Differential lock control method, device and equipment, vehicle, chip and storage medium
By monitoring the position of the differential lock and limiting the torque of the drive motor, the problem of low success rate of differential lock closure and disengagement is solved, achieving a smooth control process and reduced noise.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-26
- Publication Date
- 2026-03-10
AI Technical Summary
In existing technologies, the success rate of differential lock closure or disengagement is low, and relying on precise speed difference control can easily lead to problems such as voltage and current fluctuations and torque-speed mismatch.
By monitoring the position of the differential lock and limiting the output torque of the drive motor, the differential lock is ensured to reach the target position, avoiding dependence on motor speed regulation and achieving a smooth closing and opening process.
It improves the success rate of differential lock engagement and disengagement, reduces time consumption, lowers the noise of the electric drive assembly, and reduces dependence on backlash size.
Smart Images
Figure CN121625833A_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of vehicle automatic control technology, and in particular to a control method, device, equipment, vehicle, chip, and storage medium for a differential lock. Background Technology
[0002] When a vehicle is in a specific operating condition, such as wheel slippage, the differential lock can be engaged to ensure that the wheels on both sides of the same axle rotate at the same speed and torque, thus helping the vehicle escape the special operating condition. Related technologies can sense the speed difference between the two wheels on the same axle and then control the position of the differential lock based on this speed difference, thereby closing or opening the differential lock. Summary of the Invention
[0003] This disclosure provides a control method, device, electronic equipment, vehicle, chip, and storage medium for a differential lock, at least addressing the issue in related technologies where controlling a differential lock via speed difference requires precise speed difference control, resulting in a low success rate for differential lock closure or disengagement. The technical solution of this disclosure is as follows: According to a first aspect of the present disclosure, a method for controlling a differential lock is provided, comprising: Based on the current operating condition of the vehicle, determine the control command for the differential lock, and control the output torque of at least one drive motor associated with the differential lock to apply torque to the corresponding wheel; The position status of the differential lock is monitored according to the control command; In response to the detected position state of the differential lock not reaching the target position state corresponding to the control command, the torque output of the at least one drive motor is limited so that the differential lock reaches the target position state.
[0004] According to a second aspect of the present disclosure, a control device for a differential lock is provided, comprising: The determination module is configured to execute control commands for the differential lock based on the current operating conditions of the vehicle, and to control the output torque of at least one drive motor associated with the differential lock to apply torque to the corresponding wheel. The position monitoring module is configured to monitor the position status of the differential lock according to the control command. The control module is configured to limit the torque output of the at least one drive motor in response to the detected position state of the differential lock not reaching the target position state corresponding to the control command, so that the differential lock reaches the target position state.
[0005] According to a third aspect of the present disclosure, a vehicle is provided, including a differential lock, a first wheel and a second wheel, a first drive motor and a second drive motor, wherein the first drive motor is used to drive the first wheel to rotate, and the second drive motor is used to drive the second wheel to rotate; and... The processor, and the memory used to store processor-executable instructions; The differential lock is mounted on the axle of the first wheel and the second vehicle, the first drive motor is mounted between the differential lock and the first wheel, the second drive motor is mounted between the differential lock and the second wheel, and the differential lock control device is connected to the first drive motor, the second drive motor and the differential lock respectively. The processor is configured to implement the step of the differential lock control method according to the first aspect of the present disclosure, so as to control the differential lock.
[0006] According to a fourth aspect of the present disclosure, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the steps of the differential lock control method described in the first aspect of the present disclosure.
[0007] According to a fifth aspect of the present disclosure, a computer-readable storage medium is provided that stores computer program instructions thereon, which, when executed by a processor, implement the steps of the differential lock control method described in the first aspect of the present disclosure.
[0008] According to a sixth aspect of the present disclosure, a chip is provided, the chip including an interface circuit and a processing circuit coupled to each other, the interface circuit being used to input or output signals, and the processing circuit being configured to implement the steps of the differential lock control method described in the first aspect of the present disclosure.
[0009] According to a seventh aspect of the present disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the differential lock control method described in the first aspect of the present disclosure.
[0010] The technical solutions provided by the embodiments of this disclosure bring at least the following beneficial effects: During the differential lock closing and opening processes, the closing and opening of the differential lock are achieved by limiting the torque output of the drive motor. Compared with related technologies that rely on motor speed regulation, this avoids issues such as voltage and current fluctuations and torque-speed mismatch, thereby reducing the time required for differential lock closing and opening. Furthermore, by limiting the output torque of the drive motor, the closing and opening of the differential lock can be completed naturally and smoothly, thus improving the success rate of closing and opening. Moreover, the differential lock closing and opening in this disclosure does not depend on motor speed regulation, reducing the differential lock's dependence on backlash size. This allows for the design of a smaller backlash in the differential lock, thereby reducing the noise of the electric drive assembly.
[0011] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description
[0012] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure, and are not intended to unduly limit this disclosure.
[0013] Figure 1 This is a flowchart illustrating a control method for a differential lock according to an exemplary embodiment.
[0014] Figure 2 This is a schematic diagram of a differential lock according to an exemplary embodiment.
[0015] Figure 3 This is a schematic diagram illustrating the target position state that the differential lock needs to reach when the control command is the first control command, according to an exemplary embodiment.
[0016] Figure 4 This is a schematic diagram illustrating the target position state that the differential lock needs to reach when the control command is the second control command, according to an exemplary embodiment.
[0017] Figure 5 This is a flowchart illustrating a control method for a differential lock according to another exemplary embodiment.
