A differential lock control method and device, vehicle and storage medium

Abstract

The application provides a differential lock control method and device, a vehicle and a storage medium, and relates to the technical field of vehicle control. The method comprises the following steps: in response to a differential lock locking instruction, a target control current is determined; based on the target control current and an actual working current of the differential lock obtained, the differential lock is controlled to be locked; it is judged whether the differential lock has locking abnormity; when the differential lock has the locking abnormity, the differential lock is controlled to be locked based on a preset control current and the actual working current, wherein the preset control current is greater than the target control current, so as to correctly control the locking of the differential lock when the differential lock has abnormity.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and more specifically, to a differential lock control method, device, vehicle, and storage medium. Background Technology

[0002] A vehicle's differential lock is a transmission device used to control the power distribution between the wheels on both sides of the drive axle. Its main function is to forcibly lock the differential during vehicle operation according to road conditions, causing the left and right drive wheels to rotate at the same speed, thereby effectively transferring engine torque to the wheels with traction. This is especially important in off-road or low-traction road conditions (such as mud, sand, ice, snow, potholes, etc.), as it can improve the vehicle's passability and traction performance, and prevent power loss and loss of control caused by slippage of one wheel.

[0003] In related technologies, differential locks mostly employ mechanical or electro-pneumatic / hydraulic actuators. In recent years, to improve response speed and control accuracy, electro-pneumatically driven differential locks have gradually become the mainstream solution. During actual engagement, due to the uncertainty of end-face tooth alignment, jamming phenomena such as tooth tipping can easily occur. If the control system cannot promptly identify such abnormal states and dynamically adjust the control strategy, it can lead to judgment delays, resulting in decreased control performance and affecting system reliability and service life. Summary of the Invention

[0004] The problem solved by this invention is how to correctly control the differential lock to lock when the differential lock malfunctions.

[0005] To address the aforementioned problems, this invention provides a differential lock control method, device, vehicle, and storage medium.

[0006] In a first aspect, the present invention provides a differential lock control method, comprising: In response to the differential lock locking command, determine the target control current; Based on the target control current and the actual operating current of the differential lock, the differential lock is controlled to lock. Determine whether the differential lock has a locking abnormality; When the differential lock experiences the locking abnormality, the differential lock is locked based on a preset control current and the actual operating current, wherein the preset control current is greater than the target control current.

[0007] Optionally, determining whether the differential lock has a locking abnormality includes: Determine whether the actual operating current has experienced current overshoot or sudden current change; When the current overshoot or the current sudden change occurs, it is determined that the differential lock has a locking abnormality.

[0008] Optionally, determining whether the actual operating current experiences current overshoot or current surge includes: The actual operating current is low-pass filtered to obtain the low-pass filter value; The rate of change of the actual operating current is determined based on the actual operating current and the low-pass filter value; When the rate of change is greater than a preset rate threshold, it is determined that the actual operating current has experienced a sudden change.

[0009] Optionally, determining whether the actual operating current experiences current overshoot or current surge further includes: The overshoot value is determined based on the difference between the actual operating current and the target control current; When the overshoot value is greater than the preset overshoot threshold, it is determined that the actual operating current has overshooted.

[0010] Optionally, when the differential lock experiences a locking abnormality, controlling the differential lock to lock based on a preset control current and the actual operating current includes: The preset control current is determined based on the overshoot value, wherein the overshoot value is positively correlated with the value of the preset control current; The duty cycle is determined based on the difference between the preset control current and the actual operating current, wherein the duty cycle is positively correlated with the difference. Based on the duty cycle, the differential lock is controlled to lock.

[0011] Optionally, the differential lock includes a drive face gear and a motor, and the differential lock control method further includes: Obtain the position signal of the active end face tooth; When the differential lock is continuously under the preset control current for a preset duration, and the position signal indicates that it is not locked in place, it is determined that piston jamming has occurred. The motor drives the differential and re-locks the differential lock based on the preset control current and the actual operating current.

