CN114148333A - Control method and system for coordinating driving mode and four-wheel drive mode - Google Patents
Control method and system for coordinating driving mode and four-wheel drive mode Download PDFInfo
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- CN114148333A CN114148333A CN202111517110.1A CN202111517110A CN114148333A CN 114148333 A CN114148333 A CN 114148333A CN 202111517110 A CN202111517110 A CN 202111517110A CN 114148333 A CN114148333 A CN 114148333A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/119—Conjoint control of vehicle sub-units of different type or different function including control of all-wheel-driveline means, e.g. transfer gears or clutches for dividing torque between front and rear axle
Abstract
The invention provides a control method and a system for coordinating a driving mode and a four-wheel drive mode, wherein an ESP arbitration controller receives a driving mode request signal; judging whether the actual state of the four-wheel drive mode is low-speed four-wheel drive or not; if the vehicle is in the low-speed four-wheel drive mode, a vehicle body stabilizing system is closed, and only ABS and electronic limited slip functions are reserved; when the system exits the low-speed four-wheel drive mode, the ESP arbitration controller switches the current driving mode to the standard mode. The invention solves the problems of the coordination control of the driving mode control and the four-wheel drive mode control and the difficulty that the system can not process once the mode switching fails. The driver can independently select the driving mode according to the road condition, under special road conditions, such as snow, sand, mud and rock, the whole vehicle system can help the driver to automatically select the four-wheel drive mode suitable for the mode, the driving skill requirement on the driver is reduced, and the vehicle can exert the best cross-country performance and operation performance under the road condition.
Description
Technical Field
The invention relates to the technical field of vehicle cross-country performance and control performance control, in particular to a control method and a control system for coordinating a driving mode and a four-wheel drive mode.
Background
With the increasing living standard of people, automobiles are widely popularized. The existing automobile is not limited to being used instead of walk, and is provided with the automobile with cross-country performance and control performance in order to improve the driving pleasure, so that the driving pleasure of people is met, and the use function of the automobile is also increased.
However, when the existing vehicle is operated and controlled in the off-road performance, the output of the torque and the braking force of the engine cannot be automatically adjusted according to a control strategy, so that the off-road driving of the vehicle by a driver is influenced, the operation and control performance and the off-road performance under different road conditions cannot be reflected, the driving pleasure is influenced, and potential safety hazards are easily caused to the driver.
Disclosure of Invention
The invention solves the problem of coordination control of driving mode control and four-wheel drive mode control and the problem that once mode switching fails, the system cannot process the control. To this end, a control method for coordinating a driving mode and a four-wheel drive mode is provided, the method comprising:
the ESP arbitration controller receives a driving mode request signal;
judging whether the actual state of the four-wheel drive mode is low-speed four-wheel drive or not;
if the vehicle is in the low-speed four-wheel drive mode, a vehicle body stabilizing system is closed, and only ABS and electronic limited slip functions are reserved;
when the system exits the low-speed four-wheel drive mode, the ESP arbitration controller switches the current driving mode to the standard mode.
It is further noted that when the four-wheel drive mode is not the low-speed four-wheel drive, the ESP arbitration controller receives whether the driving mode selection signal is in a certain state of snow, sand, mud and rock;
if the four-wheel drive mode is in one state, the four-wheel drive mode is switched to the high-speed four-wheel drive mode;
the ESP arbitration controller converts a driving mode selection signal selected by a driver into an ESP driving signal and sends the ESP driving signal to the gateway, and the gateway sends the ESP driving signal to the EMS controller, the TCU controller and the TOD controller respectively;
the method comprises the following steps that an EMS controller, a TCU controller and a TOD controller respectively execute a selected driving mode, and an actual mode signal of EMS _ DriveMode, an actual mode signal of TCU _ DriveMode and an actual mode signal of TOD _ SystemOperMode are transmitted to an ESP arbitration controller through a gateway;
the ESP arbitration controller monitors the current operation mode;
after the preset time length, the feedback signals of the controllers are consistent with those defined in the mode matrix, which indicates that the mode switching is successful, and the instrument displays the switching success signal.
