Vehicle control method, vehicle and electronic equipment

Abstract

The invention relates to the technical field of vehicle control, in particular to a vehicle control method, a vehicle and electronic equipment. The control method comprises the steps that after a whole vehicle is powered on, whether the position of a gear shifting motor does not correspond to a determined driving gear or not is detected; if yes, a non-gear interval corresponding to the position of the gear shifting motor is determined, a first target safety gear is determined based on the non-gear interval, a four-wheel-drive state signal is configured based on the first target safety gear, and a four-wheel-drive position signal is configured based on the non-gear interval; after the four-wheel-drive state signal and the four-wheel-drive position signal are sent to the instrument and the four-wheel-drive hard switch, the gear shifting motor is driven to enter the target gear, it is ensured that the reasonable four-wheel-drive state signal and the reasonable four-wheel-drive position signal can be provided even under the abnormal condition, and therefore the safety and reliability of the vehicle are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle braking control, in particular to a vehicle control method, vehicle and electronic device. BACKGROUND

[0002] In the current automobile electronic control system, the state recognition and indication of the four-wheel drive system mainly rely on the signal interaction and response logic between the vehicle controller, the four-wheel drive controller, the hardware switch and the instrument: the four-wheel drive controller determines the current four-wheel drive mode according to the actuator or position feedback after the vehicle is powered on, and outputs the corresponding state signal to the instrument and the hardware switch to realize mode indication and user prompt.

[0003] However, when the power-on self-test or position feedback is abnormal, causing the current mode to be unable to be determined as the preset valid gear, the existing strategy often only outputs the "unknown / invalid" state and lacks further abnormal handling and explicit indication mechanism, and thus the switch end indication light may prompt the fault in a flashing manner but cannot distinguish the fault type, the instrument end does not display the specific mode, etc., making it difficult for the user to confirm the actual mode of the vehicle in time, and the fault troubleshooting also depends more on the diagnostic tool or professional personnel, thereby adversely affecting the driving safety and use reliability. SUMMARY

[0004] In a first aspect, the embodiments of the present application provide a vehicle control method applied to a four-wheel drive controller, the method comprising the following steps: After the vehicle is powered on, it is detected whether the gear motor position corresponds to a determined drive gear; If yes, a non-gear interval corresponding to the gear motor position is determined, a first target safety gear is determined based on the non-gear interval, a four-wheel drive state signal is configured based on the first target safety gear, and a four-wheel drive position signal is configured based on the non-gear interval; After the four-wheel drive state signal and the four-wheel drive position signal are sent to the instrument and the four-wheel drive hard switch, the drive motor is operated to the first target safety gear and the four-wheel drive state signal and the four-wheel drive position signal are maintained.

[0005] Specifically, detecting whether the gear motor position corresponds to a determined drive gear comprises: An encoding value representing the gear motor position is obtained through a position encoder; Based on whether the encoding value belongs to a gear encoding value, it is judged whether the gear motor position corresponds to the drive gear of the transfer case, If yes, after the four-wheel drive state signal and the four-wheel drive position signal are configured based on the encoding value, they are sent to the instrument and the four-wheel drive hard switch; If not, it is determined that the gear motor position does not correspond to the determined drive gear, i.e. the gear motor is in the switching process or in the stop zone.

[0006] Based on the above steps, this application determines whether the vehicle is in an effective transfer case gear. If it corresponds to an effective gear of 2H, 4H, or 4L, the corresponding four-wheel drive status and position signals are directly configured. If it is not in one of the above effective gears, it indicates that the shift motor may be in the process of gear switching or in an abnormal position. At this time, based on the non-gear range it is in, the most likely first target safe gear (such as 2H or 4L) is inferred to ensure the driving stability of the entire vehicle. The status and position signals are configured accordingly, and the shift motor is then driven into the target gear to avoid misleading the vehicle control system or the driver.

[0007] This application can effectively identify and handle situations where the shift motor is located in a non-standard position such as the transition zone or stop zone, ensuring that reasonable four-wheel drive status signals and four-wheel drive position signals can be provided even under abnormal conditions, thereby improving the safety and reliability of the vehicle.

[0008] In some embodiments, determining the first target safe gear based on the non-gear range includes: Based on the encoded value, determine whether the position of the shift motor is in the first transition zone, the second transition zone, or the limit zone; If the shift motor is in the first transition zone or limit zone, the first target safety gear is configured as a two-wheel drive gear. If the shift motor is in the second transition zone, the first target safety gear is configured as a low-speed four-wheel drive gear.

[0009] Based on the position range of the shift motor, the closest and safest target gear is selected as the target state of the current four-wheel drive mode. This ensures that even when the shift motor is not precisely in the gear, the four-wheel drive controller can still operate according to reasonable logic and output the appropriate drive state.

[0010] This application improves the accuracy of vehicle judgment under dynamic or abnormal conditions through the above steps. By identifying different transition zones and limit zones and setting corresponding first target safety gears, it enhances the robustness and fault adaptation capabilities of four-wheel drive control, avoiding misjudgments by the four-wheel drive controller due to the shift motor not being aligned with the effective gear. Simultaneously, it enhances the four-wheel drive controller's ability to safely control driving modes under extreme or unstable conditions.

[0011] In some embodiments, the four-wheel drive status signal is configured based on the first target safety gear, including: Based on the first target safety level, a mapping is performed to determine the corresponding status signal value; Configure the four-wheel drive status signal based on the status signal value.

[0012] Based on the above configuration, this embodiment uses the first target safety gear as input and completes the configuration of the four-wheel drive status signal through mapping. By setting a clear mapping process, the first target safety gear can be quickly and accurately converted into a four-wheel drive status signal in a standard communication format, facilitating data interaction with vehicle instruments, ECUs, and other systems, and improving the consistency and standardization of system response. Furthermore, this method supports rapid expansion or adjustment of the status signal, facilitating future system upgrades or vehicle model customization.

[0013] In some embodiments, the four-wheel drive position signal is configured based on the non-gear range, including: Based on the non-gear interval, a mapping is performed to determine the corresponding position signal value; Configure the four-wheel drive position signal based on the position signal value.