[0012] Optionally, controlling the differential lock to lock based on the target control current and the acquired actual operating current of the differential lock includes: The differential lock is locked by pulse width modulation based on the difference between the target control current and the actual operating current.

[0013] In a second aspect, the present invention provides a differential lock control device, comprising: The response module is used to determine the target control current in response to the differential lock locking command; The first locking module is used to control the differential lock to lock based on the target control current and the actual operating current of the differential lock that has been acquired. The judgment module is used to determine whether the differential lock has a locking abnormality; The first drive module is used to control the differential lock to lock based on a preset control current and the actual operating current when the differential lock experiences the locking abnormality, wherein the preset control current is greater than the target control current.

[0014] Thirdly, the present invention provides a vehicle including a memory and a processor; The memory is used to store computer programs; The processor is configured to implement the differential lock control method as described in the first aspect when executing the computer program.

[0015] Fourthly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the differential lock control method as described in the first aspect.

[0016] The beneficial effects of the differential lock control method of the present invention are: Upon receiving the differential lock locking command, a target control current suitable for the normal engagement process is determined. This current is sufficient to drive the piston to complete the end face gear engagement while avoiding excessive initial thrust that could cause impact. Based on this, the drive signal is dynamically adjusted according to the deviation between the target control current and the actual operating current, ensuring the electromagnetic thrust matches the current engagement requirements and achieving smooth and continuous locking under normal operating conditions. By monitoring the dynamic characteristics of the current signal, it identifies whether the piston is obstructed due to issues such as gear impact, promptly reflecting changes in mechanical state. When a locking anomaly is detected, the control target is switched to a preset control current higher than the original target control current, and the drive signal is adjusted to allow the electromagnet to output greater thrust to overcome jamming resistance. This ensures smooth engagement of the differential lock under normal conditions and timely identification and proactive thrust enhancement when anomalies such as gear impact occur, avoiding discrepancies between control logic and actual needs. Ultimately, it ensures correct differential lock locking when anomalies occur. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating the differential lock control method according to an embodiment of the present invention; Figure 2 This is a control block diagram of the differential lock control method according to an embodiment of the present invention; Figure 3 This is an example diagram of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0018] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0019] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0020] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0021] It should be noted that the terms "one" and "more" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0022] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0023] like Figure 1 and Figure 2 As shown in the figure, a differential lock control method provided by an embodiment of the present invention includes: Step S100: In response to the differential lock locking command, determine the target control current.

[0024] In an embodiment of the present invention, the differential lock locking command is issued by the vehicle electronic control unit according to the driving conditions or driver operation, and is used to initiate the differential lock engagement action.

[0025] The target control current represents the desired current value that the electromagnet coil needs to reach during the locking action of the differential lock. It directly determines the magnitude of the thrust generated by the electromagnet, thus affecting the piston's ability to engage the driving and driven teeth. During normal engagement, the target control current is set to a reference value sufficient for smooth engagement without excessive impact.

[0026] By adopting a target control current that can be dynamically adjusted according to the state, compared with the control method with a fixed target value, the engagement success rate of the differential lock under complex working conditions can be effectively improved, the repeated impacts caused by transient resistance such as tooth misalignment and tooth misalignment can be reduced, thereby reducing the stress accumulation of transmission components, extending the overall service life of the device, and improving the driving stability and safety of the vehicle on low-traction road surfaces.

[0027] Step S200: Based on the target control current and the acquired actual operating current of the differential lock, control the differential lock to lock.

[0028] In an embodiment of the present invention, the actual operating current represents the real current value flowing through the electromagnet coil, which is obtained in real time through the current sampling circuit during the differential lock operation.

[0029] Control is performed based on the target control current and the actual operating current. The deviation between the two is used as the basis for adjustment. The drive signal applied to the electromagnet (such as the PWM duty cycle) is adjusted so that the actual operating current approaches the target control current, thereby regulating the piston thrust and completing the meshing and locking action of the end face teeth.

[0030] Step S300: Determine whether the differential lock has a locking abnormality.

