CN113879117B - Four-wheel drive control method, device and system, vehicle and tractor - Google Patents
Four-wheel drive control method, device and system, vehicle and tractor Download PDFInfo
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- CN113879117B CN113879117B CN202111374127.6A CN202111374127A CN113879117B CN 113879117 B CN113879117 B CN 113879117B CN 202111374127 A CN202111374127 A CN 202111374127A CN 113879117 B CN113879117 B CN 113879117B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
- B60K2023/085—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles automatically actuated
- B60K2023/0858—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles automatically actuated with electric means, e.g. electro-hydraulic means
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Abstract
The embodiment of the invention provides a four-wheel drive control method, a four-wheel drive control device, a four-wheel drive control system, a four-wheel drive control vehicle and a four-wheel drive control tractor, and relates to the technical field of four-wheel drive control. The four-wheel drive control method comprises the steps of obtaining a four-wheel drive starting signal and first state information of a vehicle, and controlling the vehicle to enter a four-wheel drive mode if the first state information of the vehicle meets a preset four-wheel drive starting condition after the four-wheel drive starting signal is obtained. The control method is simple, high in automation and intelligent degree, and capable of achieving unmanned four-wheel drive automatic control. The four-wheel drive control device, the four-wheel drive control system, the vehicle and the tractor can realize fully unmanned automatic operation and timely enter a four-wheel drive mode to improve the operation efficiency.
Description
Technical Field
The invention relates to the technical field of four-wheel drive control, in particular to a four-wheel drive control method, device and system, a vehicle and a tractor.
Background
The four-wheel drive tractor is very wide in application, and four wheels of the tractor are enabled to have driving capability due to the fact that the tractor is complex in use working condition and the four-wheel drive technology is adopted, so that the driving adhesive force of a vehicle is increased, and the operation efficiency is improved.
At present, the four-wheel drive control of a tractor is manually controlled by judging the working condition through a driver, the four-wheel drive system is controlled according to the judgment of the driver on the running road condition, the judgment of the vehicle speed state and the judgment of the wheel slipping condition, and due to the existence of too many subjective factors, the misjudgment condition is likely to occur, the four-wheel drive function cannot be started on a proper occasion, or the four-wheel drive system is started by mistake under the working condition that the four-wheel drive system is not started, and the advantages of the four-wheel drive system cannot be fully exerted.
Disclosure of Invention
The invention aims to provide a four-wheel drive control method, a four-wheel drive control device, a four-wheel drive control system, a vehicle and a tractor, which can reduce human misjudgment, timely start a four-wheel drive mode under special working conditions, realize unmanned four-wheel drive automatic control and improve the working efficiency.
In a first aspect, the present invention provides a four-wheel drive control method applied to a vehicle, including:
acquiring a four-wheel drive starting signal;
the four-wheel drive starting signal comprises any one of a whole vehicle slipping signal, a starting signal, a rapid acceleration signal, a differential lock activation signal, a brake signal, a parking signal, a four-wheel drive remote control signal and a four-wheel drive switch signal of the vehicle;
acquiring first state information of the vehicle;
under the state of acquiring the four-wheel drive starting signal, judging whether first state information of the vehicle meets a preset four-wheel drive starting condition; and if the first state information of the vehicle meets the preset four-wheel-drive starting condition, controlling the vehicle to enter a four-wheel-drive mode.
In an optional embodiment, before the step of acquiring the four-wheel drive start signal, the method further includes:
acquiring the actual speed of the vehicle; calculating a theoretical vehicle speed of the vehicle; calculating a first difference value between the theoretical vehicle speed and the actual vehicle speed; if the first difference value exceeds a first preset value, generating a finished automobile slip signal;
acquiring engine state information, clutch state information, gear state information and actual vehicle speed of the vehicle, and if the engine is in an idle state, the actual vehicle speed is zero, the clutch state is off, and the gear enters a D gear or an R gear from an N gear or a P gear, generating the starting signal;
acquiring a target vehicle speed acceleration of the vehicle; if the target vehicle speed acceleration is larger than a preset vehicle speed acceleration, generating the rapid acceleration signal; or acquiring a target rotating speed acceleration of the engine, and if the target rotating speed acceleration is greater than a preset rotating speed acceleration, generating the rapid acceleration signal;
acquiring the left half shaft rotating speed of the vehicle and the right half shaft rotating speed of the vehicle; calculating a second difference between the left half shaft rotation speed and the right half shaft rotation speed; detecting whether the vehicle is in a steering state; and if the second difference value is larger than a second preset value and the vehicle is not in a steering state, generating the differential lock activation signal.
In an alternative embodiment, the step of calculating the theoretical vehicle speed of the vehicle comprises:
acquiring the half-axis rotating speed and the tire rolling radius of the vehicle, and calculating the theoretical vehicle speed according to the half-axis rotating speed and the tire rolling radius;
or obtaining the engine speed, the transmission speed ratio and the tire rolling radius of the vehicle, and calculating the theoretical vehicle speed according to the engine speed, the transmission speed ratio and the tire rolling radius;
the step of acquiring the actual vehicle speed of the vehicle includes:
acquiring an actual speed acquired by a radar sensor of the vehicle; or acquiring the actual speed acquired by a GPS speed sensor of the vehicle.
In an alternative embodiment, the step of obtaining the target vehicle speed acceleration of the vehicle includes:
acquiring a third difference value between the target speed and the actual speed of the vehicle, and calculating the target speed acceleration of the vehicle according to the third difference value and a first preset time length;
the step of acquiring the target rotational speed acceleration of the engine includes:
and acquiring a fourth difference value between the target rotating speed of the engine and the current rotating speed of the engine, and calculating the target rotating speed acceleration of the engine according to the fourth difference value and a second preset time length.
In an alternative embodiment, the step of acquiring the four-wheel drive start signal includes:
acquiring the four-wheel drive starting signal and controlling the vehicle to enter a four-wheel drive waiting mode;
the step of judging whether the first state information of the vehicle meets a preset four-wheel drive starting condition comprises the following steps:
and if the first state information of the vehicle meets the preset four-wheel-drive starting condition, controlling the vehicle to enter a four-wheel-drive mode from the four-wheel-drive waiting mode.
