CN114987432A - Control method and device for inter-wheel differential lock, electronic equipment and storage medium - Google Patents
Control method and device for inter-wheel differential lock, electronic equipment and storage medium Download PDFInfo
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- CN114987432A CN114987432A CN202210803826.6A CN202210803826A CN114987432A CN 114987432 A CN114987432 A CN 114987432A CN 202210803826 A CN202210803826 A CN 202210803826A CN 114987432 A CN114987432 A CN 114987432A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/12—Conjoint control of vehicle sub-units of different type or different function including control of differentials
- B60W10/16—Axle differentials, e.g. for dividing torque between left and right wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The present disclosure relates to the field of vehicle control technologies, and in particular, to a method and an apparatus for controlling an inter-wheel differential lock, an electronic device, and a storage medium. According to the method, after the target vehicle is detected to be in the cross-country escaping working condition, whether the locking condition of the inter-wheel differential lock is met or not is judged; if the target vehicle does not meet the torque requirement of the driver, limiting the torque requirement of the driver of the target vehicle, and controlling an ESP (electronic stability program) controller to brake so as to reduce the wheel speed of the target vehicle until the wheel speed meets the locking condition of the inter-wheel differential lock, and locking the inter-wheel differential lock; after the inter-wheel differential lock is determined to be successfully locked, the limitation on the torque requirement of the driver is cancelled, and the target torque matched with the torque requirement of the driver is gradually provided to realize the successful escaping of the target vehicle.
Description
Technical Field
The present disclosure relates to the field of vehicle control technologies, and in particular, to a method and an apparatus for controlling an inter-wheel differential lock, an electronic device, and a storage medium.
Background
In a common automobile, a part of a differential is usually arranged. The differential mechanism can enable the left wheel and the right wheel of the same driving shaft to rotate at different rotating speeds, namely, the wheels on two sides can have wheel speed difference, so that the two wheels on the inner side and the outer side cannot be forced when the vehicle turns. However, when one of the two wheels slips, the torque is distributed to the slipping wheel due to the design structure of the differential, so that the vehicle loses power and cannot move forward. Under the condition, a differential lock is needed, the locking of the differential can be realized, the differential function is forbidden, the power can be transmitted to the two wheels, and the automobile can get rid of the trouble.
However, in a situation where the vehicle is trapped in a stranded state, such as when one wheel of the vehicle is trapped in a puddle, the driver of the vehicle is not always aware of when the differential lock should be used and how to cooperate with other vehicle components to achieve the purpose of removing the vehicle from the stranded state, which may lead to a situation that it takes a long time for the vehicle to get rid of the stranded state or the vehicle is deeper and cannot get rid of the stranded state.
Disclosure of Invention
In view of this, the present application provides at least a method, an apparatus, an electronic device and a storage medium for controlling an inter-wheel differential lock, which can improve the success rate and efficiency of vehicle getting rid of difficulty.
The application mainly comprises the following aspects:
in a first aspect, an embodiment of the present application provides a control method for an inter-wheel differential lock, where the control method includes: after the target vehicle is detected to be in the off-road escaping working condition, judging whether the locking condition of the inter-wheel differential lock is met; if the target vehicle does not meet the torque requirement of the driver, limiting the torque requirement of the driver of the target vehicle, and controlling an ESP (electronic stability program) controller to brake so as to reduce the wheel speed of the target vehicle until the wheel speed meets the locking condition of the inter-wheel differential lock, and locking the inter-wheel differential lock; after determining that the inter-wheel differential lock is successfully locked, canceling the limitation on the torque demand of the driver, and gradually providing a target torque matched with the torque demand of the driver to realize the successful getting-out of the target vehicle.
In one possible embodiment, the target vehicle is determined to be in an off-road, out-of-band, condition according to the following steps: detecting whether the working mode of the target vehicle is a rock mode; if so, judging whether the running state of the target vehicle meets a preset escaping working condition or not; and if so, determining that the target vehicle is in the off-road escaping working condition.
In one possible embodiment, the target vehicle is determined to be in an off-road, out-of-band, stuck condition according to the following steps: acquiring a target road surface topography of a road where the target vehicle is located; if the target road surface topography is a rock road surface topography, judging whether the running state of the target vehicle meets a preset escaping working condition; and if so, determining that the target vehicle is in the off-road escaping working condition.
In one possible embodiment, the preset escape condition includes: the speed of the target vehicle is less than a first preset speed threshold value; a first duration time that the speed of the target vehicle is less than the first preset speed threshold value is longer than a first preset time threshold value; the stepping amplitude of the accelerator pedal is greater than a preset amplitude threshold value; a wheel speed difference between a first wheel speed of a left wheel and a second wheel speed of a right wheel of the target vehicle is greater than a first preset wheel speed threshold; a second duration of time that the wheel speed difference of the target vehicle is greater than the preset wheel speed threshold is greater than a second preset time threshold.
In one possible embodiment, the locking condition of the inter-wheel differential lock includes: a wheel speed difference between a first wheel speed of a left wheel and a second wheel speed of a right wheel of the target vehicle is less than a second preset wheel speed threshold; and the speed of the target vehicle is less than a second preset speed threshold.
In one possible embodiment, the locking condition of the inter-wheel differential lock includes:
the first wheel speed of the left wheel and the second wheel speed of the right wheel of the target vehicle are both 0.