And if the feedback signal received by the ESP arbitration controller is inconsistent with the feedback signal defined in the matrix, the mode switching is failed, the ESP arbitration controller executes the driving mode switching, the system is switched to the standard mode, and the meter displays the mode switching failure information.
It should be further noted that when the actual four-wheel drive mode is not low-speed four-wheel drive, and the driving mode request signal is not snow, sand, mud and rock, it indicates that the driver desires to enter one of the standard, economic and sport modes, and the four-wheel drive mode can select any one of the modes 2H and 4H, Auto;
the ESP arbitration controller respectively sends ESP _ DrivingModeReq signals to the EMS controller, the TCU controller and the TOD controller through the gateway;
the method comprises the following steps that an EMS controller, a TCU controller and a TOD controller respectively execute a selected driving mode, and an actual mode signal of EMS _ DriveMode, an actual mode signal of TCU _ DriveMode and an actual mode signal of TOD _ SystemOperMode are transmitted to an ESP arbitration controller through a gateway;
the ESP arbitration controller monitors the current operation mode;
after the preset time length, the feedback signals of the controllers are consistent with those defined in the mode matrix, which indicates that the mode switching is successful, and the instrument displays the switching success signal.
And if the feedback signal received by the ESP arbitration controller is inconsistent with the feedback signal defined in the matrix, the mode switching is failed, the ESP arbitration controller executes the driving mode switching, the system is switched to the standard mode, and the meter displays the mode switching failure information.
The invention also provides a control system for coordinating the driving mode and the four-wheel drive mode, which comprises: the device comprises a driving mode selection module, an ESP arbitration controller, an EMS controller, a TCU controller, a TOD controller and a meter;
the driving mode selection module is used for receiving a driving mode selection signal selected by a driver and transmitting the driving mode selection signal to the ESP arbitration controller;
the ESP arbitration controller is respectively connected with the EMS controller, the TCU controller, the TOD controller and the instrument through the gateway;
the ESP arbitration controller converts the driving mode selection signal selected by the driver into an ESP driving signal and sends the ESP driving signal to the gateway, and the ESP driving signal, the TCU controller and the TOD controller are respectively sent to the EMS controller, the TCU controller and the TOD controller through the gateway;
the EMS controller, the TCU controller and the TOD controller respectively execute the selected driving mode and transmit an actual mode signal of the execution process to the ESP arbitration controller through the gateway;
the ESP arbitration controller monitors the current operation mode;
after the preset time length, the feedback signals of the controllers are consistent with those defined in the mode matrix, which indicates that the mode switching is successful, and the instrument displays the switching success signal.
It should be further noted that the driving modes include: snow driving mode, sand driving mode, mud driving mode, and rock driving mode.
The driving form comprises: a 2H drive form, an auto drive form, a 4H drive form, and a 4L drive form.
Further, it should be noted that the method further includes: a mode signal configuration module;
the mode signal configuration module is used for configuring a driving mode selection signal, a four-wheel drive mode selection signal identification, an ESP requested driving mode, an engine mode, a gearbox mode, an actual four-wheel drive mode and an ESP arbitrated driving mode.
Further, it should be noted that the method further includes: a mode signal definition module;
the mode signal definition module is used for respectively configuring a driving mode selection signal, a four-wheel drive mode selection signal identifier, an ESP requested driving mode, an engine mode, a gearbox mode, an actual four-wheel drive mode and signal contents and parameters of the ESP arbitrated driving mode;
the driving mode selection module, the ESP arbitration controller, the EMS controller, the TCU controller, the TOD controller and the instrument communicate with each other by adopting mode signals, signal contents and parameters.