[0014] This application establishes a mapping relationship between the encoded values ​​of non-gear intervals and position signal values, determines the corresponding position signal values, and then configures these values ​​into the four-wheel drive position signal field ShiftMotPosn to achieve the reporting of the current position status of the shift motor. This allows the four-wheel drive controller to quickly determine and output standardized position signals, thereby improving the response speed and control accuracy of the entire four-wheel drive system, avoiding complex calculations, and improving processing efficiency and system maintainability.

[0015] Furthermore, through standardized position signal output, efficient communication with other system modules (such as instruments and ECUs) can be achieved, ensuring accurate synchronization of vehicle status information.

[0016] In some embodiments, if the shift motor is in a limited zone, after the drive motor operates to the first target safe gear and continues to send the four-wheel drive status signal and the four-wheel drive position signal, the method further includes: Continuously detect the encoded value of the position encoder; If the position of the shift motor does not change after the preset rotation cycle, the reverse drive motor will run to the second target safety gear, and the four-wheel drive drive signal and four-wheel drive position signal will be configured based on the second target safety gear.

[0017] Based on the above steps, when the shift motor is in the limit zone and the motor is driven to the preset first target safety gear, the four-wheel drive controller continues to monitor the encoder feedback signal. If the encoded value does not change within the preset rotation cycle, it indicates that the shift motor is still in the limit zone. The four-wheel drive controller then determines that the shift motor has failed to leave the limit zone, possibly due to mechanical jamming, motor failure, or position misjudgment. At this time, the fault-tolerant control logic is activated, driving the motor in reverse to the preset second target safety gear to configure a new four-wheel drive drive signal SystemOperMod and position signal ShiftMotPosn, thereby ensuring that the four-wheel drive state can re-enter a stable and safe gear range.

[0018] This fault-tolerant mechanism enhances the four-wheel drive control system's adaptability and recovery capabilities to abnormal states in the limit zone through continuous monitoring of the motor's motion status. By introducing a second target safety gear, alternative control paths are provided in abnormal states, preventing vehicle powertrain malfunctions or false alarms due to deadlock or persistent failure. This solution effectively improves system reliability, safety, and user experience, and is particularly suitable for scenarios involving extreme weather, frequent terrain changes, or high-frequency gear shifting.

[0019] In some embodiments, the position signal value is determined based on a pre-configured position lookup table, wherein the position lookup table is pre-configured with corresponding values ​​for the drive gear, the first transition zone, the second transition zone, or the limit zone.

[0020] This method simplifies the position recognition process, enabling accurate determination of shift positions without the need for angle calculations or motor state analysis, thereby improving the real-time performance and stability of four-wheel drive control. Standardized position signal definitions and lookup methods enhance compatibility and communication consistency with the vehicle control system and instrument cluster. Furthermore, the lookup table supports flexible expansion and maintenance, facilitating subsequent changes in motor coding formats or the refinement of more intermediate states, thus improving the system's scalability and adaptability.

[0021] In some embodiments, the state signal value is determined based on a pre-configured state lookup table, wherein the state lookup table has a corresponding value pre-configured for the corresponding drive gear.

[0022] Based on the aforementioned location lookup table, this application utilizes a pre-defined lookup table structure to quickly and accurately map coded values ​​to status signals, significantly simplifying the status recognition logic, improving the efficiency of four-wheel drive control execution, and reducing the probability of malfunctions. The table structure is intuitive and clear, facilitating system debugging, maintenance, and expansion, and enabling rapid adaptation to different coding schemes when deployed in different vehicle models. Furthermore, this method supports offline maintenance and version updates, improving the flexibility and controllability of the method configuration.

[0023] Secondly, embodiments of this application provide a vehicle including a four-wheel drive controller, the four-wheel drive controller being used to execute the control method described in the first aspect above.

[0024] Thirdly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the control method described in the first aspect above.

[0025] As can be seen from the above technical solutions, additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0026] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a code disk area division diagram based on existing technology for position encoders; Figure 2 It is a diagram showing the correspondence between the encoded values ​​fed back by the position encoder and the actual position of the motor; Figure 3 This is a flowchart illustrating the control method according to an embodiment of this application; Figure 4 This is a flowchart illustrating the transition control logic according to an embodiment of this application; Figure 5 This is a flowchart illustrating the sub-steps of the transition control logic according to an embodiment of this application; Figure 6 This is a preferred flowchart of the control method according to an embodiment of this application; Figure 7 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0028] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0029] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0030] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application refers to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship. The terms "first," "second," and "third" used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0031] The transfer case of a four-wheel drive vehicle includes a motor and a position encoder. The position encoder includes a slider and a code disk. The motor can drive the slider of the position encoder to rotate on the code disk.

[0032] Four-wheel drive vehicles include three driving modes: 2H mode (two-wheel drive), 4H mode (high-speed four-wheel drive), and 4L mode (low-speed four-wheel drive). When the four-wheel drive controller receives a mode switching command from the user, it switches the vehicle's driving mode by rotating the drive motor, provided the vehicle meets the mode switching conditions. During the rotation of the drive motor, the four-wheel drive controller can monitor the encoded value fed back by the position encoder to confirm the actual position of the motor.

[0033] refer to Figure 1 As shown, the code disk of the position encoder is divided into five partially closed annular position regions: region A, region B, region C, region D, and region OUT. The encoder blade includes five metal contacts: contact A, contact B, contact C, contact D, and contact OUT. These five metal contacts correspond to the five position regions on the code disk. The metal contacts are in contact with the code disk and are also connected to the four-wheel drive controller via wiring harnesses. Regions A, B, C, and D consist of both metal and non-metal parts, while region OUT is entirely metal. During the rotation of the encoder blade, the OUT contacts on the blade remain in contact with the metal parts. Figure 2 The shaded area represents the metal part on the code disk.