In one possible embodiment, after the determining whether the lock condition of the inter-wheel differential lock is satisfied, the control method further includes: and if so, locking the inter-wheel differential lock.
In one possible embodiment, the limiting the torque demand of the driver of the target vehicle comprises: not responding to an acceleration instruction given by the driver through an accelerator pedal; or reducing the output torque of the target vehicle below a preset torque threshold.
In one possible embodiment, the torque request from the driver is determined according to the following steps: and determining the torque demand of the driver according to the stepping amplitude of the driver for stepping on an accelerator pedal, the speed of the target vehicle and the speed gear of the target vehicle.
In one possible embodiment, the target vehicle is determined to be successfully stranded according to the following steps: detecting whether the target vehicle moves; and if the target vehicle moves and the moving distance is greater than the preset distance, determining that the target vehicle is successfully trapped.
In one possible embodiment, after determining that the target vehicle has successfully got out of the trap, the control method further includes: and unlocking the inter-wheel differential lock.
In a second aspect, an embodiment of the present application further provides a control device for an inter-wheel differential lock, where the control device includes: the judging module is used for judging whether the locking condition of the inter-wheel differential lock is met or not after the target vehicle is detected to be in the off-road escaping working condition; the control module is used for limiting the torque demand of a driver of the target vehicle if the torque demand is not met, and controlling an ESP (electronic stability program) controller to brake so that the wheel speed of the target vehicle is reduced until the wheel speed meets the locking condition of the inter-wheel differential lock, and locking the inter-wheel differential lock; and the cancellation module is used for canceling the limitation on the torque demand of the driver after the inter-wheel differential lock is determined to be successfully locked, and gradually providing the target torque matched with the torque demand of the driver so as to realize the successful getting-out of the target vehicle.
In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, the processor and the memory communicate with each other through the bus when the electronic device is operated, and the machine-readable instructions are executed by the processor to perform the steps of the method for controlling an inter-wheel differential lock according to the first aspect or any one of the possible embodiments of the first aspect.
In a fourth aspect, the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and the computer program is executed by a processor to perform the steps of the method for controlling an inter-wheel differential lock described in the first aspect or any one of the possible implementation manners of the first aspect.
According to the control method, the device, the electronic equipment and the storage medium of the inter-wheel differential lock, when a target vehicle is detected to be in a cross-country escaping working condition, the torque requirement of a driver is limited, ESP is controlled to brake, so that the target vehicle meets the locking condition of the inter-wheel differential lock, the inter-wheel differential lock is automatically locked, and after the inter-wheel differential lock is locked, the target torque matched with the torque requirement of the driver is provided to realize successful escaping of the target vehicle, compared with the prior art that the driver needs to determine the time for using the differential lock by himself and determine how to operate other automobile parts to cooperate to realize escaping of the vehicle, but because the driver is skillful in operation or does not know how to operate the vehicle, the vehicle can be escaped for a long time or the vehicle can not escape when the vehicle gets deeper, the embodiment of the application does not need driver operation, and the vehicle can be directly controlled to automatically lock the differential function after the locking condition of the differential lock is met, so that the success rate and the efficiency of releasing the vehicle from the trouble can be improved.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a flow chart illustrating a method for controlling an inter-wheel differential lock provided by an embodiment of the present application;
FIG. 2 is a flow chart illustrating another method of controlling an inter-wheel differential lock provided by an embodiment of the present application;
FIG. 3 is a functional block diagram of a control device for an inter-wheel differential lock according to an embodiment of the present application;
fig. 4 shows a second functional block diagram of a control device of an inter-wheel differential lock according to an embodiment of the present application;
fig. 5 shows a schematic structural diagram of an electronic device provided in an embodiment of the present application.
Detailed Description
To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for illustrative and descriptive purposes only and are not used to limit the scope of protection of the present application. Additionally, it should be understood that the schematic drawings are not necessarily drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be performed out of order, and that steps without logical context may be performed in reverse order or concurrently. One skilled in the art, under the guidance of this application, may add one or more other operations to, or remove one or more operations from, the flowchart.
In addition, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
To enable those skilled in the art to utilize the present disclosure, the following embodiments are presented in conjunction with a specific application scenario, "differential lock control," which will enable those skilled in the art to apply the general principles defined herein to other embodiments and application scenarios without departing from the spirit and scope of the present disclosure.
The method, the apparatus, the electronic device or the computer-readable storage medium described in the embodiments of the present application may be applied to any scenario in which a differential lock needs to be performed, and the embodiments of the present application do not limit a specific application scenario, and any scheme using the method and the apparatus for controlling an inter-wheel differential lock provided in the embodiments of the present application is within the scope of protection of the present application.
It should be noted that before the present application, in the prior art, when the vehicle is trapped in a difficult situation, such as when one wheel of the vehicle is trapped in a puddle, the driver of the vehicle usually does not know when the vehicle should use the differential lock and how to cooperate with other vehicle components to achieve the purpose of getting out of the way, which may result in a long time for the vehicle to get out of the way, or a situation that the vehicle is trapped deeper and cannot get out of the way.