In an optional embodiment, the first state information of the vehicle includes an actual vehicle speed, state information of a hydraulic system, state information of an electric system of the entire vehicle, and state information of a control system of the entire vehicle.
In an optional embodiment, the hydraulic system state information comprises pressure information, solenoid valve working state information and clutch state information; if the first state information of the vehicle meets the preset four-wheel-drive starting condition, the step of controlling the vehicle to enter a four-wheel-drive mode comprises the following steps:
and if the actual speed of the vehicle is less than or equal to the preset four-wheel drive allowable speed, the pressure information of the hydraulic system is normal, the working state information of an electromagnetic valve of the hydraulic system is normal, the clutch state information is normal, and the electric system and the control system of the whole vehicle have no fault related to four-wheel drive starting or no four-wheel drive prohibition instruction caused by the fault, controlling the vehicle to enter a four-wheel drive mode.
In an alternative embodiment, the four-wheel drive control method further comprises:
and if the four-wheel drive starting signal is not acquired, or at least one of a hydraulic system of the vehicle, an electric system of the whole vehicle and a control system of the whole vehicle has a fault related to four-wheel drive starting, controlling the vehicle to be in a two-wheel drive mode.
In an alternative embodiment, the four-wheel drive control method further comprises:
and acquiring second state information of the vehicle when the vehicle is in a four-wheel drive mode, and controlling the vehicle to exit the four-wheel drive mode if the second state information of the vehicle meets a preset four-wheel drive exit condition.
In an alternative embodiment, the second state information of the vehicle includes an actual vehicle speed, system detection information, and slip state information; the step of obtaining the second state information of the vehicle, and if the second state information of the vehicle meets a preset four-wheel-drive exit condition, controlling the vehicle to exit the four-wheel-drive mode further includes:
acquiring the actual speed of the vehicle, and controlling the vehicle to exit a four-wheel drive mode if the actual speed is higher than the allowed four-wheel drive speed;
acquiring hydraulic system detection information of the vehicle, acquiring finished vehicle electrical system detection information of the vehicle and finished vehicle control system detection information of the vehicle, and if any one of the hydraulic system detection information of the vehicle, the finished vehicle electrical system detection information and the finished vehicle control system detection information is abnormal, controlling the vehicle to exit a four-wheel drive mode;
and acquiring the slip state information of the vehicle, and if the vehicle does not slip, controlling the vehicle to exit the four-wheel drive mode.
In a second aspect, the present invention provides a four-wheel drive control device applied to a vehicle, comprising:
the first acquisition module is used for acquiring a four-wheel drive starting signal; the four-wheel drive starting signal comprises any one of a whole vehicle slipping signal, a starting signal, a rapid acceleration signal, a differential lock activation signal, a brake signal, a parking signal, a four-wheel drive remote control signal and a four-wheel drive switch signal of the vehicle;
the second acquisition module is used for acquiring first state information of the vehicle;
the control module is respectively connected with the first acquisition module and the second acquisition module and is used for judging whether the first state information of the vehicle meets a preset four-wheel drive starting condition or not under the condition of acquiring the four-wheel drive starting signal; and if the first state information of the vehicle meets the preset four-wheel-drive starting condition, controlling the vehicle to enter a four-wheel-drive mode.
In a third aspect, the invention provides a four-wheel drive control system, which is applied to a vehicle and comprises a vehicle controller, a sensor and a four-wheel drive actuator, wherein the sensor is connected with the vehicle controller;
the sensor is used for acquiring and sending a four-wheel drive starting signal, wherein the four-wheel drive starting signal comprises any one of a whole vehicle slipping signal, a starting signal, an emergency accelerating signal, a differential lock activating signal, a braking signal, a parking signal, a four-wheel drive remote control signal and a four-wheel drive switch signal of the vehicle;
the vehicle control unit is used for acquiring the four-wheel drive starting signal and first state information of the vehicle, judging whether the first state information of the vehicle meets a preset four-wheel drive starting condition or not in the state of acquiring the four-wheel drive starting signal, and controlling the four-wheel drive actuator to enable the vehicle to enter a four-wheel drive mode if the first state information of the vehicle meets the preset four-wheel drive starting condition.
In an alternative embodiment, the sensors include a vehicle speed sensor for acquiring an actual vehicle speed of a vehicle, a steering angle sensor for acquiring a steering state of the vehicle, an engine speed sensor for acquiring a rotational speed of an engine of the vehicle, and a wheel speed sensor for acquiring a rotational speed of wheels of the vehicle;
the vehicle controller is used for generating a vehicle slipping signal according to the collected signals of the vehicle speed sensor and the wheel rotating speed sensor, or generating a vehicle slipping signal according to the collected signals of the vehicle speed sensor and the engine rotating speed sensor;
the vehicle controller is also used for generating a starting signal according to the collected signals of the vehicle speed sensor and the engine rotating speed sensor;
the vehicle control unit is also used for generating an emergency acceleration signal according to the acquisition signal of the vehicle speed sensor or the engine rotating speed sensor;
the vehicle control unit is further used for generating a differential lock activation signal according to the collected signals of the steering angle sensor and the wheel rotating speed sensor.
In an optional implementation manner, an enable switch is arranged in the vehicle controller, and the enable switch is used for sending or shielding the vehicle slip signal, the starting signal, the accelerating signal, the differential lock activating signal, the braking signal, the parking signal, the four-wheel drive remote control signal and the four-wheel drive switch signal.
In a fourth aspect, the invention provides a vehicle comprising a memory and a processor, the memory having stored thereon a computer program which, when executed by the processor, implements a four-wheel drive control method as in any one of the preceding embodiments.
In a fifth aspect, the present invention provides a tractor comprising a four-wheel drive control system as described in any one of the previous embodiments.