[0018] Figure 6 This is a flowchart illustrating a control method for a differential lock according to another exemplary embodiment.
[0019] Figure 7 This is a flowchart illustrating a control method for a differential lock according to another exemplary embodiment.
[0020] Figure 8 This is a schematic diagram illustrating the control process of a differential lock according to another exemplary embodiment.
[0021] Figure 9 This is a schematic flowchart illustrating the closing process of a differential lock according to an exemplary embodiment.
[0022] Figure 10 This is a schematic flowchart illustrating the closing process of a differential lock according to another exemplary embodiment.
[0023] Figure 11 This is a schematic diagram of the structure of a differential lock control device according to an exemplary embodiment.
[0024] Figure 12 This is a schematic diagram of the structure of a vehicle according to an exemplary embodiment.
[0025] Figure 13 This is a schematic diagram of the structure of a vehicle according to another exemplary embodiment.
[0026] Figure 14 This is a schematic diagram of the structure of a chip according to an exemplary embodiment. Detailed Implementation
[0027] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings.
[0028] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.
[0029] The following description, with reference to the accompanying drawings, outlines a control method, apparatus, electronic device, vehicle, chip, and storage medium for differential locks according to embodiments of the present disclosure.
[0030] Figure 1 This is a flowchart illustrating a control method for a differential lock according to an exemplary embodiment, as shown below. Figure 1 As shown, the differential lock control method of this disclosure includes the following steps.
[0031] S101 determines the control command for the differential lock based on the current operating condition of the vehicle, and controls the output torque of at least one drive motor associated with the differential lock to apply torque to the corresponding wheel.
[0032] It should be noted that the execution subject of the differential lock control method in this embodiment is an electronic device, such as an on-board controller chip. The on-board controller may include a VCU (Vehicle Control Unit), an electric drive controller, or a differential lock controller.
[0033] The differential lock control method of this disclosure embodiment can be executed by the differential lock control device of this disclosure embodiment. The differential lock control device of this disclosure embodiment can be configured in any electronic device to execute the differential lock control method of this disclosure embodiment.
[0034] In some embodiments, the vehicle can collect driving status data and power system data based on the sensors provided, and identify the current operating condition of the vehicle based on the driving status data and power system data.
[0035] In some embodiments, the current operating condition of the vehicle can be either a condition that requires the differential lock to be closed or a condition that requires the differential lock to be opened.
[0036] In some embodiments, the conditions requiring the differential lock to be engaged may include, but are not limited to: single-wheel slippage, single-wheel suspension, low-traction road surface driving, off-road extrication, and hill climbing.
[0037] In some embodiments, the operating conditions requiring the differential lock to be engaged may include, but are not limited to: driving conditions on hard surfaces such as urban roads and highways, turning conditions, and acceleration or braking conditions on high-traction surfaces.
[0038] In some embodiments, a working condition comparison table may be pre-set, and the working condition comparison table may be queried based on driving status data and power system data to determine the current working condition of the vehicle.
[0039] In some embodiments, a working condition recognition model can be pre-trained, and driving status data and power system data can be input into the working condition recognition model. The working condition can be predicted by the working condition recognition model to output the current working condition of the vehicle.
[0040] In some embodiments, after determining the current operating condition of the vehicle, a control command for the differential lock can be determined based on the current operating condition. In response to a current operating condition requiring differential lock closure, the control command for the differential lock can be determined as a first control command, which instructs the differential lock to close. In response to a current operating condition requiring differential lock disengagement, the control command for the differential lock can be determined as a second control command, which instructs the differential lock to disengage.
[0041] In some embodiments, after determining the current operating condition of the vehicle, a torque request can be sent to the drive motor associated with the differential lock based on the current operating condition. This controls the drive motor to output torque, which is then applied to the corresponding wheels to rotate them. The rotation of the wheels simultaneously rotates the wheel-end output shaft, thereby causing the differential lock to move and thus closing or opening. It is understood that the torque request sent to the drive motor will differ under different operating conditions.
[0042] In some embodiments, the drive motors controlled under different operating conditions may be different. In response to the current operating condition requiring the differential lock to be closed, two drive motors associated with the differential lock can be controlled; in response to the current operating condition requiring the differential lock to be open, one of the drive motors associated with the differential lock can be controlled.
[0043] S102 monitors the position status of the differential lock according to control commands.
[0044] like Figure 2 As shown, the differential lock 200 may include: a first engagement tooth 201, a second engagement tooth 202, a return elastic component 203, and an electromagnetic control mechanism 204, wherein the electromagnetic control mechanism 204 includes an electromagnetic coil 2041 and a magnet 2042.
[0045] In some embodiments, in response to a first control command, the electromagnetic coil 2041 can be energized, thereby enabling the magnet 2402 to generate a magnetic field, which in turn pushes the second engagement tooth 202 toward the first engagement tooth 201, engaging the two engagement teeth and locking the differential function of the differential. Furthermore, during the energization of the electromagnetic coil 2041, the position status of the differential lock is continuously monitored to determine whether locking has been completed.
[0046] In some embodiments, in response to a second control command, the electromagnetic coil 2041 can be de-energized, causing the magnetic field to disappear. This allows the second engagement tooth 202 to be pulled back from the first engagement tooth 201 by the elastic force of the return elastic member 203, returning the first engagement tooth 201 and the second engagement tooth 202 to their separated state, thereby restoring the differential to its normal differential function. Furthermore, the position status of the differential lock is continuously monitored after the electromagnetic coil 2041 is de-energized to determine whether disengagement has been completed.
