Vehicle control method, vehicle control unit, vehicle, medium, and program product

Abstract

The present application relates to the technical field of vehicles, and provides a vehicle control method, a vehicle control unit, a vehicle, a medium, and a program product. The vehicle control method comprises: in a process in which a differential lock of a vehicle executes locking or unlocking, controlling target torque outputted by at least one target motor of the vehicle, such that a torque difference of wheel torque of two wheels connected to the differential lock is a non-zero value. In this way, a torque difference makes the rotating speeds of two wheels different, so as to assist a differential lock in executing locking or unlocking, thereby improving the success rate of locking and unlocking of the differential lock.

Description

Vehicle control method, vehicle controller, vehicle, medium and program product

[0001] The present application claims priority to the Chinese patent application No. 202410852498.8, filed on June 27, 2024, and entitled "Vehicle control method, vehicle controller, vehicle, medium and program product", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of vehicles, and more particularly, to a vehicle control method, a vehicle controller, a vehicle, a medium and a program product. BACKGROUND

[0003] To improve the passing ability of the vehicle in complex road conditions, a differential lock can be configured in the vehicle. Under the control of the vehicle controller, the differential lock can perform locking or unlocking to adapt to different road conditions. The locking of the differential lock can be used for off-road or wheel slip, for example, when one side of the vehicle wheel end slips or idles, the differential lock can realize rigid connection of the two side wheel shafts after locking, and force the two side wheels to rotate synchronously, thereby improving the adhesion. The unlocking of the differential lock can be used for normal roads, allowing the wheels to rotate independently to facilitate flexible control of the vehicle.

[0004] However, in the related art, the locking and unlocking success rates of the differential lock have strong randomness, resulting in low locking and unlocking success rates of the differential lock. How to improve the locking and unlocking success rates of the differential lock has become a problem to be solved. SUMMARY

[0005] An object of the present application is to provide a new technical solution for vehicle control.

[0006] According to a first aspect of an embodiment of the present application, a vehicle control method is provided, the method comprising:

[0007] In the process of executing locking or unlocking of the differential lock of the vehicle, the target torque of at least one target motor output of the vehicle is controlled to make the torque difference of the wheel end torque of the two wheels connected with the differential lock be a non-zero value, thereby assisting the differential lock to execute locking or unlocking.

[0008] Optionally, in the process of executing locking or unlocking of the differential lock of the vehicle, the torque difference of the wheel end torque of the two wheels at the second time is greater than the torque difference at the first time, and the second time is a time adjacent to the first time.

[0009] Optionally, the difference between the torque difference at the second time and the torque difference at the first time is a preset step length.

[0010] Optionally, the torque difference at the second time and the torque difference at the first time are in opposite directions.

[0011] Optionally, the target motor is two, and the target torques output by the two target motors are used to drive two wheels connected with the differential lock, and the directions and / or sizes of the target torques output by the two target motors are different.

[0012] Optionally, during the locking or unlocking of the differential lock of the vehicle, the directions of the target torques output by the two target motors are opposite, and the target torque of the same target motor at the second time is greater than the target torque at the first time, and the second time is an adjacent time later than the first time.

[0013] Optionally, the difference between the target torque of the same target motor at the second time and the target torque at the first time is a preset step size.

[0014] Optionally, the direction of the target torque of the same target motor at the second time is opposite to the direction of the target torque at the first time.

[0015] Optionally, during the locking or unlocking of the differential lock of the vehicle, the target torque output by at least one target motor of the vehicle is controlled, including:

[0016] During the locking or unlocking of the differential lock of the vehicle, if the state of the differential lock meets a preset differential lock abnormal state, the target torque output by at least one target motor of the vehicle is controlled.

[0017] Optionally, the preset differential lock abnormal state includes at least one of the following:

[0018] The differential lock does not complete locking or unlocking within a first preset time length;

[0019] The differential lock is in a spline top tooth state, and the spline top tooth state is a state determined according to position information collected by a position sensor of the differential lock.

[0020] Optionally, the target torque output by at least one target motor of the vehicle is controlled, including:

[0021] In a case where a current state of the vehicle meets a first preset condition, the target torque output by at least one target motor of the vehicle is controlled.

[0022] Optionally, the first preset condition includes at least one of the following:

[0023] A current vehicle speed of the vehicle is less than or equal to a first preset vehicle speed threshold;

[0024] A current throttle depth of the vehicle is less than or equal to a preset depth threshold;

[0025] A slope of a road surface on which the vehicle is located is less than or equal to a preset slope threshold.

[0026] Optionally, the method further comprises:

[0027] In response to receiving the differential lock control instruction, controlling the differential lock to perform locking or unlocking.

[0028] Optionally, controlling the differential lock to perform locking or unlocking comprises:

[0029] In a case where it is determined that the current state of the vehicle meets a second preset condition, controlling the differential lock to perform locking or unlocking;

[0030] The second preset condition comprises at least one of:

[0031] The current vehicle speed of the vehicle is less than or equal to a second preset vehicle speed threshold;

[0032] The driving mode of the vehicle is a preset mode, and the preset mode is a mode supporting locking or unlocking of the differential lock;

[0033] The road condition in which the vehicle is located is a preset type of road condition, and the preset type of road condition is a road condition supporting locking or unlocking of the differential lock;

[0034] The differential lock of the vehicle does not have a fault;

[0035] The differential lock of the vehicle is not in a locked state, and the differential lock control instruction instructs the differential lock to perform locking;

[0036] The differential lock of the vehicle is not in an unlocked state, and the differential lock control instruction instructs the differential lock to perform unlocking.

[0037] Optionally, the method further comprises:

[0038] If the differential lock does not complete locking or unlocking within a second preset time length, at least one of the following is performed:

[0039] showing the user prompt information that the differential lock does not complete locking or unlocking;

[0040] stopping the step of controlling the target torque of the target motor output of the vehicle.