In order to solve the problems, the embodiment of the application judges whether the locking condition of the inter-wheel differential lock is met or not after the target vehicle is detected to be in the off-road escaping working condition; if the target vehicle does not meet the torque requirement of the driver, limiting the torque requirement of the driver of the target vehicle, and controlling an ESP (electronic stability program) controller to brake so as to reduce the wheel speed of the target vehicle until the wheel speed meets the locking condition of the inter-wheel differential lock, and locking the inter-wheel differential lock; after the inter-wheel differential lock is determined to be successfully locked, the limitation on the torque requirement of the driver is cancelled, and the target torque matched with the torque requirement of the driver is gradually provided to realize the successful escape of the target vehicle.
For the convenience of understanding of the present application, the technical solutions provided in the present application will be described in detail below with reference to specific embodiments.
Fig. 1 is a flowchart of a control method of an inter-wheel differential lock according to an embodiment of the present disclosure. As shown in fig. 1, the control method of the inter-wheel differential lock provided in the embodiment of the present application is applied to a vehicle control unit, and includes the following steps:
s101: and after the target vehicle is detected to be in the off-road escaping working condition, judging whether the locking condition of the inter-wheel differential lock is met.
In specific implementation, after the target vehicle is detected to be in the off-road trapped-escaping working condition, it is determined that the inter-wheel differential lock needs to be unlocked under the working condition, but the unlocking of the inter-wheel differential lock needs to meet the locking condition, and therefore whether the target vehicle meets the locking condition of the inter-wheel differential lock needs to be judged.
It should be noted that the inter-wheel differential lock is mainly used for locking the inter-wheel differential, so that the left and right wheels have no speed difference and keep synchronous rotation. The inter-wheel differential functions during off-road conditions, such as when the target vehicle is stuck in a muddy road, primarily to assist the target vehicle in successfully escaping.
Here, the off-road escaping condition may be understood as a condition in which the target vehicle is trapped in trouble, for example, a condition in which the target vehicle is trapped in a muddy road or a pothole.
It should be further noted that the control scheme of the inter-wheel differential lock provided in the embodiment of the present application is applicable to a scenario corresponding to the above off-road trapped condition, for example, a scenario in which a certain wheel of the target vehicle is trapped in a puddle, that is, a scenario in which the target vehicle needs to be trapped. However, for a scene when the target vehicle slips on an icy or snowy road surface, the degree of the wheels adhering to the ground is low, and if the inter-wheel differential lock is locked, dangerous conditions such as drifting and the like may occur, so the control scheme of the inter-wheel differential lock provided by the embodiment of the present application is not suitable for working conditions such as icy or snowy road surface slipping, and therefore, the working condition of the target vehicle needs to be judged before the inter-wheel differential lock is opened, and if the current working condition of the target vehicle is detected to be a non-off-road trapped-escaping working condition, the inter-wheel differential lock does not need to be opened.
The embodiment of the application provides two ways to determine that a target vehicle is in a cross-country escaping working condition, the first way is: detecting whether the working mode of the target vehicle is a rock mode; if so, judging whether the running state of the target vehicle meets a preset escaping working condition or not; and if so, determining that the target vehicle is in the off-road escaping working condition.
Here, the rock mode is an off-road driving mode of the target vehicle, and is used in working conditions such as mountain rock road conditions, dry river channels, rugged environments, or low-speed climbing.
In specific implementation, if the working mode of the target vehicle is determined to be a rock mode and the running state of the target vehicle meets the preset escaping working condition, the target vehicle is determined to be in the off-road escaping working condition. If the driver sets the working mode of the target vehicle to be the rock mode, the target vehicle is shown to be running on a special road with an uneven road surface, at the moment, whether the target vehicle is in the off-road escaping working condition or not can be determined jointly according to the running state of the vehicle, namely, whether the target vehicle is in the predicament or not is determined, and measures are taken in time after the target vehicle is determined to be in the off-road escaping working condition, so that the target vehicle can be successfully escaped.
Here, if it is determined that the operation mode of the target vehicle is not the rock mode but the ice and snow mode, it is not necessary to judge whether the operation state of the target vehicle satisfies the preset escaping condition any more and it is directly determined that the target vehicle is not currently in the off-road escaping condition.
The second method comprises the following steps: acquiring a target road surface topography of a road where the target vehicle is located; if the target road surface topography is a rock road surface topography, judging whether the running state of the target vehicle meets a preset escaping working condition; and if so, determining that the target vehicle is in the off-road escaping working condition.
In specific implementation, if the target road surface topography of the road where the target vehicle is located is determined to be rock road surface topography, and the running state of the target vehicle meets the preset escaping working condition, the target vehicle is determined to be in the off-road escaping working condition. If the vehicle control unit determines that the target vehicle is currently located on a special road of a rock road surface terrain, at the moment, whether the target vehicle is in a cross-country escaping working condition or not can be determined jointly according to the running state of the vehicle, namely, whether the target vehicle is in a predicament or not is determined, and measures are taken in time after the target vehicle is determined to be in the cross-country escaping working condition, so that the target vehicle can be successfully escaped.
Here, the radar and camera devices mounted on the target vehicle may be used to collect road information of the road, and the target road surface topography may be determined according to the road information. In addition, when the target road surface topography is determined to be the rock road surface topography, the working mode of the target vehicle can be automatically switched to the rock mode, so that the vehicle control unit can control each part of the target vehicle in a mode matched with the rock mode.
