Driving mode switching method and device, equipment and storage medium

Abstract

The invention provides a driving mode switching method, device and equipment and a storage medium, and is applied to the technical field of automobile drive.The method is applied to a vehicle control system and comprises the steps that in response to operation of a driver, a driving mode switching request is sent to a rear axle disconnected type differential mechanism; and switching the driving mode by controlling the coupling state of the rear axle disconnect differential and the torque of the rear wheel based on the driving mode switching request.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automobile driving technology, and in particular to a driving mode switching method, device, equipment and storage medium. BACKGROUND

[0002] The split-time four-wheel drive vehicle is equipped with an electromagnetic disconnect device differential, and a user controls the rear axle disconnect differential to be disconnected or combined according to the whole vehicle driving condition, so as to realize the switching of four-wheel drive and two-wheel drive, and take into account the economy, passability and power performance of the vehicle.

[0003] Specifically, the rear axle disconnect differential of the electromagnetic disconnect device realizes the conversion of the driving mode by controlling the state of the electromagnetic coil and the disconnect device. When the electromagnetic coil is attracted, the disconnect device is combined, the rear axle disconnect differential transmits the driving torque from the main reduction gear ring to the left and right half shafts, and drives the vehicle to move forward or backward. When the electromagnetic coil is attracted, the rotation of the planetary gear and the half shaft gear matches the differential of the left and right half shafts. When the electromagnetic coil is disconnected, the electromagnetic coil is in a power-off state, and under the action of the return spring, the disconnect tooth moves axially and is separated from the inner differential case, thereby cutting off the power transmission path of the main reduction gear ring and the half shaft, and the vehicle enters the two-wheel drive state. Therefore, how to effectively manage and control the switching of the driving mode is a problem to be solved at present. SUMMARY

[0004] The present application aims to solve at least one of the technical problems existing in the prior art, and provides a driving mode switching method, device, equipment and storage medium. The state of the rear axle disconnect differential is controlled according to the driving mode switching instruction sent by the vehicle control system, so as to smoothly realize the switching of the driving mode.

[0005] In a first aspect, an embodiment of the present application provides a driving mode switching method applied to a vehicle control system, and the method comprises the following steps:

[0006] In response to the operation of a driver, a driving mode switching request is sent to a rear axle disconnect differential;

[0007] The combination state of the rear axle disconnect differential and the rear wheel torque are controlled based on the driving mode switching request, and the driving mode is switched.

[0008] In a second aspect, an embodiment of the present application provides a driving mode switching system applied to a vehicle control system, and the system comprises the following modules:

[0009] A sending module is configured to send a driving mode switching request to a rear axle disconnect differential in response to the operation of a driver;

[0010] A switching module is configured to control the combination state of the rear axle disconnect differential and the rear wheel torque based on the driving mode switching request, and switch the driving mode.

[0011] Thirdly, embodiments of the present invention provide an electronic device, including:

[0012] One or more processors;

[0013] Memory, used to store one or more programs;

[0014] When the one or more programs are executed by the one or more processors, the one or more processors implement the methods as described in any of the first aspects.

[0015] Fourthly, embodiments of this application provide a computer-readable medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the steps of any of the methods described in the first aspect.

[0016] The drive mode switching method provided by this invention involves the vehicle control system sending a drive mode switching request to the rear axle disconnect differential after detecting the driver's operation. This allows the vehicle control system to reduce the torque on the rear wheels and change the engagement state of the rear axle disconnect differential, thereby enabling the switching between two-wheel drive mode and four-wheel drive mode. Attached Figure Description

[0017] Figure 1 A flowchart illustrating a method for switching drive modes provided in an embodiment of the present invention;

[0018] Figure 2 An exemplary schematic diagram of a drive mode switching method provided in an embodiment of the present invention;

[0019] Figure 3 This is an exemplary schematic diagram of a torque transfer method provided in an embodiment of the present invention.

[0020] Figure 4 A structural block diagram of a drive mode switching system provided in an embodiment of the present invention;

[0021] Figure 5 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0022] To enable those skilled in the art to better understand the technical solutions of the present invention, exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0023] Where there is no conflict, the various embodiments of the present invention and the features thereof may be combined with each other.