[0047] S103, in response to detecting that the position state of the differential lock has not reached the target position state corresponding to the control command, limits the torque output of at least one drive motor so that the differential lock reaches the target position state.
[0048] In some embodiments, the target position state that the differential lock needs to reach can be determined according to the control command. For example, when the control command is the first control command, the target position state that the differential lock needs to reach is as follows: Figure 3 As shown, for example, when the control command is the second control command, the target position state that the differential lock needs to reach is, such as... Figure 4 As shown.
[0049] In some embodiments, the position state of the differential lock is monitored in real time. Optionally, the position state of the differential lock can be detected by a position sensor. If the position state of the differential lock is detected to be below the target position state corresponding to the control command, the torque output of at least one drive motor is limited to allow the differential lock to reach the target position state.
[0050] In the case of differential lock closure, by limiting the torque output by the two drive motors, the rate of change of the rotational speed of the output shafts of the two drive wheels can be ensured not to be too fast. Then, under the action of the differential lock spring, the differential lock is disengaged, that is, the differential lock reaches the target position.
[0051] In the case of differential lock disengagement, by limiting the torque output of one of the drive motors, the differential lock can overcome the jamming problem, and then the differential lock will close under the action of the differential lock spring, that is, the differential lock reaches the target position.
[0052] Understandably, in response to the differential lock's position not reaching the target position corresponding to the control command, the torque output of at least one drive motor can be limited. This avoids deformation or jamming of components such as the return spring mechanism due to excessive torque, allowing the differential lock to close smoothly. Furthermore, during disengagement, variations in torque within a certain range can overcome jamming issues, enabling smooth disengagement of the differential lock.
[0053] In this disclosure, the control command for the differential lock is determined based on the current operating condition of the vehicle, and the output torque of at least one drive motor associated with the differential lock is controlled to apply torque to the corresponding wheels. Furthermore, the position state of the differential lock is monitored according to the control command, and if the differential lock has not reached the target position state, the output torque of at least one drive motor is limited to ensure the differential lock reaches the target position state. In this disclosure, the differential lock closing and opening are achieved by limiting the output torque of the drive motor. Compared with related technologies that rely on motor speed regulation, this avoids voltage and current fluctuations and torque-speed mismatch issues, thereby reducing the time required for differential lock closing and opening. Furthermore, by limiting the output torque of the drive motor, the closing and opening of the differential lock can be completed naturally and smoothly, thus improving the success rate of closing and opening. Moreover, the closing and opening of the differential lock in this disclosure does not depend on motor speed regulation, reducing the differential lock's dependence on backlash size. This allows for the design of a smaller backlash in the differential lock, thereby reducing the noise of the electric drive assembly.
[0054] Figure 5 This is a flowchart illustrating a control method for a differential lock according to another exemplary embodiment, such as... Figure 5 As shown, the differential lock control method of this disclosure includes the following steps.
[0055] S501 determines the control command for the differential lock based on the current operating condition of the vehicle, and controls the output torque of at least one drive motor associated with the differential lock to apply torque to the corresponding wheel.
[0056] S502 monitors the position status of the differential lock according to control commands.
[0057] S503, in response to the differential lock's position state not reaching the target position state corresponding to the control command, limits the torque output of at least one drive motor so that the differential lock reaches the target position state.
[0058] The implementation of steps S501 to S503 can be carried out in any of the embodiments in this application, and will not be described in detail here.
[0059] S504, continue to monitor the position status of the differential lock until the position status of the differential lock reaches the target position status, and release the limitation on the torque output of at least one drive motor.
[0060] In some embodiments, after executing step S503, the position state of the differential lock can continue to be monitored. If the position state of the differential lock has not reached the target position state, torque control can be further performed to make the differential lock reach the target position state. Optionally, in the differential lock closed scenario, the current in the electromagnetic coil of the differential lock can be adjusted according to the difference between the current state and the target position state, thereby changing the electromagnetic field and driving the differential lock to close.
[0061] In some embodiments, in response to the differential lock reaching the target position state, the limitation on the torque output of at least one drive motor can be released, that is, the drive motor can be restored to normal working mode and can output torque normally according to the driving needs of the vehicle.
[0062] In this disclosure, the differential lock is closed and opened by limiting the torque output of the drive motor during the differential lock closure and opening process. This avoids voltage and current fluctuations and torque-speed mismatch issues, thereby reducing the time required for differential lock closure and opening. Furthermore, the differential lock closure and opening are completed smoothly and naturally, improving the success rate. Since the differential lock closure and opening do not depend on motor speed regulation, the dependence of the differential lock on backlash size is reduced, allowing for a smaller backlash design and thus reducing noise in the electric drive assembly.
[0063] Figure 6 This is a flowchart illustrating a control method for a differential lock according to another exemplary embodiment, such as... Figure 6 As shown, the differential lock control method of this disclosure includes the following steps.
[0064] S601 determines the control command for the differential lock as the first control command for closing the differential lock, based on the current operating condition of the vehicle, and controls the output torque of the two drive motors associated with the differential lock to apply torque to the corresponding wheels.
[0065] In some embodiments, in response to the vehicle's current operating condition requiring the differential lock to be closed, the control command for the differential lock is determined to be the first control command for closing the differential lock.
[0066] In some embodiments, the conditions requiring the differential lock to be engaged may include, but are not limited to: single-wheel slippage, single-wheel suspension, low-traction road surface driving, off-road extrication, and hill climbing.