According to the technical scheme, the invention has the following advantages:
according to the control method and the control system for coordinating the driving mode and the four-wheel drive mode, a driver can independently select the driving mode according to the road condition, and under special road conditions, such as snow, sand, mud and rock, the whole vehicle system can help the driver to automatically select the four-wheel drive mode suitable for the mode, so that the driving skill requirement of the driver is reduced, and the vehicle can give play to the best off-road performance and control performance under the road condition.
The driver can independently select the four-wheel drive type according to the road conditions, and under the 2H and 4H, AUTO modes, the driver can freely switch among standard, motion and economic driving modes, thereby enriching the driving experience of the vehicle on a good road surface and meeting the diversified driving requirements of different crowds.
Through the calibration of different modes, the systems can realize the optimal control of traction force and braking force, and the systems do not only fight alone but also cooperate with each other, thereby greatly improving the cross-country performance and the control performance of the vehicle.
The invention solves the problems of the coordination control of the driving mode control and the four-wheel drive mode control and the difficulty that the system can not process once the mode switching fails.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description will be briefly introduced, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a control system for coordinating a driving mode with a four-wheel drive mode;
FIG. 2 is a flow chart of a control method for coordinating a driving mode with a four-wheel drive mode.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The elements and algorithm steps of the various examples described in the embodiments disclosed in the control method and system for coordinating driving mode and four-wheel drive mode provided by the present invention can be implemented in electronic hardware, computer software, or a combination of both, and in the above description the components and steps of the various examples have been generally described in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The block diagrams shown in the figures of the control method and system provided by the present invention are only functional entities and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
In the control method and system for coordinating driving mode and four-wheel drive mode provided by the invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.
As shown in fig. 1, the control system for coordinating a driving mode and a four-wheel drive mode according to the present invention includes: the device comprises a driving mode selection module, an ESP arbitration controller, an EMS controller, a TCU controller, a TOD controller and a meter; of course, the system also includes: the powertrain, driveline, steering system, instrumentation system, etc. of the vehicle.
The driving mode selection module is used for receiving a driving mode selection signal selected by a driver and transmitting the driving mode selection signal to the ESP arbitration controller;
the ESP arbitration controller is respectively connected with the EMS controller, the TCU controller, the TOD controller and the instrument through the gateway; the ESP arbitration controller converts the driving mode selection signal selected by the driver into an ESP driving signal and sends the ESP driving signal to the gateway, and the ESP driving signal, the TCU controller and the TOD controller are respectively sent to the EMS controller, the TCU controller and the TOD controller through the gateway; the EMS controller, the TCU controller and the TOD controller respectively execute the selected driving mode and transmit an actual mode signal of the execution process to the ESP arbitration controller through the gateway; the ESP arbitration controller monitors the current operation mode;
after the preset time length, the feedback signals of the controllers are consistent with those defined in the mode matrix, which indicates that the mode switching is successful, and the instrument displays the switching success signal.
And if the feedback signal received by the ESP arbitration controller is inconsistent with the feedback signal defined in the matrix, the mode switching is failed, the ESP arbitration controller executes the driving mode switching, the system is switched to the standard mode, and the meter displays the mode switching failure information. The abnormity of the vehicle is avoided, the driving safety is guaranteed, and the personal safety of a driver is also guaranteed.
In the present invention, the driving modes include: snow driving mode, sand driving mode, mud driving mode, and rock driving mode. The driving form comprises: a 2H drive form, an auto drive form, a 4H drive form, and a 4L drive form. Wherein 4H is high gear four-wheel drive, and 4L is low gear four-wheel drive. The 4H is called 4WD HIGH for quick passage over rough road surfaces. 4L, collectively referred to as 4WD LOW, is used for LOW speed travel through extreme off-road segments. The 2H drive profile is a high gear two drive profile.
