CN114001141B - Electronic differential lock control method and device - Google Patents
Electronic differential lock control method and device Download PDFInfo
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- CN114001141B CN114001141B CN202111292113.XA CN202111292113A CN114001141B CN 114001141 B CN114001141 B CN 114001141B CN 202111292113 A CN202111292113 A CN 202111292113A CN 114001141 B CN114001141 B CN 114001141B
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- electronic differential
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000007246 mechanism Effects 0.000 description 12
- 230000008569 process Effects 0.000 description 8
- 230000009699 differential effect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
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- 239000010426 asphalt Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/20—Arrangements for suppressing or influencing the differential action, e.g. locking devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/20—Arrangements for suppressing or influencing the differential action, e.g. locking devices
- F16H2048/204—Control of arrangements for suppressing differential actions
Abstract
The embodiment of the application provides a control method and a device for an electronic differential lock, wherein the method comprises the following steps: under the condition that an opening switch of an electronic differential lock of the vehicle is pressed, acquiring the current wheel speed difference of left and right driving wheels of the vehicle; and if the current wheel speed difference is smaller than the preset wheel speed difference, adjusting the current wheel speed difference to be a target wheel speed difference, so that the electronic differential lock enters a locking state, and the target wheel speed difference is larger than or equal to the preset wheel speed difference. The electronic differential lock is in a locking state in time by adjusting the wheel speed difference of the left driving wheel and the right driving wheel, so that the safety performance of the vehicle is improved.
Description
Technical Field
The application relates to the field of vehicle control, in particular to a control method and a device for an electronic differential lock.
Background
The electronic differential lock is a differential mechanism with a locking mechanism and generally has two structures of electromagnetic coil control and electric control pneumatic control, and the former is a mainstream structure widely applied to a plurality of light off-road vehicles due to the advantages of compact structure, high safety, high reliability and the like. When one of the driving wheels slips, the differential shell and the half shaft are locked into a whole, so that the differential mechanism loses the differential effect, and the whole torque output by the engine is transferred to the driving wheel at the other side, so that the vehicle obtains the driving power and gets rid of the dilemma.
If the traditional electronic differential lock is to realize the advanced locking of the electronic differential lock before the vehicle enters the limit off-road working condition, the rotation speed difference of the left and right wheels is manually manufactured by driving around the S pile through the left and right driving direction simulation, so that the electronic differential lock cannot enter a locking state in time when the vehicle is in a dilemma, and the safety performance of the vehicle is poor.
Disclosure of Invention
The embodiment of the application provides a control method and device for an electronic differential lock, which can solve the problem of poor safety performance of a vehicle.
In order to solve the technical problems, the application is realized as follows:
in a first aspect, an embodiment of the present application provides a method for controlling an electronic differential lock, including:
under the condition that an opening switch of an electronic differential lock of the vehicle is pressed, acquiring the current wheel speed difference of left and right driving wheels of the vehicle;
and if the current wheel speed difference is smaller than the preset wheel speed difference, adjusting the current wheel speed difference to be a target wheel speed difference, so that the electronic differential lock enters a locking state, and the target wheel speed difference is larger than or equal to the preset wheel speed difference.
In a second aspect, an embodiment of the present application further provides an electronic differential lock control device, including:
the acquisition module is used for acquiring the current wheel speed difference of the left and right driving wheels of the vehicle under the condition that an opening switch of an electronic differential lock of the vehicle is pressed;
and the adjusting module is used for adjusting the current wheel speed difference into a target wheel speed difference if the current wheel speed difference is smaller than a preset wheel speed difference, so that the electronic differential lock enters a locking state, and the target wheel speed difference is larger than or equal to the preset wheel speed difference.
In the embodiment of the application, under the condition that the opening switch of the electronic differential lock of the vehicle is pressed, the current wheel speed difference of the left and right driving wheels of the vehicle is obtained; and if the current wheel speed difference is smaller than the preset wheel speed difference, adjusting the current wheel speed difference to be a target wheel speed difference, so that the electronic differential lock enters a locking state, and the target wheel speed difference is larger than or equal to the preset wheel speed difference. Therefore, the electronic differential lock is in a locking state in time by adjusting the wheel speed difference of the left driving wheel and the right driving wheel, and the safety performance of the vehicle is improved.