[0041] According to a second aspect of the embodiments of the present application, a vehicle controller is provided, the vehicle controller comprising a memory and a processor, the memory being configured to store computer instructions, and the processor being configured to call the computer instructions from the memory to perform the method according to any one of the first aspect.

[0042] According to a third aspect of the embodiments of the present application, a vehicle is provided, the vehicle comprising the vehicle controller according to the second aspect.

[0043] According to a fourth aspect of the embodiments of the present application, a computer readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, implements the method of any one of the first aspect.

[0044] According to a fifth aspect of the embodiments of the present application, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the vehicle control method of any one of the first aspect.

[0045] The embodiments of the present application provide a vehicle control method, which comprises: in a process that a differential lock of a vehicle is executed to be locked or unlocked, controlling a target torque output by at least one target motor of the vehicle, so that a torque difference of wheel end torques of two wheels connected with the differential lock is a non-zero value. In this way, the speed of the two wheels is different through the torque difference, which can assist the differential lock to be executed to be locked or unlocked, so that the success rate of the differential lock to be locked and unlocked can be improved.

[0046] Other features of the present disclosure, and their advantages, will become apparent in the non-limiting description of the exemplary embodiments of the present disclosure, given for the purpose of explanation only, and not of limitation. BRIEF DESCRIPTION OF DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0048] FIG. 1 is a flowchart of a vehicle control method according to an embodiment of the present application.

[0049] FIG. 2 is a schematic diagram of target torques output by two target motors according to an embodiment of the present application.

[0050] FIG. 3 is a flowchart of a vehicle control method according to an embodiment of the present application.

[0051] FIG. 4 is a schematic diagram of a vehicle controller according to an embodiment of the present application. DETAILED DESCRIPTION

[0052] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. Note that the relative arrangement, numerical expressions, and numerical values of components and steps set forth in these embodiments are illustrative only and do not limit the scope of the present application unless otherwise specifically stated.

[0053] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way limiting to the scope of the application or its applications or uses.

[0054] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered as part of the specification, where appropriate.

[0055] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0056] It should be noted that like reference numerals and letters refer to like items throughout the attached drawings, and thus, once an item is defined in one drawing, it is not necessary that it be further discussed in subsequent drawings.

[0057] In the embodiments of the present application, although the operations or steps are described in a particular order in the accompanying drawings, it should not be construed that the operations or steps are required to be performed in the particular order or in a serial order, or all of the shown operations or steps are required to obtain the desired results. In the embodiments of the present application, the operations or steps can be performed in series; the operations or steps can be performed in parallel; or a part of the operations or steps can be performed.

[0058] In the description of the embodiments of the present application, unless otherwise specified, the prefix words "first", "second" and the like are merely used to distinguish different description objects, and do not constitute limitation on the position, order, priority, number or content of the description objects. The description of the description objects in the claims or embodiments should not be construed as redundant limitation because of the use of the prefix words. For example, the description objects are "information", and the ordinal numbers before "information" in "first information" and "second information" do not limit the position or order between "information". "First" and "second" do not limit whether the "information" modified thereby is in the same message, nor do they limit the order of "first information" and "second information".

[0059] In the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more than two, and other quantifiers are similar to it; "at least one", "one or more" or similar expressions mean any combination of the items, including any combination of single item or multiple items. For example, at least one a can represent any number of a; for another example, one or more of a, b and c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, c can be single or multiple; "and / or" is a description of the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The character " / " represents an "or" relationship between the associated objects.

[0060] In the description of the embodiments of the present application, an element expressed in singular form can be understood as singular expression or plural expression unless otherwise specified. For example, "one", "a", "the", "said", "above", "the aforementioned", "this" and the like can represent "one and only one", or "one or more", "at least one" and the like.

[0061] In the description of the embodiments of the present application, unless otherwise specified, the terms "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not lower than", "above" and the like can be replaced with each other, and the terms "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "not more than", "lower than", "lower than or equal to", "not higher than", "below" and the like can be replaced with each other.

[0062] Firstly, the application scenario of the present application is described. The embodiments of the present application can be applied to the vehicle control scene, especially the scene of controlling the differential lock of the vehicle to perform locking or unlocking. In order to improve the passing ability of the vehicle in complex road conditions, the differential lock can be set for the vehicle, and the differential lock is controlled to perform locking or unlocking. The differential lock can be connected with the wheel shaft and the wheel, and the differential lock can realize the rigid connection of the two wheel shafts after locking, and forcibly synchronizes the rotation of the two wheels to improve the adhesion. The user (such as the driver of the vehicle) can actively trigger the locking or unlocking of the differential lock, at this time, the vehicle controller can receive the differential lock control instruction triggered by the user and send a request signal to the differential lock after arbitration, and the differential lock can perform locking or unlocking after receiving the request signal.

[0063] However, due to the hardware structure attribute of the differential lock itself, the success rate of locking and unlocking has strong randomness. Taking the toothed differential lock as an example, the inner spline of the differential lock combination sleeve needs to be meshed with the outer spline of the wheel hub when locking, and the inner spline of the differential lock combination sleeve needs to be separated from the outer spline of the wheel hub when unlocking. However, when locking or unlocking is performed, the phenomenon of mutual tooth engagement between the splines occurs, resulting in a long time of locking or unlocking, and even the phenomenon of being unable to lock or unlock, which is difficult to meet the user's demand for the differential lock in real time.

[0064] In some embodiments of the present application, when the differential lock fails to lock or unlock for a long time, for example, the differential lock fails to complete locking or unlocking within a first preset time period after starting to perform locking or unlocking, the driver can turn the steering wheel and / or move the vehicle at low speed to assist the differential lock to perform locking or unlocking. The first preset time period can be any length of time, for example, 2 seconds, 3 seconds or 5 seconds. Alternatively, when the differential lock fails to complete locking or unlocking for a long time, a prompt message can be displayed to the user that the differential lock fails to complete locking or unlocking, which can include sound, light, text, image or video prompt information on the vehicle display screen, etc. Through the prompt message, the user can be prompted to turn the steering wheel and / or move the vehicle at low speed to assist the differential lock to perform locking or unlocking.