[0034] refer to Figure 2 As shown in the figure, the deformed code disk is obtained by unfolding areas A, B, C, D, and OUT of the code disk. The shaded areas represent metal parts, and the unshaded areas represent non-metal parts. When the four-wheel drive controller needs to detect the encoded value fed back by the position encoder, it first grounds the wiring harness corresponding to the OUT contact. The OUT contact can serve as the common ground for other contacts. Other contacts can form a circuit with the OUT contact through the wiring harness connected to the four-wheel drive controller. Then, by collecting the voltage values ​​on the wiring harnesses corresponding to contacts A, B, C, and D, the four-wheel drive controller can determine whether the circuit formed by each contact and the OUT contact is conductive, and thus determine whether each contact is in contact with the metal part in the corresponding position area.

[0035] When the voltage value corresponding to a contact is high, it indicates that the circuit corresponding to that contact is conducting, and the contact is in contact with the metal part in the corresponding location area. When the voltage value corresponding to a contact is low, it indicates that the circuit corresponding to that contact is open, and the contact is in contact with the non-metallic part in the corresponding location area. Here, the detected voltage values ​​can be encoded, with 0 representing a high level and 1 representing a low level. The four-wheel drive controller can obtain the encoded value by detecting the voltage values ​​corresponding to contacts A, B, C, and D respectively. This encoded value consists of four bits.

[0036] Figure 2The diagram illustrates the correspondence between the coded values ​​fed back by the position encoder and the actual position of the motor. Here, 0000 corresponds to the left stop and right stop zones; 0101 corresponds to 2WD HIGH; 0100 corresponds to ZONE 1; 0110 corresponds to ZONE 2; 0100 corresponds to ZONE 3; 1100 corresponds to 4WD HIGH; 1000 corresponds to ZONE 4; 1001 corresponds to ZONE 5; 0001 corresponds to the transition zone; 1001 corresponds to ZONE 5; 0001 corresponds to ZONE 6; and 0011 corresponds to 4WD LOW. This is just one example.

[0037] like Figure 2 As shown, different encoded values ​​correspond to different sector areas on the code disk, and the size of each sector area is also different. It should be noted that, as... Figure 2 As shown, the encoder disk is equipped with a left limit and a right limit. The slider can only rotate in the area between the left and right limits on the encoder disk. The slider cannot rotate to the area between 302° and 329° of the encoder disk. For example, when the motor drives the slider to rotate to the left limit, the motor will not be able to continue running.

[0038] The four-wheel drive controller can detect the coded value fed back by the position encoder in the transfer case when the vehicle is powered on. Based on the mode position identified by the current position encoder of the motor, it sends a SystemOperMod signal (four-wheel drive status signal) to the instrument cluster and four-wheel drive hard switch. This signal is typically 0x2 (2H), 0x3 (4H), or 0x4 (4L) to ensure accurate display of the current four-wheel drive mode status on the instrument cluster and four-wheel drive hard switch. The coded value fed back by the position encoder changes as the shift motor operates. According to the existing logic, when the four-wheel drive controller detects that the motor position is not in one of the three valid modes (2H, 4H, 4L) after power-on, since the current control logic does not require handling such abnormal positions, the four-wheel drive controller sends SystemOperMod=0x0 (Mode Unknown) by default. This signal value is considered an invalid status signal.

[0039] In this situation, the four-wheel drive hard switch strategy will start processing the four-wheel drive status signal 2 seconds after power-on. If an invalid value is received, the 2H mode indicator will continue to flash, indicating to the user that there is a fault, but the type of fault cannot be determined. The instrument panel will not display any four-wheel drive mode, and the user cannot confirm which mode is currently in, which makes it necessary to rely on additional tools or professional personnel for troubleshooting, affecting the vehicle's driving safety and reliability.

[0040] In existing technologies, the aforementioned problem does not generate fault codes at the system level because, although the motor position is not in an effective operating mode, it is still within the encoder's code disk definition range and therefore is not considered an electrical fault. This problem typically occurs under specific conditions such as vehicle jamming during 4L mode switching in / out or user restarting the engine, causing the motor to remain in an invalid position after power-on, triggering an abnormal invalid status signal display.

[0041] It is evident that the existing four-wheel drive system cannot detect the ineffective position of the motor, causing the system to behave abnormally in the absence of fault codes; the four-wheel drive status signal mechanism has blind spots and cannot effectively guide the hard switches and instruments to provide clear feedback, which can easily cause system abnormalities under certain operating conditions; the user experience is affected, especially when there are no prompts or flashing lights that are difficult to understand, making it difficult for users to determine whether there is an actual fault or whether a restart is required.

[0042] Therefore, this application provides a vehicle control method applied to a four-wheel drive controller. Figure 3 This is a flowchart of a control method according to an embodiment of this application, such as... Figure 3 As shown, the method includes the following steps: Step S100: After the vehicle is powered on, check whether the position of the shift motor does not correspond to the determined drive gear; Step S200: If yes, then determine the non-gear interval corresponding to the position of the shift motor, determine the first target safe gear based on the non-gear interval, configure the four-wheel drive status signal based on the first target safe gear, and configure the four-wheel drive position signal based on the non-gear interval. Step S300: After sending the four-wheel drive status signal and the four-wheel drive position signal to the instrument panel and the four-wheel drive hard switch, the drive motor runs to the first target safety gear and continues to send the four-wheel drive status signal and the four-wheel drive position signal.

[0043] Among them, reference Figure 4 As shown, detecting whether the shift motor position does not correspond to a specific drive gear includes: The position encoder is used to obtain the coded value representing the position of the shift motor; Based on whether the encoded value belongs to a gear position encoding value, it is determined whether the position of the shift motor corresponds to the transfer case's drive gear, i.e., it corresponds to the transfer case's 2H, 4H, and 4L gears. Such gear position encoding values ​​include: 0101, 1100, and 0011, such as... Figure 2 As shown, if yes, then after configuring the four-wheel drive status signal and four-wheel drive position signal based on the encoded value, they are sent to the instrument panel and the four-wheel drive hard switch; if no, the encoded value is a value other than the gear encoding value, then it is determined that it does not correspond to a determined drive gear, that is, it is determined that the shift motor is in the process of switching or in the stop zone. Based on the above steps, this application determines whether the shift motor is in an effective gear position of the transfer case by reading its coded value. If the current coded value corresponds to an effective gear position of 2H, 4H, or 4L, the corresponding four-wheel drive status and position signals are directly configured. If the coded value is not within the above range, it indicates that the shift motor may be in the process of gear switching or in an abnormal position. At this time, based on the non-gear range it is in, the most likely first target safe gear position (such as 2H or 4L) is inferred to ensure the driving stability of the entire vehicle. The status and position signals are configured accordingly, and the shift motor is then driven into the target gear position to avoid misleading the vehicle control system or the driver.