[0031] Locking abnormality indicates a jamming phenomenon that occurs during the engagement of the differential lock due to the failure of the driving end face teeth and the driven end face teeth to align smoothly. This can manifest as tooth tip abutting, piston movement being obstructed, or failure to complete engagement for an extended period of time.

[0032] The differential lock is assessed for locking anomalies by monitoring the electrical characteristics of the electromagnet during operation, identifying working conditions that deviate from normal engagement behavior. This allows for the timely detection of unexpected increases in engagement resistance, reflecting abnormalities such as misalignment of end-face teeth or external interference. Employing a current-based anomaly detection method avoids the cost and complexity of adding position or force sensors, while offering fast response and robustness. This helps reduce the number of ineffective impacts, alleviate stress concentration in mechanical components, and extend the differential lock's lifespan.

[0033] Step S400: When the differential lock experiences the locking abnormality, the differential lock is locked based on a preset control current and the actual operating current, wherein the preset control current is greater than the target control current.

[0034] During the engagement of the differential lock, when the driving and driven teeth experience jamming phenomena such as "tooth tip jamming," the mechanical structure is in a state of high resistance. At this point, the actual control intent of the device is to immediately output the maximum possible electromagnetic thrust to overcome the resistance, complete tooth alignment, and achieve reliable locking. This intent manifests as the need to rapidly increase the current in the electromagnet coil to a higher target value, such as the maximum current allowed by the design, thereby fully compressing the disc spring and storing sufficient elastic potential energy to provide power for subsequent impact escape or forced engagement.

[0035] In a conventional current closed-loop control strategy using a fixed target current, if the back electromotive force disappears due to jamming, causing the actual operating current to momentarily overshoot and exceed the originally set target current, the controller will misinterpret this as "excessive current" and reduce the duty cycle of the drive signal in an attempt to suppress the current rise. While this behavior aligns with traditional PID control logic, it contradicts the actual physical requirements mentioned above. The actual control action weakens the thrust, while the actual operating condition precisely requires increased thrust. More seriously, this type of control strategy typically waits for the actual operating current to naturally fall back to near the original target value before it can increase the duty cycle again to boost the current, resulting in a severe response lag.

[0036] Therefore, under abnormal operating conditions such as "tooth tip jamming", if the original target current is kept unchanged, the control behavior will fundamentally conflict with the actual expected control intention of the differential lock. Not only will it fail to output the required maximum thrust in time, but repeated ineffective adjustments may also aggravate mechanical shock, affecting the locking success rate and device life.

[0037] In one embodiment, the preset control current is a higher current value activated after a lock-up anomaly is detected. This value is greater than the target control current to generate a stronger electromagnetic thrust. For example, the preset control current can be set to the maximum tolerable current value.

[0038] When the differential lock experiences a locking anomaly, control is performed based on a preset control current and the actual operating current. The target current for adjustment is switched from the original target control current to the preset control current, and the drive signal is adjusted according to the deviation between the actual operating current and the new target. This increases the piston thrust, overcomes jamming resistance, and drives the end face teeth to complete engagement. This allows the electromagnetic thrust to adapt to changes in operating conditions and actively enhances output under abnormal conditions. It improves the differential lock's adaptability under unfavorable gear engagement conditions, preventing locking failure or repeated impacts due to insufficient thrust.

[0039] Using a preset control current higher than the conventional target value to deal with locking anomalies can effectively shorten the anomaly handling time, reduce damage to mechanical parts caused by prolonged obstruction or repeated impacts, improve the reliability and durability of the device under complex road conditions, and enhance the vehicle's ability to pass through low-adhesion or rugged road surfaces.

