Differential lock control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a differential lock control method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the current first state information of a vehicle in response to the triggering of a differential lock locking request; in response to the condition that the first state information meets a differential lock locking condition, a differential lock locking instruction is sent to a differential lock controller, so that the differential lock controller executes a locking operation; obtaining current second state information of the vehicle, and determining an execution result of the locking operation based on the second state information; and in response to successful execution of the locking operation, sending locking success information to the vehicle instrument, so that the vehicle instrument executes display operation associated with locking success. By integrating multi-state condition judgment, closed-loop verification based on wheel speed difference and an intelligent safety strategy, the reliability and success rate of differential lock action and driving safety are remarkably improved, and meanwhile effective diagnosis of actuator faults is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle control, in particular to a differential lock control method and device, an electronic device and a storage medium. BACKGROUND

[0002] In the off-road vehicle escape scene, the electronic differential lock is a key escape safety configuration by braking the slipping wheel or locking the differential to distribute power to the wheels with adhesion. However, in actual application, the actuator of the differential lock may fail to respond to the locking or unlocking instruction reliably due to system failure, signal interference or mechanical jamming, etc., resulting in escape failure. In addition, if the driver fails to unlock the differential lock in time when driving at high speed, the vehicle handling may deteriorate and even cause mechanical damage, which poses a safety hazard. In the prior art, the control reliability and state feedback accuracy of the differential lock still need to be improved. SUMMARY

[0003] Therefore, the present application provides a differential lock control method and device, an electronic device and a storage medium to solve the problems of poor reliability and insufficient state feedback accuracy of the differential lock in the prior art.

[0004] In a first aspect, an embodiment of the present application provides a differential lock control method, comprising: In response to triggering of a differential lock locking request, obtaining first state information of a vehicle at present; In response to the first state information satisfying a differential lock locking condition, sending a differential lock locking instruction to a differential lock controller to make the differential lock controller execute a locking operation; Obtaining second state information of the vehicle at present, and determining an execution result of the locking operation based on the second state information; In response to successful execution of the locking operation, sending locking success information to a vehicle instrument to make the vehicle instrument execute a display operation associated with locking success.

[0005] In an optional embodiment, the method further comprises: In response to the first state information not satisfying the differential lock locking condition, sending locking failure information to the vehicle instrument to make the vehicle instrument execute a display operation associated with locking failure.

[0006] In an optional embodiment, the obtaining of the first state information of the vehicle at present comprises: Obtaining a driving speed, a rear wheel speed difference and a torque of the vehicle at present; The method further comprises: When it is detected that the driving speed, the rear wheel speed difference and the torque are all less than respective corresponding threshold values, determining that the first state information satisfies the differential lock locking condition.

[0007] In an optional embodiment, the acquiring the current second state information of the vehicle and determining the execution result of the locking operation based on the second state information comprises: acquiring a current rear wheel speed difference of the vehicle; when it is detected that the rear wheel speed difference is less than a first threshold value and the duration exceeds a first time length, determining that the locking operation is successfully executed.

[0008] In an optional embodiment, after the locking operation is successfully executed, the method further comprises: in response to triggering of a differential lock unlocking request, acquiring a current driving speed and a rear wheel speed difference of the vehicle; in response to the driving speed and the rear wheel speed difference both being less than respective corresponding threshold values, sending a differential lock unlocking instruction to the differential lock controller to enable the differential lock controller to execute an unlocking operation; when it is detected that the rear wheel speed difference is greater than a second threshold value and the duration exceeds a second time length, sending unlocking success information to the vehicle instrument to enable the vehicle instrument to execute a display operation associated with unlocking success.

[0009] In an optional embodiment, after the locking operation is successfully executed, the method further comprises: acquiring a current driving speed of the vehicle; when it is detected that the driving speed exceeds a third threshold value and the duration exceeds a third time length, sending a differential lock unlocking instruction to the differential lock controller to enable the differential lock controller to execute an unlocking operation.