[0067] In some embodiments, the control command for the differential lock is determined to be the first control command for differential lock closure. A torque request can be sent to both drive motors, and the two drive motors are controlled to output torque based on this torque request. It is understood that during initial control, a torque request can be sent to the drive motors according to the default or adapted torque of the first control command to control the drive motors to output torque. In subsequent control processes, the torque request needs to be updated based on the upper limit of the speed change rate to control the torque output of the two drive motors associated with the differential lock, so that the speed change rate of the two drive wheel output shafts associated with the differential lock varies within a certain range.
[0068] S602, according to the first control command, controls the current of the electromagnetic coil of the differential lock, and monitors and provides feedback on the position status of the differential lock.
[0069] In some embodiments, current can be passed through the electromagnetic coil of the differential lock according to a first control command to drive the electromagnetic coil to generate a magnetic field. Furthermore, the position state of the differential lock can be monitored by a position sensor. That is, after the electromagnetic coil of the differential lock is energized, the electromagnetic coil can generate a magnetic field of a specific polarity under the action of the current. Furthermore, the magnetic field forms a repulsive or attractive force with the magnet, thereby pushing the second engagement tooth to move in the direction of the first engagement tooth, thereby adjusting the position state of the differential lock.
[0070] S603 determines whether the position state of the differential lock has reached the target position state corresponding to the control command.
[0071] In some embodiments, if the position state of the differential lock does not reach the target position state corresponding to the control command, then step S604 is executed; if the position state of the differential lock reaches the target position state corresponding to the control command, then step S606 is executed.
[0072] S604 determines the maximum speed difference and the longest closing time of the differential lock.
[0073] S605 controls the torque output of the two drive motors associated with the differential lock based on the longest closing time and the maximum speed difference, so as to limit the rate of change of the speed of the output shafts of the two drive wheels to vary within a certain range.
[0074] In some embodiments, an upper limit of the rate of change of rotational speed of the two drive motors associated with the differential lock is determined based on the maximum speed difference and the maximum closing time. Furthermore, the torque output by the two drive motors associated with the differential lock is limited based on the upper limit of the rate of change of rotational speed, thereby ensuring that the rate of change of rotational speed of the output shafts of the two drive wheels associated with the differential lock varies within a certain range. In other words, it can be ensured that the rate of change of rotational speed of the output shafts of the two drive wheels is not too fast, so that the differential lock can close under the action of the differential lock spring.
[0075] S606 provides feedback on the differential lock's position status and removes the restriction that the rate of change of the output shaft speed of the two drive wheels can vary within a certain range.
[0076] In some embodiments, after limiting the torque output of the two drive motors, the position state of the differential lock can continue to be monitored until the position state of the differential lock reaches the target position state, thereby releasing the limitation on the torque output of at least one drive motor, that is, releasing the limitation on the rate of change of the rotational speed of the two drive wheel output shafts.
[0077] In some embodiments, after detecting that the differential lock has reached the target position, information indicating that the differential lock has reached the target position can be fed back.
[0078] In some embodiments, during the monitoring of the position status of the differential lock, the real-time position status of the differential lock can be fed back.
[0079] In this disclosure, the differential lock closure is achieved by limiting the rate of change of the rotational speed of the two drive wheel output shafts during the differential lock closure process. Compared with related technologies that use motor speed regulation, this avoids problems such as voltage and current fluctuations and torque-speed mismatch, thereby reducing the differential lock closure time. Furthermore, by limiting the output torque of the drive motor, the differential lock can close naturally and smoothly, improving the success rate of closure and opening. Moreover, the differential lock closure in this disclosure does not depend on motor speed regulation, reducing the differential lock's dependence on backlash size. This allows for the design of a smaller backlash in the differential lock, thereby reducing the noise of the electric drive assembly.
[0080] Figure 7 This is a flowchart illustrating a control method for a differential lock according to another exemplary embodiment, such as... Figure 7 As shown, the differential lock control method of this disclosure includes the following steps.
[0081] S701, based on the current operating condition of the vehicle, determines that the control command for the differential lock is a second control command to disengage the differential lock, and controls the output torque of at least one drive motor associated with the differential lock to apply torque to the corresponding wheel.
[0082] In some embodiments, in response to the vehicle's current operating condition requiring the differential lock to be disengaged, the control command for the differential lock is determined to be a second control command for disengaging the differential lock.
[0083] In some embodiments, the operating conditions requiring the differential lock to be engaged may include, but are not limited to: driving conditions on hard surfaces such as urban roads and highways, turning conditions, and acceleration or braking conditions on high-traction surfaces.
[0084] In some embodiments, if the control command for the differential lock is determined to be a second control command for disengaging the differential lock, a torque request can be sent to the drive motor, and the drive motor can be controlled to output zero torque according to the torque request. It is understood that during initial control, a zero torque request can be sent to the drive motor, and during subsequent control processes, the torque request needs to be updated according to a set torque range to control the torque output of one of the drive motors associated with the differential lock to fluctuate within that set range.
[0085] S702, according to the second control command, de-energizes the electromagnetic coil of the differential lock and monitors and provides feedback on the position status of the differential lock.
[0086] In some embodiments, the magnitude of the energizing current of the electromagnetic coil can be determined according to the second control command, thereby changing the magnitude of the current in the electromagnetic coil of the differential lock. When the electromagnetic coil is energized, it can generate a magnetic field of a specific polarity under the action of the current, thereby forming a repulsive or attractive force with the magnet, which in turn pushes the second engagement tooth to move towards the first engagement tooth, thereby adjusting the position state of the differential lock.
[0087] S703 determines whether the position state of the differential lock has reached the target position state corresponding to the control command.
