Vehicle differential damage detection method and device and vehicle

Abstract

The invention provides a vehicle differential damage detection method and device and a vehicle. The method comprises the steps that under the condition that a slipping driving wheel exists in driving wheels of a vehicle, the acceleration and the impact degree corresponding to the slipping driving wheel are determined according to the wheel speed of the slipping driving wheel; performing frequency domain conversion on the wheel speed, the acceleration and the impact degree of the slip driving wheel to obtain corresponding frequency domain characteristics and amplitude characteristics; and according to the frequency domain characteristics and the amplitude characteristics, detecting whether a differential mechanism corresponding to the slip driving wheel is damaged or not. Detection is carried out by extracting specific frequency characteristics, so that the accuracy of vehicle differential damage detection is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle fault detection technology, and in particular to a method, device and vehicle for detecting damage to a vehicle differential. Background Technology

[0002] When a vehicle is traveling on a low-friction surface (such as ice, snow, or mud) where the coefficient of friction between the left and right wheels differs significantly, the drive wheels are prone to slippage, resulting in a significant speed difference between the two sides of the same drive axle. This speed difference causes the internal components of the differential to overheat due to continuous friction, leading to problems such as burning, breakage, or abnormal wear. Damage to the differential not only directly affects the vehicle's power transmission efficiency but may also be accompanied by increased final drive oil temperature and abnormal vibration, endangering driving safety.

[0003] Currently, the most commonly used differential protection method in the industry is a threshold-based triggering method. By monitoring parameters such as the drive wheel speed difference and output torque, protection is triggered to limit power output when these parameters exceed preset thresholds for a certain period. While this method can prevent differential overheating damage to some extent, its judgment is limited to fixed thresholds, making it unable to accurately identify the real-time status of the differential. This carries the risk of misjudgment or delayed action, making it difficult to provide a timely and targeted response when the differential is truly damaged. Furthermore, it cannot effectively distinguish between general slippage and structural damage, resulting in insufficient accuracy in detecting vehicle differential damage. Summary of the Invention

[0004] This application provides a method, apparatus, and vehicle for detecting damage to a vehicle differential, aiming to solve the technical problem of insufficient accuracy in detecting damage to vehicle differentials in related technologies.

[0005] In a first aspect, this application provides a method for detecting damage to a vehicle differential, the method comprising: In the case of a slipping drive wheel in the vehicle's drive wheels, the acceleration and impact of the corresponding slipping drive wheel are determined based on the wheel speed of the slipping drive wheel. The wheel speed, acceleration, and impact of the slipping drive wheel are transformed in the frequency domain to obtain the corresponding frequency domain characteristics and amplitude characteristics; Based on the frequency domain characteristics and amplitude characteristics, detect whether the differential corresponding to the slipping drive wheel is damaged.

[0006] In some possible implementations, detecting whether the differential corresponding to the slipping drive wheel is damaged based on the frequency domain characteristics and amplitude characteristics includes: Obtain the failure frequency characteristic range and failure amplitude characteristic range under differential failure conditions; If the frequency domain characteristic is located within the failure frequency characteristic range and / or the amplitude characteristic is located within the failure amplitude characteristic range, it is determined that the differential corresponding to the slipping drive wheel is damaged; If the frequency domain feature is not located in the failure frequency feature range and the amplitude feature is not located in the failure amplitude feature range, the differential corresponding to the slipping drive wheel is determined to be intact.

[0007] In some possible implementations, when a slipping drive wheel exists among the vehicle's drive wheels, determining the acceleration and impact of the slipping drive wheel based on its wheel speed includes: If a slipping drive wheel exists among the vehicle's drive wheels, the wheel speed of the slipping drive wheel is obtained; The first derivative of the wheel speed of the slipping drive wheel is calculated to obtain the corresponding acceleration; The second derivative of the wheel speed of the slipping drive wheel is calculated to obtain the corresponding impact.

[0008] In some possible implementations, the method further includes: Calculate the wheel speed difference between the drive wheels on both sides of the differential corresponding to the slipping drive wheel; When the wheel speed difference exceeds a preset first threshold, the output torque corresponding to the differential is determined; Based on the output torque, detect whether there is a risk of damage to the differential.