[0010] In an optional embodiment, after the unlocking operation is executed, the method further comprises: when it is detected that the rear wheel speed difference is less than a fourth threshold value and the duration continuously exceeds a fourth time length, determining that the differential lock is malfunctioning; sending differential lock malfunction information to the vehicle instrument to enable the vehicle instrument to execute a display operation associated with differential lock malfunction.

[0011] In a second aspect, the embodiments of the present application provide a differential lock control device, comprising: an interaction device configured to trigger a differential lock locking request; a sensor module configured to acquire current first state information and second state information of a vehicle; a power control unit configured to, in response to the first state information satisfying a differential lock locking condition, send a differential lock locking instruction to a differential lock controller to enable the differential lock controller to execute a locking operation, and determine an execution result of the locking operation based on the second state information, and when the locking operation is successfully executed, send locking success information to a vehicle instrument. The vehicle instrument is configured to perform a display operation associated with the successful locking.

[0012] In a third aspect, an electronic device is provided, which includes a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device is triggered to perform the method of any one of the first aspect.

[0013] In a fourth aspect, a computer readable storage medium is provided, which includes stored program, wherein when the program is running, the device where the computer readable storage medium is located is controlled to perform the method of any one of the first aspect.

[0014] In a fifth aspect, a computer program product is provided, which includes executable instructions, when the executable instructions are executed on a computer, the computer is caused to perform the method of any one of the first aspect.

[0015] According to the scheme provided in the embodiments of the present application, in response to the triggering of the differential lock locking request, the first state information of the vehicle is obtained; in response to the first state information satisfying the differential lock locking condition, the differential lock locking instruction is sent to the differential lock controller to make the differential lock controller perform the locking operation; the second state information of the vehicle is obtained, and the execution result of the locking operation is determined based on the second state information; in response to the successful execution of the locking operation, the locking success information is sent to the vehicle instrument to make the vehicle instrument perform the display operation associated with the locking success. By integrating the multi-state condition judgment, the closed-loop verification based on the wheel speed difference and the intelligent safety strategy, the reliability, the success rate and the driving safety of the differential lock action are significantly improved, and the effective diagnosis of the actuator failure is realized. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 A structural schematic diagram of a differential lock control system provided by the embodiments of the present application is shown in the figure. Figure 2 A flowchart of a differential lock control method provided by the embodiments of the present application is shown in the figure. Figure 3 A flowchart of another differential lock control method provided by the embodiments of the present application is shown in the figure. Figure 4 Another differential lock control method provided by the embodiment of the present application is shown in the flowchart. Figure 5 Another differential lock control method provided by the embodiment of the present application is shown in the flowchart. Figure 6 Another differential lock control method provided by the embodiment of the present application is shown in the flowchart. Figure 7 The structure diagram of a differential lock control device provided by the embodiment of the present application is shown in the flowchart. Figure 8 The structure diagram of an electronic device provided by the embodiment of the present application is shown in the flowchart. DETAILED DESCRIPTION

[0018] In order to better understand the technical solutions of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0019] It should be clear that the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0020] The terms used in the embodiments of the present application are only for the purpose of describing the specific embodiments, and are not intended to limit the present application. The singular forms "a", "an" and "the" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0021] It should be understood that the term "and / or" used herein is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are a "or" relationship.

[0022] As shown in Figure 1 The vehicle system can include a power control unit (PCU), a differential lock controller (MCU), a differential lock actuator (such as a solenoid valve), left / right rear wheel speed sensors, and a vehicle instrument.

[0023] Figure 2 The flowchart of a differential lock control method provided by the embodiment of the present application is shown in the flowchart, which is mainly executed by the PCU, including: Step 201, in response to the trigger of the differential lock locking request, obtaining the first state information of the vehicle.

[0024] The user can send a locking request through the differential lock switch (user input device) on the vehicle, and the request signal is sent to the PCU. After receiving the locking request, the PCU immediately collects the current vehicle state information as the first state information through the Controller Area Network (CAN) bus. Specifically, the PCU can obtain the current driving speed of the vehicle, the speed difference between the left and right rear wheels (i.e., the speed difference between the left and right rear wheels), and the torque of the rear axle or drive shaft. The above state information is obtained from the vehicle speed sensor, the rear wheel speed sensor, and the power system controller, respectively.