Further, the mode selection system is divided into a driving mode selection system and a four-wheel drive mode selection system, the driving mode selection system is abbreviated as (DMS), and the four-wheel drive mode selection system is abbreviated As (AWDS); powertrain controller acronym (EMS); the transmission system is divided into a gearbox and a transfer case, the gearbox controller is abbreviated as (TCU) and the transfer case controller is abbreviated as (TOD); steering system abbreviation (EPS); the instrument system is abbreviated as (IP), and the strategy can coordinate the systems, carry out arbitration judgment on the driving mode and the driving form selected by the driver, and finally decide a reasonable driving mode.
In order to improve the data transmission efficiency of the system, reduce the data processing amount and provide the computing capability, the system further comprises: the device comprises a mode signal configuration module and a mode signal definition module;
the mode signal configuration module is used for configuring a driving mode selection signal, a four-wheel drive mode selection signal identification, an ESP requested driving mode, an engine mode, a gearbox mode, an actual four-wheel drive mode and an ESP arbitrated driving mode.
The mode signal definition module is used for respectively configuring a driving mode selection signal, a four-wheel drive mode selection signal identifier, an ESP requested driving mode, an engine mode, a gearbox mode, an actual four-wheel drive mode and signal contents and parameters of the ESP arbitrated driving mode;
the driving mode selection module, the ESP arbitration controller, the EMS controller, the TCU controller, the TOD controller and the instrument communicate with each other by adopting mode signals, signal contents and parameters.
The mode signal, signal content and parameters of the system are defined as follows:
based on the system, the invention also provides a control method for coordinating the driving mode and the four-wheel drive mode, as shown in fig. 2; the following method combines the mode signal, signal content and parameters to perform driving.
When the ESP arbitration controller receives the driving mode request signal DMS _ DrivingMode, it first determines whether the signal TOD _ systemopersode value is 0x 2;
if the driving speed is 0x2, the four-wheel drive mode is in a low-speed four-wheel drive mode, the normal vehicle is in a limit working condition, such as a vehicle is stuck or a steep slope is climbed, the priority of the mode is highest, a vehicle body stabilizing system is closed, and only ABS and electronic limited slip functions are reserved; when the system exits 4L mode, the ESP sends an ESP _ DrivingModeReq signal with a value of 0x 0;
in the process of switching the driving modes, when the TOD _ systemopopermode value is not 0x2, which indicates that the four-wheel drive mode is in the non-4L mode, the ESP arbitration controller determines whether the DMS _ DrivingMode signal value is any one of 0x3, 0x4, 0x5 and 0x6, that is, whether the signal value is in four states of snow, sand, mud and rock.
If it is at a certain value, it indicates that the driver desires to set the vehicle to a certain mode of snow, mud, sand, rock, which is second in priority to the 4L mode, in which it is most reasonable to switch four-wheel drive to high-speed four-wheel drive.
The ESP arbitration controller converts the driver demand signal DMS _ DrivingMode into a signal value of an ESP request signal ESP _ DrivingModeReq and sends the signal value to the gateway, the gateway sends the signal value to the EMS controller, the TCU controller and the TOD controller, each controller transmits the actual mode signals EMS _ DriveMode, TCU _ DriveMode and TOD _ SystemOperMode to the ESP arbitration controller through the gateway, the ESP arbitration controller monitors a period of time, if the feedback signals of each controller in the period of time are consistent with the definition in the mode matrix, the mode switching is successful, and the instrument displays related information.
If the signal of the controlled feedback is not consistent with the definition in the matrix, which indicates the mode switching failure, the ESP arbitration controller continuously sends 0x0 in ESP _ DrivingModeReq, and expects the system to switch to the standard mode, at which point the meter displays the prompt message "mode switching failure".