[0009] In some possible implementations, detecting the risk of damage to the differential based on the output torque includes: When the output torque exceeds a preset second threshold, the cumulative slippage time corresponding to the differential is obtained; If the cumulative slippage time of the differential exceeds a preset time limit, it is determined that the differential is at risk of damage.

[0010] In some possible implementations, after detecting the risk of damage to the differential based on the output torque, the method further includes: In the event of a risk of damage to the differential, the torque output of the drive shaft corresponding to the differential is limited to a preset torque value.

[0011] In some possible implementations, after detecting whether the differential corresponding to the slipping drive wheel is damaged based on the frequency domain characteristics and amplitude characteristics, the method further includes: If the differential is damaged, stop the torque output of the drive shaft corresponding to the differential.

[0012] In some possible implementations, before determining the acceleration and impact of the slipping drive wheel based on its wheel speed, in the case where a slipping drive wheel exists among the vehicle's drive wheels, the method further includes: Obtain the wheel speed of each drive wheel of the vehicle, as well as the vehicle's reference speed; The drive wheel whose wheel speed is greater than the reference vehicle speed is identified as the slipping drive wheel.

[0013] Secondly, this application provides a vehicle differential damage detection device, the device comprising: The determination module is used to determine the acceleration and impact of the slipping drive wheel based on the wheel speed of the slipping drive wheel when there is a slipping drive wheel among the drive wheels of the vehicle. The conversion module is used to perform frequency domain conversion on the wheel speed, acceleration and impact of the slipping drive wheel to obtain the corresponding frequency domain features and amplitude features; The detection module is used to detect whether the differential corresponding to the slipping drive wheel is damaged based on the frequency domain characteristics and amplitude characteristics.

[0014] Thirdly, this application provides a vehicle differential damage detection device, the device comprising: a processor, and a memory storing computer program instructions; the processor reads and executes the computer program instructions to implement the vehicle differential damage detection method described above.

[0015] Fourthly, this application provides a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the vehicle differential damage detection method described above.

[0016] Fifthly, this application provides a computer program product in which the instructions are executed by the processor of an electronic device, causing the electronic device to perform the vehicle differential damage detection method described above.

[0017] Sixthly, this application provides a vehicle that includes a vehicle differential damage detection device as described above.

[0018] The vehicle differential damage detection method, device, and vehicle provided in this application accurately identify drive wheels in a slipping state by acquiring and comparing the drive wheel speed with the vehicle reference speed. Subsequently, derivative calculations are performed on the slipping wheel speed to convert the speed signal into acceleration and impact signals, reflecting instantaneous changes in rotational state, such as sudden frictional changes or mechanical impacts. Furthermore, frequency domain analysis is performed on the wheel speed, acceleration, and impact, and their amplitude characteristics are extracted. This decomposes transient and continuous changes in the time domain into energy distributions of different frequency components, thereby separating and quantifying the implicit conditions in the signal corresponding to the differential state, such as periodic vibration modes related to periodic gear impacts or abnormal friction. Finally, damage status is determined based on these extracted frequency domain amplitude characteristics. Since the internal friction of differential components exhibits irregular periodic fluctuations when worn, burned, or broken, these fluctuations are reflected in the wheel speed signal and manifest as abnormal amplitudes within a specific frequency band. This solution improves the accuracy of vehicle differential damage detection by extracting these specific frequency characteristics for detection. Attached Figure Description

[0019] This application can be better understood from the following description of specific embodiments in conjunction with the accompanying drawings, wherein: Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings, wherein the same or similar reference numerals denote the same or similar features.

[0020] Figure 1 This is a flowchart of a vehicle differential damage detection method provided in one embodiment of this application; Figure 2 This is a flowchart of a vehicle differential damage detection method provided in another embodiment of this application; Figure 3 This is a flowchart of a vehicle differential damage detection method provided in another embodiment of this application; Figure 4 This is a schematic diagram of the structure of a vehicle differential damage detection device provided in one embodiment of this application; Figure 5 This is a schematic diagram of the hardware structure of the vehicle differential damage detection device provided in this application embodiment. Detailed Implementation

[0021] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0022] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0023] When a vehicle travels with different road conditions on its left and right wheels, wheel slippage is likely. When a speed difference occurs between the left and right sides of the same drive shaft, the differential gears are prone to failure due to heat accumulation caused by the excessive speed difference, leading to burning and other problems. Current research indicates that factors contributing to this failure include planetary gear speed difference, the rate of change of the speed difference, transmitted torque, cooling medium temperature, and vehicle roll. Currently, the commonly used protection method is a rule-based threshold-triggered approach. When the speed difference or torque exceeds a certain value, time integration triggers torque limiting. However, this protection method only triggers the vehicle's torque reduction protection in the form of a threshold, essentially an open-loop predictive protection. Further investigation is needed to determine whether actual differential damage has occurred.

