CN114701475A - Method and device for judging state of differential lock, storage medium and electronic equipment - Google Patents
Method and device for judging state of differential lock, storage medium and electronic equipment Download PDFInfo
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- CN114701475A CN114701475A CN202110455853.4A CN202110455853A CN114701475A CN 114701475 A CN114701475 A CN 114701475A CN 202110455853 A CN202110455853 A CN 202110455853A CN 114701475 A CN114701475 A CN 114701475A
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- vehicle
- state
- differential lock
- wheel speed
- steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/12—Conjoint control of vehicle sub-units of different type or different function including control of differentials
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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
- F16H48/30—Arrangements for suppressing or influencing the differential action, e.g. locking devices using externally-actuatable means
- F16H48/34—Arrangements for suppressing or influencing the differential action, e.g. locking devices using externally-actuatable means using electromagnetic or electric actuators
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
Abstract
The disclosure relates to a method and a device for judging the state of a differential lock, a storage medium and an electronic device, which can accurately judge the current state of the differential lock and avoid the influence of the differential lock on the driving process of a vehicle. The method comprises the following steps: acquiring a control instruction of a differential lock and running information of a vehicle, wherein the running information comprises a wheel speed and a steering angle of the vehicle; determining the state of a differential lock of the vehicle according to the control command, the wheel speed and the steering angle, wherein the state of the differential lock comprises a locking state and an unlocking state. This is disclosed need not to improve the structure of differential lock and optimizes, reduces the trouble risk of differential lock spare part, and the wheel speed and the angle of turning to of vehicle acquire conveniently, and is with low costs, and reliable to the state judgement result of differential lock, have improved the security that the vehicle travel.
Description
Technical Field
The disclosure relates to the technical field of automobile driving systems, in particular to a differential lock state judgment method.
Background
The differential mechanism realizes the consistency of the rotating speeds of the left wheel and the right wheel of the vehicle through the locking of the differential mechanism in the driving process of the vehicle, transmits 100 percent of traction force to the effective vehicle and avoids the wheels from slipping or sinking. The locking and unlocking of the existing mechanical differential lock of the electric control lock are mainly judged through the power-on state of an electromagnetic coil in the differential lock, when the electromagnetic coil is powered on, the default differential lock is successfully locked, and when the electromagnetic coil is powered off, the default differential lock is successfully unlocked.
However, in practical application of the differential lock, when the electromagnetic coil is electrified, the differential lock is in an unlocked state, that is, the actual state of the differential lock is inconsistent with the judgment result. In the vehicle climbing process, the differential is locked and the differential lock is not actually locked, so that the vehicle climbing failure is caused; in the turning process of the vehicle, the differential is already unlocked and the differential lock is not actually unlocked according to the judgment result, so that the vehicle is difficult to turn.
Disclosure of Invention
In view of the above, an object of the present disclosure is to provide a method, an apparatus, a storage medium, and a device for determining a state of a differential lock, which can accurately determine a current state of the differential lock and avoid an influence of the differential lock on a vehicle driving process.
In order to achieve the purpose, the technical scheme of the disclosure is realized as follows:
in a first aspect, the present disclosure provides a method of determining a state of a differential, the method comprising:
acquiring a control instruction of a differential lock and running information of a vehicle, wherein the running information comprises a wheel speed and a steering angle of the vehicle;
determining a state of a differential lock of the vehicle according to the control command, the wheel speed and the steering angle, wherein the state of the differential lock comprises a locking state and an unlocking state.
Optionally, the locking state comprises a locking success state, the determining the state of a differential lock of the vehicle according to the control command, the wheel speed and the steering angle, the state of the differential lock comprising a locking state and an unlocking state, comprising:
calculating a left and right wheel speed difference of the vehicle according to the wheel speed of the vehicle;
and under the conditions that the control command is a locking command, the steering angle is in a preset angle range, and the difference between the left wheel speed and the right wheel speed of the vehicle is smaller than a preset value, determining that the differential lock of the vehicle is in a locking success state.
Optionally, the locked state comprises a locking state, the determining a state of a differential lock of the vehicle according to the control command, the wheel speed and the steering angle, the state of the differential lock comprising a locked state and an unlocked state, comprises:
calculating a left and right wheel speed difference of the vehicle according to the wheel speed of the vehicle;
and under the condition that the control command is a locking command, the steering angle is in a preset angle range, and the difference between the left wheel speed and the right wheel speed of the vehicle is greater than a preset value, determining that the differential lock of the vehicle is in a locking state.
Optionally, the locked state comprises an unlocking success state, the determining the state of a differential lock of the vehicle according to the control command, the wheel speed and the steering angle, the state of the differential lock comprising a locked state and an unlocked state comprises:
calculating a left-right wheel speed difference of the vehicle according to the wheel speed of the vehicle;
and under the conditions that the control command is an unlocking command, the steering angle is within a preset angle range, and the difference between the left wheel speed and the right wheel speed of the vehicle is greater than a preset value, determining that the differential lock of the vehicle is in an unlocking success state.
Optionally, the locked state comprises an unlocking state, the determining the state of a differential lock of the vehicle according to the control command, the wheel speed and the steering angle, the state of the differential lock comprising a locked state and an unlocked state, comprises:
calculating a left and right wheel speed difference of the vehicle according to the wheel speed of the vehicle;
and under the conditions that the control command is an unlocking command, the steering angle is within a preset angle range, and the difference between the left wheel speed and the right wheel speed of the vehicle is smaller than a preset value, determining that the differential lock of the vehicle is in an unlocking state.
Optionally, the method further comprises: and warning the state of the differential lock of the vehicle.