Here, if it is determined that the target road surface topography of the road on which the target vehicle is located is not the rock road surface topography but the ice and snow road surface topography, it is not necessary to judge whether the operation state of the target vehicle satisfies the preset escaping condition again, and it is directly determined that the target vehicle is not currently in the off-road escaping condition.
The operation state of the target vehicle includes a current vehicle speed, a first wheel speed of a left wheel, a second wheel speed of a right wheel, a tread width of an accelerator pedal, and the like.
It should be noted that, when the target vehicle runs on a special road section, a single wheel falls into the road surface, and the target vehicle cannot escape from the road surface due to wheel slip, the unlocking of the inter-wheel differential lock is valuable, that is, the inter-wheel differential lock can play a role in assisting the target vehicle to escape from the road surface under the condition. Specifically, whether preset escaping working condition conditions are met or not can be judged according to the running state of the target vehicle, whether the target vehicle is in the off-road escaping working condition or not is further determined according to the judgment result, and if the target vehicle is in the off-road escaping working condition, it is valuable to determine that the inter-wheel vehicle speed lock is opened at the moment.
Here, the preset escape operating condition includes: the speed of the target vehicle is less than a first preset speed threshold value; a first duration time that the speed of the target vehicle is less than the first preset speed threshold value is longer than a first preset time threshold value; the stepping amplitude of the accelerator pedal is greater than a preset amplitude threshold value; a wheel speed difference between a first wheel speed of a left wheel and a second wheel speed of a right wheel of the target vehicle is greater than a first preset wheel speed threshold; a second duration of time that the wheel speed difference of the target vehicle is greater than the preset wheel speed threshold is greater than a second preset time threshold.
It should be noted that, firstly, the vehicle speed of the target vehicle is less than the first preset vehicle speed threshold, and the first duration time that the vehicle speed of the target vehicle is less than the first preset vehicle speed threshold is greater than the first preset time threshold, which indicates that the target vehicle is not in a condition of running, is trapped in place, and is not completely released. Secondly, the tread amplitude of the accelerator pedal stepped by the driver is larger than a preset amplitude threshold value, which indicates that the driver has the trap-escaping intention. Third, a wheel speed difference between a first wheel speed of a left wheel and a second wheel speed of a right wheel of the target vehicle is greater than a first preset wheel speed threshold, and a second duration that the wheel speed difference of the target vehicle is greater than the preset wheel speed threshold is greater than a second preset time threshold, indicating that the target vehicle is not completely stranded due to single wheel slip. Therefore, the target vehicle can be judged to be in the off-road escaping condition through the three points, namely, the situation that the wheels of the target vehicle sink into the road and skid is determined.
Wherein, the first preset vehicle speed threshold value can be set at about 5km/h, the first preset time threshold value can be set at about 1s, the preset amplitude threshold value can be set at about 5%, the first preset wheel speed threshold value can be set at about 5r/s, and the second preset time threshold value can be set at about 0.5 s.
Here, the inter-wheel differential lock may be put into operation only when the running state of the target vehicle satisfies a certain condition, and specifically, whether the target vehicle meets the locking condition of the inter-wheel differential lock is determined according to the following steps: acquiring a first wheel speed of a left wheel, a second wheel speed of a right wheel and a vehicle speed of the target vehicle; and if the wheel speed difference between the first wheel speed of the left wheel and the second wheel speed of the right wheel of the target vehicle is smaller than a second preset wheel speed threshold value, and the vehicle speed of the target vehicle is smaller than a second preset vehicle speed threshold value, determining that the target vehicle meets the locking condition of the inter-wheel differential lock.
Wherein the second preset wheel speed threshold may be set close to 0 and the second preset vehicle speed threshold may be set around 5 km/h. Here, when the first wheel speed of the left wheel and the second wheel speed of the right wheel of the target vehicle are close to coincide and the vehicle speed is sufficiently low, at this time, the locking condition of the inter-wheel vehicle speed lock is satisfied, and the inter-wheel differential lock can be automatically locked.
It should be noted that the locking condition of the inter-wheel differential lock may be that both the first wheel speed of the left wheel and the second wheel speed of the right wheel of the target vehicle are 0. That is, after the first wheel speed of the left wheel of the target vehicle is reduced to zero and the second wheel speed of the right wheel of the target vehicle is reduced to zero, it is determined that the lock condition of the inter-wheel speed lock is satisfied, thereby automatically locking the inter-wheel differential lock.
It should be noted that locking the inter-wheel differential lock is actually a function of unlocking the inter-wheel differential lock, and locking the differential to prohibit the differential function of the differential between the left wheel and the right wheel, so that the engine torque can be transmitted to the driving wheel on the other side without getting into trouble, and the target vehicle can still maintain effective driving force, thereby helping the target vehicle get rid of trouble, obtaining greater traction force and improving the off-road performance of the whole vehicle.
S102: and if the target vehicle does not meet the torque requirement, limiting the torque requirement of the driver of the target vehicle, and controlling an ESP (electronic stability program) controller to brake so as to reduce the wheel speed of the target vehicle until the locking condition of the inter-wheel differential lock is met, and locking the inter-wheel differential lock.