[0024] Differential damage is often accompanied by sintering and fracture of the planetary gear cross shaft, wear between the planetary gears and shims, and abnormal wear between the half-shaft gears and shims. This leads to large fluctuations in internal friction torque, increased oil temperature in the main reducer, and abnormal vibration. This type of failure can be identified more intuitively from a vibration perspective.

[0025] To address the problems in the prior art, this application provides a method, apparatus, and vehicle for detecting damage to a vehicle differential. The method for detecting damage to a vehicle differential provided in this application will be described first.

[0026] Figure 1A flowchart illustrating a vehicle differential damage detection method according to an embodiment of this application is shown. Figure 1 As shown, the method includes the following steps: S101 to S103.

[0027] S101: When there is a slipping drive wheel among the drive wheels of the vehicle, determine the acceleration and impact of the corresponding slipping drive wheel based on the wheel speed of the slipping drive wheel.

[0028] S102: Perform frequency domain transformation on the wheel speed, acceleration, and impact of the slipping drive wheel to obtain the corresponding frequency domain characteristics and amplitude characteristics.

[0029] S103: Based on frequency domain characteristics and amplitude characteristics, detect whether the differential corresponding to the slipping drive wheel is damaged.

[0030] In the specific implementation of S101, the wheel speed signals of each drive wheel are monitored and acquired in real time by vehicle sensors. When a drive wheel's speed abnormally increases and exceeds a preset slippage threshold, it is determined to be a slipping drive wheel. The wheel speed signal of the slipping drive wheel is differentiated with respect to time to obtain the rate of change of the wheel speed over time, i.e., linear acceleration. Then, the obtained acceleration signal is differentiated again with respect to time, i.e., the wheel speed signal is differentiated a second time to obtain the rate of change of acceleration, i.e., impact. For example, wheel speed pulse signals can be collected and converted into a speed value sequence; the instantaneous acceleration is obtained by calculating the difference between the current speed value and the previous speed value and dividing it by the sampling time; then, the instantaneous impact is obtained by calculating the difference between the current acceleration value and the previous acceleration value and dividing it by the sampling time.

[0031] To accurately determine the slipping drive wheel, in some implementations, reference is made to... Figure 2 Before S101, the method may also include the following steps: S201 to S202.

[0032] S201: Obtain the wheel speed of each drive wheel of the vehicle, as well as the vehicle's reference speed.

[0033] S202: The drive wheel with a wheel speed greater than the reference vehicle speed is identified as the slipping drive wheel.

[0034] In the specific implementation of S201, pulse signals generated by wheel speed sensors installed on each drive wheel are read and continuously received according to a preset sampling period. The number of pulses per unit time is calculated and converted into the real-time rotational angular velocity or linear velocity of the corresponding drive wheel. The wheel speeds of all non-drive wheels are collected, and these wheel speeds are averaged to obtain the average value as the reference vehicle speed.

[0035] In the specific implementation of S202, the wheel speed of each drive wheel is acquired and compared with the reference vehicle speed calculated at the same time. The difference between the wheel speed of a certain drive wheel and the reference vehicle speed is calculated, and this difference is compared with a preset slippage determination threshold. If the difference continues to exceed the threshold for a certain period of time, the drive wheel is identified as a slipping drive wheel.

[0036] The above-described implementation method of this application obtains the wheel speeds corresponding to each drive wheel of the vehicle and the reference vehicle speed, and then identifies the drive wheels with wheel speeds greater than the reference vehicle speed as slipping drive wheels, thereby accurately identifying slipping drive wheels.

[0037] In order to reasonably calculate acceleration and impact, in some embodiments, S101 includes the following steps: S1011 to S1013.

[0038] S1011: When there is a slipping drive wheel among the vehicle's drive wheels, obtain the wheel speed of the slipping drive wheel.

