging whether the received drive direction is a preset direction; If the driving direction is the preset direction, it is considered that the position encoder rotation direction is rotated to the 2H mode position direction; otherwise, it is considered that the position encoder rotation direction is not rotated to the 2H mode position direction.

[0022] In the embodiments of the present application, by directly associating the driving direction instruction (for example: turning left or turning right) with the rotation direction judgment logic of the 2H mode target position, the identification standard of the 2H mode direction is clear, the mode switching path deviation caused by misjudgment of the rotation direction is avoided, and the accuracy and reliability of the four-wheel drive system in identifying the 2H mode switching direction are improved. By clearly defining the correspondence between the driving direction and the 2H mode rotation direction, the motor motion trajectory can be predicted in advance, providing a basis for signal anti-jitter at the critical position (such as signal jump suppression at the 4H and ZONE4 critical positions), fault early warning (such as direction abnormality judgment associated with faults), and further improving the stability of the four-wheel drive system mode switching and the vehicle driving safety.

[0023] In a second aspect, a vehicle driving position feedback system is provided, which is applied to a four-wheel drive system of a vehicle. The system comprises: A data acquisition module is configured to acquire a motor driving signal and a position encoder feedback value; A selection module is connected with the engine control unit, and the selection module is configured to select whether to enable the encoder function after receiving the driving enable signal sent by the engine control unit; A first judgment module is connected with the data acquisition module and the selection module, and the first judgment module is configured to judge whether the motor driving signal duty cycle is 0 and whether the received position encoder position feedback value changes after the encoder function is enabled; A second judgment module is connected with the first judgment module, and the second judgment module is configured to judge whether the continuous unchanged time of the changed position feedback value is greater than a first set time threshold when the motor driving signal duty cycle is 0 and the position feedback value changes; An output module is connected with the second judgment module and the engine control unit, and the output module is configured to output the position feedback value before the change as the position output value to the engine control unit when the continuous unchanged time is less than or equal to the first set time threshold; and output the position feedback value after the change as the position output value to the engine control unit when the continuous unchanged time is greater than the first set time threshold.

[0024] In a third aspect, a computer program product is provided, which comprises computer program code, when the computer program code runs on a computer, so that the computer executes the vehicle driving position feedback method of the first aspect.

[0025] In a fourth aspect, a computer-readable storage medium is provided, which stores computer program codes. The computer program codes are executed by one or more processors, and when the computer program codes are run on the processors, the apparatus comprising the one or more processors performs the vehicle driving position feedback method of the first aspect.

[0026] In a fifth aspect, an embodiment of the present application provides a chip system, which comprises a processor, and is configured to invoke computer programs or computer instructions stored in a memory, so that the processor executes the vehicle driving position feedback method of the first aspect.

[0027] In a sixth aspect, an embodiment of the present application provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the electronic device implements the vehicle driving position feedback method of the first aspect.

[0028] In a seventh aspect, a vehicle is provided, which comprises the vehicle driving position feedback system of the second aspect, the computer-readable storage medium of the fourth aspect, the chip system of the fifth aspect, or the electronic device of the sixth aspect.

[0029] The technical scheme provided by the embodiments of the present application has at least the following beneficial effects: The vehicle driving position feedback method and system, and the vehicle provided by the embodiments of the present application are applied to a four-wheel drive system of a vehicle. When the four-wheel drive system is switched to the 4H mode, and the duty cycle of the motor driving signal is 0 and the position feedback value changes, whether the continuous unchanged time of the changed position feedback value is greater than a first set time threshold is determined to determine the position output value. The position encoder jitter jump is filtered out through filtering, so that the four-wheel drive system does not report an error. The problem that the four-wheel drive system misreports the position encoder failure caused by the position encoder jitter jump is solved, and the function robustness of the four-wheel drive system is improved. When the four-wheel drive system is switched out of the 4H mode (i.e., switched from the 4H mode to the 2H mode), when the flag bit of the position encoder position feedback value is encoded as a first preset code, it is shielded to a second preset code. The position encoder jitter jump is shielded, so that the four-wheel drive system does not report an error. The problem that the four-wheel drive system misreports the position encoder failure caused by the position encoder jitter jump is solved, and the function robustness of the four-wheel drive system is improved.

[0030] The above description is only a summary of the technical scheme of the present application. In order to more clearly understand the technical means of the present application, the embodiments of the present application can be implemented in accordance with the content of the description, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious, the specific embodiments of the present application are described below. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor.

[0032] Figure 1 The position encoder and its encoding schematic diagram.

[0033] Figure 2 The flowchart of the vehicle driving position feedback method according to an embodiment of the present application.

[0034] Figure 3 The flowchart of the method for judging whether the received position encoder position feedback value changes according to an embodiment of the present application.

[0035] Figure 4 The flowchart of the vehicle driving position feedback method according to example 1 of the present application.

[0036] Figure 5 The flowchart of the vehicle driving position feedback method according to example 2 of the present application.

[0037] Figure 6 The flowchart of the vehicle driving position feedback method according to another embodiment of the present application.

[0038] Figure 7 The flowchart of the method for judging whether the position encoder is in the 4H mode position according to an embodiment of the present application.

[0039] Figure 8 The flowchart of the method for judging whether the rotation direction of the position encoder is the direction of rotating to the 2H mode position according to an embodiment of the present application.