In a specific implementation, when it is detected that the target vehicle is in the off-road trapped condition, but the current running state of the target vehicle does not meet the locking condition of the inter-wheel differential lock, at this time, the running state of the target vehicle may meet the locking condition of the inter-wheel differential lock by controlling the target vehicle, and specifically, the wheel speed may be reduced by limiting the torque demand of the driver of the target vehicle and controlling the ESP controller to brake until the locking condition of the inter-wheel differential lock is met, and the inter-wheel differential lock is locked.
It should be noted that, during the daily running of the vehicle, the vehicle may run or turn quickly, so as to generate a lateral force, which may cause instability of the vehicle, and if there is an Electronic Stability Program (ESP) system, the ESP controller may effectively reduce the lateral instability, so as to ensure driving safety. The ESP controller monitors the running state of the automobile through the electronic control unit and performs effective intervention control on an engine and a brake system of the automobile.
Here, limiting the torque demand of the driver of the target vehicle means not responding to an acceleration command given from the driver via the accelerator pedal, that is, disabling the function of the accelerator pedal during this time, or directly lowering the output torque of the target vehicle below a preset torque threshold.
S103: after determining that the inter-wheel differential lock is successfully locked, canceling the limitation on the torque demand of the driver, and gradually providing a target torque matched with the torque demand of the driver to realize the successful getting-out of the target vehicle.
In particular embodiments, after the inter-wheel differentially locking is opened, i.e., after the differential function of the target vehicle is turned off, the target vehicle can be successfully released by providing power to the target vehicle, and in particular, the torque demand of the driver can be removed, i.e., the wheels not in the stranded condition can be powered by gradually increasing the torque from a lower torque to a target torque matching the torque demand of the driver in response to an acceleration command sent by the driver through an accelerator pedal, thereby achieving the successful release of the target vehicle.
Here, the torque demand from the driver may be determined according to the following steps: and determining the torque demand of the driver according to the stepping amplitude of the driver for stepping on an accelerator pedal, the speed of the target vehicle and the speed gear of the target vehicle.
It should be noted that, when a driver encounters a cross-country escaping condition, a measure usually taken is to step on an accelerator pedal in order to provide power for a target vehicle to escape, but when one side of the vehicle wheel slips, due to the existence of a differential, the power is alternately lost from the vehicle on the slipping side, so that the correct method is to inhibit the differential function by locking the inter-wheel differential lock, so that the power can be provided to the non-slipping vehicle wheel to escape. In the related art, an inter-wheel differential lock switch is located on a function switch panel in the middle of an instrument panel of a vehicle, and a driver operates an inter-wheel differential lock by manually pressing the inter-wheel differential lock switch when the vehicle is in a stopped state or is traveling at a speed equivalent to walking. However, when one wheel of the vehicle is sunk into a cross-country escaping condition such as a puddle, not only is it required for the driver to manually operate the brake pedal in the vehicle, activate the EPS controller, etc. to achieve the locking condition of the inter-wheel differential lock, but also it is required for the driver to find the inter-wheel differential lock from the instrument panel and manually press the inter-wheel differential lock switch, and an accelerator pedal, so that the vehicle can get out of the way, so that the driver needs to manually perform a cumbersome operation, and also a wrong operation is often caused by the driver's unfamiliarity with the vehicle, for example, when the locking condition of the inter-wheel differential lock is not met, the switch of the inter-wheel differential lock is opened or the inter-axle differential lock is opened, these situations can result in a long time for the vehicle to get out of the way, or the vehicle may get deeper and become unable to get out of the way. Therefore, the control method of the inter-wheel differential lock provided by the embodiment of the application does not need to be operated by a driver, directly meets the locking condition of the differential lock by controlling the vehicle, and provides the target torque matched with the required torque of the driver after locking, so as to realize successful escaping of the target vehicle, thereby not only freeing the two hands of the driver, but also improving the success rate and the escaping efficiency of the vehicle escaping from the automobile.
In the embodiment of the application, whether the locking condition of the inter-wheel differential lock is met or not is judged after the target vehicle is detected to be in the off-road escaping working condition; if the target vehicle does not meet the torque requirement, limiting the torque requirement of a driver of the target vehicle, and controlling an ESP (electronic stability program) controller to brake so as to reduce the wheel speed of the target vehicle until the wheel speed meets the locking condition of the inter-wheel differential lock, and locking the inter-wheel differential lock; after the inter-wheel differential lock is determined to be successfully locked, the limitation on the torque requirement of the driver is cancelled, and the target torque matched with the torque requirement of the driver is gradually provided to realize the successful escaping of the target vehicle.
Fig. 2 is a flowchart of another control method for an inter-wheel differential lock according to an embodiment of the present disclosure. As shown in fig. 2, the control method of the inter-wheel differential lock provided in the embodiment of the present application is applied to a vehicle control unit, and includes the following steps:
s201: and after the target vehicle is detected to be in the off-road escaping working condition, judging whether the locking condition of the inter-wheel differential lock is met.
S202: and if so, locking the inter-wheel differential lock.
In a specific implementation, if it is detected that the target vehicle is in the off-road escaping condition and it is determined that the target vehicle meets the locking condition of the inter-wheel differential lock, the inter-wheel differential lock is directly controlled to be locked, that is, the differential function of the target vehicle is prohibited, so that the wheel speeds of two wheels of the target vehicle are kept consistent.