[0039] S1012: Calculate the first derivative of the wheel speed of the slipping drive wheel to obtain the corresponding acceleration.

[0040] S1013: Calculate the second derivative of the wheel speed of the slipping drive wheel to obtain the corresponding impact.

[0041] In the specific implementation of S1011, the wheel speed signal sequence corresponding to the slipping drive wheel is extracted from the real-time wheel speed data stream in a directional manner, so as to read the wheel speed value recorded by the slipping drive wheel at a fixed sampling interval within a specific time window.

[0042] In the specific implementation of S1012, the discrete difference algorithm is used to process the wheel speed sequence obtained in S1011, which is arranged in chronological order. The difference between the wheel speed value at the previous sampling time and the wheel speed value at the current sampling time is divided by the time interval between the two sampling points to calculate the instantaneous average acceleration of that interval.

[0043] In the specific implementation of S1013, based on the acceleration sequence obtained in S1012, a discrete difference operation similar to that in S1012 is performed on the acceleration sequence again, that is, the difference between the acceleration values ​​at adjacent sampling times is calculated and divided by the sampling period to obtain the corresponding impact.

[0044] The above-described embodiments of this application obtain the wheel speed of the slipping drive wheel when there is a slipping drive wheel in the vehicle's drive wheels. The first derivative of the slipping drive wheel speed is calculated to obtain the corresponding acceleration, and then the second derivative of the slipping drive wheel speed is calculated to obtain the corresponding impact. This allows for a reasonable calculation of acceleration and impact.

[0045] In the specific implementation of S102, after obtaining the three time-domain signal sequences of the slipping drive wheel—wheel speed, acceleration, and impact—which vary over time, frequency domain transformation operations are performed on these three signal sequences respectively. This can be implemented using digital signal processing algorithms, such as the Fast Fourier Transform (FFT). Specifically, the time-domain signal data within each specific time window is used as input, and through transformation, it is decomposed into a series of sinusoidal wave components of different frequencies, thus mapping the signal from the time domain to the frequency domain. Frequency domain characteristics mainly refer to the distribution of signal energy at different frequency points or frequency bands, which can be represented as a spectrum or characteristic frequencies. Amplitude characteristics refer to the amplitude or power value corresponding to the aforementioned frequency components, quantifying the intensity of that frequency component in the signal.

[0046] In the specific implementation of S103, the system accesses the database or internal memory to retrieve the standard frequency domain characteristic range and amplitude characteristic threshold of the differential known to be in normal condition under similar slippage conditions. Then, the system compares and logically judges the real-time calculated characteristics of the slipping drive wheel with these standard ranges and thresholds one by one. If the real-time characteristics deviate significantly from the normal range, for example, if a specific abnormal high-frequency oscillation component appears and its amplitude exceeds the set damage threshold, the system determines that the differential connected to the slipping drive wheel is damaged.

[0047] The vehicle differential damage detection method provided in this application accurately identifies drive wheels in a slipping state by acquiring and comparing the drive wheel speed with the vehicle reference speed. Subsequently, derivative calculations are performed on the slipping wheel speed to convert the speed signal into acceleration and impact signals, reflecting instantaneous changes in rotational state, such as sudden frictional changes or mechanical impacts. Furthermore, frequency domain analysis is performed on the wheel speed, acceleration, and impact, and their amplitude characteristics are extracted. This decomposes transient and continuous changes in the time domain into energy distributions of different frequency components, thereby separating and quantifying the implicit conditions in the signal corresponding to the differential state, such as periodic vibration modes related to periodic gear impacts or abnormal friction. Finally, damage status is determined based on these extracted frequency domain amplitude characteristics. Because the internal friction of differential components exhibits irregular periodic fluctuations when worn, burned, or broken, these fluctuations are reflected in the wheel speed signal and manifest as abnormal amplitudes within a specific frequency band. This solution improves the accuracy of vehicle differential damage detection by extracting these specific frequency characteristics for detection.

[0048] In order to accurately identify a differential that is in a damaged state, in some embodiments, S103 may include the following steps: S1031 to S1033.

[0049] S1031: Obtain the failure frequency characteristic range and failure amplitude characteristic range under the differential failure state.

[0050] S1032: If the frequency domain characteristics are located in the failure frequency characteristic range and / or the amplitude characteristics are located in the failure amplitude characteristic range, determine that the differential corresponding to the slipping drive wheel is damaged.