[0040] In this embodiment, upon receiving the differential lock locking command, a target control current suitable for the normal engagement process is determined. This current is sufficient to drive the piston to complete the end face tooth engagement while avoiding excessive thrust in the initial stage, which could cause impact. Based on this, the drive signal is dynamically adjusted according to the deviation between the target control current and the actual operating current, ensuring that the electromagnetic thrust matches the current engagement requirements and achieving smooth and continuous locking action under normal operating conditions. By monitoring the dynamic characteristics in the current signal, it is possible to identify whether the piston is obstructed due to factors such as tooth jamming, thus promptly reflecting changes in the mechanical state. When a locking anomaly is detected, the control target is switched to a preset control current higher than the original target control current, and the drive signal is adjusted to allow the electromagnet to output greater thrust to overcome the jamming resistance. This ensures that the differential lock engages smoothly under normal conditions and can promptly identify and actively increase the thrust when anomalies such as tooth jamming occur, avoiding a conflict between the control logic and actual needs. Ultimately, this ensures that the differential lock is correctly locked when an anomaly occurs.

[0041] Optionally, determining whether the differential lock has a locking abnormality includes: Determine whether the actual operating current has experienced current overshoot or sudden current change; When the current overshoot or the current sudden change occurs, it is determined that the differential lock has a locking abnormality.

[0042] Current overshoot indicates that the actual operating current momentarily exceeds the target control current set for the current stage; current abrupt change indicates that the rate of change of the actual operating current increases rapidly in a short period of time, manifested as an abnormally steep current rise slope. Both of these electrical characteristics originate from the sudden disappearance of the electromotive force of the electromagnet when the piston movement is obstructed, leading to an increase in the effective voltage across the coil and a rapid rise in current.

[0043] Determining whether current overshoot or sudden current change occurs in the actual operating current is achieved by real-time acquisition of the current signal in the electromagnet coil and calculation of its deviation from the target control current or its dynamic rate of change. When the detected current overshoot exceeds a preset threshold, or the current change rate exceeds a set criterion, the differential lock is considered to be in an abnormal engagement state. The physical characteristics of the electromagnet's own current response are used to indirectly reflect the alignment status of the mechanical end face teeth, promptly identifying jamming caused by misaligned or misaligned teeth.

[0044] In practice, the controller continuously monitors the actual operating current. If current overshoot or sudden change occurs, the differential lock is deemed to have a locking anomaly, and the corresponding anomaly handling logic is triggered. This method is simple in structure and responds quickly, helping to improve the differential lock's adaptability and locking reliability under complex operating conditions.

[0045] Optionally, determining whether the actual operating current experiences current overshoot or current surge includes: The actual operating current is low-pass filtered to obtain the low-pass filter value; The rate of change of the actual operating current is determined based on the actual operating current and the low-pass filter value; When the rate of change is greater than a preset rate threshold, it is determined that the actual operating current has experienced a sudden change.

[0046] Low-pass filtering involves frequency-selectively processing the actual operating current signal, filtering out high-frequency components and retaining the slowly changing trend portion. The result is used as the low-pass filter value. The rate of change of the actual operating current is not calculated through direct differentiation, but rather obtained by subtracting the low-pass filter value from the original current value. Its physical meaning is the high-frequency dynamic component in the current signal, which can effectively characterize the instantaneous rise rate of the current. This avoids amplifying measurement noise by directly calculating the rate of change using a differential method, thereby improving the stability and reliability of current change detection. The dynamic characteristics of the current itself are used to indirectly sense the differential lock state: when the end face teeth experience jamming or other obstructions, the back electromotive force drops sharply, the current rises rapidly, the high-frequency component intensifies, and the rate of change exceeds the normal range.

[0047] In practice, the controller performs a first-order low-pass filter on the sampled actual operating current to obtain the low-pass filter value at the corresponding moment. Then, the original current value is subtracted from this filter value to obtain an estimate of the current change rate. If this estimate is greater than a preset rate threshold, a sudden change in the actual operating current is determined, thus indicating a locking anomaly in the differential lock. This method relies solely on current sensing signals, eliminating the need for additional mechanical sensors, resulting in a simple structure and good anti-interference capabilities.