The embodiment of the invention has the beneficial effects that:
according to the four-wheel drive control method provided by the embodiment of the invention, the vehicle is controlled to enter the four-wheel drive mode according to the four-wheel drive starting signal and the first state information of the vehicle meeting the preset four-wheel drive starting condition, wherein the four-wheel drive starting signal comprises any one of a whole vehicle slipping signal, a starting signal, a quick acceleration signal, a differential lock activation signal, a brake signal, a parking signal, a four-wheel drive remote control signal and a four-wheel drive switch signal, the coverage working conditions are multiple, the application scene is wide, and the advantages of the four-wheel drive technology are fully exerted. And the first state information of the vehicle is acquired, and the four-wheel drive mode is entered under the condition that the first state information of the vehicle meets the preset four-wheel drive starting condition, so that the safe operation of the four-wheel drive system can be ensured. The control method can realize unmanned automatic operation, has high degree of automation and intelligence, and is beneficial to improving the operation efficiency of the vehicle by timely starting the four-wheel drive mode.
According to the four-wheel drive control device provided by the embodiment of the invention, the four-wheel drive starting signal is obtained through the first obtaining module, the first state information of the vehicle is obtained through the second obtaining module, an unmanned four-wheel drive control mode can be realized, the artificial misjudgment and the misoperation are reduced, and the advantages of a four-wheel drive system are fully exerted.
The four-wheel drive control system provided by the embodiment of the invention comprises the vehicle control unit, the sensor and the four-wheel drive actuator, wherein the vehicle control unit and the sensor can quickly, accurately and conveniently acquire the four-wheel drive starting signal and the first state information of the vehicle, and are favorable for timely starting the four-wheel drive mode under special working conditions, the automation degree is high, and the system is safe and stable in operation.
The vehicle provided by the embodiment of the invention comprises the memory and the processor, wherein the memory is stored with the computer program, and the computer program is executed by the processor to realize the four-wheel drive control method.
The tractor provided by the embodiment of the invention comprises the four-wheel drive control system, can automatically enter the four-wheel drive mode at the right moment, is suitable for complex working conditions, fully exerts the advantages of the four-wheel drive system, is stable and reliable, has high intelligent degree, avoids artificial subjective misjudgment and has higher operation precision.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed 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 invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a block diagram illustrating the steps of a four-wheel-drive control method according to an embodiment of the present invention;
fig. 2 is a schematic block diagram of a control flow of a four-wheel drive control method according to an embodiment of the present invention;
fig. 3 is a schematic view of an application scenario of the four-wheel drive control system according to an embodiment of the present invention.
Icon: 10-a vehicle control unit; 20-four-wheel drive actuator; 21-a four-wheel drive clutch; 31-a radar sensor; 32-GPS vehicle speed sensor; 33-a steering angle sensor; 34-an engine speed sensor; 35-wheel speed sensors; 41-left front wheel; 42-the right front wheel; 43-a transmission half shaft; 50-an engine; 60-remote controller.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that, if the terms "upper", "lower", "inner", "outer", etc. are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which the product of the present invention is used to usually place, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
First embodiment
Referring to fig. 1 to fig. 3, the present embodiment provides a four-wheel drive control method applied to a vehicle, including:
step S1, acquiring a four-wheel drive starting signal; the four-wheel drive starting signal comprises any one of a whole vehicle slipping signal, a starting signal, a rapid acceleration signal, a differential lock activation signal, a brake signal, a parking signal, a four-wheel drive remote control signal and a four-wheel drive switch signal of the vehicle.
In step S2, first state information of the vehicle is acquired.
Step S3, in the state of acquiring the four-wheel drive start signal, determining whether the first state information of the vehicle meets a preset four-wheel drive start condition, and if the first state information of the vehicle meets the preset four-wheel drive start condition, controlling the vehicle to enter a four-wheel drive mode.
And step S4, acquiring second state information of the vehicle when the vehicle is in the four-wheel drive mode, and controlling the vehicle to exit the four-wheel drive mode if the second state information of the vehicle meets the preset four-wheel drive exit condition.
It will be appreciated that after the four-wheel drive enable signal is asserted, the vehicle is in the four-wheel drive waiting mode and the four-wheel drive clutch 21 is disengaged. If the acquired first state information of the vehicle meets the preset four-wheel drive starting condition, the vehicle enters the four-wheel drive mode from the four-wheel drive waiting mode, and the four-wheel drive clutch 21 is in a combined state. If the acquired first state information of the vehicle does not meet the preset four-wheel drive starting condition, the four-wheel drive clutch 21 keeps a disconnected state, and the vehicle is in a two-wheel drive mode.
Optionally, before step S1, the method further includes:
and step S01, generating a whole vehicle slip signal. Acquiring the actual speed of the vehicle; calculating the theoretical speed of the vehicle; calculating a first difference value between a theoretical vehicle speed and an actual vehicle speed; and if the first difference value exceeds a first preset value, generating a finished automobile slip signal. In this embodiment, the method for calculating the theoretical vehicle speed of the vehicle may adopt the following one or two methods:
the method comprises the steps of obtaining the half-axle rotating speed and the tire rolling radius of a vehicle, and calculating the theoretical vehicle speed according to the half-axle rotating speed and the tire rolling radius; the half-axle rotating speed of the vehicle can be acquired by a half-axle rotating speed sensor or a wheel rotating speed sensor 35, and the rolling radius of the tire is a known parameter, so that the theoretical vehicle speed can be calculated.
Or, the second method calculates the theoretical vehicle speed according to the engine 50 rotation speed, the transmission speed ratio and the tire rolling radius by acquiring the engine 50 rotation speed, the transmission speed ratio and the tire rolling radius of the vehicle. Alternatively, the rotation speed of the engine 50 may be acquired by the engine rotation speed sensor 34, the transmission speed ratio may be acquired by acquiring the current gear information of the vehicle, the rolling radius of the tire is a known parameter, and the theoretical vehicle speed may be calculated, where a specific calculation formula is the prior art and is not described here.
Optionally, the method of obtaining the actual vehicle speed of the vehicle is: acquiring the actual speed of the vehicle collected by a radar sensor 31 of the vehicle; alternatively, the actual vehicle speed collected by the vehicle's GPS vehicle speed sensor 32 is obtained. The actual vehicle speed of the vehicle can be obtained by at least one of the radar sensor 31 and the GPS vehicle speed sensor 32.
And when the difference value of the calculated theoretical vehicle speed is larger than the actual vehicle speed, which indicates that the whole vehicle slips, generating a whole vehicle slip signal. Otherwise, the vehicle slip signal is not generated.