[0065] In some embodiments of the present application, a vehicle control method is also provided. During the process of locking or unlocking of the differential lock of the vehicle, the target torque output by at least one target motor can be controlled to make the torque difference of the wheel end torque of the two wheels connected with the differential lock be a non-zero value, i.e., to make the rotation speeds of the two wheels different, so as to assist the differential lock to perform locking or unlocking, reduce the time period of locking or unlocking, and improve the success rate of locking or unlocking of the differential lock.

[0066] FIG. 1 is a flow diagram of a vehicle control method provided by an embodiment of the present application. The vehicle control method can be performed by a vehicle controller, a remote server connected with the vehicle, or the like. As shown in FIG. 1, the vehicle control method of the present embodiment can include the following step S130.

[0067] In step S130, during the process of locking or unlocking of the differential lock of the vehicle, the target torque output by at least one target motor of the vehicle is controlled to make the torque difference of the wheel end torque of the two wheels connected with the differential lock be a non-zero value, so as to assist the differential lock to perform locking or unlocking.

[0068] The differential lock assisted by the method to perform locking or unlocking can include assisting the differential lock to complete locking or unlocking, for example, successfully completing locking or unlocking within a preset time. Alternatively, after the differential lock is assisted by the method to perform locking or unlocking, if the differential lock fails to complete locking or unlocking within a preset time, a prompt message that the differential lock fails to complete locking or unlocking can be further displayed to the user, so as to prompt the user to intervene, for example, through the prompt message, the user can be prompted to turn the steering wheel and / or move the vehicle at low speed to assist the differential lock to complete locking or unlocking.

[0069] The differential lock assisted by the method to perform locking or unlocking can reduce the time period of locking or unlocking of the differential lock and improve the success rate of locking or unlocking of the differential lock.

[0070] In some embodiments, during the locking or unlocking of the differential lock of the vehicle, the torque difference of the wheel end torques of the two wheels at a second time point is greater than the torque difference at a first time point, the second time point being a time point adjacent to the first time point.

[0071] For example, during the locking or unlocking of the differential lock of the vehicle, the target torque of the at least one target motor output of the vehicle is controlled, so that the torque difference gradually increases with the length of time of the locking or unlocking. The torque difference can be increased in various ways, for example, the torque difference can be increased linearly or in steps.

[0072] In this embodiment, the magnitude of the torque difference can be compared by absolute value, for example, a torque difference of 50 Newton-meters (Nm) is greater than a torque difference of 30 Newton-meters, and a torque difference of -50 Newton-meters is also greater than a torque difference of 30 Newton-meters.

[0073] In this way, by gradually increasing the torque difference, the length of time of the locking or unlocking of the differential lock can be further reduced, and the success rate of the locking or unlocking of the differential lock can be improved.

[0074] In some embodiments, the torque difference can be increased by a preset step, for example, the difference between the torque difference at the second time point and the torque difference at the first time point is the preset step.

[0075] In this way, the vehicle can accurately control the torque difference.

[0076] In some embodiments, the torque difference at the second time point and the torque difference at the first time point are in the same direction, i.e., the torque difference increases in the same direction.

[0077] In some embodiments, the torque difference at the second time point and the torque difference at the first time point are in opposite directions, for example, the torque difference can alternately change in positive and negative directions.

[0078] For example, during the locking or unlocking of the differential lock of the vehicle, the target torque of the at least one target motor output of the vehicle is controlled, so that the torque difference alternately changes in positive and negative directions, i.e., periodically alternates between positive and negative values.

[0079] In this way, by alternately changing the torque difference, the length of time of the locking or unlocking of the differential lock can be further reduced, and the success rate of the locking or unlocking of the differential lock can be improved.

[0080] In some embodiments, the torque difference at the second time point and the torque difference at the first time point are in opposite directions, and the torque difference at the second time point is greater than the torque difference at the first time point.

[0081] For example, the torque difference at the first time point is 20 Newton-meters in the positive direction, and the torque difference at the second time point can be -30 Newton-meters in the negative direction.

[0082] In this way, the success rate of locking or unlocking the differential lock can be further improved by the torque difference that alternates in positive and negative directions and gradually increases.

[0083] In some embodiments, the torque difference at the second time point and the torque difference at the first time point are in opposite directions, and the difference between the torque difference at the second time point and the torque difference at the first time point is a preset step size.

[0084] For example, the preset step size can be any value, such as 20 Nm. The second time point and the first time point are any two adjacent time points, that is, the torque difference alternates in positive and negative directions and gradually increases by the preset step size.

[0085] In this way, the torque difference that alternates in positive and negative directions and gradually increases by the preset step size can facilitate accurate control of the torque difference by the vehicle and further improve the success rate of locking or unlocking the differential lock.

[0086] In some embodiments, the torque difference can be less than or equal to a preset maximum torque difference, for example, less than or equal to 140 Nm. In this way, the normal control of the vehicle can be avoided by the excessively large torque difference, and the safety of the vehicle control can be improved.

[0087] In some embodiments, the torque difference can be greater than or equal to a preset minimum torque difference, for example, greater than or equal to 20 Nm. In this way, the torque difference that is too small to assist the differential lock to complete locking or unlocking can be avoided, and the time length of locking or unlocking the differential lock can be further reduced.

[0088] In some embodiments of the present application, during the process of locking or unlocking the differential lock of the vehicle, the target torque output by the at least one target motor of the vehicle can be controlled to periodically increase, for example, periodically increase by a preset step size, or periodically alternate in positive and negative directions, or periodically alternate in positive and negative directions by a preset step size.