[0040] Figure 9 The flowchart of the vehicle driving position feedback method according to example 3 of the present application.

[0041] Figure 10 The timing diagram of the four-wheel drive system control logic according to an embodiment of the present application.

[0042] Figure 11 The architecture schematic diagram of the vehicle driving position feedback system according to an embodiment of the present application.

[0043] Figure 12 The architecture schematic diagram of the vehicle according to an embodiment of the present application.

[0044] In the figure, 100, vehicle driving position feedback system, 101, data acquisition module, 102, selection module, 103, first judgment module, 104, second judgment module, 105, output module, 200, engine control unit, 300, vehicle, 301, memory, 302, processor, 303, computer program. DETAILED DESCRIPTION

[0045] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects more clear, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application, and do not limit the present application.

[0046] The prefix such as "first", "second" in the embodiments of the present application is only used to distinguish different description objects, and has no limiting effect on the position, order, priority, quantity or content of the described object. The use of ordinal numbers and other prefix words in the embodiments of the present application for distinguishing description objects does not limit the described objects, and the description of the described objects should be referred to the description of the context in the claims or examples, and should not be limited by the use of such prefix words. In addition, in the description of the embodiments, unless otherwise specified, the meaning of "multiple" is two or more than two.

[0047] The technical solutions in the embodiments of the present application will be described below in combination with the drawings in the embodiments of the present application. 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 this paper is only a description of the association between the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can represent three cases of A alone, A and B together, and B alone.

[0048] In several embodiments provided in the embodiments of the present application, it should be understood that the disclosed system and method can be implemented in other ways. For example, the above-described device embodiments are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed objects can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0049] In the four-wheel drive system of a vehicle, the transfer motor as a core executive component, its running state directly determines the reliability of four-wheel drive mode switching. The control logic of the existing four-wheel drive system usually adopts a three-level control structure of ECM + four-wheel drive controller + transfer motor. The ECM integrates the core control strategy, sends control signals to the four-wheel drive controller according to user operation instructions (such as mode switching keys), and then the four-wheel drive controller drives the transfer motor to run to complete the corresponding gear switching action. The entire control process relies on the position information fed back by the position encoder on the transfer motor to realize smooth switching and state monitoring of the four-wheel drive mode.

[0050] The existing four-wheel drive system mainly includes three core gears, namely 2H, 4H and 4L (4-Wheel Drive Low, low-speed four-wheel drive). Among them, the switching between 2H and 4H modes is a working condition frequently used by users in daily driving. During the dynamic switching process of 4H mode switching in or out, the transfer motor needs to be frequently started and stopped and accurately positioned, which puts strict requirements on the signal stability of the position encoder.

[0051] In the actual application process of the vehicle, the vehicle four-wheel drive controller occasionally has a "position encoder invalid" fault problem. For this fault, the mainstream processing method currently adopted is to replace the transfer motor. Although this processing method can temporarily solve the fault problem to some extent, it increases the maintenance cost, and the occasional occurrence of the fault will directly affect the normal use of the vehicle by the user, especially in the key driving scenarios where 2H and 4H mode switching is required. The occurrence of the fault affects the user's driving experience.

[0052] After statistical analysis of a large amount of fault data, researchers found that the "position encoder invalid" fault does not occur randomly, but is concentrated in the specific situation of switching into 4H mode or switching out of 4H mode to 2H mode. The core cause of the fault is that when the transfer motor rotates to the critical position of 4H gear and ZONE4 (position monitoring interval) (the position shown by the red line in the figure), the position encoder appears jittering and jumping phenomenon, which further leads to false alarm of the four-wheel drive system. Figure 1

[0053] ​Specifically, in the control flow of switching to 4H mode, after receiving the position encoder information fed back by the four-wheel drive controller (corresponding to 4H gear), the ECM sends a control signal of ESOF_MotorDutyCycle (controlling the PWM signal duty cycle of the shift execution motor) = 0, and the four-wheel drive controller stops driving the transfer case motor after receiving the signal. However, in actual working conditions, when the transfer case motor rotates to the critical position between 4H and ZONE4, the position encoder will produce a jitter jump, and the position encoder information fed back by the four-wheel drive controller to the ECM will present a jump state of "1100 (corresponding to 4H gear) -1000 (corresponding to position monitoring interval ZONE4) -1100 (corresponding to 4H gear)", based on the preset fault judgment logic, the ECM will judge the jump of the position information as an abnormal working of the position encoder, and then trigger the "invalid position encoder" fault alarm.

[0054] In the control flow of switching from 4H mode to 2H mode, when the four-wheel drive controller receives the control signals of ESOF_ShiftMotorCmd (shift motor control instruction) = 0x2 (corresponding to Motor DriveToLeft, i.e. left drive of the motor) and ESOF_MotorDutyCycle (controlling the PWM signal duty cycle of the shift execution motor) = 100% sent by the ECM, the transfer case motor will start the left drive action to complete the gear switching from 4H mode to 2H mode. In this process, when the transfer case motor rotates to the critical position between 4H and ZONE4, the position encoder will produce a jitter jump, and the position encoder information fed back by the four-wheel drive controller will present an irregular jump sequence of "1100 (corresponding to 4H gear) -1000 (corresponding to position monitoring interval ZONE4) -1100 (corresponding to 4H gear) -0100 (corresponding to position monitoring interval ZONE3) -0110 (corresponding to position monitoring interval ZONE2)...", which is recognized by the ECM, and the ECM will judge that the position encoder is invalid, and then trigger the "invalid position encoder" fault alarm.