In step S02, a start signal is generated. And acquiring the state information, the clutch state information, the gear state information and the actual vehicle speed of an engine 50 of the vehicle, and if the engine 50 is in an idle state, the actual vehicle speed is zero, the clutch state is off, and the gear enters a D gear or an R gear from an N gear or a P gear, generating a starting signal. Otherwise, no start signal is generated.
In step S03, a rapid acceleration signal is generated. Acquiring a target vehicle speed acceleration of a vehicle; if the target vehicle speed acceleration is greater than the preset vehicle speed acceleration, generating a rapid acceleration signal; alternatively, a target rotational speed acceleration of the engine 50 is acquired, and if the target rotational speed acceleration is greater than a preset rotational speed acceleration, a rapid acceleration signal is generated. In this embodiment, the manner of acquiring the target vehicle speed acceleration of the vehicle is as follows: and acquiring a third difference value between the target speed and the actual speed of the vehicle, and calculating the target speed acceleration of the vehicle according to the third difference value and a first preset time period, namely calculating the target speed change rate, wherein the first preset time period can be understood as response time. The manner of acquiring the target rotational speed acceleration of the engine 50 is: and acquiring a fourth difference value between the target rotating speed of the engine 50 and the current rotating speed of the engine 50, and calculating the target rotating speed acceleration of the engine 50 according to the fourth difference value and a second preset time period. Of course, in other alternative embodiments, the rapid acceleration determination may be performed on each gear according to the current gear information and the response time, so as to generate the rapid acceleration signal.
It should be noted that the rapid acceleration is understood as the acceleration greater than a predetermined value, and is mainly used in some situations where a rapid response acceleration is required. The preset vehicle speed acceleration is the lowest vehicle speed acceleration of the preset rapid acceleration, and if the calculated target vehicle speed acceleration of the vehicle is greater than the preset vehicle speed acceleration, which indicates that the rapid acceleration is needed, a rapid acceleration signal is generated. The preset rotational speed acceleration is the lowest rotational speed acceleration of the preset rapid acceleration, and if the calculated target rotational speed acceleration of the engine 50 is greater than the preset rotational speed acceleration, which indicates that the rapid acceleration is required, a rapid acceleration signal is generated. Otherwise, no rapid acceleration signal is generated.
In step S04, a differential lock activation signal is generated. Calculating a second difference value between the rotating speed of the left half shaft of the vehicle and the rotating speed of the right half shaft of the vehicle, and detecting whether the vehicle is in a steering state; and if the second difference value is greater than the second preset value and the vehicle is not in a steering state, generating a differential lock activation signal. It should be noted that the left half-shaft rotation speed and the right half-shaft rotation speed may be acquired by a half-shaft rotation speed sensor or a wheel rotation speed sensor 35, respectively, the steering state of the vehicle may be acquired by a steering angle sensor 33, and the second preset value is a preset set value determined as the slip state. And if the second difference value is larger than the second preset value and the vehicle is not in a steering state, indicating that the vehicle is in unilateral slip, generating a differential lock activation signal.
In other alternative embodiments, a wheel speed sensor 35 may be mounted on each wheel for collecting the actual speed of each wheel, so as to accurately identify the slip state of each single wheel and determine the slip state of the entire vehicle, and to decide whether to generate the entire vehicle slip signal or the differential lock activation signal.
It can be understood that if the vehicle is in the whole vehicle slipping state, the four-wheel drive mode can enable the vehicle to rapidly get rid of the slipping state. If the vehicle is in a starting state, particularly under the working condition of heavy-load starting or hill starting, the ground adhesion of the wheels can be improved in the four-wheel drive mode, and the starting capability is enhanced. If the vehicle is in the unilateral state of skidding, the differential lock activates, and the four-wheel drive mode can help the vehicle to break away from the predicament of skidding rapidly. If the vehicle is in a rapid acceleration state, the four-wheel drive mode can improve the response speed and achieve the purpose of rapid acceleration. In addition, the braking state or the parking state may also improve the braking efficiency using the four-wheel drive mode. The four-wheel drive starting signal can also comprise a ramp driving signal, the climbing capacity can be improved by using a four-wheel drive mode when the vehicle runs on a ramp, and the ramp driving state can be determined by detecting the posture of the vehicle body, namely the inclination angle of the vehicle body, so as to generate the ramp driving signal. Alternatively, whether the braking signal needs to be generated or not may be determined by the actual vehicle speed change rate or information such as the opening and closing angle or pressure of the brake pedal, and whether the parking signal needs to be generated or not may be determined by acquiring the current gear information. The four-wheel drive remote control signal is generated by a four-wheel drive starting remote control command sent by the remote controller 60, and the four-wheel drive switching signal is generated by an operation command sent by manually operating a mechanical button, and is mainly used in occasions of active maintenance or the like.
In step S2, the first state information of the vehicle includes an actual vehicle speed, state information of the hydraulic system, state information of the electric system of the entire vehicle, and state information of the control system of the entire vehicle. And under the state of acquiring the four-wheel drive starting signal, if the actual speed, the state information of the hydraulic system, the state information of the electric system of the whole vehicle and the state information of the control system of the whole vehicle all meet the preset four-wheel drive starting condition, controlling the vehicle to enter a four-wheel drive mode. Optionally, the hydraulic system state information includes pressure information, solenoid valve operating state information, and clutch state information.
The step S3 includes a step S31 of determining whether the first status information satisfies a preset four-wheel-drive start condition. And if the actual speed of the vehicle is less than or equal to the preset four-wheel drive allowable speed, the pressure information of the hydraulic system is normal, the working state information of an electromagnetic valve of the hydraulic system is normal, the clutch state information is normal, and the electric system and the whole vehicle control system of the whole vehicle have no fault related to four-wheel drive starting or no four-wheel drive prohibition instruction caused by the fault, controlling the vehicle to enter a four-wheel drive mode. The four-wheel drive function at high speed is forbidden under the condition that the actual speed of the vehicle is less than the preset four-wheel drive allowable speed, and the machine parts and the tires can be effectively prevented from being worn.