[0048] In one embodiment, the original current value I(K) is subjected to a first-order low-pass filter, as shown below: , K=1,2,3...n , Where I(K) represents the actual operating current at time K. This represents the output at time K; This represents the output at time K-1, where T represents the set filter time constant, and dT represents the time slice period of the controller processing, such as 0.01 seconds. Different filter time constants T will filter out or attenuate different frequency components in the current I. Therefore, by selecting different time constants, torque request signals containing different frequency components can be obtained.

[0049] I , in, This represents the rate of change of the actual operating current at time K. Indicates the current The result of performing a first-order low-pass filter.

[0050] Optionally, determining whether the actual operating current experiences current overshoot or current surge further includes: The overshoot value is determined based on the difference between the actual operating current and the target control current; When the overshoot value is greater than the preset overshoot threshold, it is determined that the actual operating current has overshooted.

[0051] Overshoot represents the difference between the actual operating current and the target control current, used to characterize whether the current response exceeds the expected set range. When the piston movement is suddenly hindered by resistance such as the end face teeth pressing against the piston, the back electromotive force in the electromagnet coil decays or disappears rapidly, causing the actual operating current to exceed the target control current for a short period of time, resulting in positive overshoot.

[0052] In practice, the controller continuously acquires the actual operating current and the target control current, and calculates the difference between the two as the overshoot value. If this overshoot value is greater than a preset overshoot threshold, it is determined that the actual operating current has overshooted, and thus the differential lock is identified as being in an abnormal locking state. This method has clear logic, is simple to implement, and can effectively improve the sensitivity and robustness of identifying abnormal operating conditions.

[0053] , in, This represents the overshoot of the actual operating current at time K. This represents the target control current planned at time K.

[0054] Optionally, when the differential lock experiences a locking abnormality, controlling the differential lock to lock based on a preset control current and the actual operating current includes: The preset control current is determined based on the overshoot value, wherein the overshoot value is positively correlated with the value of the preset control current; The duty cycle is determined based on the difference between the preset control current and the actual operating current, wherein the duty cycle is positively correlated with the difference. Based on the duty cycle, the differential lock is controlled to lock.

[0055] The preset control current represents the new target current value used after a locking anomaly is detected in the differential lock. Its magnitude is dynamically determined based on the previously calculated overshoot value. The overshoot value reflects the extent to which the actual operating current exceeds the original target control current, representing the strength of the jamming resistance. A larger overshoot value indicates more severe piston obstruction, requiring a higher electromagnetic thrust to overcome the resistance; therefore, the preset control current increases accordingly, showing a positive correlation between the two. This ensures that the thrust output matches the degree of anomaly, avoiding unnecessary energy consumption or mechanical shock caused by uniformly using the maximum current, while also preventing insufficient thrust from leading to locking failure. It achieves graded response under abnormal operating conditions, improving the adaptability and rationality of the control.

[0056] In practice, the controller determines the corresponding preset control current by looking up a table or through function mapping based on the overshoot value. Then, it calculates the difference between this preset control current and the current actual operating current, using this difference as the basis for generating the duty cycle of the drive signal; the larger the difference, the higher the duty cycle. Finally, based on this duty cycle, it outputs a pulse width modulation signal to drive the electromagnet coil current towards the preset control current, thereby pushing the piston to output sufficient thrust to complete locking. This method ensures that the control behavior always aligns with current physical requirements, effectively supporting reliable engagement of the differential lock under abnormal conditions.

[0057] For example, during a locking process, the target control current is set to 5A. When the piston encounters slight tooth misalignment while pushing the end face teeth, the actual operating current instantaneously rises to 6.2A, resulting in an overshoot of 1.2A. The controller, based on a preset mapping relationship (such as a lookup table or linear function), sets the preset control current to 8A. If, during another locking process, severe tooth misalignment causes the actual operating current to suddenly increase to 7.5A (with an overshoot of 2.5A), the corresponding preset control current is increased to 10A (close to the allowable upper limit). This achieves a match between thrust output and the degree of jamming.