[0051] S1033: If the frequency domain characteristics are not located in the failure frequency characteristic range and the amplitude characteristics are not located in the failure amplitude characteristic range, the differential corresponding to the slipping drive wheel is determined to be intact.

[0052] In the specific implementation of S1031, pre-calibrated and stored differential failure characteristic data is read from the vehicle's built-in non-volatile memory or a cloud database. This characteristic data is derived through extensive bench or real-vehicle testing of known damaged differentials, followed by frequency domain analysis of the vibration signals generated under slippage conditions. The failure frequency characteristic range refers to one or more specific frequency ranges within which a damaged differential will exhibit abnormal and significant energy concentration, such as potentially corresponding to the characteristic frequency of gear meshing failure or its harmonics. The failure amplitude characteristic range refers to the range within the aforementioned frequency range where the corresponding amplitude or power value exceeds the statistical threshold under normal conditions.

[0053] In the specific implementation of S1032, the real-time frequency domain characteristics and amplitude characteristics calculated for the currently slipping drive wheel are compared one by one with the acquired "failure frequency characteristic interval" and "failure amplitude characteristic interval". During the comparison, it is checked whether the real-time frequency domain characteristic value falls within any preset failure frequency characteristic interval, and at the same time, it is checked whether the real-time amplitude characteristic value exceeds the failure amplitude threshold corresponding to that interval. If the condition that "the frequency domain characteristic is located in the failure frequency characteristic interval and its corresponding amplitude characteristic is also located in the failure amplitude characteristic interval" is met, or according to preset logic, either of the two conditions needs to be met, then the judgment condition is valid, and it is determined that the differential corresponding to the slipping drive wheel is damaged.

[0054] In the specific implementation of S1033, if it is found that the real-time frequency domain feature value does not fall into any preset failure frequency feature range, and the real-time amplitude feature value does not exceed the corresponding failure amplitude threshold in all the frequency bands of interest, that is, the two conditions of "frequency domain feature not located in failure frequency feature range" and "amplitude feature not located in failure amplitude feature range" are met at the same time, then it is determined that the differential corresponding to the slipping drive wheel is in good condition, and the differential corresponding to the slipping drive wheel is confirmed to be in good condition.

[0055] The above-described embodiments of this application obtain the failure frequency characteristic range and failure amplitude characteristic range of the differential in the failure state. Then, when the frequency domain feature is located in the failure frequency characteristic range and / or the amplitude feature is located in the failure amplitude characteristic range, it is determined that the differential corresponding to the slipping drive wheel is damaged. When the frequency domain feature is not located in the failure frequency characteristic range and the amplitude feature is not located in the failure amplitude characteristic range, it is determined that the differential corresponding to the slipping drive wheel is intact. In this way, the differential in the damaged state is accurately determined.

[0056] To prevent further damage or vehicle instability, in some embodiments, after S103, the method may further include the following steps: If the differential is damaged, stop the torque output of the drive shaft corresponding to the differential.

[0057] In practice, once the differential is determined to be damaged, a clear differential damage fault flag is generated and stored in a specific fault storage area. Subsequently, based on this flag, a predetermined torque management strategy is triggered, sending a request to the engine management system or drive motor controller to adjust its output torque to zero.

[0058] The above-described embodiments of this application, by stopping the torque output of the drive shaft corresponding to the differential when the differential is in a damaged state, ensure that the front drive shaft no longer receives any drive torque, thereby preventing further damage or causing vehicle dynamic instability.

[0059] To accurately detect the risk of damage to the differential, in some implementations, reference is made to... Figure 3 The method may also include the following steps: S301 to S303.

[0060] S301: Calculate the wheel speed difference between the two drive wheels on both sides of the differential corresponding to the slipping drive wheel.

[0061] S302: When the wheel speed difference exceeds a preset first threshold, determine the output torque corresponding to the differential.

[0062] S303: Based on the output torque, detect whether there is a risk of damage to the differential.

[0063] In the specific implementation of S301, the differential to which the drive wheel determined to be slipping belongs is identified, and the real-time wheel speed signal of the drive wheel connected to the output terminal of that differential is acquired. The two wheel speed values ​​are subtracted to obtain the wheel speed difference value characterizing the difference in rotational speed between the two wheels.