[0088] In some embodiments, the position state of the differential lock can be detected based on the position sensor. If the position state of the differential lock has not reached the target position state corresponding to the control command, then step S704 is executed. If the position state of the differential lock has reached the target position state corresponding to the control command, then step S705 is executed.
[0089] S704 adjusts the torque output of one of the drive motors associated with the differential lock within a set torque range, wherein the absolute value of the endpoint of the set torque range is less than the set torque value.
[0090] In some embodiments, in response to the periodic variation of the torque output by one of the drive motors associated with the differential lock within a set torque range, the jitter frequency of the differential lock under periodic torque variation is determined, and further, based on the jitter frequency, the torque of one of the drive motors associated with the differential lock is controlled to jitter within the set torque range.
[0091] In some embodiments, the torque range can be calibrated based on the differential lock's disengagement success rate. For example, the torque range can be set to (-3 Nm, 3 Nm).
[0092] In some embodiments, the jitter frequency can also be calibrated based on the success rate of differential lock disengagement.
[0093] S705 provides feedback on the differential lock's position status, releasing the restriction on the torque output of one of the drive motors to fluctuate within a set torque range.
[0094] In some embodiments, after the torque output of one of the drive motors associated with the differential lock fluctuates within a set range, the position state of the differential lock can continue to be monitored until the position state of the differential lock reaches the target position state, thereby releasing the restriction that the torque output of one of the drive motors fluctuates within the set torque range.
[0095] In some embodiments, after detecting that the differential lock has reached the target position, information indicating that the differential lock has reached the target position can be fed back.
[0096] In some embodiments, during the monitoring of the position status of the differential lock, the real-time position status of the differential lock can be fed back.
[0097] In this disclosure, during the differential lock disengagement process, torque jitter output is achieved through the drive motor to disengage the differential lock, eliminating issues such as voltage and current fluctuations and torque-speed mismatch, thereby reducing the differential lock disengagement time. Furthermore, the differential lock disengagement is completed naturally and smoothly, improving the success rate. Since differential lock disengagement does not rely on motor speed regulation, the dependence of the differential lock on backlash size is reduced, allowing for the design of a smaller backlash in the differential lock, thus reducing the noise of the electric drive assembly.
[0098] In conjunction with the vehicle's control system, electronic equipment may include the vehicle's overall controller and electric drive controller. The vehicle controller and electric drive controller work together to control the differential lock. The following section will discuss this further. Figure 8 The control process of the differential lock is illustrated by example: In some embodiments, when the vehicle controller detects that the driver needs to get out of trouble off-road, or when the vehicle controller detects that the tires are slipping, the vehicle controller can request the electric drive controller to engage the differential lock to get out of trouble or release the slippage. Optionally, the electric drive controller may integrate a control unit for the differential lock.
[0099] In some embodiments, the vehicle controller and the electric drive controller can interact. Optionally, the vehicle controller can send control commands for the differential lock and torque requests to the electric drive controller. Optionally, the electric drive controller can send differential lock position status and torque limitation information to the vehicle controller. The torque limitation information may include the upper limit of the rate of change of rotational speed as described in the above embodiments, and the set torque range corresponding to torque jitter output. That is, the electric drive controller will detect the position status of the differential lock in real time and feed it back to the vehicle controller. Then, the vehicle controller will limit the torque of the drive motor according to the position status of the differential lock to meet the driver's driving needs.
[0100] In some embodiments, the vehicle power supply provides power to the electric drive controller and the vehicle controller.
[0101] In some embodiments, the electric drive controller can send control commands to the electromagnetic coil of the differential lock to control the current of the electromagnetic coil. The differential lock can monitor its own position status and report the position status back to the electric drive controller.
[0102] In some embodiments, the mechanical structure of the differential lock can enable the differential lock to open and close. When the differential lock is open, the first wheel and the second wheel associated with the differential lock can travel at different speeds. When the differential lock is closed, the first wheel and the second wheel associated with the differential lock can travel synchronously.
[0103] Figure 9 This is a schematic flowchart illustrating the closing process of a differential lock according to another exemplary embodiment, such as... Figure 9 As shown, the differential lock closing process of this embodiment includes the following steps: S91 sends a differential lock closing command to the electric drive controller, and also sends a drive torque request to the electric drive controller.
[0104] In some embodiments, the vehicle controller identifies the need to close the differential lock based on the vehicle's operating conditions and sends a differential lock closing command to the electric drive controller, while also sending a drive torque request to the electric drive controller.
[0105] S92, the electric drive controller supplies current to the differential lock clutch to drive the differential lock's solenoid coil.
[0106] S93, the electric drive controller determines in real time whether the differential lock has been closed based on the position signal of the differential lock.
[0107] When the electric drive controller determines that the differential lock has not reached the closed state, it executes step S94 and returns to step 91; when the electric drive controller determines that the differential lock is fully closed, it executes step S95.
[0108] S94 provides feedback indicating that the differential lock is engaged and limits the rate of change of the rotational speed of the two drive wheel output shafts.
[0109] In some embodiments, the calculation is based on the longest engagement time of the differential lock and the maximum speed difference that can be engaged. That is, the upper limit of the rate of change of speed is the ratio of the maximum speed difference that can be engaged to the mechanical action time. Optionally, the torque change is related to the rate of change of speed. When the rate of change of speed is limited, the torque will also be limited accordingly, thereby avoiding large torque output and enabling the differential lock to engage naturally.