[0089] In some embodiments of the present application, the target motor is two, and the target torque output by the two target motors can be used to drive two wheels connected to the differential lock, and the directions and / or sizes of the target torque output by the two target motors are different.

[0090] In some embodiments, the vehicle can be a four-wheel independent drive vehicle, and each wheel is driven by a separate motor.

[0091] In some embodiments, the two target motors can be determined by two wheels connected by a differential lock. For example, if the differential lock connects the left and right wheels through an axle, i.e., the differential lock can lock the left and right wheels, the two target motors can be the motors for driving the left and right wheels, respectively. For another example, if the differential lock connects the front and rear wheels through an axle, i.e., the differential lock can lock the front and rear wheels, the two target motors can be the motors for driving the front and rear wheels, respectively.

[0092] In this step, the torque difference between the two target motors can be generated by controlling the two target motors to output target torques with different directions and / or different magnitudes, so that the rotational speeds of the two wheels are different, the differential lock coupling sleeve key can be staggered with the wheel hub key tooth position, thereby assisting the differential lock to perform locking or unlocking, reducing the time length of locking or unlocking, and improving the success rate of locking and unlocking of the differential lock.

[0093] In some embodiments, during the process of locking or unlocking of the differential lock of the vehicle, the directions of the target torques output by the two target motors are opposite, and the target torque of the same target motor at the second time is greater than the target torque at the first time, the second time being an adjacent time later than the first time.

[0094] In this way, the torque difference can be gradually increased.

[0095] In some embodiments, the difference between the target torque of the same target motor at the second time and the target torque at the first time is a preset step length.

[0096] In this way, the torque difference can be increased by a preset step length.

[0097] In some embodiments, the direction of the target torque of the same target motor at the second time is opposite to the direction of the target torque at the first time.

[0098] In this way, the torque difference can be alternately positive and negative.

[0099] In some embodiments, the direction of the target torque of the same target motor at the second time is opposite to the direction of the target torque at the first time, and the target torque at the second time is greater than the target torque at the first time.

[0100] In this way, the target torque of the same target motor alternates between positive and negative and gradually increases, and the torque difference alternates between positive and negative and gradually increases, thereby further improving the success rate of locking or unlocking of the differential lock.

[0101] In some embodiments, the target torque direction of the same target motor at the second time is opposite to the target torque direction at the first time, and the difference between the target torque at the second time and the target torque at the first time is a preset step.

[0102] In this way, the target torque of the same target motor alternates in positive and negative directions and gradually increases by the preset step, so that the torque difference alternates in positive and negative directions and gradually increases by the preset step, thereby facilitating accurate control of the torque difference by the vehicle, and further improving the success rate of locking or unlocking of the differential lock.

[0103] In some embodiments, the target torque can be less than or equal to a preset maximum torque, for example, less than or equal to 70 Nm. In this way, the normal control of the vehicle can be avoided by the excessively large torque, thereby improving the safety of vehicle control.

[0104] In some embodiments, the target torque can be greater than or equal to a preset minimum torque, for example, greater than or equal to 10 Nm. In this way, the torque that is too small to assist the differential lock to complete locking or unlocking can be avoided, thereby further reducing the time length of locking or unlocking of the differential lock.

[0105] In some embodiments, the target torques output by the two target motors at the same time are a first torque and a second torque, and the first torque and the second torque satisfy any one of the following conditions:

[0106] The directions of the first torque and the second torque are different;

[0107] The sizes of the first torque and the second torque are different;

[0108] The directions of the first torque and the second torque are the same and the sizes are different;

[0109] The directions of the first torque and the second torque are different and the sizes are equal;

[0110] The directions of the first torque and the second torque are different and the sizes are different.

[0111] In an implementation manner, the directions of the first torque and the second torque can be opposite. For example, the direction of the first torque is positive, and the direction of the second torque is negative; or the direction of the first torque is negative, and the direction of the second torque is positive.

[0112] In an implementation, the magnitude of the torque can be an absolute value of the torque, which can be in units of Newton-meters (Nm). The first torque and the second torque have different magnitudes, i.e., different absolute values. Optionally, the first torque and the second torque having different magnitudes can mean that an absolute value of a difference between the magnitude of the first torque and the magnitude of the second torque is greater than or equal to a preset torque difference threshold, which can be a pre-calibrated or configured value. The difference being large enough can result in a large torque difference, so that the differential lock coupling sleeve splines can be disengaged from the hub spline teeth position more quickly, further reducing the time length of locking or unlocking.

[0113] In some embodiments, the target torques of the two target motors described above can remain unchanged, e.g., within a certain time length, or during the process of locking or unlocking of the differential lock.

[0114] In some other embodiments, the target torques of the two target motors described above can be variable, e.g., the target torques have different directions and / or magnitudes at different times during the process of locking or unlocking of the differential lock.

[0115] For example, torque control instructions can be periodically sent to the two target motors, respectively, which can be used to instruct the two target motors to output target torques with different directions and / or magnitudes, respectively. The control period of sending the torque control instructions can be any time length preset, e.g., 100 milliseconds, 200 milliseconds, 500 milliseconds, or 1 second.

[0116] In some embodiments, the target torques output by the same target motor at different times satisfy any one of the following conditions:

[0117] The target torques output by the same target motor at adjacent times have opposite directions;

[0118] The target torques output by the same target motor at adjacent times have different magnitudes, e.g., the target torque at the second time is greater than the target torque at the first time, the second time being an adjacent time later than the first time;

[0119] The target torques output by the same target motor at adjacent times have opposite directions and different magnitudes.

[0120] It should be noted that the conditions of the target torques output by the same target motor at different times and the target torques output by the two target motors at the same time can be combined arbitrarily.

[0121] In some embodiments, the target torques output by the two target motors can satisfy any one of the following conditions:

[0122] The directions of the target torques output by the two target motors are opposite at the same time, and the directions of the target torques output by the same target motor are opposite at adjacent times.