[0064] In the specific implementation of S302, the real-time wheel speed difference calculated by S301 is compared with a pre-calibrated and stored "first threshold". When the wheel speed difference continues to exceed this threshold, subsequent torque determination is triggered to determine the output torque corresponding to the differential.

[0065] In the specific implementation of S303, the differential output torque value determined in S302 is compared and analyzed with one or more preset torque safety thresholds. This safety threshold or model characterizes the torque limit that the differential structure can safely withstand under conditions with significant wheel speed differences. If the current output torque value exceeds this safety threshold, it is determined that the differential is at risk of damage to components such as gears and bearings due to overload.

[0066] The above-described implementation method of this application calculates the wheel speed difference between the two drive wheels of the differential corresponding to the slipping drive wheel, and then determines the output torque corresponding to the differential when the wheel speed difference exceeds a preset first threshold. Based on the output torque, it detects whether there is a risk of damage to the differential, thus accurately detecting whether there is a risk of damage to the differential.

[0067] To avoid misjudgment, in some implementations, S303 may include the following steps: S3031 to S3032.

[0068] S3031: When the output torque exceeds the preset second threshold, obtain the cumulative slippage time of the differential.

[0069] S3032: If the cumulative slippage time of the differential exceeds the preset time limit, it is determined that there is a risk of damage to the differential.

[0070] In the specific implementation of S3031, the determined differential output torque value is compared with a second threshold. When it is determined that the current output torque exceeds the second threshold, a data call to a specific timer is triggered. The timer starts and continuously accumulates the time when the drive wheel associated with the differential is first determined to be slipping, thereby obtaining the cumulative slippage duration of the differential.

[0071] In the specific implementation of S3032, the acquired cumulative slippage duration is compared with a preset duration limit. This duration limit is the upper limit of safe operating time calibrated based on the durability test data of the differential under the high torque and large speed difference conditions. If the cumulative slippage duration exceeds this preset duration limit, the system determines that the differential has a high risk of damage due to prolonged continuous operation under adverse conditions, and confirms that the differential is at risk of damage. For example, continuing the previous example, if the cumulative slippage duration acquired by the system is 8 seconds, which exceeds the preset duration limit of 5 seconds, the system determines that the differential is at risk of damage.

[0072] The above-described implementation method of this application obtains the cumulative slippage time of the differential when the output torque exceeds a preset second threshold, and then determines that the differential is at risk of damage when the cumulative slippage time of the differential exceeds a preset time limit. The judgment is based on the cumulative slippage time to avoid misjudgment.

[0073] To mitigate the risk of damage, in some implementations, after S303, the method may further include the following steps: In cases where there is a risk of damage to the differential, the torque output of the drive shaft corresponding to the differential is limited to a preset torque value.

[0074] In its implementation, upon receiving a confirmed signal indicating a risk of differential damage, a torque limiting procedure is immediately triggered. Subsequently, a preset torque value pre-calibrated for this specific risk state is queried. This value represents a torque upper limit that significantly reduces the risk of overheating or overload of the differential under slippage conditions. Next, a corresponding torque limiting command is generated to ensure that the actual torque acting on the corresponding drive shaft of the differential does not exceed the preset torque value. Specifically, a target torque request can be sent to the source providing drive force, adjusting the torque output to the drive shaft to a level not exceeding the preset torque value. Simultaneously, the actual transmitted torque can be monitored in real time using a torque sensor or a model-based observer, with feedback adjustments ensuring the limiting is effective.

[0075] The above-described embodiments of this application, by limiting the torque output of the drive shaft corresponding to the differential to a preset torque value when there is a risk of damage to the differential, actively limit the load within a safe range to avoid the risk of damage.

[0076] Based on the vehicle differential damage detection method provided in the above embodiments, this application also provides a specific implementation of the vehicle differential damage detection device. Please refer to the following embodiments.

[0077] First see Figure 4 The vehicle differential damage detection device 400 provided in this application embodiment includes the following modules: The determination module 401 is used to determine the acceleration and impact of the slipping drive wheel based on the wheel speed of the slipping drive wheel when there is a slipping drive wheel among the drive wheels of the vehicle.

[0078] The conversion module 402 is used to perform frequency domain conversion on the wheel speed, acceleration and impact of the slipping drive wheel to obtain the corresponding frequency domain characteristics and amplitude characteristics.