[0110] S95 sends a feedback message to the vehicle controller indicating that the differential lock is engaged, thereby removing the restriction on the rate of change of the output shaft speed of the two drive wheels.
[0111] Understandably, the differential lock can be engaged through the above controls, such as... Figure 3 As shown. When the electric drive controller detects that the differential lock is fully engaged, it can send an indication message to the vehicle controller that the differential lock is engaged. In response to this indication message, the vehicle controller releases the torque limitation on the drive motor, which means it releases the limitation on the rate of change of speed, so that the drive motor can output torque normally according to the vehicle's driving conditions.
[0112] Figure 10 This is a schematic flowchart illustrating the closing process of a differential lock according to another exemplary embodiment, such as... Figure 10 As shown, the differential lock closing process of this embodiment includes the following steps: S11 sends a differential lock disengagement command to the electric drive controller and simultaneously performs zero-torque control on the electric drive controller.
[0113] In some embodiments, the vehicle controller identifies the need to disconnect the differential lock based on the vehicle's operating conditions and sends a differential lock disconnect command to the electric drive controller, while simultaneously performing zero-torque control on the electric drive controller.
[0114] S12, the electric drive controller de-energizes the electromagnetic coil of the differential lock, that is, cuts off the current to the differential lock clutch.
[0115] S13, the electric drive controller determines in real time whether the differential lock has been disconnected based on the differential lock position signal.
[0116] If the differential lock is not disengaged, execute S14 and return to step 11; if the differential lock is disengaged, execute S16.
[0117] S14 provides feedback indicating that the differential lock is in the process of disengaging.
[0118] S15 performs small torque jitter control on one side of the drive motor during disconnection.
[0119] Optionally, the small torque is typically ±3 Nm, and the vibration frequency can be calibrated. For example, the vibration frequency and small torque can be calibrated based on the success rate of differential lock disengagement to determine the setting range and frequency of torque vibration.
[0120] S16 sends a notification to the vehicle controller that the differential lock has been disengaged, thus releasing the torque limit on the drive motor.
[0121] Understandably, the differential lock can be disengaged through the above controls, such as... Figure 4 As shown. When the electric drive controller detects that the differential lock is completely disengaged, it can send an indication message to the vehicle controller that the differential lock has been disengaged. In response to this indication message, the vehicle controller releases the torque limit on the drive motor.
[0122] Figure 11 This is a schematic diagram illustrating the structure of a differential lock control device according to an exemplary embodiment. (Refer to...) Figure 11 The differential lock control device 1100 of this embodiment includes: a determination module 1101, a position monitoring module 1102 and a control module 1103.
[0123] The determination module 1101 is configured to execute control commands for determining the differential lock based on the current operating conditions of the vehicle, and to control the output torque of at least one drive motor associated with the differential lock to apply torque to the corresponding wheel. Position monitoring module 1102 is configured to monitor the position status of the differential lock according to the control command; The control module 1103 is configured to limit the torque output of the at least one drive motor in response to detecting that the position state of the differential lock has not reached the target position state corresponding to the control command, so that the differential lock reaches the target position state.
[0124] In some embodiments, the position monitoring module 1102 is further configured to continue monitoring the position state of the differential lock after limiting the torque output of the at least one drive motor.
[0125] In some embodiments, the control module 1103 is configured to release the restriction that the torque output by the at least one drive motor varies within a certain range when the differential lock reaches the target position state.
[0126] In some embodiments, the control module 1103 is further configured to execute a first control command in response to the control command for differential lock closure, determine the maximum speed difference and the longest closing time of the differential lock; and control the torque output of the two drive motors according to the longest closing time and the maximum speed difference of the differential lock, so that the rate of change of the rotational speed of the two drive wheel output shafts associated with the differential lock varies within a certain range.
[0127] In some embodiments, the control module 1103 is further configured to perform the following actions: determining an upper limit of the rate of change of rotational speed of the two drive motors associated with the differential lock based on the maximum speed difference and the maximum closing time; and controlling the torque output by the two drive motors based on the upper limit of the rate of change of rotational speed, so that the rate of change of rotational speed of the output shafts of the two drive wheels associated with the differential lock varies within a certain range.
[0128] In some embodiments, the position adjustment module 1102 is further configured to perform current control on the electromagnetic coil of the differential lock according to the control command, so as to cause the elastic component of the differential lock to change the position state of the differential lock, and to monitor the position state of the differential lock.
[0129] In some embodiments, the control module 1103 is further configured to execute a second control command in response to the control command for disengaging the differential lock, adjusting the torque output of one of the drive motors associated with the differential lock within a set torque range, wherein the absolute value of the endpoint of the set torque range is less than a set torque value.
[0130] In some embodiments, the control module 1103 is further configured to perform a periodic change in response to the torque output by the drive motor within a set torque range, determine the jitter frequency of the differential lock under the periodic torque change, and control the torque of one of the drive motors associated with the differential lock to jitter output within the set torque range according to the jitter frequency.
[0131] In some embodiments, the position monitoring module 1102 is further configured to perform a power-off control on the electromagnetic coil of the differential lock, so that the elastic component of the differential lock changes the position state of the differential lock, and to monitor the position state of the differential lock.
[0132] In some embodiments, the position monitoring module 1102 is further configured to, during the process of monitoring the position status of the differential lock, provide feedback on the real-time position status of the differential lock.