[0024] As used herein, the term “and / or” includes any and all combinations of one or more related enumerated entries.

[0025] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein, the singular forms “a” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that when the terms “comprising” and / or “made of” are used in this specification, the presence of the stated feature, integral, step, operation, element, and / or component is specified, but the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof is not excluded. Terms such as “connected” or “linked” are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect.

[0026] Unless otherwise specified, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having the meaning consistent with their meaning in the context of the relevant art and the invention, and will not be interpreted as having an idealized or overly formal meaning unless expressly so defined herein.

[0027] In the technical solution of this invention, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information all comply with relevant laws and regulations and do not violate public order and good morals. The use of user data in this technical solution follows relevant national laws and regulations (e.g., the "Information Security Technology - Personal Information Security Specification"). For example: appropriate measures are taken for personal information access control; restrictions are imposed on the display of personal information; the purpose of using personal information does not exceed the scope of direct or reasonable association; and explicit identity targeting is eliminated when using personal information to avoid precisely locating a specific individual.

[0028] To address at least one of the technical problems existing in the aforementioned related technologies, the present invention provides a method for switching drive modes.Figure 1 This is a flowchart illustrating a method for switching drive modes provided in an embodiment of the present invention, as shown below. Figure 1 As shown, this method is applied to a vehicle control system, and the method includes:

[0029] S101, In response to the driver's operation, a drive mode switching request is sent to the rear axle disconnect differential.

[0030] The drive mode switching request includes a two-wheel drive switching request and a four-wheel drive switching request. The two-wheel drive switching request instructs the vehicle control system to switch the vehicle from four-wheel drive mode to two-wheel drive mode. The four-wheel drive switching request instructs the vehicle control system to switch the vehicle from two-wheel drive mode to four-wheel drive mode.

[0031] S102. Based on the drive mode switching request, control the engagement state of the rear axle disconnect differential and the rear wheel torque to switch the drive mode.

[0032] Understandably, when the drive mode switching request is for two-wheel drive, the vehicle control system reduces the torque to the rear wheels and disengages the rear axle differential, switching the vehicle to two-wheel drive mode. When the drive mode switching request is for four-wheel drive, the rear axle differential engages, switching the vehicle to four-wheel drive mode.

[0033] Using the above method, after detecting the driver's operation, the vehicle control system sends a drive mode switching request to the rear axle disconnect differential. In this way, the vehicle control system controls the reduction of rear wheel torque and changes the engagement state of the rear axle disconnect differential, thereby realizing the switching between two-wheel drive mode and four-wheel drive mode.

[0034] In some embodiments of this application, regarding the above-mentioned S101, based on the engagement state of the rear axle disconnect differential and the rear wheel torque controlled by the drive mode switching request, the drive mode is switched. When the drive mode switching request is a four-wheel drive switching request, it can be specifically implemented as follows:

[0035] Step 1: Control the speed of the rear axle motor according to the current vehicle speed.

[0036] Step 2: When the rear axle motor speed and the vehicle speed are matched, control the rear axle disconnect differential to be in the closed state.

[0037] Specifically, there are no particular restrictions on the method for calculating the corresponding driving speed of the rear wheels based on the wheel rotation speed.

[0038] Step 3: Receive the first status information from the rear axle disconnect differential and confirm that the vehicle has switched to four-wheel drive mode.

[0039] The first state information is used to carry the engagement state of the rear axle disconnect differential. In this embodiment, the first state information indicates that the rear axle disconnect differential is in the closed state.

[0040] Using the method provided in this application embodiment, when the drive mode switching request is a four-wheel drive switching request, the rear motor speed is controlled, and when the wheel speed and vehicle speed are matched, the rear axle disconnect differential is controlled to close, thus achieving a smooth switching of drive modes.