[0079] The detection module 403 is used to detect whether the differential corresponding to the slipping drive wheel is damaged based on frequency domain characteristics and amplitude characteristics.

[0080] As one implementation of this application, the detection module 403 includes: The acquisition unit is used to acquire the failure frequency characteristic range and failure amplitude characteristic range under the differential failure state.

[0081] The acquisition unit is used to acquire the differential damage corresponding to the slipping drive wheel when the frequency domain characteristics are located in the failure frequency characteristic range and / or the amplitude characteristics are located in the failure amplitude characteristic range.

[0082] The acquisition unit is also used to determine that the differential corresponding to the slipping drive wheel is intact when the frequency domain features are not located in the failure frequency feature range and the amplitude features are not located in the failure amplitude feature range.

[0083] As one implementation of this application, module 401 includes: The acquisition unit is used to acquire the wheel speed of the slipping drive wheel when there is a slipping drive wheel among the drive wheels of the vehicle.

[0084] The calculation unit is used to calculate the first derivative of the wheel speed of the slipping drive wheel to obtain the corresponding acceleration.

[0085] The calculation unit is also used to calculate the second derivative of the wheel speed of the slipping drive wheel to obtain the corresponding impact.

[0086] As one implementation of this application, the vehicle differential damage detection device 400 further includes: The calculation module is used to calculate the wheel speed difference between the two drive wheels on both sides of the differential corresponding to the slipping drive wheel.

[0087] The determination module is used to determine the output torque of the differential when the wheel speed difference exceeds a preset first threshold.

[0088] The detection module is used to detect whether there is a risk of damage to the differential based on the output torque.

[0089] As one implementation of this application, the detection module includes: The acquisition unit is used to acquire the cumulative slippage duration of the differential when the output torque exceeds a preset second threshold.

[0090] The determination unit is used to determine that there is a risk of damage to the differential when the cumulative slippage time of the differential exceeds a preset time limit.

[0091] As one implementation of this application, the vehicle differential damage detection device 400 further includes: The limiting module is used to limit the torque output of the drive shaft corresponding to the differential to a preset torque value when there is a risk of damage to the differential.

[0092] As one implementation of this application, the vehicle differential damage detection device 400 further includes: The stop module is used to stop the torque output of the drive shaft corresponding to the differential when the differential is damaged.

[0093] As one implementation of this application, the vehicle differential damage detection device 400 further includes: The stop acquisition module is used to acquire the wheel speeds of each drive wheel of the vehicle, as well as the vehicle's reference speed.

[0094] The stop determination module is used to identify drive wheels with wheel speeds greater than the reference vehicle speed as slipping drive wheels.

[0095] Each module in the vehicle differential damage detection device provided in this application embodiment can implement each step in the above-mentioned vehicle differential damage detection method and achieve the corresponding effect. For the sake of brevity, it will not be described in detail here.

[0096] Figure 5 A schematic diagram of the structure of the vehicle differential damage detection hardware provided in an embodiment of this application is shown.

[0097] The vehicle differential damage detection device may include a processor 501 and a memory 502 storing computer program instructions.

[0098] Specifically, the processor 501 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.

[0099] Memory 502 may include mass storage for data or instructions. For example, and not limitingly, memory 502 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 502 may include removable or non-removable (or fixed) media. Where appropriate, memory 502 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 502 is non-volatile solid-state memory.

[0100] The memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, a memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the vehicle differential damage detection method according to any embodiment of this disclosure.

[0101] The processor 501 reads and executes computer program instructions stored in the memory 502 to implement any of the vehicle differential damage detection methods in the above embodiments.

[0102] In one example, the vehicle differential damage detection device may also include a communication interface 503 and a bus 510. For example, Figure 5 As shown, the processor 501, memory 502, and communication interface 503 are connected through bus 510 and complete communication with each other.

[0103] The communication interface 503 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0104] Bus 510 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 510 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, this application contemplates any suitable bus or interconnect.

[0105] Furthermore, in conjunction with the vehicle differential damage detection method in the above embodiments, this application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the vehicle differential damage detection methods in the above embodiments.

[0106] This application also provides a computer program product, including a computer program that, when executed, implements any of the vehicle differential damage detection methods described in the above embodiments.