[0025] In step 202, in response to the first state information satisfying the differential lock locking condition, a differential lock locking instruction is sent to the differential lock controller to make the differential lock controller perform the locking operation.

[0026] When the PCU detects that the driving speed, the rear wheel speed difference, and the torque are all less than the respective corresponding threshold values, it can be determined that the first state information satisfies the differential lock locking condition. For example, when the driving speed is less than 5 km / h (first speed threshold), the rear wheel speed difference is less than 10 rpm (first speed difference threshold), and the torque is less than 500 Nm (torque threshold), it can be determined that the differential lock locking condition is satisfied.

[0027] If the locking condition is satisfied, the PCU can send a differential lock locking instruction to the MCU through the CAN bus. After receiving the instruction, the MCU drives the differential lock actuator (such as an electromagnetic valve) to perform the locking operation. For example, the MCU outputs a driving current of 2.6 A (the value can be calibrated) to the electromagnetic valve coil, and the electromagnetic valve moves under the action of magnetic force, mechanically locking the differential, and rigidly connecting the left and right rear wheels.

[0028] In step 203, the current second state information of the vehicle is obtained, and the execution result of the locking operation is determined based on the second state information.

[0029] After sending the differential lock locking instruction and after a short execution delay (for example, 100-300 milliseconds), the PCU starts to monitor the execution result of the locking operation. The PCU continuously collects the signals of the left and right rear wheel speed sensors, and takes the rear wheel speed difference as the second state information.

[0030] The PCU analyzes the sampled rear wheel speed difference. Since the differential lock is locked, the two rear wheels should be forced to rotate synchronously, and the speed difference should tend to zero. Therefore, a judgment success threshold (first threshold, for example, 3 rpm) and a duration (first duration, for example, 1 second) can be set. When the rear wheel speed difference is less than the first threshold and the duration exceeds the first duration, the PCU can determine that the locking operation is successful. If the speed difference is always large or fluctuates sharply, it can be determined that the locking fails.

[0031] Step 204, in response to the success of the locking operation, sends a locking success information to the vehicle instrument to make the vehicle instrument perform a display operation associated with the locking success.

[0032] When the locking success is confirmed, the PCU can send a "locking success" status frame to the vehicle instrument. After receiving the information, the vehicle instrument can perform a relevant display operation. For example, the vehicle instrument can control the differential lock status indicator to be always on, so as to clearly inform the driver that the differential lock is in the effective locking state.

[0033] In an optional embodiment, if the first state information does not satisfy the differential lock locking condition in step 201, the PCU can send a locking failure information to the vehicle instrument. After receiving the information, the vehicle instrument can perform a relevant display operation. For example, the vehicle instrument can control the differential lock status indicator to flash, and pop up a text warning (such as "current vehicle speed is too high, unable to lock the differential lock") on the multi-function display, prompting the driver of the current situation.

[0034] The above embodiment flow can be as shown in Figure 3 , mainly including: Step 301, the user triggers a differential lock locking request.

[0035] Step 302, determine whether the first vehicle state satisfies the locking condition, if yes, go to step 303, otherwise go to step 304.

[0036] Step 303, the PCU sends a differential lock locking instruction.

[0037] Step 304, the PCU sends a locking failure information to the vehicle instrument.

[0038] Step 305, the vehicle instrument controls the state indicator to flash.

[0039] After receiving the locking failure information from the PCU, the vehicle instrument controls the differential lock status indicator to display in a flashing manner, and can also be accompanied by a text prompt, clearly informing the driver of the reason why the locking cannot be performed at present.

[0040] Step 306, determine whether the locking operation is successful, if yes, go to step 307, otherwise continue to wait.

[0041] After the PCU issues the locking instruction, the system enters the result verification phase. The PCU continuously acquires the left and right rear wheel speeds as the second state information, and calculates the difference value thereof. If the difference of the rear wheel speeds continuously falls below a first threshold value (such as 3 rpm) for a first time length (such as 1 second), it is determined that the locking is successful, and the flow enters step 307; otherwise, the system will continue to monitor or wait until timeout.