[0044] This application can effectively identify and handle situations where the shift motor is located in non-standard positions such as the transition zone or stop zone, ensuring that reasonable four-wheel drive status and position signals are provided even under abnormal conditions, thereby improving vehicle safety and reliability. Simultaneously, through precise judgment and dynamic adjustment of coded values, it avoids false alarms or a decline in driving experience caused by misidentification or signal loss, improving the overall vehicle handling stability and responsiveness.

[0045] For example, but not limited to, the four-wheel drive status signal is denoted as SystemOperMod, and the four-wheel drive status signal is configured with the following status signal values: 0x0:Mode Unknown 0x1: System Fault 0x2: Mode 2WD (2H) 0x3: Mode 4WD Lock (4H) 0x4: Mode 4WD Low Range (4L) 0x5-0xF: Reserved.

[0046] The above status signal values ​​are used to represent unknown mode, system fault, two-wheel drive mode, high-speed four-wheel drive mode, and low-speed four-wheel drive mode, respectively, and reserved bits 0x5-0xF are set for future expansion.

[0047] Among them, 0x0: Mode Unknown indicates that the current shift motor position could not be successfully identified, or the encoded value is not within any valid range; it is often used as the default output during system initialization, signal acquisition abnormality, or when no state is configured; it helps the instrument or host computer to identify unclear status and prompt the user that the system may need to be verified or tested.

[0048] 0x1: System Fault indicates that a serious fault has been detected in the four-wheel drive system (such as encoder failure, motor failure, data inconsistency error, etc.); the system may enter a protection state, prohibiting further gear shifting; it reminds the user to check the system hardware or perform maintenance operations; it is often used in conjunction with fault lights, alarm sounds and other prompting mechanisms.

[0049] 0x5 ~ 0xF: Reserved bits are reserved for future expansion, such as supporting more driving modes (e.g., snow mode, sand mode, energy-saving mode, etc.). These values ​​are not used for effective control in the current four-wheel drive system, and modules that receive these signal values ​​usually do not respond. This ensures that the system has good backward compatibility and upgrade potential. It also contributes to the flexibility of system software development and avoids the difficulty of expansion caused by fixing all modes.

[0050] For example, but not limited to, the four-wheel drive position signal is denoted as ShiftMotPosn, and the four-wheel drive position signal can be configured to the following position signal values: 0x0: Position Unknown 0x1: Position Invalid 0x2: Left Stop 0x3:2WD / High Range 0x4: Between 4WD Lock 0x5: 4WD Lock 0x6: Between 4WD Low 0x7:4WD Low 0x8: Right Stop 0x9~0xF: Reserved The above position signal values ​​are used to indicate the position of the shift motor as unknown, position failure, left stop zone, two-wheel drive gear, high-speed four-wheel drive gear transition zone, high-speed four-wheel drive gear, low-speed four-wheel drive gear transition zone, low-speed four-wheel drive gear, and right stop zone, respectively, and reserved bits 0x9~0xF are set for future expansion.

[0051] Among them, 0x0: Position Unknown indicates that the controller is currently unable to obtain a valid coded value for the shift motor; this may be due to the motor not being initialized, missing encoder signal, data error, or communication interruption; the system is usually in an unshiftable or protection state; it serves as a reminder to the instrument panel or driver to wait for system confirmation or to perform an inspection.

[0052] 0x1: Position Invalid indicates that the read coded value does not belong to any defined position range; it usually represents problems such as physical structure failure, mechanical interference, motor jamming, etc.; the system should enter fault-tolerant or emergency mode and stop the shifting motor; it provides a clear fault signal and supports remote diagnosis or maintenance judgment.

[0053] 0x4: Between 4WD Lock (4H Transition Zone) indicates that the shift motor is in the transition sector between 2H and 4H, dynamically displaying the shift status and prompting the user that the system is shifting gears; the control logic may enable a protection mechanism at this position to prevent command conflicts.

[0054] 0x6: Between 4WD Low (transition zone between 4H and 4L) indicates that the shift motor is in the switching range from 4H to 4L; it can be used to determine whether the shift process is complete or needs to be recalibrated; combined with reverse drive logic, it can handle switching failures or jamming situations.

[0055] 0x2: Left Stop; 0x8: Right Stop (stop zone) is used to indicate that the motor is at its physical limit position (leftmost or rightmost end); to indicate to the control system that the motor may hit the limit or needs calibration; to trigger fault-tolerant logic or safety stop at the limit position; and to protect the motor and mechanical system safety in conjunction with limit detection.

[0056] 0x9 ~ 0xF: Reserved bits are reserved for future new position states, such as intermediate state, calibration, test mode, etc.; the current version of the system should not use them as valid values; to maintain forward compatibility and protocol scalability.

[0057] In some embodiments, reference Figure 5 As shown, determining the first target safe gear based on the non-gear range includes: Step S210: Determine whether the shift motor position is in the first transition zone, the second transition zone, or the limit zone based on the encoded values. The encoded values ​​corresponding to the first transition zone include 0100 and 0110, meaning the actual position of the shift motor is in the ZONE1, ZONE2, and ZONE3 areas of the code disk diagram, i.e., sectors with angles between 3° and 86°. At this time, the shift motor is between the two-wheel drive gear 2H and the high-speed four-wheel drive gear 4H. The encoded values ​​corresponding to the second transition zone include 1000, 1001, and 0001, meaning the actual position of the shift motor is in the ZONE4 to ZONE6 areas and the TRANSITION area of ​​the code disk diagram, i.e., sectors with angles between 93° and 267°. At this time, the shift motor is between the high-speed four-wheel drive gear 4H and the low-speed four-wheel drive gear 4L. The encoded value corresponding to the limit zone is 0000, meaning the actual position of the shift motor is in the LEFT STOP area and the RIGHT area of ​​the code disk diagram. The STOP region is defined as the sector with an angle between 329° and 335° and the sector with an angle between 297° and 203°.