[0123] The sizes of the target torques output by the two target motors are different at the same time, and the directions of the target torques output by the same target motor are opposite at adjacent times.

[0124] The sizes of the target torques output by the two target motors are different at the same time, and the sizes of the target torques output by the same target motor are different at adjacent times.

[0125] For example, the control period is 500 milliseconds, the two target motors include a first motor and a second motor, in the first control period, the direction of the target torque output by the first motor is positive, and the direction of the target torque output by the second motor is negative, and in each subsequent control period, the direction of the target torque of each target motor is reversed.

[0126] For another example, the control period is 1 second, the two target motors include a first motor and a second motor, in the first control period, the direction of the target torque output by the first motor is positive, and the size is 10 newton meters, the direction of the target torque output by the second motor is negative, and the size is 8 newton meters, and in each subsequent control period, the direction of the target torque of each target motor is reversed, and the size is unchanged.

[0127] For another example, the control period is 200 milliseconds, the two target motors include a first motor and a second motor, in the first control period, the size of the target torque output by the first motor is 10 newton meters, and the size of the target torque output by the second motor is 5 newton meters, and in each subsequent control period, the size of the target torque of each target motor is increased by 10 newton meters.

[0128] In some embodiments, the above conditions can be combined or further conditions can be added to determine the conditions that the target torques output by the two target motors satisfy. For example, the directions of the target torques output by the two target motors are opposite and the sizes are the same at the same time, and the directions of the target torques output by the same target motor are opposite and the sizes are different at adjacent times. For another example, the directions of the target torques output by the two target motors are opposite and the sizes are different at the same time, and the directions of the target torques output by the same target motor are opposite and the sizes are different at adjacent times.

[0129] In this way, the target torques output by the two target motors periodically change and there is a torque difference, forming the effect of the rotation torque, which can cause a certain speed difference between the differential lock coupling sleeve and the hub, the spline of the differential lock coupling sleeve and the spline of the hub are staggered in the top tooth position, the spline of the coupling sleeve can enter the spline tooth gap of the hub to realize mutual embedding, and the locking or unlocking of the differential lock is completed.

[0130] In some embodiments, the periodic torque control instructions are configured to cause the two target motors to output target torques in opposite directions at the same time, and the same target motor to output target torques in opposite directions in adjacent control periods.

[0131] Optionally, the magnitudes of the target torques output by the two target motors can satisfy at least one of the following conditions:

[0132] The magnitudes of the target torques output by the two target motors at the same time are equal;

[0133] In the first control period, the magnitudes of the target torques output by the two target motors are both preset minimum torques;

[0134] In any control period, the magnitudes of the target torques output by the two target motors are both less than or equal to a preset maximum torque;

[0135] In adjacent control periods, the difference between the magnitude of the target torque in the latter period and the magnitude of the target torque in the former period for the same target motor is a preset step size;

[0136] In adjacent control periods, if the sum of the magnitude of the target torque in the former period and the preset step size is greater than the preset maximum torque, the magnitude of the target torque in the adjacent latter period is the preset minimum torque.

[0137] In one implementation, the magnitudes of the target torques output by the two target motors can satisfy any one of the above conditions.

[0138] In another implementation, the magnitudes of the target torques output by the two target motors can satisfy a combination of multiple conditions. For example, the magnitudes of the target torques output by the two target motors can satisfy a combination of all the above conditions.

[0139] In some embodiments, the preset minimum torque, the preset maximum torque, and the preset step size are all values pre-calibrated or configured. The preset maximum torque is greater than the preset minimum torque, for example, the preset maximum torque can be greater than the sum of the preset maximum torque and the preset step size.

[0140] For example, the control period is 500 milliseconds, the preset minimum torque is 10 Newton meters, the preset step size is 10 Newton meters, the two target motors include a first motor and a second motor, in the first control period, the target torque of the first motor is positive and the size is 10 Newton meters, the target torque of the second motor is negative and the size is 10 Newton meters; in the second control period, the direction of the target torque is reversed, and the size is increased according to the preset step size, that is, the target torque of the first motor is negative and the size is 20 Newton meters, the target torque of the second motor is positive and the size is 20 Newton meters; in the third control period, the direction of the target torque is also reversed, and the size is increased according to the preset step size, that is, the target torque of the first motor is positive and the size is 30 Newton meters, the target torque of the second motor is negative and the size is 30 Newton meters; and so on.

[0141] In this way, by applying the periodically changing target torque according to the certain step size to the two target motors, and the directions of the target torques of the two target motors are always opposite, the spline of the combination sleeve can be offset from the tooth position of the spline of the hub to achieve fast locking and locking, and the success rate of locking or unlocking of the differential lock is improved.

[0142] Further, a preset maximum torque (for example, 70 Newton meters) can also be configured, and if the target torque of the motor is greater than or equal to the preset maximum torque, the size of the target torque is set to the preset minimum torque. Based on the foregoing example, in the sixth control period, the target torque of the first motor is negative and the size is 60 Newton meters, and the target torque of the second motor is positive and the size is 60 Newton meters; in the seventh control period, the direction of the target torque is reversed, and if the size continues to increase according to the preset step size, it is greater than or equal to the preset maximum torque 70 Newton meters, the size can be set to the preset minimum value 10 Newton meters, that is, the target torque of the first motor is positive and the size is 10 Newton meters, and the target torque of the second motor is negative and the size is 10 Newton meters; in the eighth control period, the direction of the target torque is reversed, and the size continues to increase according to the preset step size, the target torque of the first motor is negative and the size is 20 Newton meters, and the target torque of the second motor is positive and the size is 20 Newton meters; and so on.

[0143] In this way, the target torque of the target motor used to assist the differential lock can be controlled to be not greater than the preset maximum torque, which can assist the differential lock to perform locking or unlocking, and can also avoid affecting the normal operation of the vehicle, and the safety of vehicle control is improved.