[0042] Step 307, the PCU sends the locking success information to the vehicle instrument.

[0043] Step 308, the vehicle instrument controls the state indicator lamp to be always on.

[0044] Once the locking success is confirmed, the PCU sends the locking success information to the vehicle instrument, and after the vehicle instrument receives the locking success information, the differential lock state indicator lamp is changed from the flashing or off state to the always-on state, clearly and stably indicating to the driver that the differential lock is currently in the effective locking working state.

[0045] The embodiment of the application introduces the locking control process of "condition judgment-closed loop verification-state feedback", effectively prevents the false locking in the unsafe state, ensures the successful execution of the locking action, and provides clear and immediate operation result indication to the driver, thereby significantly improving the controllability and safety of the escape operation.

[0046] In an alternative embodiment, after the differential lock is successfully locked, the user can actively trigger the unlocking process. In response to the triggering of the differential lock unlocking request, the PCU can obtain the current driving speed and the rear wheel speed difference of the vehicle, and if the driving speed and the rear wheel speed difference are both less than the corresponding threshold values, the PCU sends a differential lock unlocking instruction to the differential lock controller to make the differential lock controller perform the unlocking operation. After sending the locking instruction, if it is detected that the rear wheel speed difference is greater than the second threshold value and the duration exceeds the second time length, the PCU sends the unlocking success information to the vehicle instrument to make the vehicle instrument perform the display operation associated with the unlocking success.

[0047] The above process can refer to Figure 4 , mainly including: Step 401, the user triggers a differential lock unlocking request.

[0048] The user presses the differential lock unlocking switch to trigger the unlocking request, and the PCU responds to the unlocking request to obtain the current driving speed and the rear wheel speed difference.

[0049] Step 402, it is judged whether the driving speed and the rear wheel speed difference are both less than the corresponding threshold values, if yes, go to step 403, otherwise go to step 404.

[0050] The condition for active unlocking can be set as: the driving speed is less than a second speed threshold value (such as 15 km / h) and the rear wheel speed difference is less than a second speed difference threshold value (such as 50 rpm). This condition is usually more relaxed than the locking condition, aiming to ensure that it can be unlocked under non-extreme dynamics.

[0051] Step 403, the PCU sends a differential lock unlocking instruction.

[0052] If the condition is met, the PCU sends an unlocking instruction to the MCU, the MCU controls the electromagnetic valve to drive the current to 0A, and the differential lock is opened under the action of the reset spring mechanism, etc.

[0053] Step 404, the PCU sends an unlocking failure information to the vehicle instrument.

[0054] Step 405, the vehicle instrument controls the state indication light to flash.

[0055] The vehicle instrument indicates the failure of this unlocking by controlling the state indication light to flash, and in addition, can display the reason for the unlocking failure (such as too fast driving speed or too large rear wheel speed difference).

[0056] Step 406, it is judged whether the unlocking operation is successful, if yes, step 407 is entered, otherwise, it is continuously waited until timeout.

[0057] After unlocking, the two rear wheels should be able to freely differential, and the PCU monitors that the rear wheel speed difference is greater than a second threshold (such as 20 rpm) and the duration exceeds a second time length (such as 0.5 seconds), which can determine that the unlocking is successful. Step 407, the PCU sends an unlocking success information to the vehicle instrument.

[0058] Step 408, the vehicle instrument controls the state indication light to be extinguished.

[0059] The extinguishing of the state indication light can indicate that the differential lock has been successfully unlocked.

[0060] In an optional embodiment, in the locked state of the differential lock, the PCU can automatically perform the differential lock unlocking operation with the normal driving of the vehicle. Specifically, the PCU acquires the current driving speed of the vehicle in real time, and when it is detected that the driving speed exceeds a third threshold and the duration exceeds a third time length, sends a differential lock unlocking instruction to the differential lock controller to make the differential lock controller perform the unlocking operation.

[0061] The above embodiment flow can refer to Figure 5 , mainly including: Step 501, acquiring the driving speed.