[0058] Step S220: If the position of the shift motor is in the first transition zone or the limit zone, then the first target safety gear is configured as a two-wheel drive gear; Step S230: If the shift motor is in the second transition zone, then the first target safety gear is configured as a low-speed four-wheel drive gear.

[0059] Steps S220 and S230 are executed in parallel.

[0060] By determining the range of non-gear coding values, these ranges are divided into different transition or limit regions. A preset mapping relationship is used to determine the range of the coding value, thus deriving the actual position of the current shift motor. Based on the position range of the shift motor, the closest and safest target gear is selected as the target state of the current four-wheel drive mode. This ensures that even when the shift motor does not precisely stop at the gear coding point, the four-wheel drive controller can still operate according to reasonable logic and output appropriate drive states.

[0061] This application improves the accuracy of vehicle judgment under dynamic or abnormal conditions through the above steps. By identifying different transition zones and limit zones and setting corresponding first target safety gears, it enhances the robustness and fault adaptation capabilities of four-wheel drive control, avoiding misjudgments by the four-wheel drive controller due to the shift motor not being aligned with the effective gear. Simultaneously, it enhances the four-wheel drive controller's ability to safely control driving modes under extreme or unstable conditions.

[0062] The aforementioned encoding value range can be reset according to the structural design of different shift motors or the distribution of the code disk, for example, by using different angle distributions, refining the transition zone division, or adding more sub-ranges. The definitions of the first and second transition zones can also be dynamically adjusted according to changes in encoder resolution to adapt to motor control systems with different precision requirements.

[0063] In another embodiment, the configuration of the first target safety level can introduce a prediction mechanism based on historical displacement trends to further improve safety and response speed.

[0064] Specifically, the four-wheel drive controller periodically reads the encoded values ​​from the position encoder and caches the encoded value sequence over a period of time. Based on the changing trend of this sequence, it determines the movement direction and speed of the shift motor and thus infers its current shift process state. When the encoded value is in a non-gear range (such as the first transition zone, the second transition zone, or the limit zone), the four-wheel drive controller no longer judges the first target safe gear solely based on the current encoded value. Instead, it comprehensively considers the changing trend of the encoded value in the time series to determine whether the motor should switch to the 2H direction or move to the 4L direction.

[0065] If the historical coding value shows a continuous increasing trend, it indicates that the shift motor may be moving from 2H to 4H or 4L. The four-wheel drive controller can predict that its target is a high-speed or low-speed four-wheel drive gear. If the trend is decreasing or reversing, it tends to judge it as the 2H gear. If the coding value remains unchanged or fluctuates abnormally, there may be mechanical jamming or malfunction. The four-wheel drive controller will prioritize the safest conservative gear (such as 2H) and enter the fault protection or warning state.

[0066] This implementation establishes a dynamic recognition mechanism for the current movement trend of the shift motor by recording and analyzing the change trajectory of the shift motor's encoded value over a certain period of time. Slope detection can determine which gear the motor is transitioning to. Compared to the traditional method of determining gear solely based on static encoded values, this approach can more accurately infer the target state in non-gear zones, improving the four-wheel drive controller's perception depth and response efficiency for shifting behavior, and avoiding misjudgments or delays.

[0067] By introducing a displacement trend prediction mechanism, when the shift motor is in the transition zone, limit zone, or positional ambiguity, the four-wheel drive controller can configure a first target safety gear that better matches the actual intention based on trend judgment, thereby reducing the probability of misjudgment and improving the stability and accuracy of the system in dynamic scenarios. This mechanism can also quickly identify abnormal states in the early stages of motor jamming or failure, and switch to the protection state in a timely manner in conjunction with other safety strategies, improving reliability and fault tolerance.

[0068] In some embodiments, the four-wheel drive status signal is configured based on the first target safety gear, including: Based on the first target safety gear position, a mapping is performed to determine the corresponding status signal value. Specifically, the first target safety gear position is mapped to the encoded value of the shift motor position, and the mapped encoded value is mapped to the corresponding status signal value. Configure the four-wheel drive status signal based on the status signal value.

[0069] Based on the above configuration, this embodiment of the application uses the first target safety gear as input and completes the configuration of the four-wheel drive status signal through a mapping process. Specifically, the corresponding encoded value (such as 0101 or 0011) is found according to the first target safety gear (e.g., two-wheel drive gear 2H or low-speed four-wheel drive gear 4L); then, the encoded value is converted into a standard four-wheel drive status signal value (e.g., Mode 2WD represents 2H, 0x4: Mode 4WD Low Range represents 4L); finally, the obtained status signal value is configured in the SystemOperMod signal field to achieve synchronization with the status of the vehicle control system.

[0070] By establishing a clear mapping process, the first target safety gear can be quickly and accurately converted into a four-wheel drive status signal in a standard communication format. This facilitates data interaction with onboard instruments, ECUs, and other systems, improving the consistency and standardization of system response. Furthermore, this method supports rapid expansion or adjustment of the status signal, facilitating future system upgrades or vehicle customization.

[0071] In some embodiments, the mapping between encoded values ​​and status signal values ​​can adopt different lookup structures based on different platforms, such as hash mapping, array indexing, or configuration file reading.

[0072] In a preferred embodiment, a hash mapping structure is used to implement the mapping relationship: the four-wheel drive controller uses each encoded value as a key and the corresponding status signal value as a value to construct a hash mapping table. For example, the encoded value 0101 is mapped to the status signal value 0x2, 1100 is mapped to 0x3, and 0011 is mapped to 0x4. When the four-wheel drive controller detects a specific encoded value, it can quickly obtain the corresponding status signal value through hash lookup. This method is efficient, flexible, and suitable for medium-to-high-performance platforms with a large variety of encoded values.

[0073] In another implementation, an array index structure is used for coded value lookup: possible coded values ​​are converted into array indices, and the status signal values ​​in the preset array are accessed directly. For example, a 16-bit array is constructed based on 4-bit coded values, with array indices 0 to 15 corresponding to coded values ​​0000 to 1111 respectively. This method can achieve highly efficient mapping operations on resource-constrained platforms and is suitable for embedded scenarios with low power consumption and high real-time requirements.