Drawings
Fig. 1 is a flowchart of a control method of an electronic differential lock according to an embodiment of the present application;
fig. 2 is a schematic diagram of an electronic differential lock control device according to an embodiment of the present disclosure;
FIG. 3 is a schematic illustration of a vehicle provided in an embodiment of the present application;
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Likewise, the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate a relative positional relationship, which changes accordingly when the absolute position of the object to be described changes.
Referring to fig. 1, fig. 1 is a flowchart of a control method of an electronic differential lock according to an embodiment of the present application, where the method includes:
step 110, under the condition that an opening switch of an electronic differential lock of the vehicle is pressed, acquiring the current wheel speed difference of left and right driving wheels of the vehicle;
the electronic differential lock is controlled by an electromagnetic coil, is a differential mechanism with a locking mechanism, and mainly consists of a left half shaft gear, a right half shaft gear, two or four planetary gears, a gear rack and the locking mechanism, and is a mechanism capable of enabling left and right driving wheels to rotate at different rotation speeds. When a vehicle provided with the differential mechanism turns, the left and right wheels can be reasonably distributed with torque, so that a reasonable turning effect is achieved.
The electronic differential lock may be a symmetrical cone planetary gear differential with a locking actuator, and in particular, includes an electronic differential lock locking actuator and the differential itself. When the vehicle passes through a muddy and wet road section, the locking state of the electronic differential lock can be controlled by opening the electronic differential lock switch, so that the escaping capability of the vehicle is improved. Specifically, after receiving the switch instruction of a driver, the electronic differential lock controller locks the differential shell and the half shaft into a whole when one of the driving wheels is read to skid, so that the differential mechanism loses the differential effect, the whole torque output by the engine is transferred to the driving wheel at the other side, the vehicle is driven, the dilemma is avoided, and when the driving condition of the vehicle is recovered to be normal, the electronic differential lock stops acting.
And acquiring the rotation speeds of the left and right driving wheels controlled by the electronic differential lock in the opened state. The electronic differential lock can be arranged at the front axle position and/or the rear axle position of the vehicle according to different driving modes of the vehicle, specifically, when the driving mode of the vehicle is rear wheel driving, the electronic differential lock is arranged at the rear axle position of the vehicle, when the driving mode of the vehicle is front wheel driving, the electronic differential lock is arranged at the front axle position of the vehicle, and when the driving mode of the vehicle is four-wheel driving, the electronic differential lock is arranged at the front axle position and the rear axle position of the vehicle.
And 120, if the current wheel speed difference is smaller than the preset wheel speed difference, adjusting the current wheel speed difference to be a target wheel speed difference, so that the electronic differential lock enters a locking state, and the target wheel speed difference is larger than or equal to the preset wheel speed difference.
The electronic differential lock controller judges the wheel speed difference of the left wheel and the right wheel because the road conditions of the road surfaces where the left wheel and the right wheel are positioned are different in the actual running process after the driver presses the accelerator pedal to start, and when the obtained current wheel speed difference is smaller than the preset wheel speed difference, the electronic differential lock controller controls the electronic differential lock to apply braking to the wheel with smaller wheel speed so as to conveniently transmit the rotation speed output by the engine to the wheel at the other side, so that the wheel speed difference of the two wheels is continuously increased until the current wheel speed difference is larger than or equal to the preset wheel speed difference, and at the moment, the electronic differential lock enters a locking state.
In addition, if the electronic differential lock controller judges that the wheel speeds of the left wheel and the right wheel are larger than the preset wheel speed difference, at the moment, the electronic differential lock directly enters a locking state.