Optionally, the determining process of the program may be set to obtain an actual vehicle speed of the vehicle first, and if the actual vehicle speed is greater than or equal to a preset four-wheel drive allowable vehicle speed, the four-wheel drive mode is not entered, and the four-wheel drive waiting mode is maintained; if the actual vehicle speed is less than or equal to the preset four-wheel drive allowable vehicle speed, state information of the hydraulic system is obtained, and if any one of the pressure information of the hydraulic system, the working state information of each electromagnetic valve and the clutch state information is abnormal or fails, the hydraulic system is kept in a four-wheel drive waiting mode; and if the pressure information of the hydraulic system, the working state information of each electromagnetic valve and the clutch state information are normal, acquiring the state information of the electric system of the whole vehicle and the control system of the whole vehicle, and if the electric system of the whole vehicle and the control system of the whole vehicle have no fault related to four-wheel drive starting or no four-wheel drive prohibition instruction caused by the fault, controlling the vehicle to enter a four-wheel drive mode, combining the four-wheel drive clutch 21, or keeping in a four-wheel drive waiting mode.
Optionally, the vehicle may continue to acquire the first state information of the vehicle in the four-wheel drive waiting mode until the first state information completely meets the preset four-wheel drive starting condition, and then the vehicle is controlled to enter the four-wheel drive mode. And if the four-wheel drive starting signal is not acquired, or at least one of a hydraulic system, a whole vehicle electrical system and a whole vehicle control system of the vehicle has a fault related to the four-wheel drive starting, controlling the vehicle to be in a two-wheel drive mode.
In step S4, when the vehicle is in the four-wheel drive mode, second state information of the vehicle is acquired, and if the second state information of the vehicle meets a preset four-wheel drive exit condition, the vehicle is controlled to exit the four-wheel drive mode. Optionally, the second state information of the vehicle includes an actual vehicle speed, system detection information, and slip state information.
The step S4 includes a step S41 of determining whether the second status information satisfies the predetermined four-wheel-drive exit condition. And acquiring the actual speed of the vehicle in real time, and if the actual speed is higher than the allowed four-wheel-drive speed, controlling the vehicle to exit the four-wheel-drive mode, switching to the two-wheel-drive mode, and separating the four-wheel-drive clutch 21. The method comprises the steps of obtaining detection information of a hydraulic system of a vehicle, obtaining detection information of an electric system of the whole vehicle and obtaining detection information of a control system of the whole vehicle, and if any one of the detection information of the hydraulic system of the vehicle, the detection information of the electric system of the whole vehicle and the detection information of the control system of the whole vehicle is abnormal, controlling the vehicle to exit a four-wheel drive mode, switching to a two-wheel drive mode, and separating a four-wheel drive clutch 21. And acquiring the slip state information of the vehicle, and if the vehicle does not slip, controlling the vehicle to exit the four-wheel drive mode, switching to the two-wheel drive mode, and separating the four-wheel drive clutch 21.
Optionally, for a plurality of four-wheel drive start signals, a virtual enable switch may be further set in the vehicle control unit 10, each four-wheel drive start signal corresponds to one enable switch, the enable switch is set by calibrating software, and it is determined by calibrating whether the four-wheel drive control system needs to adopt or shield the corresponding four-wheel drive start signal, for example, for an emergency acceleration signal, a user does not want to turn on the four-wheel drive mode after receiving the emergency acceleration signal, and the enable switch corresponding to the emergency acceleration signal may be calibrated to be turned off in a software program, so that the four-wheel drive control system may shield the emergency acceleration signal. Similarly, for other four-drive start signals, whether the four-drive control system needs to adopt or mask the corresponding four-drive start signal can also be determined by setting the enable switch through a software calibration method, which is not illustrated here. By the arrangement, the same system can be more flexibly applied to vehicles with different application scenes without redesigning and developing, and is better in universality and higher in flexibility.
The embodiment of the invention provides a four-wheel drive control device, which comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a four-wheel drive starting signal; the four-wheel drive starting signal comprises any one of a whole vehicle slipping signal, a starting signal, a rapid acceleration signal, a differential lock activation signal, a braking signal, a parking signal, a four-wheel drive remote control signal and a four-wheel drive switch signal. The second acquisition module is used for acquiring first state information of the vehicle. The control module is respectively connected with the first acquisition module and the second acquisition module and is used for controlling the vehicle to enter a four-wheel drive mode if the first state information of the vehicle meets a preset four-wheel drive starting condition under the state of acquiring the four-wheel drive starting signal according to the four-wheel drive starting signal and the first state information of the vehicle. Optionally, the vehicle driving control system further comprises a third obtaining module, the third obtaining module is configured to obtain second state information of the vehicle, the third obtaining module is connected to the control module, and the control module is further configured to, when the vehicle is in the four-wheel-drive mode, control the vehicle to exit the four-wheel-drive mode if the second state information of the vehicle meets a preset four-wheel-drive exit condition according to the second state information of the vehicle.
According to the four-wheel drive control method and the four-wheel drive control device provided by the embodiment of the invention, the four-wheel drive starting signal can be generated in a whole vehicle slipping state, a starting state, a rapid acceleration state, a single-side slipping state, a ramp driving state, a braking state, a parking state, a remote control four-wheel drive starting state or a state that a four-wheel drive switch is triggered so as to trigger the vehicle to enter the four-wheel drive waiting mode, any one of the four-wheel drive starting demand states can trigger the vehicle to enter the four-wheel drive waiting mode, and no priority order exists. The four-wheel drive control method has wide application range, can adapt to various different working conditions, realizes unmanned four-wheel drive automatic control, has high automation and intelligence degrees, and avoids the condition of subjective judgment error of a driver.
By acquiring information such as the slipping state, the actual speed and system faults of the vehicle in real time, whether the four-wheel drive mode is necessary to be started or not can be judged in time, and the four-wheel drive mode can be automatically released to exit if not necessary, so that premature wear and transitional wear of a driving system caused by the fact that a driver forgets to turn off the four-wheel drive function are avoided. The four-wheel drive function can be effectively identified whether the vehicle is about to start or not through the states of the vehicle speed before and after the vehicle starts, the rotating speed of the engine 50, the current gear, the clutch and the like, so that the ground adhesion during starting is effectively increased, and the slipping phenomenon in the starting process is reduced, thereby enhancing the vehicle starting capability of the vehicle in the starting state, particularly the uphill starting state and the heavy-load starting state.