[0055] In summary, in the switching process between 2H and 4H of the existing four-wheel drive system, due to the jitter jump phenomenon of the position encoder of the transfer case motor at the critical position between 4H and ZONE4, the ECM misjudges the position encoder fault, and then the automobile production enterprise needs to replace the transfer case motor for maintenance, resulting in an increase in after-sales maintenance cost. Moreover, the fault directly affects the normal use of the vehicle by the user, resulting in a poor user experience.

[0056] Based on the above application scenarios, the present application provides a vehicle driving position feedback method.

[0057] Figure 2is a schematic flow chart of a vehicle driving position feedback method provided by an embodiment of the present application. The method is applicable to a vehicle four-wheel drive system. The method comprises the following steps.

[0058] S1, after receiving a driving enable signal, whether to enable an encoder function is selected.

[0059] Specifically, the driving enable signal is sent by an engine control unit to a transfer motor to control the start of the transfer motor.

[0060] It should be noted that after the transfer motor starts, the position encoder starts to work and collects position information. Therefore, after receiving the driving enable signal, whether to enable the encoder function is selected.

[0061] S2, after the encoder function is enabled, whether the duty cycle of the motor driving signal is 0 and whether the received position encoder position feedback value changes are judged.

[0062] In an embodiment of the present application, referring to Figure 3 , the method of judging whether the received position encoder position feedback value changes is: S21, whether the position encoder position feedback value at the current time is consistent with the position encoder position feedback value at the last time is judged. S22, if the position encoder position feedback value at the current time is consistent with the position encoder position feedback value at the last time, it is considered that the position encoder position feedback value does not change; if the position encoder position feedback value at the current time is not consistent with the position encoder position feedback value at the last time, it is considered that the position encoder position feedback value changes.

[0063] In the embodiment of the present application, through the determination logic of "direct comparison of feedback values at the current time and the last time", an explicit identification standard of position signal change is established, which can quickly capture the slight fluctuation and jump of the position encoder feedback value, improve the sensitivity and identification accuracy of the dynamic change of the signal, and provide reliable data support for position tracking in the mode switching process.

[0064] S3, when the duty cycle of the motor driving signal is 0 and the position feedback value changes, whether the continuous unchanged time of the changed position feedback value is greater than a first set time threshold is judged.

[0065] When the transfer motor rotates to the critical position of the 4H gear and the position monitoring interval ZONE4, the position encoder appears a jitter jump phenomenon. In the embodiment of the application, the position feedback value jumps when the precision filtering motor has no driving instruction (the duty cycle is 0). Through the time judgment mechanism of the first set time threshold, the false alarm of the position encoder fault of the four-wheel drive system caused by the jitter jump phenomenon is avoided, the authenticity and reliability of the position output are ensured, and the robustness of the four-wheel drive system is improved.

[0066] S4, when the continuous unchanged time is less than or equal to the first set time threshold, taking the position feedback value before the change as the position output value; when the continuous unchanged time is greater than the first set time threshold, taking the position feedback value after the change as the position output value.

[0067] When the four-wheel drive system is switched to the 4H mode, the position area range corresponding to the 4H gear is small (for example, only a 7° area range). When the position encoder rotates to the 4H gear position, the motor duty cycle is reduced to 0, the transfer motor is controlled to stop, that is, the motor is not driven. At this time, the transfer motor will rotate a small angle due to inertia. When the transfer motor rotates to the critical position of the 4H gear and the position monitoring interval ZONE4, the position encoder will produce a jitter jump. For example, the position encoder information will present a jump state of “1100 (corresponding to the 4H gear)-1000 (corresponding to the position monitoring interval ZONE4)-1100 (corresponding to the 4H gear)”. At this time, the position jump information will be determined as an abnormal working of the encoder, and a “position encoder invalid” fault alarm will be triggered.

[0068] The vehicle driving position feedback method provided in the embodiment of the application, when the four-wheel drive system is switched to the 4H mode, on the basis of judging whether the motor driving signal duty cycle is 0 and whether the position feedback value of the position encoder changes, when the motor driving signal duty cycle is 0 and the position feedback value changes, the position output value is determined according to whether the continuous unchanged time of the changed position feedback value is greater than the first set time threshold (for example, 1000 ms). The jitter jump of the position encoder is filtered out through filtering, so that the four-wheel drive system does not report an error, the problem of false alarm of the position encoder fault of the four-wheel drive system caused by the jitter jump of the position encoder is solved, and the functional robustness of the four-wheel drive system is improved.

[0069] In an embodiment of the application, the method further comprises: When the motor driving signal duty cycle is not 0 and the position feedback value changes, it is judged whether the continuous unchanged time of the changed position feedback value is greater than the second set time threshold; the second set time threshold is less than the second set time threshold; When the continuous unchanged time is less than or equal to a second set threshold, the position feedback value before the change is taken as the position output value; when the continuous unchanged time is greater than the second set threshold, the position feedback value after the change is taken as the position output value.