[0041] In some embodiments of this application, regarding the above-mentioned S102, based on the engagement state of the rear axle disconnect differential and the rear wheel torque controlled by the drive mode switching request, the drive mode is switched. When the drive mode switching request is a two-wheel drive switching request, it can be specifically implemented as follows:

[0042] Step A: Transfer the torque from the rear axle to the front axle.

[0043] Transferring rear axle torque to front axle means increasing front axle torque according to the decrease in rear axle torque.

[0044] Step B: If the rear axle torque meets the preset conditions, receive the second status information sent by the rear axle disconnect differential.

[0045] The preset conditions can be that the rear axle torque is 0, or less than 105 Nm for 0.2 seconds.

[0046] Step C: Send a disconnect request to the rear axle disconnect differential to control the rear axle disconnect differential to be in a disconnected state.

[0047] Step D: Receive the third status information from the rear axle disconnect differential and determine that the vehicle has switched to two-wheel drive mode.

[0048] The third state information is used to carry the engagement state of the rear axle disconnect differential. In this embodiment, the third state information indicates that the rear axle disconnect differential is in the disconnected state.

[0049] Using the method provided in this application embodiment, when the drive mode switching request is a two-wheel drive switching request, the torque transfer of the rear axle is achieved by reducing the torque of the rear axle and increasing the torque of the front axle. Then, a disconnection request is sent to the rear axle disconnect differential to control the rear axle disconnect differential to disconnect. In this way, it can avoid the rear axle still outputting torque, which would prevent the rear axle disconnect differential from disengaging, thus achieving a smooth switch of drive modes.

[0050] The following combination Figure 2 This section details the process of switching driver modes, such as... Figure 2 As shown:

[0051] S201. When the vehicle is in front-wheel drive mode, it receives a request from the driver to enter four-wheel drive mode.

[0052] The front-wheel drive mode is the initial state of the driving mode. When the rear axle disconnect differential is engaged or remains disengaged, and only the front axle can output torque to drive the vehicle, the vehicle is in front-wheel drive mode.

[0053] Before the vehicle is powered off, if it is in four-wheel drive mode, a disconnect command will be sent to the rear axle disconnect differential to return to front-wheel drive mode. When the vehicle is powered on and in front-wheel drive mode, if a driver request is received, the switching control process from front-wheel drive to four-wheel drive will be initiated.

[0054] S202, Send a speed adjustment request to the rear axle disconnect differential.

[0055] Specifically, the rear axle disconnect differential begins to match the rear axle motor speed with the vehicle's travel speed.

[0056] S203, Send an engagement request to the rear axle disconnect differential.

[0057] S204, the vehicle is switched to four-wheel drive mode.

[0058] Specifically, when the rear axle disconnect differential is engaged or continuously engaged, allowing both the front and rear axles to simultaneously output torque to drive the vehicle, the vehicle is in four-wheel drive mode. While in four-wheel drive mode, if the vehicle loses power or receives a front-wheel drive request from the driver, a switch from four-wheel drive to front-wheel drive control will be initiated.

[0059] S205. When the vehicle is powered off or the driver requests to enter front-wheel drive mode, torque transfer is performed.

[0060] Before sending the disconnect command to the rear axle disconnect differential, to ensure its smooth disconnection and to meet the driver's torque requirements, the torque distribution ratio between the front and rear axles needs to be controlled. This involves reducing the rear axle torque to zero and transferring it to the front axle. During this torque transfer, the actual drive torque output from the rear axle to the wheels is monitored in real time. When the actual wheel-end torque of the rear axle drops to near zero torque, the torque transfer is considered successful.

[0061] Considering the torque control accuracy of the rear axle motor, the torque transmission ratio from the rear axle drive system to the wheel end, and the actual requirements for the disconnection of the rear axle disconnect differential, the torque transfer is considered successful when the actual wheel end torque of the rear axle is less than 105 Nm for 0.2 seconds.

[0062] S206. If the torque transfer to the rear axle is successful, send a disconnect request to the rear axle disconnect differential.

[0063] Using the method provided in this application embodiment, during actual driving, the vehicle control system controls the rear axle disconnect differential to cycle through the above 6 state machines, thereby realizing on-demand switching from front-wheel drive to four-wheel drive and from four-wheel drive to front-wheel drive.