[0062] Step 502, it is judged whether the driving speed exceeds a third threshold and lasts for more than a third time length, if yes, step 503 is entered, otherwise, step 501 is returned.

[0063] When the differential lock is in the locked state, the PCU continuously monitors the driving speed. The automatic unlocking trigger condition can be set as: the driving speed is greater than a third threshold (such as 30 km / h) and lasts for more than a third time length (10 seconds), or the instantaneous driving speed is greater than 40 km / h.

[0064] Step 503, the PCU sends a differential lock unlocking instruction.

[0065] Once any of the above conditions is met, the PCU automatically sends an unlocking instruction to the MCU without user operation, forcing the differential lock to open to prevent safety hazards caused by high-speed locking.

[0066] Step 504, determine whether the unlocking operation is successful, if yes, go to step 505, otherwise continue to detect until the time is exceeded.

[0067] Step 505, PCU sends unlocking success information to vehicle instrument.

[0068] Step 506, the vehicle instrument control state indicator light is turned off.

[0069] After unlocking execution, the PCU also verifies the unlocking state by monitoring the rear wheel speed difference and sends state update to the vehicle instrument, and the vehicle instrument turns off the state indicator light.

[0070] The embodiment of the application can automatically and reliably release the differential lock state when the driver is negligent by setting the automatic unlocking mechanism triggered by vehicle speed and closed-loop verification, effectively avoiding the risk of operation and mechanical damage hidden in forced locking at high speed, thereby improving the active safety and reliability of the system.

[0071] In an optional embodiment, after executing the unlocking operation, if the rear wheel speed difference is detected to be less than the fourth threshold value and continues to exceed the fourth time length, the PCU can determine that the differential lock is malfunctioning, that is, sending differential lock fault information to the vehicle instrument to make the vehicle instrument perform display operation associated with differential lock fault.

[0072] The above embodiment process can refer to Figure 6 , mainly including: Step 601, the differential lock unlocking process is ended.

[0073] This step marks that the differential lock unlocking instruction triggered by the user or the system has been executed, and the system enters the state monitoring and fault diagnosis mode after unlocking.

[0074] Step 602, determine whether the driving speed exceeds 30km / h and the steering wheel angle is greater than 20 degrees.

[0075] The PCU continuously monitors the vehicle dynamics, and when it detects that the vehicle is turning at a high speed (greater than 30km / h) and a certain degree of steering (steering wheel angle greater than 20 degrees), it means that the vehicle is in a turning driving condition. Under this condition, the left and right rear wheels should theoretically produce a significant speed difference. If this condition is not met, the system continues to monitor (return to the continuous detection state after step 601); if the condition is met, it means that it has entered an effective diagnosis window period, and the process goes to step 603.

[0076] Step 603, judge whether the rear wheel speed difference is less than the fourth threshold value and lasts more than the fourth time length.

[0077] Under the condition of meeting the diagnostic working condition, the PCU accurately calculates and monitors the rear wheel speed difference. A small fault judgment threshold value (the fourth threshold value, such as less than 5 rpm) and a short stable judgment time length (the fourth time length, such as lasting 200 milliseconds) can be set. The purpose of this judgment is to detect whether the differential lock is “physically unlocked”. If the differential lock is still in the locked or semi-locked state due to mechanical jamming or the like, the two rear wheels will be forced to be synchronized, and the speed difference will be abnormally low below this small threshold value. If the detection result is no (normal speed difference), it indicates that the differential lock function is normal, and the flow enters step 606; if the detection result is yes (low speed difference), it indicates that a suspected fault signal is detected, and the flow enters step 604.

[0078] Step 604, count +1.

[0079] In order to prevent misjudgment caused by road bumps, signal interference and the like, the system introduces a fault counter. Each time the “low speed difference” is detected under the diagnostic working condition, the counter is increased by 1.

[0080] Step 605, whether the count is greater than 5.

[0081] If the cumulative number of times does not exceed the preset number of times (for example, 5 times), it is considered that it may be an occasional phenomenon, and the flow returns to step 603 to continue monitoring and judging in the next diagnostic window. If the cumulative number of times is greater than 5, it indicates that the differential lock has a real fault of mechanical jamming that cannot be opened, and the flow enters the fault handling stage, that is, step 606.