[0070] In the working process of the transfer motor, the position encoder encodes differently in different position regions, and the position feedback value of the position encoder changes when passing through different position regions. In the embodiment of the application, when the duty cycle of the motor driving signal is not 0 and the position feedback value changes, whether the continuous unchanged time of the position feedback value after the change is greater than a second set time threshold (for example, 4 ms) is determined to determine the position output value. Real-time accurate position information is ensured to be fed back, so that the engine control unit can perform driving control.

[0071] In an embodiment of the application, the method further comprises: when the duty cycle of the motor driving signal is 0 and the position feedback value does not change, taking the current position feedback value as the position output value.

[0072] In the embodiment of the application, when the duty cycle of the motor driving signal is 0 and the position feedback value does not change, the current position feedback value is taken as the position output value, so that when the motor has no driving instruction (the duty cycle is 0) and the mechanical position is stationary (the position feedback value is unchanged), the position output value is consistent with the actual position, the position signal drift or false fluctuation in the no-driving state is avoided, a stable and reliable position reference is provided for the system, and accurate execution of subsequent control logic (such as start positioning and state judgment) is ensured.

[0073] In an embodiment of the application, the method further comprises: when the duty cycle of the motor driving signal is not 0 and the position feedback value does not change, taking the current position feedback value as the position output value.

[0074] In the embodiment of the application, when the duty cycle of the motor driving signal is not 0 and the position feedback value does not change, the current position feedback value is taken as the position output value, so that abnormal fluctuation of the position output is avoided when the motor driving signal is effective (the duty cycle is not 0) but the mechanical actuator does not act (the position feedback value is unchanged), and the stability and reliability of the position output value are ensured to provide an accurate position reference for subsequent control strategy execution. Example 1: see Figure 4 A vehicle driving position feedback method, comprising the following steps: S1, after receiving a driving enable signal, determining whether to enable an encoder function.

[0075] S2, after the encoder function is enabled, determining whether the duty cycle of a motor driving signal is 0.

[0076] S3, when the duty cycle of the motor driving signal is 0, judging whether the received position encoder position feedback value changes; when the duty cycle of the motor driving signal is not 0, taking the current position feedback value as the position output value.

[0077] S4, when the position encoder position feedback value changes, judging whether the continuous unchanged time of the changed position feedback value is greater than a first set time threshold (for example: 1000ms); when the position encoder position feedback value does not change, taking the current position feedback value as the position output value.

[0078] S5, when the continuous unchanged time is less than or equal to the first set time threshold, taking the position feedback value before the change as the position output value; when the continuous unchanged time is greater than the first set time threshold, taking the position feedback value after the change as the position output value.

[0079] The vehicle driving position feedback method described in the example is based on judging whether the duty cycle of the motor driving signal is 0 and whether the position encoder position feedback value changes. When the duty cycle of the motor driving signal is 0 and the position feedback value changes, the position output value is determined according to whether the continuous unchanged time of the changed position feedback value is greater than a first set time threshold (for example: 1000ms). When the four-wheel drive system is switched to 4H mode and the motor duty cycle is reduced to 0, the control differential motor stops, the differential motor will rotate a small angle due to inertia, and the position encoder will produce a jitter jump when the differential motor rotates to the critical position of the 4H gear position and the position monitoring interval ZONE4, triggering the "encoder invalid" fault alarm. By the method described in the example, the position encoder jitter jump can be filtered out, and the four-wheel drive system will not report an error. The method described in the example solves the problem of false alarm of the position encoder fault of the four-wheel drive system caused by the jitter jump of the position encoder, and improves the robustness of the four-wheel drive system.

[0080] Example 2: see Figure 5 A vehicle driving position feedback method, the steps of which include: S1, after receiving the driving enable signal, judging whether to enable the encoder function.

[0081] S2, after the encoder function is enabled, judging whether the duty cycle of the motor driving signal is 0.

[0082] S3, when the duty cycle of the motor driving signal is 0, judging whether the received position encoder position feedback value changes; when the duty cycle of the motor driving signal is not 0, taking the current position feedback value as the position output value.

[0083] S4, when the position encoder position feedback value changes, judge whether the continuous unchanged time of the changed position feedback value is greater than a second set threshold (for example: 4ms); when the position encoder position feedback value does not change, take the current position feedback value as the position output value.

[0084] S5, when the continuous unchanged time is less than or equal to the second set threshold, take the position feedback value before the change as the position output value; when the continuous unchanged time is greater than the second set threshold, take the position feedback value after the change as the position output value.

[0085] The vehicle driving position feedback method described in this example is based on judging whether the motor driving signal duty cycle is 0 and whether the position encoder position feedback value changes. When the motor driving signal duty cycle is 0 and the position feedback value changes, the position output value is determined according to whether the continuous unchanged time of the changed position feedback value is greater than a second set time threshold (for example: 4ms). During the operation of the transfer case motor, the position encoder encodes differently in different position regions, and the position encoder position feedback value will change when the transfer case motor passes through different position regions. Through the method described in this example, when the motor driving signal duty cycle is not 0 and the position feedback value changes during the operation of the transfer case motor, the position output value is determined according to whether the continuous unchanged time of the changed position feedback value is greater than a second set time threshold (for example: 4ms), which ensures real-time and accurate feedback of position information for driving control by the engine control unit.

[0086] Figure 6 is a schematic flow chart of a vehicle driving position feedback method provided by another embodiment of the present application. The method is applicable to a vehicle four-wheel drive system. The method includes the following steps.