[0074] The choice of different lookup structures can be flexibly adjusted based on the resource conditions and application scenarios of the control system: hash mapping provides high speed and scalability; array indexing provides ultimate efficiency. This scheme significantly improves the efficiency and flexibility of coded value recognition and status signal configuration in the four-wheel drive control system, and enhances the method's adaptability in cross-platform deployment, vehicle model differentiation management, and operation and maintenance. By selecting a suitable lookup structure, an optimal balance can be achieved between control accuracy, resource consumption, and maintainability, thereby improving the stability, scalability, and intelligence level of the entire vehicle's electronic control system.

[0075] In some embodiments, the four-wheel drive position signal is configured based on the non-gear range, including: Based on the non-gear interval, a mapping is performed to determine the corresponding position signal value. Specifically, the encoded value corresponding to the non-gear interval is mapped to the corresponding position signal value. Configure the four-wheel drive position signal based on the position signal value.

[0076] This application establishes a mapping relationship between encoded values ​​and position signal values, determines the corresponding position signal values, and then configures these values ​​into the four-wheel drive position signal field ShiftMotPosn to achieve the reporting of the current position status of the shift motor. This allows the four-wheel drive controller to quickly determine and output standardized position feedback signals after reading the encoder values, thereby improving the response speed and control accuracy of the entire four-wheel drive system, avoiding complex calculations, and improving processing efficiency and system maintainability.

[0077] Furthermore, through standardized position signal output, efficient communication with other system modules (such as instruments and ECUs) can be achieved, ensuring accurate synchronization of vehicle status information.

[0078] In some embodiments, if the shift motor is in a limited zone, after the drive motor operates to the first target safe gear and continues to send the four-wheel drive status signal and the four-wheel drive position signal, the method further includes: Continuously detect the encoded value of the position encoder; If the encoded value does not change after the preset rotation cycle, it indicates that the position of the shift motor has not changed and is still in the limit zone. Then, after the reverse drive motor runs to the second target safety gear, the four-wheel drive signal and the four-wheel drive position signal are configured based on the second target safety gear.

[0079] In some embodiments, the four-wheel drive drive signal and four-wheel drive position signal are configured based on the second target safety gear, including: The second target safety gear is mapped to the coded value of the shift motor position, and the mapped coded value is mapped to the corresponding status signal value and position signal value. At this time, the second target safety gear is configured as the low-speed four-wheel drive gear 4L. Based on the status signal value, the four-wheel drive signal is configured as SystemOperMod=0x4: Mode 4WDLow Range (4L), and based on the position signal value, the four-wheel drive position signal is configured as ShiftMotPosn=0x6: Between 4WDLow.

[0080] Based on the above steps, when the shift motor is in the limit zone and the motor is driven to the preset first target safe gear, the four-wheel drive controller continues to monitor the encoder feedback signal. If the encoded value does not change within a certain rotation time, the four-wheel drive controller determines that the shift motor has failed to leave the limit zone, possibly due to mechanical jamming, motor failure, or position misjudgment. At this time, the fault-tolerant control logic is activated, and the motor is driven in reverse to the preset second target safe gear (such as 4L). By remapping the encoded value to configure a new four-wheel drive drive signal SystemOperMod and position signal ShiftMotPosn, the four-wheel drive state can re-enter a stable and safe gear range.

[0081] This fault-tolerant mechanism enhances the four-wheel drive control system's adaptability and recovery capabilities to abnormal states in the limit zone through continuous monitoring of the motor's motion status. By introducing a second target safety gear, alternative control paths are provided in abnormal states, preventing vehicle powertrain malfunctions or false alarms due to deadlock or persistent failure. This solution effectively improves system reliability, safety, and user experience, and is particularly suitable for scenarios involving extreme weather, frequent terrain changes, or high-frequency gear shifting.

[0082] In another embodiment, the triggering mechanism for reverse drive can be determined based on a combination of rotation time, position offset, or changes in motor current.

[0083] In another embodiment, timeout alarm logic can be added to the above fault-tolerant control logic to enhance the flexibility of abnormal state handling.

[0084] In some embodiments, the state signal value is determined based on a pre-configured state lookup table, where corresponding values ​​are pre-configured for each drive gear, as shown in Table 1 below. First, the coded value of the drive gear is determined; the state lookup table stores the mapping relationship between the coded value and its corresponding state signal value.

[0085]

[0086] This application embodiment uses a state lookup table to quickly map known coded values ​​to four-wheel drive status signal values. Specifically, when the four-wheel drive controller identifies the coded value corresponding to the shift motor position (such as 0101, 1100, or 0011), it determines the corresponding status signal values ​​as 0x2 (2H), 0x3 (4H), and 0x4 (4L) through lookup table 1, and configures these status signal values ​​in SystemOperMod to reflect the current four-wheel drive status. This lookup method avoids dynamic reasoning and improves the real-time performance and accuracy of the four-wheel drive control system in determining the status.

[0087] By utilizing a pre-defined lookup table structure, the mapping between coded values ​​and status signals is achieved quickly and accurately, significantly simplifying the status recognition logic, improving the efficiency of four-wheel drive control execution, and reducing the probability of malfunctions. The table structure is intuitive and clear, facilitating system debugging, maintenance, and expansion, and enabling rapid adaptation to different coding schemes when deployed in different vehicle models. Furthermore, this method supports offline maintenance and version updates, enhancing the flexibility and controllability of the configuration.

[0088] In another embodiment, the contents of the mapping table can be dynamically configured according to project needs, such as adding more custom gears or special states, and correspondingly expanding the definition range of state signal values ​​using reserved bits.

[0089] During operation, the four-wheel drive controller identifies the current gear position based on the encoded value, and then determines whether it is a standard gear (such as 2H, 4H, 4L) or a newly added gear (such as snow mode, sand mode) based on the loaded extended mapping table, and configures the corresponding status signal value as the extended value (0x5~0xF) of SystemOperMod to realize the extension of signal definition.