S203: and if the target vehicle does not meet the requirement, limiting the torque requirement of the driver of the target vehicle, and controlling an ESP (electronic stability program) controller to brake so that the wheel speed of the target vehicle is reduced until the locking condition of the inter-wheel differential lock is met, and locking the inter-wheel differential lock.
S204: after determining that the inter-wheel differential lock is successfully locked, canceling the limitation on the torque demand of the driver, and gradually providing a target torque matched with the torque demand of the driver to realize the successful getting-out of the target vehicle.
Here, it is determined whether the target vehicle is successfully released from the stranded vehicle according to the following steps: detecting whether the target vehicle moves; and if the target vehicle moves and the moving distance is greater than the preset distance, determining that the target vehicle is successfully trapped.
In particular implementations, whether the target vehicle is successfully stranded may be determined by detecting whether the target vehicle is displaced. Wherein the preset distance may be set to about 5 m.
S205: unlocking the inter-wheel differential lock after determining that the target vehicle has successfully got out of the trouble.
The differential mechanism is a part for enabling the vehicle to run in a normal state, and mainly has the function of meeting the requirement that the rotating speeds of wheels on two sides of the vehicle are different when the vehicle turns; the inter-wheel differential lock is configured to allow the vehicle to normally run in an abnormal state, and the inter-wheel differential lock can rapidly lock the differential. After the target vehicle is determined to successfully get out of the trouble and enter a normal road surface, the inter-wheel differential needs to be unlocked at the moment, so that the target vehicle can have the differential function, and the target vehicle can normally turn, so that the normal running of the target vehicle is guaranteed.
Here, the descriptions of S201, S203, and S204 may refer to the descriptions of S101 to S103, and the same technical effect can be achieved, which is not described in detail.
Based on the same application concept, the embodiment of the present application further provides a control device of an inter-wheel differential lock corresponding to the control method of an inter-wheel differential lock provided in the foregoing embodiment, and as the principle of solving the problem of the device in the embodiment of the present application is similar to the control method of an inter-wheel differential lock provided in the foregoing embodiment of the present application, the implementation of the device may refer to the implementation of the method, and repeated details are not repeated.
As shown in fig. 3 and 4, fig. 3 is one of functional block diagrams of a control device 300 of an inter-wheel differential lock according to an embodiment of the present application, and fig. 4 is a second of the functional block diagrams of the control device 300 of the inter-wheel differential lock according to the embodiment of the present application.
As shown in fig. 3, the control device 300 of the inter-wheel differential lock includes: the judging module 310 is used for judging whether a locking condition of the inter-wheel differential lock is met or not after the target vehicle is detected to be in the cross-country escaping working condition; a control module 320, configured to limit a torque demand of a driver of the target vehicle if the torque demand is not met, and control an ESP controller to perform braking to reduce a wheel speed of the target vehicle until a locking condition of the inter-wheel differential lock is met, and lock the inter-wheel differential lock; a cancellation module 330, configured to cancel the limitation on the torque demand of the driver and gradually provide a target torque matching the torque demand of the driver after determining that the inter-wheel differential lock is successfully locked, so as to achieve successful getting-out of the target vehicle.
In one possible implementation, as shown in fig. 3, the determining module 310 is specifically configured to determine that the target vehicle is in an off-road escaping condition according to the following steps: detecting whether the working mode of the target vehicle is a rock mode; if so, judging whether the running state of the target vehicle meets a preset escaping working condition or not; and if so, determining that the target vehicle is in the off-road escaping working condition.
In one possible implementation, as shown in fig. 3, the determining module 310 is specifically configured to determine that the target vehicle is in an off-road escaping condition according to the following steps: acquiring a target road surface topography of a road where the target vehicle is located; if the target road surface topography is a rock road surface topography, judging whether the running state of the target vehicle meets a preset escaping working condition; and if so, determining that the target vehicle is in the off-road escaping working condition.
In one possible embodiment, the preset escape condition includes: the speed of the target vehicle is less than a first preset speed threshold value; a first duration time that the speed of the target vehicle is less than the first preset speed threshold value is longer than a first preset time threshold value; the stepping amplitude of the accelerator pedal is greater than a preset amplitude threshold value; a wheel speed difference between a first wheel speed of a left wheel and a second wheel speed of a right wheel of the target vehicle is greater than a first preset wheel speed threshold; a second duration of time that the wheel speed difference of the target vehicle is greater than the preset wheel speed threshold is greater than a second preset time threshold.
In one possible embodiment, the locking condition of the inter-wheel differential lock includes: a wheel speed difference between a first wheel speed of a left wheel and a second wheel speed of a right wheel of the target vehicle is less than a second preset wheel speed threshold; and the speed of the target vehicle is less than a second preset speed threshold.
In one possible implementation, as shown in fig. 3, the control module 320 is further configured to: and after judging whether the locking condition of the inter-wheel differential lock is met, if so, locking the inter-wheel differential lock.
In one possible implementation, as shown in FIG. 3, the control module 320 is further configured to limit the torque request of the driver of the target vehicle by: not responding to an acceleration instruction given by the driver through an accelerator pedal; reducing the output torque of the target vehicle below a preset torque threshold.