[0087] S1, after receiving the driving enable signal, select whether to enable the encoder function.

[0088] S2, after the encoder function is enabled, judge whether the position encoder is in the 4H mode position.

[0089] In an embodiment of the present application, referring to Figure 7 , the method for judging whether the position encoder is in the 4H mode position is: S21, judge whether the position encoder position feedback value is the encoding corresponding to the 4H mode position; S22, if the position encoder position feedback value is the encoding corresponding to the 4H mode position, it is considered that the position encoder is in the 4H mode position; if the position encoder position feedback value is not the encoding corresponding to the 4H mode position, it is considered that the position encoder is not in the 4H mode position.

[0090] In the embodiment of the present application, the identification standard of the 4H mode position is clearly defined through the determination logic of directly matching the position encoder feedback value with the 4H mode preset encoding. On the one hand, the position misjudgment caused by ambiguous encoding determination is avoided, and the accuracy and reliability of the four-wheel drive system in identifying the 4H mode position are improved. On the other hand, the effectiveness of the position encoder feedback signal can be directly verified through the encoding matching result, which facilitates the rapid positioning of abnormal scenarios such as encoding jump and jitter.

[0091] S3, when the position encoder is in the 4H mode, judging whether the duty cycle of the motor driving signal is 0 and whether the rotation direction of the position encoder is rotating towards the 2H mode position.

[0092] In an embodiment of the present application, referring to Figure 8 , the method for judging whether the rotation direction of the position encoder is rotating towards the 2H mode position is: S31, judging whether the received driving direction is a preset direction (for example, turning left or turning right); S32, if the driving direction is the preset direction, it is considered that the rotation direction of the position encoder is rotating towards the 2H mode position; otherwise, it is considered that the rotation direction of the position encoder is not rotating towards the 2H mode position.

[0093] In the embodiment of the present application, the identification standard of the 2H mode direction is clearly defined through the rotation direction determination logic of directly associating the driving direction instruction (turning left or turning right) with the 2H mode target position, the mode switching path deviation caused by rotation direction misjudgment is avoided, and the accuracy and reliability of the four-wheel drive system in identifying the 2H mode switching direction are improved. Through the correspondence between the driving direction and the 2H mode rotation direction, the motor motion trajectory can be predicted in advance, which provides a basis for signal anti-jitter at the critical position (such as signal jump suppression at the critical position of 4H and ZONE4), fault early warning (such as direction abnormality judgment related to P178801 fault), and further improves the stability of the four-wheel drive system mode switching and the vehicle driving safety.

[0094] S4, when the duty cycle of the motor driving signal is not 0 and the rotation direction of the position encoder is rotating towards the 2H mode position, judging whether the flag bit encoding of the received position encoder position feedback value is the first preset encoding.

[0095] S5, when the flag bit encoding is the first preset encoding, taking the position encoder position feedback value after the flag bit encoding is set to the second preset encoding as the position output value, the second preset encoding is different from the first preset encoding; when the flag bit encoding is not the first preset encoding, taking the current position encoder position feedback value as the position output value.

[0096] In the control flow of switching from 4H mode to 2H mode, the transfer case motor starts the action of driving the preset direction (for example: left turn or right turn) to complete the gear shifting from 4H mode to 2H mode. In this process, when the transfer case motor rotates to the critical position of 4H and ZONE4, the position encoder will have a jitter jump. For example: the position encoder information will present an irregular jump sequence of "1100 (corresponding to 4H gear) -1000 (corresponding to the position monitoring interval ZONE4) -1100 (corresponding to 4H gear) -0100 (corresponding to the position monitoring interval ZONE3) -0110 (corresponding to the position monitoring interval ZONE2)......", at this time, the jump sequence will be determined as the position encoder failure, triggering the "position encoder invalid" fault alarm.

[0097] The vehicle driving position feedback method described in the embodiments of the present application, when the four-wheel drive system is switched out of 4H mode (i.e. from 4H mode to 2H mode), first judges whether the position encoder is in the 4H mode position, and then judges whether the duty cycle of the motor driving signal is 0 and whether the rotation direction of the position encoder is rotating towards the 2H mode position, and determines the position output value according to whether the flag bit code of the position encoder position feedback value is the first preset code (for example: 0). Specifically, when the flag bit code of the position encoder position feedback value is the first preset code, it is shielded to the second preset code (for example: 1), and the position encoder jitter jump is shielded by shielding, so that the four-wheel drive system does not report an error, solving the problem of false alarm of the position encoder fault of the four-wheel drive system caused by the jitter jump of the position encoder, and improving the robustness of the four-wheel drive system function.

[0098] Example 3: see Figure 9 A vehicle driving position feedback method, the steps of which include: S1, after receiving the driving enable signal, whether to enable the encoder function is selected.

[0099] S2, after the encoder function is enabled, whether the position encoder is in the 4H mode position is judged.

[0100] S3, when the position encoder is in 4H mode, whether the duty cycle of the motor driving signal is 0 is judged; when the position encoder is not in 4H mode, the current position feedback value is taken as the position output value.

[0101] S4, when the duty cycle of the motor driving signal is 0, the current position feedback value is taken as the position output value; when the duty cycle of the motor driving signal is not 0, whether the rotation direction of the position encoder is rotating towards the 2H mode position is judged.