When the TOD _ SystemOperMode value is not 0x2, and the driving mode request signal DMS _ DrivingMode value is not 0x3, 0x4, 0x5, 0x6, indicating that the driver desires to enter one of the standard, economic and motion modes, the priority of the three modes is lowest, and the four-wheel-drive mode can select any one of 2H and 4H, Auto, the ESP arbitration controller will send the ESP _ DrivingModeReq signal to the EMS controller, the TCU controller and the TOD controller through the gateway, and the controllers will transmit the actual mode signals EMS _ DriveMode, TCU _ DriveMode and TOD _ SystemOperMode values to the ESP arbitration controller through the gateway, and the ESP arbitration controller will monitor a period of time, and if the feedback signals of the controllers are consistent with those defined in the mode matrix in the period of time, indicating that the mode is successfully switched, the instrument displays related information; if the signal of the controlled feedback is not consistent with the definition in the matrix, which indicates the mode switching failure, the ESP continuously sends 0x0 in ESP _ DrivingModeReq, and the system is expected to switch to the standard mode, at which point the meter displays the prompt message "mode switching failure".
Based on the method, a driver can independently select a driving mode according to road conditions, and under special road conditions, such as snow, sand, mud and rock road conditions, the whole vehicle system can help the driver to automatically select a four-wheel drive mode suitable for the mode, so that the driving skill requirement on the driver is reduced, and the vehicle can exert the best off-road performance and control performance under the road conditions.
The driver can independently select the four-wheel drive type according to the road conditions, and under the 2H and 4H, AUTO modes, the driver can freely switch among standard, motion and economic driving modes, thereby enriching the driving experience of the vehicle on a good road surface and meeting the diversified driving requirements of different crowds.
Through the calibration of different modes, the systems can realize the optimal control of traction force and braking force, and the systems do not only fight alone but also cooperate with each other, thereby greatly improving the cross-country performance and the control performance of the vehicle.
The invention solves the problems of the coordination control of the driving mode control and the four-wheel drive mode control and the difficulty that the system can not process once the mode switching fails.
The control method and system for coordinating driving mode and four-wheel drive mode provided by the present invention are the units and algorithm steps of each example described in connection with the embodiments disclosed herein, and can be implemented in electronic hardware, computer software, or a combination of both, and in the above description, the components and steps of each example have been generally described in terms of functions in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
Those skilled in the art will appreciate that various aspects of the coordinated driving mode and four-wheel drive mode control method and system provided by the present invention may be embodied as a system, method or program product. Accordingly, various aspects of the present disclosure may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" system.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A control method for coordinating a driving mode with a four-wheel drive mode, the method comprising:
the ESP arbitration controller receives a driving mode request signal;
judging whether the actual state of the four-wheel drive mode is low-speed four-wheel drive or not;
if the vehicle is in the low-speed four-wheel drive mode, a vehicle body stabilizing system is closed, and only ABS and electronic limited slip functions are reserved;
when the system exits the low-speed four-wheel drive mode, the ESP arbitration controller switches the current driving mode to the standard mode.
2. The control method of coordinating driving mode and four-wheel drive mode according to claim 1,
when the four-wheel drive mode is not low-speed four-wheel drive, the ESP arbitration controller receives whether the driving mode selection signal is in a certain state of snow, sand, mud and rock;
if the four-wheel drive mode is in one state, the four-wheel drive mode is switched to the high-speed four-wheel drive mode;
the ESP arbitration controller converts a driving mode selection signal selected by a driver into an ESP driving signal and sends the ESP driving signal to the gateway, and the gateway sends the ESP driving signal to the EMS controller, the TCU controller and the TOD controller respectively;
the method comprises the following steps that an EMS controller, a TCU controller and a TOD controller respectively execute a selected driving mode, and an actual mode signal of EMS _ DriveMode, an actual mode signal of TCU _ DriveMode and an actual mode signal of TOD _ SystemOperMode are transmitted to an ESP arbitration controller through a gateway;
the ESP arbitration controller monitors the current operation mode;
after the preset time length, the feedback signals of the controllers are consistent with those defined in the mode matrix, which indicates that the mode switching is successful, and the instrument displays the switching success signal.
3. The control method of coordinating driving mode and four-wheel drive mode according to claim 2,
and if the feedback signal received by the ESP arbitration controller is inconsistent with the feedback signal defined in the matrix, the mode switching is failed, the ESP arbitration controller executes the driving mode switching, the system is switched to the standard mode, and the meter displays the mode switching failure information.