[0090] This solution significantly enhances the flexibility and platform capabilities of the approach. By effectively utilizing reserved bits, new functions or support for customized scenarios, such as special driving modes like snow, mountain, energy-saving, and sport, can be quickly added without modifying the underlying program structure. At the same time, dynamic mapping reduces code coupling, improves maintenance efficiency and method reusability, and is suitable for unified development of multiple vehicle models and modular platform strategies.

[0091] In some embodiments, the position signal value is determined based on a pre-configured position lookup table. The position lookup table has pre-configured values ​​corresponding to the drive gear, the first transition zone, the second transition zone, or the limit zone, as shown in Table 2 below. First, the encoded values ​​of the drive gear, the first transition zone, the second transition zone, or the limit zone are determined. The position lookup table stores the mapping relationship between the encoded values ​​and their corresponding position signal values.

[0092]

[0093] Based on the above configuration, this embodiment of the application maps the encoded value of each shift motor to a corresponding position signal value through a preset position lookup table for configuring the four-wheel drive position signal. After detecting a specific encoded value, such as, but not limited to, 0000, 0101, 0110, 1100, etc., the four-wheel drive controller directly retrieves the corresponding position signal value from the lookup table and sets the ShiftMotPosn signal accordingly. This achieves standardized representation and feedback of the shift motor position, ensuring clear identification logic and accurate signal transmission for shifting behavior.

[0094] This method simplifies the position recognition process, enabling accurate determination of shift positions without the need for angle calculations or motor state analysis, thereby improving the real-time performance and stability of four-wheel drive control. Standardized position signal definitions and lookup methods enhance compatibility and communication consistency with the vehicle control system and instrument cluster. Furthermore, the lookup table supports flexible expansion and maintenance, facilitating subsequent changes in motor coding formats or the refinement of more intermediate states, thus improving the system's scalability and adaptability.

[0095] In another embodiment, the search method can also be optimized using methods such as binary search, dictionary structure, memory caching, or database query.

[0096] In another embodiment, the definition of the location signal value can also be refined to more levels or multi-bit coding can be introduced to meet the needs of higher-precision location identification.

[0097] The state lookup table and location lookup table in the above embodiments can be implemented using software configuration files (such as XML, JSON or INI files) or stored in EEPROM, enabling flexible switching by vehicle model or production batch, and supporting runtime loading or updating, thus enhancing the adaptability of vehicle control.

[0098] The embodiments of this application will be described and illustrated below through preferred embodiments.

[0099] Figure 6 This is a preferred flowchart of the control method according to an embodiment of this application, such as... Figure 6 As shown, the control method includes the following steps: After the vehicle is powered on, the four-wheel drive controller reads the position encoder position and identifies the motor position; If the identified motor position is in the 2H / 4H / 4L position, ShiftMotPosn and SystemOperMod send signals according to the corresponding motor position. After receiving the signal, the four-wheel drive hard switch and the instrument panel will display the four-wheel drive mode normally. Specifically, when the position encoder's code value is identified as 0101 and the motor is in position 2H, the following configuration is made: ShiftMotPosn=0x3:2WD / High Range, SystemOperMod=0x2:Mode 2WD (2H); When the position encoder's code value is detected as 1100 and the motor is in position 4H, the configuration is as follows: ShiftMotPosn=0x5: 4WD Lock SystemOperMod=0x3:Mode 4WD Lock (4H); When the position encoder's code value is detected as 0011 and the motor is in position 4L, the following configuration is applied: ShiftMotPosn=0x7:4WD Low SystemOperMod=0x4: Mode 4WD Low Range (4L); Conversely, if the motor position is not in the 2H / 4H / 4L position, the four-wheel drive position signal ShiftMotPosn and the four-wheel drive status signal SystemOperMod will be sent according to the transition control strategy. After receiving the signals, the four-wheel drive hard switch and the instrument will display the four-wheel drive mode normally.

[0100] The transition control strategy is as follows: If the motor is detected to be between 2H and 4H, i.e., the position encoder's encoding value is 0100 or 0110, the four-wheel drive controller first sends SystemOperMod=0x2:Mode 2WD(2H);ShiftMotPosn=0x4:Between 4WD Lock according to the current motor position feedback in real time; then, the four-wheel drive controller drives the motor to the 2H position, and SystemOperMod continues to send 0x2:Mode 2WD(2H);ShiftMotPosn=0x3:2WD / High Range.

[0101] If the motor is detected to be between 4H and 4L, i.e., the position encoder's encoding value is 1000, 1001, or 0001, the four-wheel drive controller first sends SystemOperMod=0x4: Mode 4WD Low Range (4L); ShiftMotPosn=0x6: Between 4WD Low (providing real-time feedback based on the current motor position); then, the four-wheel drive controller drives the motor to the 4L position, and SystemOperMod continues to send 0x4: Mode 4WD Low Range (4L); ShiftMotPosn=0x7: 4WD Low.

[0102] If the position encoder's encoded value is detected as 0000, the four-wheel drive controller first sends: SystemOperMod=0x2:Mode 2WD (2H); ShiftMotPosn=0x2:Left Stop (real-time feedback based on the current motor position). Considering that the encoded value 0000 corresponds to two positions of the position encoder: LEFT STOP and RIGHT STOP, the processing strategy is as follows: When the four-wheel drive controller performs a power-on self-test, the encoder value is set to "LEFT STOP" by default, and the motor is driven to position 2H.

[0103] If the four-wheel drive controller drives the motor to position 2H, SystemOperMod continues to send 0x2:Mode 2WD (2H);ShiftMotPosn=0x3:2WD / High Range; If the encoder value remains 0000 after the preset rotation cycle during motor rotation, the motor needs to be driven in reverse to position 4L. After driving to position 4L, configure: SystemOperMod=0x4: Mode 4WD Low Range (4L); ShiftMotPosn=0x6:Between 4WD Low. Based on the above steps, in this embodiment of the application, after the shift motor encoding value is confirmed as the encoding value of a valid gear (such as 0101, 1100, 0011), the encoding value is mapped one by one to standard four-wheel drive status signal value and position signal value through a status lookup table and a position lookup table, respectively. The status signal reflects the system drive mode (such as 2H, 4H, 4L), and the position signal identifies the motor position status (such as being in a gear or transition zone). Through the mapping process, the current shift status of the motor can be accurately output, and the standard communication format requirements of the external interface can be met.