In one possible embodiment, as shown in fig. 3, the cancellation module 330 is further configured to determine a torque request from the driver according to the following steps: and determining the torque demand of the driver according to the stepping amplitude of the driver for stepping on an accelerator pedal, the speed of the target vehicle and the speed gear of the target vehicle.
In a possible embodiment, as shown in fig. 4, the control device 300 of the inter-wheel differential lock further comprises a determination module 340; the determining module 340 is configured to determine that the target vehicle successfully gets out of the poverty according to the following steps: detecting whether the target vehicle moves; and if the target vehicle moves and the moving distance is greater than the preset distance, determining that the target vehicle is successfully trapped.
In one possible embodiment, as shown in fig. 4, the control device 300 of the inter-wheel differential lock further comprises an unlocking module 350; the unlocking module 350 is configured to: unlocking the inter-wheel differential lock after determining that the target vehicle has successfully got out of the trouble.
In the embodiment of the application, whether the locking condition of the inter-wheel differential lock is met or not is judged after the target vehicle is detected to be in the off-road escaping working condition; if the target vehicle does not meet the torque requirement of the driver, limiting the torque requirement of the driver of the target vehicle, and controlling an ESP (electronic stability program) controller to brake so as to reduce the wheel speed of the target vehicle until the wheel speed meets the locking condition of the inter-wheel differential lock, and locking the inter-wheel differential lock; after the inter-wheel differential lock is determined to be successfully locked, the limitation on the torque requirement of the driver is cancelled, and the target torque matched with the torque requirement of the driver is gradually provided to realize the successful escaping of the target vehicle.
Based on the same application concept, referring to fig. 5, a schematic structural diagram of an electronic device 500 provided in the embodiment of the present application includes: a processor 510, a memory 520 and a bus 530, wherein the memory 520 stores machine-readable instructions executable by the processor 510, when the electronic device 500 is operated, the processor 510 communicates with the memory 520 via the bus 530, and the machine-readable instructions are executed by the processor 510 to perform the steps of the method for controlling an inter-wheel differential lock according to any one of the above-mentioned embodiments.
In particular, the machine readable instructions, when executed by the processor 510, may perform the following: after the target vehicle is detected to be in the off-road escaping working condition, judging whether the locking condition of the inter-wheel differential lock is met; if the target vehicle does not meet the torque requirement of the driver, limiting the torque requirement of the driver of the target vehicle, and controlling an ESP (electronic stability program) controller to brake so as to reduce the wheel speed of the target vehicle until the wheel speed meets the locking condition of the inter-wheel differential lock, and locking the inter-wheel differential lock; after determining that the inter-wheel differential lock is successfully locked, canceling the limitation on the torque demand of the driver, and gradually providing a target torque matched with the torque demand of the driver to realize the successful getting-out of the target vehicle.
In the embodiment of the application, whether the locking condition of the inter-wheel differential lock is met or not is judged after the target vehicle is detected to be in the off-road escaping working condition; if the target vehicle does not meet the torque requirement of the driver, limiting the torque requirement of the driver of the target vehicle, and controlling an ESP (electronic stability program) controller to brake so as to reduce the wheel speed of the target vehicle until the wheel speed meets the locking condition of the inter-wheel differential lock, and locking the inter-wheel differential lock; after the inter-wheel differential lock is determined to be successfully locked, the limitation on the torque requirement of the driver is cancelled, and the target torque matched with the torque requirement of the driver is gradually provided to realize the successful escaping of the target vehicle.
Based on the same application concept, embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method for controlling an inter-wheel differential lock provided in the above embodiments are executed.
Specifically, the storage medium can be a general storage medium, such as a mobile disk, a hard disk and the like, when a computer program on the storage medium is run, the control method of the inter-wheel differential lock can be executed, the operation of a driver is not needed, the differential function can be automatically locked after the locking condition of the differential lock is met by controlling the vehicle, and the vehicle escaping success rate and escaping efficiency can be improved.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solutions of the present application, which are essential or part of the technical solutions contributing to the prior art, may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (16)
1. A method of controlling an inter-wheel differential lock, the method comprising:
after the target vehicle is detected to be in the off-road escaping working condition, judging whether the locking condition of the inter-wheel differential lock is met;
if the target vehicle does not meet the torque requirement of the driver, limiting the torque requirement of the driver of the target vehicle, and controlling an ESP (electronic stability program) controller to brake so as to reduce the wheel speed of the target vehicle until the wheel speed meets the locking condition of the inter-wheel differential lock, and locking the inter-wheel differential lock;
after determining that the inter-wheel differential lock is successfully locked, canceling the limitation on the torque demand of the driver, and gradually providing a target torque matched with the torque demand of the driver to realize the successful getting-out of the target vehicle.
2. The control method of claim 1, wherein the target vehicle is determined to be in an off-road, out-of-band, condition according to the steps of:
detecting whether the working mode of the target vehicle is a rock mode;
if so, judging whether the running state of the target vehicle meets a preset escaping working condition or not;
and if so, determining that the target vehicle is in the off-road escaping working condition.
3. The control method of claim 1, wherein the target vehicle is determined to be in an off-road, out-of-band, condition according to the steps of:
acquiring a target road surface topography of a road where the target vehicle is located;
if the target road surface topography is a rock road surface topography, judging whether the running state of the target vehicle meets a preset escaping working condition;
and if so, determining that the target vehicle is in the off-road escaping working condition.