Second embodiment
Referring to fig. 3, an embodiment of the present invention provides a four-wheel drive control system, which includes a vehicle control unit 10 (abbreviated as VCU), a sensor and a four-wheel drive actuator 20, where the sensor is connected to the vehicle control unit 10, and the four-wheel drive actuator 20 is connected to the vehicle control unit 10. The sensor is used for collecting and sending four-wheel drive starting signals, and the four-wheel drive starting signals comprise any one of a whole vehicle slipping signal, a starting signal, an emergency accelerating signal, a differential lock activating signal, a braking signal, a parking signal, a four-wheel drive remote control signal and a four-wheel drive switch signal. The vehicle control unit 10 is configured to acquire a four-wheel drive starting signal and first state information of the vehicle, determine whether the first state information of the vehicle meets a preset four-wheel drive starting condition after the four-wheel drive starting signal is acquired, and control the four-wheel drive actuator 20 of the vehicle to combine the four-wheel drive clutch 21 and enable the vehicle to enter a four-wheel drive mode if the first state information of the vehicle meets the preset four-wheel drive starting condition.
Alternatively, the sensors include a vehicle speed sensor, a steering angle sensor 33, an engine speed sensor 34, and a wheel speed sensor 35. The vehicle speed sensor is used for acquiring the actual vehicle speed of the vehicle, and at least one of the radar sensor 31 and the GPS vehicle speed sensor 32 can be adopted, and the radar sensor 31 and the GPS vehicle speed sensor 32 can be installed at any position of the vehicle body, such as the vehicle head position. The steering angle sensor 33 is mounted on the left front wheel 41 drive axle shaft 43 or the right front wheel 42 drive axle shaft 43 of the vehicle, for acquiring the steering state of the vehicle. The engine speed sensor 34 is mounted on the engine 50 for collecting the rotational speed of the engine 50 of the vehicle. The wheel speed sensors 35 are respectively mounted on the drive half shafts 43 of the respective wheels for acquiring the rotational speeds of the wheels of the vehicle.
The vehicle control unit 10 is respectively connected with each sensor, and is configured to generate a vehicle slip signal according to the collected signals of the vehicle speed sensor and the wheel rotation speed sensor 35, or generate a vehicle slip signal according to the collected signals of the vehicle speed sensor and the engine rotation speed sensor 34; the vehicle control unit 10 is further configured to generate a start signal according to the collected signals of the vehicle speed sensor and the engine speed sensor 34; the vehicle control unit 10 is further configured to generate an emergency acceleration signal according to a signal acquired by a vehicle speed sensor or an engine speed sensor 34; the vehicle control unit 10 is further configured to generate a differential lock activation signal according to the collected signals of the steering angle sensor 33 and the wheel speed sensor 35.
Optionally, the four-wheel drive control system further comprises a whole vehicle posture sensor, and the whole vehicle posture sensor can be arranged on the vehicle and used for identifying the posture of the vehicle so as to judge whether the vehicle is in a left-right inclination state, a left-right steering state, an up-down slope driving state, an acceleration-deceleration driving state and the like, and thus whether the four-wheel drive starting signal is generated or not is determined according to the posture of the vehicle.
The four-wheel drive control system further comprises a remote controller 60, and the remote controller 60 is in communication connection with the vehicle control unit 10 and is used for generating a remote control signal for four-wheel drive starting. When the vehicle control unit 10 obtains the four-wheel drive start remote control signal sent by the remote controller 60, the vehicle is also controlled to enter the four-wheel drive waiting mode, and whether the vehicle is controlled to enter the four-wheel drive mode is determined according to the first state information of the vehicle. Embodiments of the present invention further provide a vehicle, which includes a memory and a processor, where the memory stores a computer program, and when the computer program is executed by the processor, the four-wheel drive control method according to any one of the foregoing embodiments is implemented. The vehicle includes but is not limited to fuel vehicles, electric vehicles, hybrid vehicles, agricultural vehicles, engineering vehicles, passenger cars, trucks and the like, and the four-wheel drive control method and system can be applied to vehicles with four-wheel drive functions.
The embodiment of the invention also provides a tractor which comprises the four-wheel drive control system in any one of the above embodiments, so that the tractor can be driven without people, and the degree of automation and intelligence are high.
The contents of other parts not mentioned in this embodiment are similar to those described in the first embodiment, and are not described again here.
In summary, the embodiment of the invention has the following beneficial effects:
according to the four-wheel drive control method provided by the embodiment of the invention, after the four-wheel drive starting signal is acquired, the vehicle enters the four-wheel drive waiting mode, and then the vehicle is controlled to be in the four-wheel drive mode or the two-wheel drive mode according to whether the acquired first state information of the vehicle meets the preset four-wheel drive starting condition. The four-wheel drive starting signal comprises any one of a finished vehicle slipping signal, a starting signal, a rapid acceleration signal, a differential lock activating signal, a braking signal, a parking signal, a four-wheel drive remote control signal and a four-wheel drive switch signal, the working condition coverage is multiple, the application scene is wide, and the advantages of the four-wheel drive function can be fully exerted. The four-wheel-drive allowable vehicle speed is set in the preset four-wheel-drive starting condition, the four-wheel-drive function can be prevented from being started in a high-speed running state, the abrasion of parts and wheels is effectively prevented, and the system fault detection is set to ensure the safety and the stability of the four-wheel-drive mode running. The four-wheel drive starting signal generated by the remote controller 60, the hard-line switch, the mobile terminal and the like is considered, so that the control is more flexible, and the overhaul and the maintenance are convenient. Each four-wheel drive starting signal is correspondingly provided with an enabling switch, so that the corresponding four-wheel drive starting signal can be selectively started or shielded according to an actual application scene, and the flexibility of the use working condition is enhanced. The four-wheel-drive control method can realize unmanned automatic operation, has high automation and intelligence degree, timely starts the four-wheel-drive mode, avoids artificial misjudgment and misoperation, is favorable for fully exerting the advantages of a four-wheel-drive system, and improves the operation efficiency of vehicles.