[0104] This method significantly improves the accuracy and efficiency of system state identification and signal configuration. Through a lookup table mechanism, state determination and signal configuration can be completed quickly without complex runtime judgment logic, thereby reducing control latency and improving response speed and system stability. This approach also ensures the synchronization of state and location information, avoiding the risk of failure due to inconsistent judgments, and contributing to the system's maintainability and scalability.

[0105] It should be noted that the steps shown in the above process or in the flowchart of the accompanying figures can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0106] This application also provides a vehicle, including: a body domain controller and a four-wheel drive controller that are connected in communication, wherein the four-wheel drive controller is used to execute the control method described in the above embodiments.

[0107] A four-wheel drive controller is typically an integrated electronic control module containing a microprocessor, memory, input / output interfaces, and other components. It can receive data from various sensors and systems in real time and make corresponding control decisions based on preset algorithms and logic. The four-wheel drive controller is usually installed in the driver's cabin or engine compartment of the vehicle to ensure it is in a relatively safe location and easily accessible for electrical connection with other vehicle systems.

[0108] The vehicle provided in this embodiment is used to execute the control method described above, and therefore can achieve the same effect as the implementation method described above.

[0109] The beneficial effects of the above embodiments can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0110] In addition, combined Figure 1 The vehicle control method described in this application embodiment can be implemented by an electronic device. Figure 7 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of this application.

[0111] The electronic device may include a processor 41 and a memory 42 storing computer program instructions.

[0112] Specifically, the processor 41 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0113] The memory 42 may include a large-capacity memory for data or instructions. For example, and not limitingly, the memory 42 may include a hard disk drive (HDD), a floppy disk drive, a solid-state drive (SSD), flash memory, an optical disk drive, a magneto-optical disk drive, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 42 may include removable or non-removable (or fixed) media. Where appropriate, the memory 42 may be internal or external to a data processing device. In a particular embodiment, the memory 42 is non-volatile memory. In a particular embodiment, the memory 42 includes read-only memory (ROM) and random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), an electrically alterable read-only memory (EAROM), or flash memory, or a combination of two or more of these. Where appropriate, the RAM can be Static Random-Access Memory (SRAM) or Dynamic Random-Access Memory (DRAM). DRAM can be Fast Page Mode Dynamic Random-Access Memory (FPMDRAM), Extended Data Out Dynamic Random-Access Memory (EDODRAM), Synchronous Dynamic Random-Access Memory (SDRAM), etc.

[0114] The memory 42 can be used to store or cache various data files that need to be processed and / or used for communication, as well as possible computer program instructions executed by the processor 41.

[0115] The processor 41 implements any of the vehicle control methods described in the above embodiments by reading and executing computer program instructions stored in the memory 42.

[0116] In some embodiments, the electronic device may further include a communication interface 43 and a bus 40. For example, Figure 4 As shown, the processor 41, memory 42, and communication interface 43 are connected through bus 40 and complete communication with each other.

[0117] The communication interface 43 is used to enable communication between the various modules, units, and / or devices in the embodiments of this application. The communication interface 43 can also enable data communication with other components such as external devices, image / data acquisition devices, databases, external storage, and image / data processing workstations.

[0118] The electronic device can execute the vehicle control method in the embodiments of this application based on the acquired computer program instructions.

[0119] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0120] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A vehicle control method, applied to a four-wheel drive controller, characterized in that, The method includes: After the vehicle is powered on, check whether the position of the shift motor does not correspond to the specified drive gear; If so, then determine the non-gear interval corresponding to the position of the shift motor, determine the first target safe gear based on the non-gear interval, configure the four-wheel drive status signal based on the first target safe gear, and configure the four-wheel drive position signal based on the non-gear interval. After sending the four-wheel drive status signal and the four-wheel drive position signal to the instrument panel and the four-wheel drive hard switch, the drive motor runs to the first target safety gear and continues to send the four-wheel drive status signal and the four-wheel drive position signal.

2. The control method according to claim 1, characterized in that, Determining the first target safe gear based on the non-gear range includes: Determine whether the shift motor is in the first transition zone, the second transition zone, or the limit zone; If the shift motor is in the first transition zone or limit zone, the first target safety gear is configured as a two-wheel drive gear. If the shift motor is in the second transition zone, the first target safety gear is configured as a low-speed four-wheel drive gear.

3. The control method according to claim 1 or 2, characterized in that, Based on the first target safety gear, configure the four-wheel drive status signal, including: Based on the first target safety level, a mapping is performed to determine the corresponding status signal value; Configure the four-wheel drive status signal based on the status signal value.

4. The control method according to claim 1 or 2, characterized in that, The four-wheel drive position signal is configured based on the non-gear range, including: Based on the non-gear interval, a mapping is performed to determine the corresponding position signal value; Configure the four-wheel drive position signal based on the position signal value.

5. The control method according to claim 2, characterized in that, If the shift motor is in the limit zone, after the drive motor runs to the first target safe gear and continues to send the four-wheel drive status signal and four-wheel drive position signal, the following steps are also included: The position of the shift motor is continuously monitored. If the position of the shift motor does not change after a preset rotation cycle, the reverse drive motor is driven to the preset second target safety gear. Based on the second target safety gear, the four-wheel drive drive signal and the four-wheel drive position signal are configured.

6. The control method according to claim 5, characterized in that, The second target safety gear is configured as a low-speed four-wheel drive gear.

7. The control method according to any one of claims 1 to 6, characterized in that, The position signal value is determined based on a pre-configured position lookup table, wherein the position lookup table is pre-configured with corresponding values ​​for the drive gear, the first transition zone, the second transition zone, or the limit zone.

8. The control method according to any one of claims 1 to 6, characterized in that, The status signal value is determined based on a pre-configured status lookup table, wherein the corresponding drive gear has a pre-configured value.

9. A vehicle, characterized in that, Includes a four-wheel drive controller, which is used to perform the control method as described in any one of claims 1 to 8.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the control method as described in any one of claims 1 to 8.

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