[0064] Regarding step A above, transferring the rear axle torque to the front axle via a rear axle disconnect differential can be specifically achieved as follows:

[0065] Obtain the actual and target torque distribution ratios of the front axle. Calculate the real-time transfer torque based on the dynamic weights, the actual and target torque distribution ratios of the front axle. Decrease the rear axle torque and increase the front axle torque according to the real-time transfer torque.

[0066] Among them, the actual torque distribution ratio and the target torque distribution ratio of the front axle are used to calculate the real-time transfer torque, including:

[0067] The real-time transfer torque is calculated using the following formula:

[0068]

[0069] in, To transfer torque in real time, For dynamic weights, This represents the actual torque distribution ratio of the front axle. This is the target torque distribution ratio for the front axle.

[0070] The calculation of real-time transfer torque based on dynamic weights, the actual torque distribution ratio of the front axle, and the target torque distribution ratio of the front axle can be specifically implemented as follows:

[0071] Starting from the moment the two-wheel drive switching request is received from the rear axle disconnect differential, the dynamic weight is increased every preset control cycle to obtain the actual dynamic weight. For each preset control cycle, the real-time transfer torque is calculated based on the actual dynamic weight, the actual torque distribution ratio of the front axle, and the target torque distribution ratio of the front axle.

[0072] The preset control cycle can be set in advance based on experience, and the actual torque distribution ratio of the front axle is the percentage of the front axle output torque to the total output torque of the front and rear axles.

[0073] In one example, the preset control period can be 10 milliseconds.

[0074] For each preset control cycle, the dynamic weight is increased according to the limit rate of change to obtain the actual dynamic weight.

[0075] The rate of change limit is used to restrict the rate of change of the dynamic weights. The upper limit of the rate of change limit can be obtained by a one-dimensional lookup table using the actual output torque of the rear axle. In this way, the rate of change can be limited, enabling a uniform reduction of the rear axle torque within each preset control cycle, thus increasing the smoothness of torque transfer. In one example, the rate of change limit can be 0.02.

[0076] The method provided in this application embodiment achieves a smooth transition of driving modes through torque transfer.

[0077] The following combination Figure 3 Introducing methods of torque transfer, such as Figure 3 As shown:

[0078] The actual drive torque of the rear axle is input into two one-dimensional lookup table modules (1-DT(u)). One module outputs the torque directly as the maximum limit of the rate of change. The other module outputs the torque after passing through the "×-1" module as the minimum limit of the rate of change.

[0079] Upon receiving the rear axle torque reduction activation signal, a control signal u is generated through a conditional judgment module (if then else) and a comparator. When the rear axle torque reduction is activated, u triggers the subsequent torque transfer process; otherwise, It will gradually decrease from 1 to 0.

[0080] The limiter adjusts the input signal according to the input signal. The rate of change of the dynamic weights is limited. An upper limit of 0.02 is set for the rate of change of the dynamic weights to ensure... The transition from 0 to 1 (or from 1 to 0) is smooth, avoiding overly abrupt torque transfer.

[0081] The above formula can be implemented using hardware such as adders. .

[0082] Based on the same concept, embodiments of this application also provide a drive mode switching system, applied to a vehicle control system, such as... Figure 4 As shown, the system includes:

[0083] The sending module 401 is used to send a drive mode switching request to the rear axle disconnect differential in response to the driver's operation;

[0084] The switching module 402 is used to control the engagement state of the rear axle disconnect differential and the rear wheel torque based on the drive mode switching request, so as to switch the drive mode.

[0085] In one possible implementation, the drive mode switching request is a four-wheel drive switching request; the switching module 402 is specifically used for:

[0086] The rear axle motor speed is controlled according to the vehicle's current driving speed;

[0087] When the rear axle motor speed and the vehicle speed are matched, the rear axle disconnect differential is controlled to be in the closed state;

[0088] Upon receiving the first status information from the rear axle disconnect differential, it is determined that the vehicle has switched to four-wheel drive mode.