[0133] In this disclosure, the differential lock is closed and opened by limiting the torque output of the drive motor during the differential lock closure and opening process. This avoids voltage and current fluctuations and torque-speed mismatch issues, thereby reducing the time required for differential lock closure and opening. Furthermore, the differential lock closure and opening are completed smoothly and naturally, improving the success rate. Since the differential lock closure and opening do not depend on motor speed regulation, the dependence of the differential lock on backlash size is reduced, allowing for a smaller backlash design and thus reducing noise in the electric drive assembly.
[0134] To implement the above embodiments, this disclosure also proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of the differential lock control method provided in this disclosure.
[0135] To achieve the above embodiments, this disclosure also proposes a vehicle, such as... Figure 12 As shown, the vehicle 1200 includes a differential lock 1201, a coaxial first wheel 1202 and a second wheel 1203, a first drive motor 1204 and a second drive motor 1205, wherein the first drive motor 1204 is used to drive the first wheel 1202 to rotate, and the second drive motor 1205 is used to drive the second wheel 1203 to rotate; and a processor 1206, and a memory 1207 for storing processor-executable instructions. In this embodiment, a differential lock 1201 is mounted on the axle 1208 of the first wheel 1202 and the second wheel 1203; a first drive motor 1204 is mounted between the differential lock 1201 and the first wheel 1202; a second drive motor 1205 is mounted between the differential lock 1201 and the second wheel 1203; and a processor 1206 is connected to the first drive motor 1204, the second drive motor 1205, and the differential lock 1201. The processor 1206 is configured to implement embodiments of this disclosure. Figure 1-10 The steps of the differential lock control method shown are for controlling the differential lock to close or open.
[0136] In the vehicle of this embodiment, the differential lock is closed and opened by limiting the torque output of the drive motor during the differential lock closure and opening process. This avoids problems such as voltage and current fluctuations and torque-speed mismatch, thereby reducing the time required for differential lock closure and opening. Furthermore, the differential lock closure and opening are completed naturally and smoothly, improving the success rate. Since the differential lock closure and opening do not depend on motor speed regulation, the dependence of the differential lock on backlash size is reduced, allowing for a smaller backlash design and thus reducing noise in the electric drive assembly.
[0137] Figure 13 This is a schematic diagram illustrating the structure of a vehicle according to another exemplary embodiment. For example, vehicle 1300 can be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. Vehicle 1300 can be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.
[0138] Reference Figure 13 The vehicle 1300 may include various subsystems, such as an infotainment system 1310, a perception system 1320, a decision control system 1330, a drive system 1340, and a computing platform 1350. The vehicle 1300 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of the vehicle 1300 can be interconnected via wired or wireless means.
[0139] In some embodiments, the infotainment system 1310 may include a communication system, an entertainment system, and a navigation system, etc.
[0140] The perception system 1320 may include several sensors for sensing information about the environment surrounding the vehicle 1300. For example, the perception system 1320 may include a global positioning system (which may be a GPS system, a BeiDou system, or another positioning system), an inertial measurement unit (IMU), a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device.
[0141] The decision control system 1330 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.
[0142] The drive system 1340 may include components that provide powered motion to the vehicle 1300. In one embodiment, the drive system 1340 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.
[0143] Some or all of the functions of the vehicle 1300 are controlled by a computing platform 1350. The computing platform 1350 may include at least one processor 1351 and a memory 1352, the processor 1351 being able to execute instructions 1353 stored in the memory 1352.
[0144] Processor 1351 can be any conventional processor, such as a commercially available CPU. Processors may also include graphics processing units (GPUs), field-programmable gate arrays (FPGAs), systems-on-chips (SoCs), application-specific integrated circuits (ASICs), or combinations thereof.
[0145] The memory 1352 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.
[0146] In addition to instruction 1353, memory 1352 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 1352 can be used by computing platform 1350.
[0147] In this embodiment of the disclosure, processor 1351 may execute instruction 1353 to implement all or part of the steps of the differential lock control method provided in this disclosure.
[0148] To implement the above embodiments, this disclosure also proposes a computer-readable storage medium storing computer program instructions thereon, which, when executed by a processor, implement the steps of the differential lock control method provided in this disclosure.
[0149] Alternatively, the computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.
[0150] To implement the above embodiments, this disclosure also proposes a chip including an interface circuit and a processing circuit coupled to each other. The interface circuit is used to input or output signals, and the processing circuit is configured to implement the steps of the differential lock control method provided in this disclosure.
[0151] Figure 14 This is a schematic diagram illustrating the structure of a chip according to an exemplary embodiment. See also... Figure 14 The diagram shown is a schematic representation of the structure of chip 1400, but it is not limited to this.
[0152] Chip 1400 includes processing circuit 1401, which is configured to execute any of the above differential lock control methods.
[0153] In some embodiments, chip 1400 further includes one or more interface circuits 1402. Optionally, interface circuit 1402 is connected to memory 1403, and interface circuit 1402 can be used to receive signals from memory 1403 or other devices, and interface circuit 1402 can be used to send signals to memory 1403 or other devices. For example, interface circuit 1402 can read instructions stored in memory 1403 and send the instructions to processing circuit 1401.
[0154] In some embodiments, the interface circuit 1402 performs at least one of the communication steps such as sending and / or receiving in the above method, while the processing circuit 1401 performs other steps.
[0155] In some embodiments, the terms interface circuit, interface, transceiver pin, transceiver, etc., can be used interchangeably.
[0156] In some embodiments, chip 1400 further includes one or more memories 1403 for storing instructions. Optionally, all or part of the memories 1403 may be located outside of chip 1400.
[0157] To implement the above embodiments, this disclosure also proposes a computer program product, including a computer program that, when executed by a processor, implements the steps of the differential lock control method provided in this disclosure.