[0082] Step 606, the differential lock is opened.

[0083] Step 607, limit the torque to be less than 30 N.m.

[0084] In order to avoid the overload damage of the transmission system (such as half shaft and gear) caused by large torque driving in the differential lock jamming state, the PCU sends a command to the power system to strictly limit the driving torque to a very low and safe level.

[0085] Step 608, the PCU sends the differential lock fault information to the vehicle instrument.

[0086] Step 609, the vehicle instrument lights up the fault indicator.

[0087] The instrument controller immediately lights up the special differential lock fault indicator (usually red) after receiving the fault information, and may display explicit fault warning text (such as "differential lock fault, please repair immediately") on the display screen, actively informing the driver that the vehicle has a safety hazard and needs to be repaired immediately.

[0088] The online diagnosis mechanism can accurately and reliably identify the mechanical carding hidden fault of the differential lock after unlocking, and immediately execute torque limitation and active warning after confirming the fault, thereby effectively preventing the transmission system from being damaged due to running with a fault, and significantly improving the active safety and reliability of the vehicle.

[0089] Figure 7 A structure diagram of a differential lock control device provided by an embodiment of the present application is shown in FIG. 1. As shown in the figure, the device can include: Figure 7 An interaction device 710 for triggering a differential lock locking request.

[0090] A sensor module 720 for obtaining current first state information and second state information of the vehicle.

[0091] A power control unit 730 for sending a differential lock locking instruction to a differential lock controller in response to the first state information satisfying a differential lock locking condition, and determining an execution result of the locking operation based on the second state information, and sending locking success information to a vehicle instrument when the locking operation is successfully executed.

[0092] A vehicle instrument 740 for performing a display operation associated with locking success.

[0093] Corresponding to the above-mentioned embodiments, the present application also provides an electronic device. Figure 8 A structure diagram of an electronic device provided by an embodiment of the present application is shown in FIG. 2. The electronic device 800 can include a processor 801, a memory 802, and a communication unit 803. These components communicate through one or more buses. Those skilled in the art can understand that the structure of the electronic device shown in the figure does not constitute a limitation on the embodiments of the present application. It can be a bus structure, a star structure, or include more or fewer components, or combine certain components, or different component arrangements.

[0094] The communication unit 803 is configured to establish a communication channel, so that the electronic device can communicate with other devices. It receives user data sent by other devices or sends user data to other devices.

[0095] ​The processor 801 is the control center of the electronic device, and connects various parts of the electronic device through various interfaces and lines, and executes various functions of the electronic device and / or processes data by running or executing software programs, instructions, and / or modules stored in the memory 802, and calling data stored in the memory. The processor can be composed of an integrated circuit (IC), for example, can be composed of a single packaged IC, or can be composed of a plurality of packaged ICs connected together. For example, the processor 801 can only include a central processing unit (CPU). In the embodiments of the present application, the CPU can be a single operation core or can include multiple operation cores.

[0096] The memory 802 is used to store the execution instructions of the processor 801, and the memory 802 can be realized by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0097] When the execution instructions in the memory 802 are executed by the processor 801, the electronic device 800 can execute part or all of the steps in the above embodiments.

[0098] In specific implementations, the present application also provides a computer storage medium, wherein the computer storage medium can store a program, and the program can include part or all of the steps in the embodiments of the differential lock control method provided by the present application when executed. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0099] In specific implementations, the present application also provides a computer program product, wherein the computer program product contains executable instructions, and when the executable instructions are executed on a computer, the computer executes part or all of the steps in the embodiments of the differential lock control method provided by the present application.

[0100] The embodiments of the present application also provide a non-transitory computer readable storage medium, and the non-transitory computer readable storage medium stores computer instructions, and the computer instructions make the computer execute the differential lock control method provided by the embodiments of the present application.