In the embodiment of the application, under the condition that the opening switch of the electronic differential lock of the vehicle is pressed, the current wheel speed difference of the left and right driving wheels of the vehicle is obtained; and if the current wheel speed difference is smaller than the preset wheel speed difference, adjusting the current wheel speed difference to be a target wheel speed difference, so that the electronic differential lock enters a locking state, and the target wheel speed difference is larger than or equal to the preset wheel speed difference. Through the wheel speed difference of adjusting the left and right wheels, the electronic differential lock timely enters a locking state, and the safety performance of the vehicle is improved.
Optionally, if the current wheel speed difference is smaller than a preset wheel speed difference, adjusting the current wheel speed difference to be a target wheel speed difference includes:
if the current wheel speed difference is smaller than the preset wheel speed difference, acquiring the slip rate of left and right driving wheels of the vehicle;
and braking the driving wheel with smaller slip rate of the left driving wheel and the right driving wheel, so that the rotating speed of the engine output of the vehicle is transmitted to the driving wheel on the other side until the current wheel speed difference is adjusted to be the target wheel speed difference.
Specifically, the slip ratio of the vehicle refers to the slip generated by the tire and the road surface when the tire is braked or accelerated in a straight line. Wherein a slip of 0 indicates that the distance traveled by the vehicle and the distance rotated by the tire tread are equal. A 100% slip means that any rotation of the tires does not cause movement of the vehicle body, but it can be said that the vehicle body is traveling without rotation of the tires (this situation occurs when the traveling vehicle is locked at four wheels). It is almost impossible to achieve zero slip, and even in the case of the optimum grip, a slip ratio of 5 to 10% is obtained, that is, the tire is rotated 100m and the vehicle is moved 90 to 95m, and if the slip ratio exceeds 10%, it means that the grip is poor and acceleration and braking performance are deteriorated. In the acceleration process of the vehicle, the electronic differential lock enters a locking state by applying braking to the wheel with smaller slip rate until the wheel speed of the wheel is further reduced, and at the moment, the rotation speed of the wheel at the other side is continuously increased until the wheel speed difference of the two wheels is larger than or equal to the preset wheel speed difference.
Optionally, step 110 includes:
judging whether vehicle information of a vehicle meets a locking condition or not under the condition that an opening switch of an electronic differential lock of the vehicle is pressed, wherein the vehicle information comprises a vehicle speed, wheel speeds of left and right driving wheels and a gear of a transfer case of the vehicle;
and if the vehicle information meets the locking condition, acquiring the current wheel speed difference of the left and right driving wheels.
After the switch of the electronic differential lock of the vehicle is pressed, vehicle information of the vehicle is further judged, specifically, the vehicle information comprises a vehicle speed, wheel speeds of left and right driving wheels and a gear of a transfer case, and after the vehicle information meets a locking condition, the current wheel speed difference of the left driving wheel can be obtained, for example: the electronic differential lock can only be used at a speed lower than 40 km/h, so that when the speed is lower than 40 km, the electronic differential lock can lock the skid wheels through locking when the speed passes through a wet skid road surface, thereby improving the driving safety.
Optionally, step 110 includes:
if the duration of the pressed opening switch is smaller than a preset threshold value, controlling the electronic differential lock to enter an automatic auxiliary locking mode, wherein the automatic auxiliary locking mode is a mode for automatically locking the electronic differential lock;
if the duration that the opening switch is pressed is greater than the preset threshold value, controlling the electronic differential lock to enter a manual auxiliary locking mode, wherein the manual auxiliary locking mode is a mode for locking the electronic differential lock in a manual mode;
the current wheel speed difference of the left and right driving wheels of the vehicle is obtained.
In this embodiment, the electronic differential lock is controlled to enter different locking modes by comparing the duration of pressing the electronic differential lock on switch with a preset threshold, where the preset threshold may be set to 5S.
When the pressed duration is less than 5S, the electronic differential lock is controlled to enter an automatic auxiliary locking mode, at the moment, the electronic differential lock controller can judge whether auxiliary locking is needed by the electronic differential lock according to the wheel speed difference of the left and right driving wheels after the vehicle starts, and when the wheel speed difference of the left and right driving wheels is less than the preset wheel speed difference, the electronic differential lock auxiliary locking system enters a working mode; when the wheel speed difference of the left and right driving wheels is larger than the preset wheel speed difference, the auxiliary locking system function is not activated. The running condition of the vehicle is automatically judged, and the differential mechanism loses the differential action by adjusting the wheel speed difference, so that the whole torque of the engine is transferred to the wheels on the other side, the vehicle obtains the running power, and the escaping capability of the vehicle is improved.