[0058] Optionally, such as Figure 2 As shown, the differential lock includes a drive end face gear and a motor, and the differential lock control method further includes: Obtain the position signal of the active end face tooth; When the differential lock is continuously under the preset control current for a preset duration, and the position signal indicates that it is not locked in place, it is determined that piston jamming has occurred. The motor drives the differential and re-locks the differential lock based on the preset control current and the actual operating current.

[0059] The active face tooth refers to the mechanical component in the differential lock that is driven by a piston and engages with the passive face tooth to achieve locking. The motor is used to drive the differential housing or half shaft to produce a small rotation, thereby changing the relative angle between the face teeth. The position signal is provided by a position switch or sensor mounted on the differential lock, indicating whether the active face tooth has moved to the fully engaged position, i.e., whether it is locked in place.

[0060] The position signal of the active end face teeth is acquired to determine whether the locking action has been completed. If the differential lock continues to run for a preset duration (e.g., 500 milliseconds) after switching to the preset control current, and the position signal still indicates that it is not fully locked, it means that the piston cannot complete engagement even under enhanced thrust conditions, which can be determined as piston jamming. This is used to identify situations where electromagnetic thrust is insufficient to overcome the current mechanical resistance, avoiding overheating or damage to components caused by prolonged ineffective loading.

[0061] In practice, after determining that the piston is stuck, the controller sends a command to drive the motor to rotate the differential slightly, causing the driving end face teeth and driven end face teeth to shift at an angle and disengage from the top tooth position. Then, the closed-loop control based on the preset control current and the actual operating current is re-executed to attempt locking again. Through electromechanical coordination, the problem of locking failure caused by poor tooth alignment is effectively solved, improving the self-recovery capability and engagement success rate of the differential lock under complex operating conditions.

[0062] Optionally, controlling the differential lock to lock based on the target control current and the acquired actual operating current of the differential lock includes: The differential lock is locked by pulse width modulation based on the difference between the target control current and the actual operating current.

[0063] The difference between the target control current and the actual operating current of the differential lock reflects the deviation between the current electromagnetic thrust and the expected demand. Pulse width modulation (PWM) is performed based on this difference, using it as input to generate a PWM signal with a corresponding duty cycle. This signal controls the on and off times of the power switching devices, thereby adjusting the average voltage applied to the electromagnet coil and bringing the actual operating current closer to the target control current. When the difference is positive, the duty cycle is increased to boost the current; when the difference is negative, the duty cycle is decreased to suppress the current rise. This achieves dynamic adjustment of the electromagnetic thrust, adapting the piston movement to the needs of the engagement process. Based on a current closed-loop, a fast-response and stable drive mechanism is constructed to avoid the impact or insufficiency caused by constant thrust.

[0064] In practice, the controller continuously calculates the difference between the target control current and the actual operating current, and determines the duty cycle of the pulse width modulation signal based on the difference using a proportional or proportional-integral algorithm, thereby driving the electromagnet to perform a locking action.

[0065] An embodiment of the present invention provides a differential lock control device, comprising: The response module is used to determine the target control current in response to the differential lock locking command; The first locking module is used to control the differential lock to lock based on the target control current and the actual operating current of the differential lock that has been acquired. The judgment module is used to determine whether the differential lock has a locking abnormality; The first drive module is used to control the differential lock to lock based on a preset control current and the actual operating current when the differential lock experiences the locking abnormality, wherein the preset control current is greater than the target control current.

[0066] like Figure 3 As shown, an embodiment of the present invention provides a vehicle 300, including a memory 310 and a processor 320; the memory 310 is used to store a computer program; the processor 320 is used to implement the differential lock control method as described above when the computer program is executed.

[0067] Alternatively, a vehicle 300 includes a memory 310 and a processor 320 coupled to the memory 310; the memory 310 is configured to store a computer program; the processor 320 is configured to perform the following operations when the computer program is executed: In response to the differential lock locking command, determine the target control current; Based on the target control current and the actual operating current of the differential lock, the differential lock is controlled to lock. Determine whether the differential lock has a locking abnormality; When the differential lock experiences the locking abnormality, the differential lock is locked based on a preset control current and the actual operating current, wherein the preset control current is greater than the target control current.