The four-wheel drive control device, the four-wheel drive control system, the vehicle and the tractor provided by the embodiment of the invention can realize an unmanned four-wheel drive control mode, have high automation degree and high intelligence degree, reduce artificial misjudgment and misoperation, are beneficial to timely opening or closing the four-wheel drive mode under special working conditions, and have safer and more stable system operation.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (14)
1. A four-wheel drive control method is applied to a vehicle, wherein the vehicle comprises a tractor, and is characterized by comprising the following steps:
acquiring a four-wheel drive starting signal;
the four-wheel drive starting signal comprises any one of a whole vehicle slipping signal, a starting signal, a rapid acceleration signal, a differential lock activation signal, a brake signal, a parking signal, a four-wheel drive remote control signal and a four-wheel drive switch signal of the vehicle;
acquiring first state information of the vehicle; the first state information of the vehicle comprises the actual speed of the vehicle, the state information of a hydraulic system, the state information of an electric system of the whole vehicle and the state information of a control system of the whole vehicle; the hydraulic system state information comprises pressure information, electromagnetic valve working state information and clutch state information;
under the state of acquiring the four-wheel drive starting signal, judging whether first state information of the vehicle meets a preset four-wheel drive starting condition; if the first state information of the vehicle meets the preset four-wheel drive starting condition, controlling a four-wheel drive clutch to be in a combined state so as to enable the vehicle to enter a four-wheel drive mode;
the method comprises the steps that when the vehicle is in a four-wheel drive mode, second state information of the vehicle is obtained, and if the second state information of the vehicle meets a preset four-wheel drive exit condition, a four-wheel drive clutch is controlled to be in a disconnected state, so that the vehicle exits the four-wheel drive mode; wherein the second state information of the vehicle includes an actual vehicle speed, system detection information, and slip state information.
2. The four-wheel drive control method according to claim 1, wherein the step of obtaining the four-wheel drive start signal is preceded by the steps of:
acquiring the actual speed of the vehicle; calculating a theoretical vehicle speed of the vehicle; calculating a first difference value between the theoretical vehicle speed and the actual vehicle speed; if the first difference value exceeds a first preset value, generating a finished automobile slip signal;
acquiring engine state information, clutch state information, gear state information and actual vehicle speed of the vehicle, and if the engine is in an idle state, the actual vehicle speed is zero, the clutch state is off, and the gear enters a D gear or an R gear from an N gear or a P gear, generating the starting signal;
acquiring a target vehicle speed acceleration of the vehicle; if the target vehicle speed acceleration is larger than a preset vehicle speed acceleration, generating the emergency acceleration signal; or acquiring a target rotating speed acceleration of the engine, and if the target rotating speed acceleration is greater than a preset rotating speed acceleration, generating the rapid acceleration signal;
acquiring the rotating speed of a left half shaft and the rotating speed of a right half shaft of the vehicle, and calculating a second difference value of the rotating speed of the left half shaft and the rotating speed of the right half shaft;
detecting whether the vehicle is in a steering state; and if the second difference value is larger than a second preset value and the vehicle is not in a steering state, generating the differential lock activation signal.
3. The four-wheel drive control method according to claim 2, characterized in that the step of calculating the theoretical vehicle speed of the vehicle comprises:
acquiring the half-axis rotating speed and the tire rolling radius of the vehicle, and calculating the theoretical vehicle speed according to the half-axis rotating speed and the tire rolling radius;
or acquiring the engine speed, the transmission speed ratio and the tire rolling radius of the vehicle, and calculating the theoretical vehicle speed according to the engine speed, the transmission speed ratio and the tire rolling radius;
the step of acquiring the actual vehicle speed of the vehicle includes:
acquiring an actual speed acquired by a radar sensor of the vehicle; or acquiring the actual speed acquired by a GPS speed sensor of the vehicle.
4. The four-wheel drive control method according to claim 2, characterized in that the step of obtaining the target vehicle speed acceleration of the vehicle includes:
acquiring a third difference value between the target speed and the actual speed of the vehicle, and calculating the target speed acceleration of the vehicle according to the third difference value and a first preset time length;
the step of acquiring the target rotational speed acceleration of the engine includes:
and acquiring a fourth difference value between the target rotating speed of the engine and the current rotating speed of the engine, and calculating the target rotating speed acceleration of the engine according to the fourth difference value and a second preset time length.
5. The four-wheel drive control method according to claim 1, wherein the step of acquiring a four-wheel drive start signal comprises:
acquiring the four-wheel drive starting signal and controlling the vehicle to enter a four-wheel drive waiting mode;
the step of judging whether the first state information of the vehicle meets a preset four-wheel drive starting condition comprises the following steps:
and if the first state information of the vehicle meets the preset four-wheel-drive starting condition, controlling the vehicle to enter a four-wheel-drive mode from the four-wheel-drive waiting mode.
6. The four-wheel drive control method according to claim 1, wherein the step of controlling the vehicle to enter a four-wheel drive mode if the first state information of the vehicle meets the preset four-wheel drive starting condition comprises:
and if the actual speed of the vehicle is less than or equal to the preset four-wheel drive allowable speed, the pressure information of the hydraulic system is normal, the working state information of an electromagnetic valve of the hydraulic system is normal, the clutch state information is normal, and the electric system and the control system of the whole vehicle have no fault related to four-wheel drive starting or no four-wheel drive prohibition instruction caused by the fault, controlling the vehicle to enter a four-wheel drive mode.
7. The four-wheel drive control method according to claim 1, characterized in that the four-wheel drive control method further comprises:
and if the four-wheel drive starting signal is not acquired, or at least one of a hydraulic system, a whole vehicle electrical system and a whole vehicle control system of the vehicle has a fault related to four-wheel drive starting, controlling the vehicle to be in a two-wheel drive mode.
8. The four-wheel drive control method according to claim 1, wherein the step of obtaining the second state information of the vehicle and controlling the vehicle to exit the four-wheel drive mode if the second state information of the vehicle meets a preset four-wheel drive exit condition comprises:
acquiring the actual speed of the vehicle, and if the actual speed is higher than the four-wheel drive allowable speed, controlling the vehicle to exit the four-wheel drive mode;
acquiring hydraulic system detection information of the vehicle, acquiring finished vehicle electrical system detection information of the vehicle and finished vehicle control system detection information of the vehicle, and if any one of the hydraulic system detection information of the vehicle, the finished vehicle electrical system detection information and the finished vehicle control system detection information is abnormal, controlling the vehicle to exit a four-wheel drive mode;
and acquiring the slip state information of the vehicle, and if the vehicle does not slip, controlling the vehicle to exit the four-wheel drive mode.