When the vehicle is in a stop state, a driver with rich driving experience can press the electronic differential lock switch 5S above to enable the electronic differential lock to enter a manual auxiliary locking mode, and the electronic differential lock controller judges the adhesion coefficient of the left driving wheel and the right driving wheel according to the wheel speed, so that single-wheel braking with larger adhesion coefficient (namely smaller slip rate) is controlled, the differential mechanism loses the differential effect, so that all torque of the engine is transferred to the wheels on the other side, the vehicle is driven, and the escaping capability of the vehicle is improved.
Optionally, after the electronic differential lock is controlled to enter the manual locking mode if the duration of the pressed open switch is greater than a preset threshold, before the current wheel speed difference of the left and right driving wheels of the vehicle is obtained, the method further includes:
determining an average wheel speed difference according to the wheel speed difference of the left and right driving wheels of the vehicle in a target time period before the opening switch is pressed;
the acquiring the current wheel speed difference of the left and right driving wheels of the vehicle includes:
the average wheel speed difference is determined as the current wheel speed difference. In this embodiment, the wheel speeds of the left and right wheels should be recorded in real time, and after the electronic differential lock enters the manual auxiliary locking mode, the wheel speed difference of the left and right wheels in a target time period is obtained by taking the time when the opening switch is pressed as a node, wherein the target time period may be 5 minutes before the opening switch is pressed. The average wheel speed difference within 5 minutes before the on switch was pressed was calculated, and the average wheel speed difference was determined as the current wheel speed difference.
For a better understanding of the present application, it is illustrated by the following examples:
when the left rear wheel of the vehicle is positioned on the surface of the asphalt pavement and the right rear wheel of the vehicle is positioned on the surface of the pavement with a pit, wherein the vehicle is a rear drive vehicle, the tire adhesion coefficient of the left rear wheel is larger than that of the right rear wheel, namely the slip rate of the left rear wheel is smaller than that of the right rear wheel. When the vehicle starts or runs at a low speed, an electronic differential lock start switch positioned on an instrument panel is pressed down, an electronic differential lock controller judges the wheel speed difference between the current left rear wheel and the current right rear wheel, and when the wheel speed difference is smaller than the preset wheel speed difference, the electronic differential lock controller controls the electronic differential lock to lock the differential shell and the half shaft into a whole along with the fact that a driver steps on an accelerator pedal, the rotating speed of the right rear wheel relative to the left rear wheel is higher, so that the differential mechanism loses the differential effect, all torque output by an engine is transferred to the left rear wheel, the vehicle obtains running power, and therefore dilemma is avoided, and running safety is improved.
Referring to fig. 2, fig. 2 is a schematic diagram of an electronic differential lock control device according to an embodiment of the present application, where the electronic differential lock control device includes:
an acquisition module 210, configured to acquire a current wheel speed difference of left and right driving wheels of a vehicle when an on switch of an electronic differential lock of the vehicle is pressed;
and the adjusting module 220 is configured to adjust the current wheel speed difference to a target wheel speed difference if the current wheel speed difference is smaller than a preset wheel speed difference, so that the electronic differential lock enters a locking state, and the target wheel speed difference is greater than or equal to the preset wheel speed difference.
Optionally, the acquiring module 210 includes:
the first acquisition unit is used for acquiring the slip rate of the left and right driving wheels of the vehicle if the current wheel speed difference is smaller than the preset wheel speed difference;
and the adjusting unit is used for braking the driving wheel with smaller slip rate among the left driving wheel and the right driving wheel, so that the rotating speed output by the engine of the vehicle is transmitted to the driving wheel on the other side until the current wheel speed difference is adjusted to be the target wheel speed difference.