[0102] S5. When the position encoder rotates in the direction of 2H mode position, determine whether the identifier bit of the position encoder position feedback value is 0; when the position encoder rotates in a direction other than 2H mode position, use the current position feedback value as the position output value. S6. When the flag bit code is the first preset code (e.g., 0), the position feedback value of the position encoder after setting the flag bit code to the second preset code (e.g., 1) is used as the position output value; when the flag bit code is not the first preset code, the position feedback value of the current position encoder is used as the position output value.

[0103] The method described in this example, when the four-wheel drive system switches out of 4H mode (i.e., switches from 4H mode to 2H mode), if the flag bit encoding of the encoder position feedback value is set to the first preset code (e.g., 0), it is masked and set to the second preset code (e.g., 1). By masking, the position encoder jitter jump is blocked, so that the four-wheel drive system does not report an error. This solves the problem of the four-wheel drive system falsely reporting a position encoder failure due to the position encoder jitter jump, and improves the functional robustness of the four-wheel drive system.

[0104] For example, see Figure 10 The diagram shows the timing of the four-wheel drive system control logic. During the entire shifting process controlled by the four-wheel drive system, the position feedback value from the position encoder changes as follows: At point ① in the diagram, a drive enable signal is received, but the encoder function is not activated and the transfer case motor is not driven; the motor drive signal duty cycle is 0. The gear is not shifted; it remains in gear 2H. At this time, the position encoder feedback value sent to the engine control unit is 1111.

[0105] In step ② of the diagram, the encoder function is enabled, and the position encoder provides feedback on the current motor position. The transfer case motor is not driven, and the motor drive signal duty cycle is 0. The gear is not switched; it remains in either gear 2H or 4H. At this time: If the position feedback value does not change, the position encoder feedback value is sent to the engine control unit as the current position encoder feedback value.

[0106] If the position encoder feedback value changes, and the changed position feedback value remains unchanged for less than or equal to 1000 ms, the position output value is sent to the engine control unit using the position feedback value before the change. If the changed position feedback value remains unchanged for more than 1000 ms, the position output value is sent to the engine control unit using the changed position feedback value.

[0107] At point ③ in the diagram, the encoder function is enabled, and the position encoder provides feedback on the current motor position. A shift motor control command is received. At this time: If the position feedback value does not change, the position encoder feedback value is the current position encoder feedback value sent to the engine control unit.

[0108] If the position encoder feedback value changes. When the changed position feedback value is continuously unchanged for less than or equal to 1000 ms, the position output value is sent to the engine control unit with the changed position feedback value. When the changed position feedback value is continuously unchanged for more than 1000 ms, the position output value is sent to the engine control unit with the changed position feedback value.

[0109] At time ④ in the figure, the encoder function is enabled, and the position encoder feeds back the current motor position. The shift operation is performed, and the motor is driven to the left or the motor is driven to the right. The motor operates according to the motor drive signal with a duty cycle of 100%. At this time: If the position feedback value does not change, the position encoder feedback value is the current position encoder feedback value sent to the engine control unit.

[0110] If the position encoder feedback value changes. When the changed position feedback value is continuously unchanged for less than or equal to 4 ms, the position output value is sent to the engine control unit with the changed position feedback value. When the changed position feedback value is continuously unchanged for more than 4 ms, the position output value is sent to the engine control unit with the changed position feedback value. If the position encoder rotation direction is 2H direction, if the left second bit of the position encoder position feedback value is 0, the position output value is sent to the engine control unit with the left second bit of the position encoder position feedback value being set to 1. If the left second bit of the position encoder position feedback value is not 0, the position output value is sent to the engine control unit with the current position encoder position feedback value.

[0111] At time ⑤ in the figure, the encoder function is enabled, and the position encoder feeds back the current motor position. The duty cycle of the motor drive signal is 0. At this time: If the position feedback value does not change, the position encoder feedback value is the current position encoder feedback value sent to the engine control unit.

[0112] If the position encoder feedback value changes. When the changed position feedback value is continuously unchanged for less than or equal to 1000 ms, the position output value is sent to the engine control unit with the changed position feedback value. When the changed position feedback value is continuously unchanged for more than 1000 ms, the position output value is sent to the engine control unit with the changed position feedback value.

[0113] At time ⑥ in the figure, the encoder function is enabled, and the position encoder feeds back the current motor position. The duty cycle of the motor drive signal is 0. At this time: If the position feedback value does not change, the position encoder feedback value is the current position encoder feedback value sent to the engine control unit.

[0114] If the position encoder feedback value changes. When the continuous unchanged time of the changed position feedback value is less than or equal to 1000ms, the position output value is the position feedback value before the change sent to the engine control unit. When the continuous unchanged time of the changed position feedback value is greater than 1000ms, the position output value is the changed position feedback value sent to the engine control unit.

[0115] At time ⑦ in the figure, the encoder function is turned off, the transfer case motor is stopped, and the motor drive signal duty cycle is 0. At this time: the position encoder feedback value fed back to the engine control unit is 1111.

[0116] The embodiment of the application provides a vehicle driving position feedback system suitable for a vehicle four-wheel drive system. Figure 11 The figure shows a structural schematic diagram of the vehicle driving position feedback system.