9. A four-wheel drive control device applied to a vehicle, wherein the vehicle comprises a tractor, and is characterized by comprising:
the first acquisition module is used for acquiring a four-wheel drive starting signal; the four-wheel drive starting signal comprises any one of a whole vehicle slipping signal, a starting signal, a rapid acceleration signal, a differential lock activation signal, a brake signal, a parking signal, a four-wheel drive remote control signal and a four-wheel drive switch signal of the vehicle;
the second acquisition module is used for acquiring first state information of the vehicle; the first state information of the vehicle comprises the actual speed of the vehicle, the state information of a hydraulic system, the state information of an electric system of the whole vehicle and the state information of a control system of the whole vehicle; the hydraulic system state information comprises pressure information, electromagnetic valve working state information and clutch state information;
the control module is respectively connected with the first acquisition module and the second acquisition module and is used for judging whether the first state information of the vehicle meets a preset four-wheel drive starting condition or not under the condition of acquiring the four-wheel drive starting signal; if the first state information of the vehicle meets the preset four-wheel drive starting condition, controlling a four-wheel drive clutch to be in a combined state so as to enable the vehicle to enter a four-wheel drive mode;
the control module is further used for acquiring second state information of the vehicle when the vehicle is in a four-wheel drive mode, and controlling a four-wheel drive clutch to be in a disconnected state if the second state information of the vehicle meets a preset four-wheel drive exit condition so that the vehicle exits the four-wheel drive mode; wherein the second state information of the vehicle includes an actual vehicle speed, system detection information, and slip state information.
10. A four-wheel drive control system is applied to a vehicle and is characterized by comprising a vehicle control unit, a sensor and a four-wheel drive actuator, wherein the sensor is connected with the vehicle control unit;
the sensor is used for acquiring and sending a four-wheel drive starting signal, and the four-wheel drive starting signal comprises any one of a whole vehicle slipping signal, a starting signal, an emergency acceleration signal, a differential lock activation signal, a brake signal, a parking signal, a four-wheel drive remote control signal and a four-wheel drive switch signal of the vehicle;
the vehicle control unit is used for acquiring the four-wheel drive starting signal and first state information of the vehicle, judging whether the first state information of the vehicle meets a preset four-wheel drive starting condition or not in the state of acquiring the four-wheel drive starting signal, and controlling the four-wheel drive actuator to enable the vehicle to enter a four-wheel drive mode if the first state information of the vehicle meets the preset four-wheel drive starting condition; the first state information of the vehicle comprises the actual speed of the vehicle, the state information of a hydraulic system, the state information of an electric system of the whole vehicle and the state information of a control system of the whole vehicle; the hydraulic system state information comprises pressure information, electromagnetic valve working state information and clutch state information;
the method comprises the steps that when the vehicle is in a four-wheel drive mode, second state information of the vehicle is obtained, and if the second state information of the vehicle meets a preset four-wheel drive exiting condition, a four-wheel drive clutch is controlled to be in a disconnected state, so that the vehicle exits the four-wheel drive mode; wherein the second state information of the vehicle includes an actual vehicle speed, system detection information, and slip state information.
11. The four-wheel drive control system according to claim 10, wherein the sensors include a vehicle speed sensor for acquiring an actual vehicle speed of a vehicle, a steering angle sensor for acquiring a steering state of the vehicle, an engine speed sensor for acquiring a rotational speed of an engine of the vehicle, and a wheel speed sensor for acquiring a rotational speed of wheels of the vehicle;
the vehicle controller is used for generating a vehicle slipping signal according to the collected signals of the vehicle speed sensor and the wheel rotating speed sensor, or generating a vehicle slipping signal according to the collected signals of the vehicle speed sensor and the engine rotating speed sensor;
the vehicle controller is also used for generating a starting signal according to the collected signals of the vehicle speed sensor and the engine rotating speed sensor;
the vehicle control unit is also used for generating an emergency acceleration signal according to the acquisition signal of the vehicle speed sensor or the engine rotating speed sensor;
the vehicle control unit is further used for generating a differential lock activation signal according to the collected signals of the steering angle sensor and the wheel rotating speed sensor.
12. The four-wheel drive control system according to claim 10, wherein an enable switch is arranged in the vehicle controller, and the enable switch is used for sending or shielding the vehicle slipping signal, the starting signal, the accelerating signal, the differential lock activating signal, the braking signal, the parking signal, the four-wheel drive remote control signal and the four-wheel drive switch signal.
13. A vehicle comprising a memory and a processor, the memory having stored thereon a computer program which, when executed by the processor, implements a four-wheel drive control method according to any one of claims 1 to 8.
14. A tractor comprising a four-wheel drive control system as claimed in any one of claims 10 to 12.
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| JP3577375B2 (en) * | 1995-09-28 | 2004-10-13 | 富士重工業株式会社 | Traction control device for four-wheel drive vehicle |
| CA2641339C (en) * | 2008-10-21 | 2016-02-16 | Gaetan Gamache | Automatic management and control system for controlling accessories and engine controls of a transport motored vehicle |
| CN103754179B (en) * | 2014-01-27 | 2017-02-22 | 澳特卡新能源科技（上海）有限公司 | Start-stop control system of automatic transmission car |
| CN107471995A (en) * | 2016-08-23 | 2017-12-15 | 宝沃汽车（中国）有限公司 | The dynamical system and its control method of plug-in hybrid-power automobile |
| CN109017638A (en) * | 2018-09-13 | 2018-12-18 | 领途汽车有限公司 | A kind of four-wheel-driven control system of new-energy automobile |
| CN111823857B (en) * | 2020-05-29 | 2021-05-18 | 西安法士特汽车传动有限公司 | Tractor timely four-wheel drive system control method based on mechanical hydraulic stepless gearbox |
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