[0144] In some embodiments, in order to prevent the shaft end torque of the target motor from being loaded and unloaded too fast, the target torque is filtered to limit the slope of torque loading or unloading to a preset slope, so as to prevent the vehicle from having a large amplitude of jolt. For example, after filtering, the rising slope of the loading torque can be 70 Nm / 10 ms, that is, the time length for the target torque to increase by 70 newton meters is 10 milliseconds; the falling slope of the unloading torque can also be limited to 70 Nm / 10 ms, that is, the time length for the target torque to decrease by 70 newton meters is 10 milliseconds. In this way, damage to vehicle devices can be avoided, and the safety of vehicle control can be improved.

[0145] In an optional implementation, the target motor can output the target torque in a part of the control period (for example, the first half of the control period), and output no target torque (that is, the target torque is zero) in the remaining part of the control period (for example, the second half of the control period).

[0146] FIG. 2 is a schematic diagram of target torques output by two target motors according to an embodiment of the present application. As shown in FIG. 2, the control period is 1 second, the first motor and the second motor both output target torques in the first 500 ms of each control period, and the target torques of the first motor and the second motor are both 0 in the last 500 ms of each control period. Taking the first motor as an example, the size of the target torque increases by 10 newton meters in each control period, and the direction of the target torque is reversed. The second motor always has a target torque that is opposite in direction and equal in size to the target torque of the first motor, but the absolute value of the target torque is less than 70 newton meters. After the size of the target torque increases to be greater than or equal to 7 newton meters, the target torque is set to a preset minimum torque (for example, 10 newton meters), and the target torque is loaded again in the manner of increasing by 10 newton meters in each control period and reversing the direction.

[0147] Optionally, if the differential lock is still not locked or unlocked after the duration is greater than or equal to the second preset time length (for example, 15 seconds), the step of controlling the two target motors to output target torques with different directions and / or different sizes can be stopped, for example, the target torques of the two motors are both 0. Alternatively, if the differential lock has been locked or unlocked, the step of controlling the two target motors to output target torques with different directions and / or different sizes can be stopped.

[0148] In the above embodiments, during the locking or unlocking of the differential lock, by controlling the two target motors to output target torques with different directions and / or different sizes, a torque difference can be generated between the two target motors, so that the rotational speeds of the two wheels are different, the differential lock coupling sleeve key can be staggered with the hub key tooth position, and thus the locking or unlocking of the differential lock can be assisted, the time length of locking or unlocking is reduced, and the success rate of locking and unlocking of the differential lock is improved.

[0149] In some embodiments of the present application, the target torque output by at least one target motor of the vehicle can be controlled to make the torque difference of the wheel end torques of the two wheels connected with the differential lock be a non-zero value when the differential lock of the vehicle starts to perform locking or unlocking. For example, the two target motors can be controlled to output target torques with different directions and / or different sizes to assist the differential lock to perform locking or unlocking.

[0150] In some other embodiments of the present application, the target torque output by at least one target motor of the vehicle can be controlled to make the torque difference of the wheel end torques of the two wheels connected with the differential lock be a non-zero value when the differential lock of the vehicle performs locking or unlocking, if the state of the differential lock meets a preset differential lock abnormal state. The preset differential lock abnormal state can include at least one of the following:

[0151] The differential lock does not complete locking or unlocking within a first preset time length;

[0152] The differential lock is in a spline top tooth state, which is a state determined according to position information collected by a position sensor of the differential lock.

[0153] For example, timing is performed after the differential lock starts to perform locking or unlocking, and the target torque output by at least one target motor is controlled to make the torque difference of the wheel end torques of the two wheels connected with the differential lock be a non-zero value to assist the differential lock to perform locking or unlocking if the differential lock does not complete locking or unlocking within a first preset time length. The first preset time length can be any time length configured in advance, for example, 2 seconds, 3 seconds or 5 seconds. In this way, if the differential lock completes locking or unlocking within the first preset time length, the motor torque assistance is not needed, and the normal torque control can be avoided. When the differential lock cannot complete locking or unlocking by itself within the first preset time length, the target torque output by the target motor is controlled to assist the differential lock to perform locking or unlocking, thereby improving the success rate of locking and unlocking of the differential lock.

[0154] In some embodiments, the target torque output by at least one target motor of the vehicle can be controlled under the condition that the current state of the vehicle meets a first preset condition. The first preset condition includes at least one of the following:

[0155] The current speed of the vehicle is less than or equal to a first preset speed threshold, i.e., the vehicle is in a low speed state;

[0156] The current throttle depth of the vehicle is less than or equal to a preset depth threshold, i.e., the throttle depth of the vehicle is small;

[0157] The slope of the road where the vehicle is located is less than or equal to a preset slope threshold, i.e., the slope of the road where the vehicle is located is small.

[0158] The first preset vehicle speed threshold, the preset depth threshold, and the preset slope threshold can be any threshold preset or configured. For example, the first preset vehicle speed threshold can be 10 kilometers per hour or 20 kilometers per hour; the preset depth threshold can be 3% or 5%, and the preset slope threshold can be 10% or 20%.

[0159] If the current state of the vehicle does not satisfy the first preset condition, the control of the two target motors to output target torques with different directions and / or different sizes can not be performed, so that the normal driving of the vehicle is not affected by the control of the target torques, and the safety of the vehicle control is improved.

[0160] In some embodiments, if the differential lock is not locked or unlocked within the first preset time length and the current state of the vehicle satisfies the first preset condition, the two target motors are controlled to output target torques with different directions and / or different sizes.

[0161] In this way, the two target motors can be controlled to output target torques with different directions and / or different sizes to assist the differential lock to perform locking or unlocking under certain conditions. If the above conditions are not met, for example, the differential lock is locked or unlocked within the first preset time length, the target motor does not need to assist in execution, and the normal torque control of the vehicle is not affected.