[0158] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.
[0159] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.
Claims
1. A control method of a differential lock, characterized by, The method comprises: determining a control instruction of the differential lock according to a current working condition of the vehicle, and controlling at least one driving motor output torque associated with the differential lock to apply torque to a corresponding wheel; monitoring a position state of the differential lock according to the control instruction; in response to the monitored position state of the differential lock not reaching a target position state corresponding to the control instruction, limiting the torque output by the at least one driving motor to enable the differential lock to reach the target position state.
2. The method of claim 1, wherein, After the torque output by the at least one driving motor is limited, the method further comprises: continuing to monitor the position state of the differential lock until the position state of the differential lock reaches the target position state, and removing the limitation on the torque output by the at least one driving motor.
3. The method of claim 1, wherein, The limiting of the torque output by the at least one driving motor comprises: in response to the control instruction being a first control instruction for closing the differential lock, determining a maximum speed difference of the differential lock and a maximum closing time of the differential lock; controlling the torque output by the two driving motors according to the maximum closing time and the maximum speed difference of the differential lock, to enable a speed change rate of two driving wheel output shafts associated with the differential lock to change within a certain range.
4. The method of claim 2, wherein, The controlling of the speed change rate of the two driving wheel output shafts associated with the differential lock within a certain range according to the maximum closing time and the maximum speed difference of the differential lock comprises: determining an upper limit value of the speed change rate of the two driving motors associated with the differential lock according to the maximum speed difference and the maximum closing time; controlling the torque output by the two driving motors according to the upper limit value of the speed change rate, to enable the speed change rate of the two driving wheel output shafts associated with the differential lock to change within a certain range.
5. The method according to any one of claims 2-4, characterized in that, The monitoring of the position state of the differential lock according to the control instruction comprises: controlling a current of the electromagnetic coil of the differential lock according to the control instruction, to enable an elastic component of the differential lock to change the position state of the differential lock, and monitoring the position state of the differential lock.
6. The method of claim 1, wherein, The limiting of the torque output by the at least one driving motor comprises: in response to the control instruction being a second control instruction for opening the differential lock, adjusting the torque output by one of the driving motors associated with the differential lock within a set torque range, wherein absolute values of end points of the set torque range are less than a set torque value.
7. The method of claim 6, wherein, The adjusting of the torque output by one of the driving motors associated with the differential lock within a set torque range comprises: in response to the torque output by the driving motor periodically changing within the set torque range, determining a dithering frequency of the differential lock under the periodic torque change; controlling the torque output by one of the driving motors associated with the differential lock to dither within the set torque range according to the dithering frequency.
8. The method of claim 6, wherein, The monitoring of the position state of the differential lock according to the control instruction comprises: According to the control instruction, the electromagnetic coil of the differential lock is controlled to be powered off, so that the elastic component of the differential lock changes the position state of the differential lock, and the position state of the differential lock is monitored.
9. The method of claim 1, wherein, The method further comprises: During the monitoring of the position state of the differential lock, the real-time position state of the differential lock is fed back.
10. A control device for a differential lock, characterized in that The method comprises: A determination module is configured to determine the control instruction of the differential lock according to the current working condition of the vehicle, and control the output torque of at least one driving motor associated with the differential lock to apply torque to the corresponding wheel; A position monitoring module is configured to monitor the position state of the differential lock according to the control instruction; A control module is configured to limit the output torque of the at least one driving motor in response to the monitored position state of the differential lock not reaching the target position state corresponding to the control instruction, so that the differential lock reaches the target position state.
11. The apparatus of claim 10, wherein, The control module is further configured to determine the maximum speed difference and the longest closing time of the differential lock in response to the control instruction being a first control instruction for closing the differential lock; According to the longest closing time and the maximum speed difference of the differential lock, the torques output by the two driving motors are controlled so that the speed change rate of the two driving wheel output shafts associated with the differential lock changes within a certain range.
12. The apparatus of claim 10, wherein, The control module is further configured to adjust the torque output by one of the driving motors associated with the differential lock within a set torque range in response to the control instruction being a second control instruction for opening the differential lock, wherein the absolute value of the endpoint value of the set torque range is less than a set torque value.
13. A vehicle characterized by comprising: Comprise: a differential lock, a first wheel and a second wheel, a first driving motor and a second driving motor, the first driving motor is used to drive the first wheel to rotate, and the second driving motor is used to drive the second wheel to rotate; And, a processor and a memory for storing processor-executable instructions; Wherein, the differential lock is arranged on the shaft of the first wheel and the second vehicle, the first driving motor is arranged between the differential lock and the first wheel, the second driving motor is arranged between the differential lock and the second wheel, and the differential lock control device is connected with the first driving motor, the second driving motor and the differential lock respectively; Wherein, the processor is configured to: implement the steps of the method of any one of claims 1-9 to control the differential lock.
14. An electronic device, comprising: comprise a memory, a processor and a computer program stored on the memory and executable on the processor, when the processor executes the program, the steps of the method of any one of claims 1-9 are implemented.
15. A computer-readable storage medium having stored thereon computer program instructions, wherein, The program instructions are executed by the processor to implement the steps of the method of any one of claims 1-9.
16. A chip, characterized by The chip comprises an interface circuit and a processing circuit coupled with each other, the interface circuit is used for inputting or outputting signals, and the processing circuit is configured to implement the steps of the method of any one of claims 1-9.
17. A computer program product, characterised in that, A computer program comprising computer program elements which, when executed by a processor, implement the steps of the method according to any one of claims 1-9.