[0117] The vehicle driving position feedback system 100 comprises: A data acquisition module 101 is configured to acquire a motor drive signal and a position encoder feedback value. A selection module 102 is connected with an engine control unit 200, and the selection module is configured to select whether to enable an encoder function after receiving a drive enable signal sent by the engine control unit. A first judgment module 103 is connected with the data acquisition module 101 and the selection module 102, and the first judgment module 103 is configured to judge whether the motor drive signal duty cycle is 0 and whether the received position encoder position feedback value changes after the encoder function is enabled. A second judgment module 104 is connected with the first judgment module 103, and the second judgment module 104 is configured to judge whether the continuous unchanged time of the changed position feedback value is greater than a first set time threshold when the motor drive signal duty cycle is 0 and the position feedback value changes. An output module 105 is connected with the second judgment module 104 and the engine control unit 200, and the output module 105 is configured to output the position output value to the engine control unit 200 as the position feedback value before the change when the continuous unchanged time is less than or equal to the first set time threshold, and output the position output value to the engine control unit 200 as the changed position feedback value when the continuous unchanged time is greater than the first set time threshold.

[0118] In an embodiment of the present application, the second judging module 104 is further configured to: when the duty cycle of the motor driving signal is not 0 and the position feedback value changes, judge whether the continuous unchanged time of the changed position feedback value is greater than a second set time threshold; the second set time threshold is less than the first set time threshold.

[0119] In an embodiment of the present application, the output module 105 is further configured to: when the continuous unchanged time is less than or equal to the second set threshold, output the position feedback value before the change as the position output value to the engine control unit 200; when the continuous unchanged time is greater than the second set threshold, output the changed position feedback value as the position output value to the engine control unit 200.

[0120] In an embodiment of the present application, the output module 105 is further configured to: when the duty cycle of the motor driving signal is 0 and the position feedback value does not change, output the current position feedback value as the position output value to the engine control unit 200.

[0121] In an embodiment of the present application, the output module 105 is further configured to: when the duty cycle of the motor driving signal is not 0 and the position feedback value does not change, output the current position feedback value as the position output value to the engine control unit.

[0122] In an embodiment of the present application, the first judging module 103 is further configured to: after the encoder function is enabled, judge whether the position encoder is in the 4H mode position; when the position encoder is in the 4H mode, judge whether the duty cycle of the motor driving signal is 0, and judge whether the rotation direction of the position encoder is rotating to the 2H mode position direction.

[0123] In an embodiment of the present application, the second judging module 104 is further configured to: when the duty cycle of the motor driving signal is not 0 and the rotation direction of the position encoder is rotating to the 2H mode position direction, judge whether the flag bit code of the received position encoder position feedback value is the first preset code.

[0124] In an embodiment of the present application, the output module 105 is further configured to: when the flag bit code is the first preset code, send the position encoder position feedback value after the flag bit code is set to the second preset code as the position output value to the engine control unit 200; when the flag bit code is not the first preset code, send the current position encoder position feedback value as the position output value to the engine control unit 200.

[0125] The embodiment of the present application further provides a computer program product, which comprises computer program codes, and when the computer program codes are executed on a computer, the computer is caused to execute the vehicle driving position feedback method related to the above embodiment. The computer program can be loaded on a vehicle system.

[0126] The embodiment of the present application further provides a computer readable storage medium, which stores program codes, and when the program codes are executed on a processor, the device comprising the processor is caused to execute the vehicle driving position feedback method related to the above embodiment. The processor running the computer readable storage medium can be loaded on a vehicle system.

[0127] It should be understood that when the modules or units described herein are implemented in software, they can be entirely or partially implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are entirely or partially generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another computer readable storage medium, and the computer readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)), etc.

[0128] The embodiment of the present application provides a chip system, which includes a processor, or a chip system including a memory and a processor, for calling a computer program or computer instructions stored in the memory, so that the processor executes the vehicle driving position feedback method related to the above embodiment. The chip system can be a single chip or a chip module composed of multiple chips. The chip system can be loaded on a vehicle system.

[0129] The embodiment of the present application provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the electronic device implements the vehicle driving position feedback method related to the above embodiment. The electronic device can be loaded on a vehicle system.

[0130] The embodiment of the present application provides a vehicle.

[0131] For example, see Figure 12The vehicle 300 comprises a memory 301, a processor 302, and a computer program 303 stored in the memory 301 and capable of running on the processor 302, and the processor 302 implements the vehicle driving position feedback method related to the above-described embodiments when executing the computer program 303.

[0132] For example, the vehicle 300 can comprise a data acquisition module, a selection module, a first judgment module, a second judgment module, and an output module, which are integrated in the processor.

[0133] The data acquisition module is configured to acquire the motor driving signal and the position encoder feedback value. The selection module is connected with the engine control unit, and is configured to select whether to enable the encoder function after receiving the driving enable signal sent by the engine control unit. The first judgment module is connected with the data acquisition module and the selection module, and is configured to judge whether the motor driving signal duty cycle is 0 and whether the received position encoder position feedback value changes after the encoder function is enabled. The second judgment module is connected with the first judgment module, and is configured to judge whether the continuous unchanged time of the changed position feedback value is greater than the first set time threshold when the motor driving signal duty cycle is 0 and the position feedback value changes. The output module is connected with the second judgment module and the engine control unit, and is configured to output the position feedback value before the change as the position output value to the engine control unit when the continuous unchanged time is less than or equal to the first set time threshold, and output the changed position feedback value as the position output value to the engine control unit when the continuous unchanged time is greater than the first set time threshold.