[0162] FIG. 3 is a flowchart of a vehicle control method according to an embodiment of the present application. As shown in FIG. 3, the vehicle control method can include the following steps S120 and S130:

[0163] In step S120, the differential lock is controlled to perform locking or unlocking in response to receiving a differential lock control instruction.

[0164] The differential lock control instruction is used to indicate that the differential lock of the vehicle is locked or unlocked. Optionally, the differential lock of the vehicle can be a mechanical differential lock, such as a cog-type differential lock.

[0165] In some embodiments, the differential lock control instruction can include a locking instruction and / or an unlocking instruction, the locking instruction can be used to indicate that the differential lock is locked, and the unlocking instruction can be used to indicate that the differential lock is unlocked.

[0166] In some embodiments, if the vehicle includes multiple differential locks, the differential lock control instruction can further include information of the differential lock to be locked or unlocked. For example, the differential lock control instruction can indicate that one or more differential locks are locked or unlocked, or can indicate that all differential locks of the vehicle are locked or unlocked. In the embodiments of the present application, one differential lock is locked or unlocked as an example, but it can be understood that the same or similar method can be used if multiple differential locks are locked or unlocked.

[0167] In some embodiments, the differential lock control instruction can be control information triggered by a user (e.g., a driver of the vehicle). For example, the driver can trigger the differential lock control instruction through a button, a touch screen, or voice control, gesture control, etc. of a main console of the vehicle. In this way, the vehicle control method in the embodiments of the present application can be implemented in the case of manual control by the user.

[0168] In other embodiments, the differential lock control instruction can be control information automatically triggered by a vehicle controller or a remote server connected to the vehicle. For example, in an autonomous driving or assisted driving scenario, the vehicle controller or the remote server can obtain state information and / or environmental information of the vehicle, and trigger the differential lock control instruction according to the state information and / or the environmental information. In this way, the vehicle control method in the embodiments of the present application can be implemented in the autonomous driving or assisted driving scenario.

[0169] In some embodiments, the differential lock to be locked or unlocked can be determined according to the differential lock control instruction, and the differential lock can be controlled to perform locking or unlocking.

[0170] In some embodiments, the differential lock can be controlled to perform locking or unlocking according to the differential lock control instruction in a case where it is determined that the current state of the vehicle satisfies a second preset condition.

[0171] The second preset condition includes at least one of the following:

[0172] The current speed of the vehicle is less than or equal to a second preset speed threshold, i.e., the vehicle is in a low-speed state; optionally, the second preset speed threshold can be any threshold value pre-calibrated or configured, such as 20 kilometers per hour or 10 kilometers per hour.

[0173] The driving mode of the vehicle is a preset mode, and the preset mode is a driving mode that supports locking or unlocking of the differential lock, for example, the preset mode can include an off-road mode or other customized driving mode.

[0174] The road condition in which the vehicle is located is a preset type of road condition, and the preset type of road condition is a road condition that supports locking or unlocking of the differential lock, for example, the preset type of road condition is a non-paved road condition.

[0175] The differential lock of the vehicle does not have a fault;

[0176] The differential lock of the vehicle is not in a locked state, and the differential lock control instruction indicates that the differential lock performs locking.

[0177] The differential lock of the vehicle is not in an unlocked state, and the differential lock control instruction indicates that the differential lock performs unlocking.

[0178] In an implementation, the current state of the differential lock can be determined according to the duty ratio of the position of the differential lock. For example, the duty ratio of the position of the differential lock can be the proportion of time that the differential lock is in the locked state in a certain period of time. The current state of the differential lock can be determined by the duty ratio. For example, if the duty ratio of the position of the differential lock in a certain period of time is higher than a certain threshold, it can be determined that the differential lock is in the locked state. If the duty ratio of the position of the differential lock in a certain period of time is lower than a certain threshold, it can be determined that the differential lock is in the unlocked state.

[0179] In step S130, during the locking or unlocking of the differential lock of the vehicle, the target torque output by the at least one target motor of the vehicle is controlled so that the torque difference of the wheel end torques of the two wheels connected to the differential lock is a non-zero value, thereby assisting the differential lock to perform locking or unlocking.

[0180] It should be noted that the specific implementation of step S130 can refer to the description in the foregoing embodiments of the present application, which will not be described here.

[0181] In some embodiments of the present application, the vehicle control method can further include the following step S140:

[0182] In step S140, if the differential lock does not complete locking or unlocking within the second preset time length, at least one of the following actions is performed:

[0183] showing the user prompt information that the differential lock does not complete locking or unlocking;

[0184] stopping the step of controlling the target torque output by the at least one target motor of the vehicle, so as to prevent long-time execution of the above-mentioned step of assisting the differential lock to lock or unlock from causing damage to the vehicle.

[0185] The above-mentioned prompt information can include sound, light, text, image or video prompt information of the vehicle display screen, etc. Optionally, the prompt information can prompt the user to turn the steering wheel and / or move the vehicle at low speed through text or voice. The driver can turn the steering wheel or move the vehicle at low speed according to the prompt information, thereby assisting the differential lock to perform locking or unlocking and improving the success rate of locking and unlocking of the differential lock.

[0186] The above-mentioned second preset time length can be any length of time, for example, 5 seconds, 10 seconds or 15 seconds. Optionally, the second preset time length can be greater than or equal to the first preset time length.

[0187] In an implementation, the step S140 can be performed after the step S130; in another implementation, the step S140 can also be performed without performing the step S130, for example, after performing the step S120, if the differential lock does not complete the locking or unlocking within the second preset time length, the user is prompted with the prompt information that the differential lock does not complete the locking or unlocking.

[0188] The embodiment of the present application further provides a vehicle controller, as shown in FIG. 4, the vehicle controller 900 can include a memory 910 and a processor 920, the memory 910 can be used to store computer instructions, and the processor 920 can be used to call the computer instructions from the memory 910 to execute any method in the foregoing embodiments of the present application.