4. The control method according to claim 2 or 3, wherein the preset escape condition comprises:
the speed of the target vehicle is less than a first preset speed threshold; a first duration time that the speed of the target vehicle is less than the first preset speed threshold value is longer than a first preset time threshold value; the stepping amplitude of the accelerator pedal is greater than a preset amplitude threshold value; a wheel speed difference between a first wheel speed of a left wheel and a second wheel speed of a right wheel of the target vehicle is greater than a first preset wheel speed threshold; a second duration of time that the wheel speed difference of the target vehicle is greater than the preset wheel speed threshold is greater than a second preset time threshold.
5. The control method according to any one of claims 1 to 3, wherein the lock condition of the inter-wheel differential lock includes:
a wheel speed difference between a first wheel speed of a left wheel and a second wheel speed of a right wheel of the target vehicle is less than a second preset wheel speed threshold; and the speed of the target vehicle is less than a second preset speed threshold.
6. The control method according to any one of claims 1 to 3, wherein the lock condition of the inter-wheel differential lock includes:
the first wheel speed of the left wheel and the second wheel speed of the right wheel of the target vehicle are both 0.
7. The control method according to any one of claims 1 to 3, characterized in that after the determination as to whether the locking condition of the inter-wheel differential lock is satisfied, the control method further includes:
and if so, locking the inter-wheel differential lock.
8. The control method according to claim 1, wherein the limiting the torque demand of the driver of the target vehicle includes:
not responding to an acceleration instruction given by the driver through an accelerator pedal; or reducing the output torque of the target vehicle below a preset torque threshold.
9. The control method according to claim 1, characterized in that the torque demand from the driver is determined according to the following steps:
and determining the torque demand of the driver according to the stepping amplitude of the driver for stepping on an accelerator pedal, the speed of the target vehicle and the speed gear of the target vehicle.
10. The control method of claim 1, wherein the target vehicle is determined to have successfully escaped according to the following steps:
detecting whether the target vehicle moves;
and if the target vehicle moves and the moving distance is greater than the preset distance, determining that the target vehicle is successfully trapped.
11. The control method according to claim 1, characterized in that after determining that the target vehicle has successfully got out of the poverty, the control method further comprises:
and unlocking the inter-wheel differential lock.
12. A control device for an inter-wheel differential lock, the control device comprising:
the judging module is used for judging whether the locking condition of the inter-wheel differential lock is met or not after the target vehicle is detected to be in the off-road escaping working condition;
the control module is used for limiting the torque demand of a driver of the target vehicle if the torque demand is not met, and controlling an ESP (electronic stability program) controller to brake so that the wheel speed of the target vehicle is reduced until the wheel speed meets the locking condition of the inter-wheel differential lock, and locking the inter-wheel differential lock;
and the cancellation module is used for canceling the limitation on the torque requirement of the driver after the inter-wheel differential lock is determined to be successfully locked, and gradually providing a target torque matched with the torque requirement of the driver so as to realize the successful escape of the target vehicle.
13. The control device of claim 12, wherein the determining module is specifically configured to determine that the target vehicle is in an off-road, out-of-bounds, condition according to the following steps:
detecting whether the working mode of the target vehicle is a rock mode;
if so, judging whether the running state of the target vehicle meets a preset escaping working condition or not;
and if so, determining that the target vehicle is in the off-road escaping working condition.
14. The control device of claim 12, wherein the determining module is specifically configured to determine that the target vehicle is in an off-road, out-of-band, condition according to the following steps:
acquiring a target road surface topography of a road where the target vehicle is located;
if the target road surface topography is a rock road surface topography, judging whether the running state of the target vehicle meets a preset escaping working condition;
and if so, determining that the target vehicle is in the off-road escaping working condition.
15. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating via the bus when the electronic device is operated, the machine-readable instructions being executable by the processor to perform the steps of the method of controlling an inter-wheel differential lock according to any one of claims 1 to 11.
16. A computer-readable storage medium, characterized in that it has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for controlling an inter-wheel differential lock according to any one of claims 1 to 11.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210803826.6A CN114987432A (en) | 2022-07-07 | 2022-07-07 | Control method and device for inter-wheel differential lock, electronic equipment and storage medium |
| PCT/CN2022/143727 WO2024007556A1 (en) | 2022-07-07 | 2022-12-30 | Control method and apparatus for inter-wheel differential lock, and electronic device and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210803826.6A CN114987432A (en) | 2022-07-07 | 2022-07-07 | Control method and device for inter-wheel differential lock, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
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| CN114987432A true CN114987432A (en) | 2022-09-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210803826.6A Pending CN114987432A (en) | 2022-07-07 | 2022-07-07 | Control method and device for inter-wheel differential lock, electronic equipment and storage medium |
Country Status (2)
| Country | Link |
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| CN (1) | CN114987432A (en) |
| WO (1) | WO2024007556A1 (en) |
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| WO2024007556A1 (en) * | 2022-07-07 | 2024-01-11 | 上海洛轲智能科技有限公司 | Control method and apparatus for inter-wheel differential lock, and electronic device and storage medium |
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| WO2024007556A1 (en) | 2024-01-11 |
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