[0068] This invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the differential lock control method described above.

[0069] Alternatively, a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the following operations: In response to the differential lock locking command, determine the target control current; Based on the target control current and the actual operating current of the differential lock, the differential lock is controlled to lock. Determine whether the differential lock has a locking abnormality; When the differential lock experiences the locking abnormality, the differential lock is locked based on a preset control current and the actual operating current, wherein the preset control current is greater than the target control current.

[0070] The vehicle 300, which can serve as a server or client of the present invention, is described herein and is intended to include various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The vehicle 300 may also include various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0071] Vehicle 300 includes a computing unit that can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) or a computer program loaded from a storage unit into random access memory (RAM). The RAM can also store various programs and data required for device operation. The computing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0072] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. In this invention, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of this invention according to actual needs. Furthermore, the functional units in the various embodiments of this invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units can be implemented in hardware or as software functional units.

[0073] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A differential lock control method, characterized in that, include: In response to the differential lock locking command, determine the target control current; Based on the target control current and the actual operating current of the differential lock, the differential lock is controlled to lock. Determine whether the differential lock has a locking abnormality; When the differential lock experiences the locking abnormality, the differential lock is locked based on a preset control current and the actual operating current, wherein the preset control current is greater than the target control current.

2. The differential lock control method according to claim 1, characterized in that, The determination of whether the differential lock has a locking abnormality includes: Determine whether the actual operating current has experienced current overshoot or sudden current change; When the current overshoot or the current sudden change occurs, it is determined that the differential lock has a locking abnormality.

3. The differential lock control method according to claim 2, characterized in that, The determination of whether the actual operating current has experienced current overshoot or current sudden change includes: The actual operating current is low-pass filtered to obtain the low-pass filter value; The rate of change of the actual operating current is determined based on the actual operating current and the low-pass filter value; When the rate of change is greater than a preset rate threshold, it is determined that the actual operating current has experienced a sudden change.

4. The differential lock control method according to claim 2, characterized in that, The determination of whether the actual operating current has experienced current overshoot or current sudden change also includes: The overshoot value is determined based on the difference between the actual operating current and the target control current; When the overshoot value is greater than the preset overshoot threshold, it is determined that the actual operating current has overshooted.

5. The differential lock control method according to claim 4, characterized in that, When the differential lock experiences a locking abnormality, controlling the differential lock to lock based on a preset control current and the actual operating current includes: The preset control current is determined based on the overshoot value, wherein the overshoot value is positively correlated with the value of the preset control current; The duty cycle is determined based on the difference between the preset control current and the actual operating current, wherein the duty cycle is positively correlated with the difference. Based on the duty cycle, the differential lock is controlled to lock.

6. The differential lock control method according to any one of claims 1-5, characterized in that, The differential lock includes a drive end face gear and a motor, and the differential lock control method further includes: Obtain the position signal of the active end face tooth; When the differential lock is continuously under the preset control current for a preset duration, and the position signal indicates that it is not locked in place, it is determined that piston jamming has occurred. The motor drives the differential and re-locks the differential lock based on the preset control current and the actual operating current.

7. The differential lock control method according to any one of claims 1-5, characterized in that, The step of controlling the differential lock to lock based on the target control current and the acquired actual operating current of the differential lock includes: The differential lock is locked by pulse width modulation based on the difference between the target control current and the actual operating current.

8. A differential lock control device, characterized in that, include: The response module is used to determine the target control current in response to the differential lock locking command; The first locking module is used to control the differential lock to lock based on the target control current and the actual operating current of the differential lock that has been acquired. The judgment module is used to determine whether the differential lock has a locking abnormality; The first drive module is used to control the differential lock to lock based on a preset control current and the actual operating current when the differential lock experiences the locking abnormality, wherein the preset control current is greater than the target control current.

9. A vehicle, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is configured to implement the differential lock control method as described in any one of claims 1-7 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the differential lock control method as described in any one of claims 1-7.

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