[0107] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0108] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0109] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0110] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowchart illustrations, and combinations of blocks in the block diagrams and / or flowchart illustrations, can also be implemented by an FPGA performing the specified functions or actions, or can be implemented by a combination of an FPGA and computer instructions.

[0111] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method for detecting damage to a vehicle differential, characterized in that, The method includes: In the case of a slipping drive wheel in the vehicle's drive wheels, the acceleration and impact of the corresponding slipping drive wheel are determined based on the wheel speed of the slipping drive wheel. The wheel speed, acceleration, and impact of the slipping drive wheel are transformed in the frequency domain to obtain the corresponding frequency domain characteristics and amplitude characteristics; Based on the frequency domain characteristics and amplitude characteristics, detect whether the differential corresponding to the slipping drive wheel is damaged.

2. The vehicle differential damage detection method according to claim 1, characterized in that, The step of detecting whether the differential corresponding to the slipping drive wheel is damaged based on the frequency domain characteristics and amplitude characteristics includes: Obtain the failure frequency characteristic range and failure amplitude characteristic range under differential failure conditions; If the frequency domain characteristic is located within the failure frequency characteristic range and / or the amplitude characteristic is located within the failure amplitude characteristic range, it is determined that the differential corresponding to the slipping drive wheel is damaged; If the frequency domain feature is not located in the failure frequency feature range and the amplitude feature is not located in the failure amplitude feature range, the differential corresponding to the slipping drive wheel is determined to be intact.

3. The vehicle differential damage detection method according to claim 1, characterized in that, In the case where a slipping drive wheel exists among the vehicle's drive wheels, determining the acceleration and impact of the corresponding slipping drive wheel based on its wheel speed includes: If a slipping drive wheel exists among the vehicle's drive wheels, the wheel speed of the slipping drive wheel is obtained; The first derivative of the wheel speed of the slipping drive wheel is calculated to obtain the corresponding acceleration; The second derivative of the wheel speed of the slipping drive wheel is calculated to obtain the corresponding impact.

4. The vehicle differential damage detection method according to claim 1, characterized in that, The method further includes: Calculate the wheel speed difference between the drive wheels on both sides of the differential corresponding to the slipping drive wheel; When the wheel speed difference exceeds a preset first threshold, the output torque corresponding to the differential is determined; Based on the output torque, detect whether there is a risk of damage to the differential.

5. The vehicle differential damage detection method according to claim 4, characterized in that, The step of detecting whether the differential is at risk of damage based on the output torque includes: When the output torque exceeds a preset second threshold, the cumulative slippage time corresponding to the differential is obtained; If the cumulative slippage time of the differential exceeds a preset time limit, it is determined that the differential is at risk of damage.

6. The vehicle differential damage detection method according to claim 4, characterized in that, After detecting the risk of damage to the differential based on the output torque, the method further includes: In the event of a risk of damage to the differential, the torque output of the drive shaft corresponding to the differential is limited to a preset torque value.

7. The vehicle differential damage detection method according to claim 1, characterized in that, After detecting whether the differential corresponding to the slipping drive wheel is damaged based on the frequency domain characteristics and amplitude characteristics, the method further includes: If the differential is damaged, stop the torque output of the drive shaft corresponding to the differential.

8. The method for detecting damage to a vehicle differential according to claim 1, characterized in that, In the case where a slipping drive wheel exists among the vehicle's drive wheels, before determining the acceleration and impact of the corresponding slipping drive wheel based on its wheel speed, the method further includes: Obtain the wheel speed of each drive wheel of the vehicle, as well as the vehicle's reference speed; The drive wheel whose wheel speed is greater than the reference vehicle speed is identified as the slipping drive wheel.

9. A vehicle differential damage detection device, characterized in that, The device includes: The determination module is used to determine the acceleration and impact of the slipping drive wheel based on the wheel speed of the slipping drive wheel when there is a slipping drive wheel among the drive wheels of the vehicle. The conversion module is used to perform frequency domain conversion on the wheel speed, acceleration and impact of the slipping drive wheel to obtain the corresponding frequency domain features and amplitude features; The detection module is used to detect whether the differential corresponding to the slipping drive wheel is damaged based on the frequency domain characteristics and amplitude characteristics.

10. A vehicle, characterized in that, The vehicle includes the vehicle differential damage detection device as described in claim 9.

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