[0189] The embodiment of the present application further provides a vehicle, which includes the vehicle controller provided by the foregoing embodiments.

[0190] In an embodiment of the present application, the vehicle can be an electric vehicle, a fuel vehicle, a gas vehicle, a hybrid electric vehicle or a hybrid gas vehicle.

[0191] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement any method in the foregoing embodiments of the present application. Optionally, the computer readable storage medium can be a non-transitory storage medium, but is not limited thereto, and can also be a transitory storage medium.

[0192] The embodiment of the present application further provides a computer program product, which can include a computer program, and the computer program is executed by a processor to implement any method in the foregoing embodiments of the present application.

[0193] The present application can be a system, a method, and / or a computer program product. The computer program product can include a computer readable storage medium having computer readable program instructions stored therein, and the computer readable program instructions are used to cause a processor to implement any method in the foregoing embodiments of the present application.

[0194] The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium, for example, can be ―― but is not limited to ――semiconductor memory, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium include the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0195] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0196] Computer readable program instructions for carrying out operations of the present application can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.

[0197] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0198] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0199] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0200] The flow diagrams and the block diagrams in the drawings are presented to illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flow diagrams and the block diagrams can represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logic functions. In some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flow diagrams, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and

[0201] Embodiments of the application have been described above. The description is illustrative of the embodiments of the application and is not meant to be limiting. Numerous modifications and variations are possible in light of the above teachings without departing from the scope and spirit of the described embodiments of the application. No limitation is intended to the details of construction or design except as described in the claims.

Claims

1. A vehicle control method, characterized in that, The method includes: During the locking or unlocking process of the vehicle's differential lock, the target torque output of at least one target motor of the vehicle is controlled so that the torque difference between the wheel ends of the two wheels connected to the differential lock is a non-zero value, thereby assisting the differential lock in locking or unlocking.

2. The method according to claim 1, characterized in that, During the locking or unlocking process of the vehicle's differential lock, the torque difference between the wheel ends of the two wheels at a second moment is greater than the torque difference at a first moment, where the second moment is an adjacent moment that is later than the first moment.

3. The method according to claim 2, characterized in that, The difference between the torque difference at the second moment and the torque difference at the first moment is a preset step size.

4. The method according to claim 2 or 3, characterized in that, The torque difference at the second moment is in the opposite direction to the torque difference at the first moment.

5. The method according to claim 1, characterized in that, There are two target motors, and the target torques output by the two target motors are used to drive the two wheels connected to the differential lock respectively. The target torques output by the two target motors are in different directions and / or have different magnitudes.

6. The method according to claim 5, characterized in that, During the locking or unlocking process of the vehicle's differential lock, the target torques output by the two target motors are in opposite directions, and the target torque of the same target motor at the second moment is greater than the target torque at the first moment, where the second moment is an adjacent moment later than the first moment.

7. The method according to claim 6, characterized in that, The difference between the target torque of the same target motor at the second time and the target torque at the first time is a preset step size.

8. The method according to claim 6 or 7, characterized in that, The target torque direction of the same target motor at the second moment is opposite to the target torque direction at the first moment.

9. The method according to claim 1, characterized in that, The step of controlling the target torque output by at least one target motor of the vehicle during the locking or unlocking process of the vehicle's differential lock includes: During the locking or unlocking process of the vehicle's differential lock, if the state of the differential lock meets the preset differential lock abnormal state, then the target torque output by at least one target motor of the vehicle is controlled. The preset differential lock abnormal state includes at least one of the following: The differential lock failed to lock or unlock within the first preset time period; The differential lock is in the spline top tooth state, which is determined based on the position information collected by the position sensor of the differential lock.

10. The method according to claim 1, characterized in that, The target torque output by controlling at least one target motor of the vehicle includes: When the current state of the vehicle meets the first preset condition, control the target torque output by at least one target motor of the vehicle; The first preset condition includes at least one of the following: The current speed of the vehicle is less than or equal to a first preset speed threshold. The current throttle depth of the vehicle is less than or equal to a preset depth threshold. The slope of the road surface where the vehicle is located is less than or equal to a preset slope threshold.

11. The method according to claim 1, characterized in that, The method further includes: In response to receiving a differential lock control command, the differential lock is controlled to lock or unlock.

12. The method according to claim 11, characterized in that, The control of the differential lock to lock or unlock includes: If the current state of the vehicle meets the second preset condition, the differential lock is controlled to lock or unlock. The second preset condition includes at least one of the following: The current speed of the vehicle is less than or equal to the second preset speed threshold. The vehicle's driving mode is a preset mode, which supports locking or unlocking the differential lock. The road conditions where the vehicle is located are of a preset type, which are road conditions that support locking or unlocking of the differential lock. The differential lock of the vehicle is not faulty; The differential lock of the vehicle is not in the locked state, and the differential lock control command instructs the differential lock to lock. The differential lock of the vehicle is not in the unlocked state, and the differential lock control command instructs the differential lock to unlock.

13. The method according to claim 1, characterized in that, The method further includes: If the differential lock fails to lock or unlock within the second preset time period, then at least one of the following shall be executed: Display a message to the user indicating that the differential lock has not been locked or unlocked. Stop executing the step of controlling the target torque output of at least one target motor of the vehicle.

14. A vehicle controller, characterized in that, The vehicle controller includes a memory and a processor, the memory for storing computer instructions, and the processor for retrieving the computer instructions from the memory to execute the vehicle control method as described in any one of claims 1 to 13.

15. A vehicle, characterized in that, The vehicle includes the vehicle controller as described in claim 14.

16. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the vehicle control method as described in any one of claims 1 to 13.

17. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, implements the vehicle control method as described in any one of claims 1 to 13.

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