[0089] In one possible implementation, the drive mode switching request is a four-wheel drive switching request; the switching module 402 is specifically used for:

[0090] Transferring torque from the rear axle to the front axle;

[0091] When the rear axle torque meets the preset conditions, the second status information sent by the differential rear axle disconnect differential is received.

[0092] Send a disconnect request to the rear axle disconnect differential to control the rear axle disconnect differential to be in a disconnected state;

[0093] Upon receiving the third state information from the rear axle disconnect differential, the vehicle is determined to switch to two-wheel drive mode.

[0094] In one possible implementation, the switching module 402 is specifically used for:

[0095] Obtain the actual torque distribution ratio and the target torque distribution ratio of the front axle;

[0096] The real-time transfer torque is calculated based on the dynamic weights, the actual torque distribution ratio of the front axle, and the target torque distribution ratio of the front axle.

[0097] The rear axle torque is reduced and the front axle torque is increased according to the real-time transfer torque.

[0098] In one possible implementation, the switching module 402 is specifically used to: calculate the real-time transfer torque according to the following formula:

[0099]

[0100] in, The real-time transfer torque, For the dynamic weight, This refers to the actual torque distribution ratio of the front axle. The target torque distribution ratio for the front axle.

[0101] In one possible implementation, the switching module 402 is specifically used for:

[0102] Starting from the moment the two-drive switching request is received by the rear axle disconnect differential, the dynamic weight is increased every preset control cycle to obtain the actual dynamic weight;

[0103] For each preset control cycle, the real-time transfer torque is calculated according to the actual dynamic weight, the actual torque distribution ratio of the front axle, and the target torque distribution ratio of the front axle.

[0104] In one possible implementation, the switching module 402 is specifically used for:

[0105] For each preset control cycle, the dynamic weight is increased according to the limited rate of change to obtain the actual dynamic weight;

[0106] The rate of change restriction is used to limit the rate of change of the dynamic weight.

[0107] Based on the same inventive concept, embodiments of the present invention also provide an electronic device. Figure 5 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Figure 5 As shown, an embodiment of the present invention provides an electronic device including: one or more processors 501, a memory 502, and one or more I / O interfaces 503. The memory 502 stores one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement any of the drive mode switching methods described in the above embodiments; the one or more I / O interfaces 503 are connected between the processor and the memory, configured to enable information interaction between the processor and the memory.

[0108] Among them, processor 501 is a device with data processing capabilities, including but not limited to central processing unit (CPU); memory 502 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory (FLASH); I / O interface (read-write interface) 103 is connected between processor 501 and memory 502, and can realize information interaction between processor 501 and memory 502, including but not limited to data bus (Bus).

[0109] In some embodiments, the processor 501, memory 502, and I / O interface 503 are interconnected via bus 504, and thus connected to other components of the computing device.

[0110] In some embodiments, the one or more processors 501 include a field-programmable gate array.

[0111] This invention also provides a computer-readable medium. The computer-readable medium stores a computer program, which, when executed by a processor, implements the steps in any of the drive mode switching methods described in the above embodiments. The computer-readable storage medium may be volatile or non-volatile.

[0112] This invention also provides a computer program product, including computer-readable code, or a non-volatile computer-readable storage medium carrying computer-readable code. When the computer-readable code is run in the processor of an electronic device, the processor in the electronic device executes the above-described method for switching drive modes.

[0113] Those skilled in the art will understand that all or some of the steps, systems, and apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software can be distributed on a computer-readable storage medium, which may include computer storage media (or non-transitory media) and communication media (or transient media).

[0114] As is known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable program instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), flash memory or other memory technologies, portable compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, it is known to those skilled in the art that communication media typically contain computer-readable program instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0115] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0116] The computer program instructions used to perform the operations of this invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the computer-readable program instructions. This electronic circuitry can execute the computer-readable program instructions to implement various aspects of the invention.