[0101] The non-transitory computer-readable storage medium described above can employ any combination of one or more computer-readable media. The computer-readable media can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer-readable storage medium can be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0102] A computer-readable signal medium can include a propagated data signal with computer-readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal can take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium that is not a computer-readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

[0103] Program code embodied on a computer-readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0104] Those skilled in the art can clearly understand that the technical solutions in the embodiments of the present application can be implemented by means of software plus necessary universal hardware platforms. Based on such an understanding, the technical solutions in the embodiments of the present application can be embodied in the form of a software product, which can be stored in a storage medium, such as a ROM / RAM, a magnetic disk, or an optical disk, and includes a plurality of instructions used to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments of the present application.

[0105] The same or similar parts between various embodiments in the specification can be referred to each other. Especially, for the device embodiments and the terminal embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiments.

Claims

1. A differential lock control method, characterized in that, The method is applied to a power control unit, including: In response to the differential lock locking request, obtain the vehicle's current first state information; In response to the first state information satisfying the differential lock locking condition, a differential lock locking command is sent to the differential lock controller so that the differential lock controller performs a locking operation; Obtain the vehicle's current second state information, and determine the execution result of the locking operation based on the second state information; In response to the successful execution of the locking operation, a locking success message is sent to the vehicle instrument panel, causing the vehicle instrument panel to perform a display operation associated with the locking success.

2. The differential lock control method according to claim 1, characterized in that, Also includes: In response to the first status information not meeting the differential lock locking condition, a locking failure information is sent to the vehicle instrument panel to cause the vehicle instrument panel to perform a display operation associated with the locking failure.

3. The differential lock control method according to claim 1, characterized in that, The step of obtaining the vehicle's current first state information includes: Obtain the vehicle's current speed, rear wheel speed difference, and torque; The method further includes: When the driving speed, the difference in rear wheel speed, and the torque are all less than their respective thresholds, it is determined that the first state information satisfies the differential lock locking condition.

4. The differential lock control method according to claim 1, characterized in that, The step of obtaining the vehicle's current second state information and determining the execution result of the locking operation based on the second state information includes: Obtain the current rear wheel speed difference of the vehicle; When the difference in rear wheel speed is detected to be less than a first threshold and the duration exceeds a first time period, the locking operation is determined to have been successfully executed.

5. The differential lock control method according to claim 1, characterized in that, After the locking operation is successfully executed, the method further includes: In response to the differential lock unlocking request, obtain the vehicle's current speed and the difference in rear wheel speed; In response to the fact that both the driving speed and the difference in rear wheel speed are less than their respective thresholds, a differential lock unlocking command is sent to the differential lock controller so that the differential lock controller performs an unlocking operation; When the difference in rear wheel speed is detected to be greater than a second threshold and the duration exceeds a second duration, an unlock success message is sent to the vehicle instrument panel so that the vehicle instrument panel performs a display operation associated with the unlock success.

6. The differential lock control method according to claim 1, characterized in that, After the locking operation is successfully executed, the method further includes: Get the vehicle's current speed; When the driving speed is detected to exceed a third threshold and the duration exceeds a third time period, a differential lock unlocking command is sent to the differential lock controller so that the differential lock controller performs an unlocking operation.

7. The differential lock control method according to claim 5, characterized in that, After performing the unlocking operation, the method further includes: When the difference in rear wheel speed is detected to be less than the fourth threshold and lasts for more than the fourth duration, it is determined that the differential lock has malfunctioned. Send differential lock fault information to the vehicle's instrument panel to cause the instrument panel to perform a display operation associated with the differential lock fault.

8. A differential lock control system, characterized in that, include: An interactive device for triggering a differential lock locking request; The sensor module is used to acquire the vehicle's current first and second state information; The power control unit is configured to send a differential lock locking command to the differential lock controller in response to the first state information satisfying the differential lock locking condition, so that the differential lock controller performs a locking operation. And based on the second state information, determine the execution result of the locking operation, and when the locking operation is successfully executed, send locking success information to the vehicle instrument panel; The vehicle's instrument panel is used to perform display operations associated with successful locking.

9. An electronic device, characterized in that, The device includes a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device performs the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 7.

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