Optionally, the acquiring module 210 includes:
a judging unit configured to judge whether vehicle information of a vehicle, including a vehicle speed, wheel speeds of left and right driving wheels, and a gear of a transfer case of the vehicle, satisfies a lock condition in a case where an on-switch of an electronic differential lock of the vehicle is pressed;
and the second acquisition unit is used for acquiring the current wheel speed difference of the left driving wheel and the right driving wheel if the vehicle information meets the locking condition.
Optionally, the acquiring module 210 includes:
the first control unit is used for controlling the electronic differential lock to enter an automatic auxiliary locking mode if the duration of the pressed-down time of the opening switch is smaller than a preset threshold value, wherein the automatic auxiliary locking mode is a mode for automatically locking the electronic differential lock;
the second control unit is used for controlling the electronic differential lock to enter a manual auxiliary locking mode if the duration of the pressed-down time of the opening switch is greater than or equal to the preset threshold value, and the manual auxiliary locking mode is a mode of manually locking the electronic differential lock;
and a third acquisition unit configured to acquire the current wheel speed difference of the left and right driving wheels of the vehicle.
Optionally, after the second control unit, before the acquiring unit, the method further includes:
a determining unit configured to determine an average wheel speed difference from a wheel speed difference of left and right driving wheels of the vehicle in a target period of time before the on switch is pressed;
the acquiring the current wheel speed difference of the left and right driving wheels of the vehicle includes:
the average wheel speed difference is determined as the current wheel speed difference.
It should be noted that the device corresponds to the electronic differential lock control method shown in fig. 1, and all embodiments of the electronic differential lock control method shown in fig. 1 are applicable to the embodiment of the device, and the same technical effects can be achieved.
Optionally, as shown in fig. 3, the electronic differential lock control system further includes a processor 300, a memory, and a program or an instruction stored in the memory and capable of running on the processor, where the program or the instruction realizes each process of the above embodiment of the electronic differential lock control method when executed by the processor, and the process can achieve the same technical effect, and is not repeated herein.
The embodiment of the present application further provides a readable storage medium 400, on which a program is stored, where the program, when executed by the processor 300, implements each process of the embodiment of the electronic differential lock control method, and the same technical effects can be achieved, so that repetition is avoided, and no further description is given here.
Where a readable storage medium such as Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), magnetic disk, or optical disk is to be interpreted as having a meaning that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include Only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk), including several instructions for causing a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method described in the embodiments of the present application.
The embodiments of the present application have been described in connection with the accompanying drawings, but the present application is not limited to the above-described embodiments, which are intended to be illustrative only and not limiting, and many forms can be made by those of ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are to be protected by the present application.
Claims (10)
1. An electronic differential lock control method, characterized by comprising:
under the condition that an opening switch of an electronic differential lock of the vehicle is pressed, acquiring the current wheel speed difference of left and right driving wheels of the vehicle;
and if the current wheel speed difference is smaller than the preset wheel speed difference, adjusting the current wheel speed difference to be a target wheel speed difference, so that the electronic differential lock enters a locking state, and the target wheel speed difference is larger than or equal to the preset wheel speed difference.
2. The method according to claim 1, wherein if the current wheel speed difference is smaller than a preset wheel speed difference, adjusting the current wheel speed difference to be a target wheel speed difference includes:
if the current wheel speed difference is smaller than the preset wheel speed difference, acquiring the slip rate of left and right driving wheels of the vehicle;
and braking the driving wheel with smaller slip rate of the left driving wheel and the right driving wheel, so that the rotating speed of the engine output of the vehicle is transmitted to the driving wheel on the other side until the current wheel speed difference is adjusted to be the target wheel speed difference.
3. The control method of an electronic differential lock according to claim 1, wherein the acquiring the current wheel speed difference of the left and right driving wheels of the vehicle in the case where an on switch of the electronic differential lock of the vehicle is pressed, comprises:
judging whether vehicle information of a vehicle meets a locking condition or not under the condition that an opening switch of an electronic differential lock of the vehicle is pressed, wherein the vehicle information comprises a vehicle speed, wheel speeds of left and right driving wheels and a gear of a transfer case of the vehicle;
and if the vehicle information meets the locking condition, acquiring the current wheel speed difference of the left and right driving wheels.