[0134] Those skilled in the art can realize that the modules, units and method steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware, or a combination of computer software and electronic hardware. Whether the functions are executed in hardware or software mode depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0135] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, and all should be covered. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle drive position feedback method applied to a vehicle four-wheel drive system, characterized by, The method comprises: after receiving the drive enable signal, determining whether to enable the encoder function; after the encoder function is enabled, determining whether the duty cycle of the motor drive signal is 0 and whether the received position encoder position feedback value changes; when the duty cycle of the motor drive signal is 0 and the position feedback value changes, determining whether the continuous unchanged time of the changed position feedback value is greater than a first set time threshold; when the continuous unchanged time is less than or equal to the first set time threshold, taking the position feedback value before the change as the position output value; when the continuous unchanged time is greater than the first set time threshold, taking the changed position feedback value as the position output value.

2. The vehicle drive position feedback method of claim 1, wherein The method further comprises: when the duty cycle of the motor drive signal is not 0 and the position feedback value changes, determining whether the continuous unchanged time of the changed position feedback value is greater than a second set time threshold; the second set time threshold is less than the first set time threshold; when the continuous unchanged time is less than or equal to the second set threshold, taking the position feedback value before the change as the position output value; when the continuous unchanged time is greater than the second set threshold, taking the changed position feedback value as the position output value.

3. The vehicle drive position feedback method of claim 1, wherein The method further comprises: when the duty cycle of the motor drive signal is 0 and the position feedback value does not change, taking the current position feedback value as the position output value.

4. The vehicle drive position feedback method of claim 1, wherein The method further comprises: when the duty cycle of the motor drive signal is not 0 and the position feedback value does not change, taking the current position feedback value as the position output value.

5. The vehicle drive position feedback method of claim 1, wherein The method for determining whether the received position encoder position feedback value changes comprises: determining whether the position encoder position feedback value at the current time is consistent with the position encoder position feedback value at the last time; if the position encoder position feedback value at the current time is consistent with the position encoder position feedback value at the last time, it is considered that the position encoder position feedback value does not change; if the position encoder position feedback value at the current time is not consistent with the position encoder position feedback value at the last time, it is considered that the position encoder position feedback value changes.

6. The vehicle drive position feedback method of claim 1, wherein The method further comprises: after the encoder function is enabled, determining whether the position encoder is in the 4H mode position; when the position encoder is in the 4H mode, determining whether the duty cycle of the motor drive signal is 0 and whether the rotation direction of the position encoder is rotating to the 2H mode position direction; when the duty cycle of the motor drive signal is not 0 and the rotation direction of the position encoder is rotating to the 2H mode position direction, determining whether the flag bit code of the received position encoder position feedback value is the first preset code; when the flag bit code is the first preset code, taking the position encoder position feedback value after the flag bit code is set to the second preset code as the position output value, the second preset code being different from the first preset code; when the flag bit code is not the first preset code, taking the current position encoder position feedback value as the position output value.

7. The vehicle drive position feedback method of claim 6, wherein The method for determining whether the position encoder is in the 4H mode position comprises: determining whether the position encoder position feedback value is the code corresponding to the 4H mode position; If the position encoder position feedback value is the code corresponding to the 4H mode position, it is considered that the position encoder is in the 4H mode position; if the position encoder position feedback value is not the code corresponding to the 4H mode position, it is considered that the position encoder is not in the 4H mode position.

8. The vehicle drive position feedback method of claim 6, wherein, The method for judging whether the rotation direction of the position encoder is the direction of rotating to the 2H mode position is: judging whether the received driving direction is a preset direction; if the driving direction is the preset direction, it is considered that the rotation direction of the position encoder is the direction of rotating to the 2H mode position; otherwise, it is considered that the rotation direction of the position encoder is not the direction of rotating to the 2H mode position.

9. A vehicle drive position feedback system for use in a vehicle four-wheel drive system, comprising: comprising: a data acquisition module, configured to acquire a motor driving signal and a position encoder feedback value; a selection module, connected with the engine control unit, the selection module is configured to select whether to enable the encoder function after receiving the driving enable signal sent by the engine control unit; a first judgment module, connected with the data acquisition module and the selection module, the first judgment module is configured to judge whether the duty cycle of the motor driving signal is 0 and whether the received position encoder position feedback value changes after the encoder function is enabled; a second judgment module, connected with the first judgment module, the second judgment module is configured to judge whether the continuous unchanged time of the changed position feedback value is greater than a first set time threshold when the duty cycle of the motor driving signal is 0 and the position feedback value changes; an output module, connected with the second judgment module and the engine control unit, the output module is configured to output the position output value to the engine control unit with the position feedback value before the change when the continuous unchanged time is less than or equal to the first set time threshold; output the position output value to the engine control unit with the position feedback value after the change when the continuous unchanged time is greater than the first set time threshold.

10. A vehicle characterized by comprising: The vehicle comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor realizes the vehicle driving position feedback method of any one of claims 1 to 8; or the vehicle comprises the vehicle driving position feedback system of claim 9. The vehicle comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor realizes the vehicle driving position feedback method of any one of claims 1 to 8; or the vehicle comprises the vehicle driving position feedback system of claim 9.

Images