[0117] The computer program product described herein can be implemented specifically through hardware, software, or a combination thereof. In one alternative embodiment, the computer program product is specifically embodied in a computer storage medium; in another alternative embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0118] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0119] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0120] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0121] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0122] Example embodiments have been disclosed herein, and while specific terminology has been used, it is for illustrative purposes only and should be construed as such, and is not intended to be limiting. In some instances, it will be apparent to those skilled in the art that features, characteristics, and / or elements described in conjunction with particular embodiments may be used alone, or in combination with features, characteristics, and / or elements described in conjunction with other embodiments, unless otherwise expressly indicated. Therefore, those skilled in the art will understand that various changes in form and detail may be made without departing from the scope of the invention as set forth in the appended claims.

Claims

1. A method of driving mode switching, characterized by, Applied to a vehicle control system, the method comprises: In response to the operation of the driver, a drive mode switching request is sent to the rear axle disconnecting differential; Based on the drive mode switching request, the combination state and rear wheel torque of the rear axle disconnecting differential are controlled to switch the drive mode.

2. The method of claim 1, wherein, The drive mode switching request is a four-wheel drive switching request; the drive mode is switched based on the drive mode switching request, including: The rear axle motor speed is controlled according to the current vehicle speed; In the case that the rear axle motor speed and the vehicle speed match, the rear axle disconnecting differential is controlled to be in a closed state; The first state information fed back by the rear axle disconnecting differential is received to determine that the vehicle is switched to four-wheel drive mode.

3. The method of claim 1, wherein, The drive mode switching request is a two-wheel drive switching request; the drive mode is switched based on the drive mode switching request, including: The rear axle torque is transferred to the front axle; In the case that the rear axle torque meets the preset condition, the second state information sent by the rear axle disconnecting differential is received; A disconnecting request is sent to the rear axle disconnecting differential to control the rear axle disconnecting differential to be in a disconnected state; The third state information fed back by the rear axle disconnecting differential is received to determine that the vehicle is switched to two-wheel drive mode.

4. The method of claim 3, wherein, The rear axle torque is transferred to the front axle, including: The front axle actual torque distribution ratio and the front axle target torque distribution ratio are obtained; According to the dynamic weight, the front axle actual torque distribution ratio and the front axle target torque distribution ratio, the real-time transfer torque is calculated; The rear axle torque is reduced and the front axle torque is increased according to the real-time transfer torque.

5. The method of claim 4, wherein, According to the dynamic weight, the front axle actual torque distribution ratio and the front axle target torque distribution ratio, the real-time transfer torque is calculated, including: The real-time transfer torque is calculated according to the following formula: wherein, is the real-time transfer torque, is the dynamic weight, is the front axle actual torque distribution ratio, is the front axle target torque distribution ratio.

6. The method of claim 4, wherein, According to the dynamic weight, the front axle actual torque distribution ratio and the front axle target torque distribution ratio, the real-time transfer torque is calculated, including: Starting from receiving the two-wheel drive switching request from the rear axle disconnecting differential, the dynamic weight is increased every preset control period to obtain the actual dynamic weight; For each preset control period, the real-time transfer torque is calculated according to the actual dynamic weight, the front axle actual torque distribution ratio and the front axle target torque distribution ratio.

7. The method of claim 5, wherein, Starting from receiving the two-wheel drive switching request from the rear axle disconnecting differential, the dynamic weight is increased every preset control period to obtain the actual dynamic weight, including: For each preset control period, the dynamic weight is increased according to the limit change rate to obtain the actual dynamic weight; The limit change rate is used to limit the change rate of the dynamic weight.

8. A system for driving mode switching, characterized by Applied to a vehicle control system, the system comprises: A sending module is configured to send a drive mode switching request to the rear axle disconnecting differential in response to the operation of the driver; A switching module is configured to control the combination state and rear wheel torque of the rear axle disconnecting differential based on the drive mode switching request to switch the drive mode.

9. An electronic device, comprising: Including: one or more processors; a memory storing one or more programs; when the one or more programs are executed by the one or more processors, cause the one or more processors to carry out the method according to any one of claims 1 to 7.

10. A computer readable medium having stored thereon a computer program, characterized in that the computer program which, when executed by the processor, carries out the steps of the method according to any one of claims 1 to 7.

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