4. The control method of an electronic differential lock according to claim 1, wherein the acquiring the current wheel speed difference of the left and right driving wheels of the vehicle in the case where an on switch of the electronic differential lock of the vehicle is pressed, comprises:
if the duration of the pressed opening switch is smaller than a preset threshold value, controlling the electronic differential lock to enter an automatic auxiliary locking mode, wherein the automatic auxiliary locking mode is a mode for automatically locking the electronic differential lock;
if the duration of the pressed opening switch is greater than or equal to the preset threshold value, controlling the electronic differential lock to enter a manual auxiliary locking mode, wherein the manual auxiliary locking mode is a mode of manually locking the electronic differential lock;
the current wheel speed difference of the left and right driving wheels of the vehicle is obtained.
5. The method according to claim 4, wherein after the electronic differential lock is controlled to enter the manual auxiliary locking mode if the duration of the on-switch being pressed is greater than or equal to the preset threshold, the method further comprises, before the step of obtaining the current wheel speed difference of the left and right driving wheels of the vehicle:
determining an average wheel speed difference according to the wheel speed difference of the left and right driving wheels of the vehicle in a target time period before the opening switch is pressed;
the acquiring the current wheel speed difference of the left and right driving wheels of the vehicle includes:
the average wheel speed difference is determined as the current wheel speed difference.
6. An electronic differential lock control device, characterized by comprising:
the acquisition module is used for acquiring the current wheel speed difference of the left and right driving wheels of the vehicle under the condition that an opening switch of an electronic differential lock of the vehicle is pressed;
and the adjusting module is used for adjusting the current wheel speed difference into a target wheel speed difference if the current wheel speed difference is smaller than a preset wheel speed difference, so that the electronic differential lock enters a locking state, and the target wheel speed difference is larger than or equal to the preset wheel speed difference.
7. The electronic differential lock control device of claim 6, wherein the acquisition module comprises:
the first acquisition unit is used for acquiring the slip rate of the left and right driving wheels of the vehicle if the current wheel speed difference is smaller than the preset wheel speed difference;
and the adjusting unit is used for braking the driving wheel with smaller slip rate among the left driving wheel and the right driving wheel, so that the rotating speed output by the engine of the vehicle is transmitted to the driving wheel on the other side until the current wheel speed difference is adjusted to be the target wheel speed difference.
8. The electronic differential lock control device of claim 6, wherein the acquisition module comprises:
a judging unit configured to judge whether vehicle information of a vehicle, including a vehicle speed, wheel speeds of left and right driving wheels, and a gear of a transfer case of the vehicle, satisfies a lock condition in a case where an on-switch of an electronic differential lock of the vehicle is pressed;
and the second acquisition unit is used for acquiring the current wheel speed difference of the left driving wheel and the right driving wheel if the vehicle information meets the locking condition.
9. The electronic differential lock control device of claim 6, wherein the acquisition module comprises:
the first control unit is used for controlling the electronic differential lock to enter an automatic auxiliary locking mode if the duration of the pressed-down time of the opening switch is smaller than a preset threshold value, wherein the automatic auxiliary locking mode is a mode for automatically locking the electronic differential lock;
the second control unit is used for controlling the electronic differential lock to enter a manual auxiliary locking mode if the duration of the pressed-down time of the opening switch is greater than or equal to the preset threshold value, and the manual auxiliary locking mode is a mode of manually locking the electronic differential lock;
and a third acquisition unit configured to acquire the current wheel speed difference of the left and right driving wheels of the vehicle.
10. The electronic differential lock control device according to claim 9, characterized by further comprising, after the second control unit, before the acquisition unit:
a determining unit configured to determine an average wheel speed difference from a wheel speed difference of left and right driving wheels of the vehicle in a target period of time before the on switch is pressed;
the acquiring the current wheel speed difference of the left and right driving wheels of the vehicle includes:
the average wheel speed difference is determined as the current wheel speed difference.
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