4. The control method of coordinating driving mode and four-wheel drive mode according to claim 1,
when the actual four-wheel drive mode is not low-speed four-wheel drive, and the driving mode request signal is not snow, sand, mud and rock, the driver expects to enter a certain mode of standard, economic and sports, and the four-wheel drive mode can select any one of the modes 2H and 4H, Auto;
the ESP arbitration controller respectively sends ESP _ DrivingModeReq signals to the EMS controller, the TCU controller and the TOD controller through the gateway;
the method comprises the following steps that an EMS controller, a TCU controller and a TOD controller respectively execute a selected driving mode, and an actual mode signal of EMS _ DriveMode, an actual mode signal of TCU _ DriveMode and an actual mode signal of TOD _ SystemOperMode are transmitted to an ESP arbitration controller through a gateway;
the ESP arbitration controller monitors the current operation mode;
after the preset time length, the feedback signals of the controllers are consistent with those defined in the mode matrix, which indicates that the mode switching is successful, and the instrument displays the switching success signal.
5. The control method of coordinating driving mode and four-wheel drive mode according to claim 4,
and if the feedback signal received by the ESP arbitration controller is inconsistent with the feedback signal defined in the matrix, the mode switching is failed, the ESP arbitration controller executes the driving mode switching, the system is switched to the standard mode, and the meter displays the mode switching failure information.
6. A control system for coordinating a driving mode and a four-wheel drive mode, which is characterized in that the control method for coordinating the driving mode and the four-wheel drive mode of any one of claims 1 to 5 is adopted;
the system comprises: the device comprises a driving mode selection module, an ESP arbitration controller, an EMS controller, a TCU controller, a TOD controller and a meter;
the driving mode selection module is used for receiving a driving mode selection signal selected by a driver and transmitting the driving mode selection signal to the ESP arbitration controller;
the ESP arbitration controller is respectively connected with the EMS controller, the TCU controller, the TOD controller and the instrument through the gateway;
the ESP arbitration controller converts the driving mode selection signal selected by the driver into an ESP driving signal and sends the ESP driving signal to the gateway, and the ESP driving signal, the TCU controller and the TOD controller are respectively sent to the EMS controller, the TCU controller and the TOD controller through the gateway;
the EMS controller, the TCU controller and the TOD controller respectively execute the selected driving mode and transmit an actual mode signal of the execution process to the ESP arbitration controller through the gateway;
the ESP arbitration controller monitors the current operation mode;
after the preset time length, the feedback signals of the controllers are consistent with those defined in the mode matrix, which indicates that the mode switching is successful, and the instrument displays the switching success signal.
7. The coordinated driving mode and four-wheel drive mode control system of claim 6,
the driving modes include: snow driving mode, sand driving mode, mud driving mode, and rock driving mode.
8. The coordinated driving mode and four-wheel drive mode control system of claim 6,
the driving form comprises: a 2H drive form, an auto drive form, a 4H drive form, and a 4L drive form.
9. The coordinated driving mode and four-wheel drive mode control system according to claim 6, further comprising: a mode signal configuration module;
the mode signal configuration module is used for configuring a driving mode selection signal, a four-wheel drive mode selection signal identification, an ESP requested driving mode, an engine mode, a gearbox mode, an actual four-wheel drive mode and an ESP arbitrated driving mode.
10. The coordinated driving mode and four-wheel drive mode control system of claim 9, further comprising: a mode signal definition module;
the mode signal definition module is used for respectively configuring a driving mode selection signal, a four-wheel drive mode selection signal identifier, an ESP requested driving mode, an engine mode, a gearbox mode, an actual four-wheel drive mode and signal contents and parameters of the ESP arbitrated driving mode;
the driving mode selection module, the ESP arbitration controller, the EMS controller, the TCU controller, the TOD controller and the instrument communicate with each other by adopting mode signals, signal contents and parameters.
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