Optionally, the alerting of the state of the differential lock of the vehicle comprises:
under the condition that a differential lock of the vehicle is in a locking state, controlling an instrument panel of the vehicle to display first information and a differential lock indicator lamp on the vehicle to flash in a first color;
under the condition that a differential lock of the vehicle is in a locking success state, controlling an instrument panel of the vehicle to display second information and a differential lock indicator lamp on the vehicle to be long-lighted in a second color;
controlling an instrument panel of the vehicle to display third information and the indicator light to flash in a second color when a differential lock of the vehicle is in an unlocking state;
and under the condition that the differential lock of the vehicle is in the unlocking success state, controlling an instrument panel of the vehicle to display fourth information and controlling a differential lock indicator lamp on the vehicle to be in an off state.
In a second aspect, the present disclosure provides a differential lock state determination apparatus, the apparatus comprising:
the vehicle control device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a control command of a differential lock and running information of a vehicle, and the running information comprises a wheel speed and a steering angle of the vehicle;
an execution module configured to determine a state of a differential lock of the vehicle based on the control command, the wheel speed, and the steering angle, the state of the differential lock including a locked state and an unlocked state.
Optionally, the execution module is configured to calculate a left-right wheel speed difference of the vehicle according to a wheel speed of the vehicle;
and under the conditions that the control command is a locking command, the steering angle is within a preset angle range, and the difference between the left wheel speed and the right wheel speed of the vehicle is smaller than a preset value, determining that the differential lock of the vehicle is in a locking success state.
Optionally, the execution module is configured to calculate a left-right wheel speed difference of the vehicle according to a wheel speed of the vehicle;
and under the condition that the control command is a locking command, the steering angle is in a preset angle range, and the difference between the left wheel speed and the right wheel speed of the vehicle is greater than a preset value, determining that the differential lock of the vehicle is in a locking state.
Optionally, the execution module is configured to calculate a left-right wheel speed difference of the vehicle according to a wheel speed of the vehicle;
and under the conditions that the control command is an unlocking command, the steering angle is within a preset angle range, and the difference between the left wheel speed and the right wheel speed of the vehicle is greater than a preset value, determining that the differential lock of the vehicle is in an unlocking success state.
Optionally, the execution module is configured to calculate a left-right wheel speed difference of the vehicle according to a wheel speed of the vehicle;
and under the conditions that the control command is an unlocking command, the steering angle is within a preset angle range, and the difference between the left wheel speed and the right wheel speed of the vehicle is smaller than a preset value, determining that the differential lock of the vehicle is in an unlocking state.
Optionally, the apparatus further comprises an alert module configured to alert a status of a differential lock of the vehicle.
Optionally, the warning module is configured to control a differential lock indicator lamp on the vehicle to flash in a first color and display first information on an instrument panel of the vehicle when a differential lock of the vehicle is in a locking state;
under the condition that a differential lock of the vehicle is in a locking success state, controlling an instrument panel of the vehicle to display second information and a differential lock indicator lamp on the vehicle to be long-lighted in a second color;
controlling an instrument panel of the vehicle to display third information and the indicator light to flash in a second color when a differential lock of the vehicle is in an unlocking state;
and under the condition that the differential lock of the vehicle is in the unlocking success state, controlling an instrument panel of the vehicle to display fourth information and controlling a differential lock indicator lamp on the vehicle to be in an off state.
In a third aspect, the present disclosure provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the differential lock state judgment method according to any one of the first aspect.
In a fourth aspect, the present disclosure provides an electronic device comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the differential lock state determination method according to any one of the first aspect.
Through the technical scheme, the technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
the differential lock state judgment method provided by the disclosure can determine the state of the differential lock according to the control instruction of the differential lock, the wheel speed and the steering angle in the vehicle running process, the structure of the differential lock is not required to be improved and optimized, the fault risk of the components of the differential lock is reduced, the wheel speed and the steering angle of the vehicle are convenient to obtain, the cost is low, the state judgment result of the differential lock is reliable, and the vehicle running safety is improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a schematic view of an electrically controlled differential lock;
FIG. 2 is a flow chart illustrating a method of determining a status of a differential lock in accordance with an exemplary embodiment;
FIG. 3 is a schematic diagram illustrating a method of determining a state of a differential lock in accordance with an exemplary embodiment;
FIG. 4 is a block diagram illustrating a differential lock status determination mechanism in accordance with an exemplary embodiment;
FIG. 5 is a block diagram illustrating an electronic device in accordance with an example embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below do not represent all implementations consistent with the present disclosure.
It should be noted that in the present disclosure, the terms "S101", "S102" and the like in the description and the claims and the drawings are used for distinguishing the steps, and are not necessarily to be construed as performing the method steps in a specific order or a sequential order, and the features in the embodiments of the present disclosure and the embodiments may be combined with each other without conflict.
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
First, the principle of the electrically controlled mechanical differential lock will be explained.
As shown in fig. 1, the electrically controlled mechanical differential lock is composed of main parts such as an electromagnetic coil, a thrust washer, a cam disc, a push rod, a planetary gear shaft, a locking gear, a locking ring, a return spring, a differential lock shell and the like; when the electrically controlled mechanical differential lock is locked, the differential lock controller inputs working current to the electromagnetic coil to activate the electromagnetic coil, the electromagnetic coil enables the rotating speed of the cam disc to be lower than that of the differential lock shell through magnetic force, a push rod which synchronously rotates with the differential lock shell slides out of a groove of the cam disc and pushes the locking ring to move leftwards, so that the locking ring is pressed into meshing teeth of the locking gear, the locking ring rigidly connects the left side axle shaft gear and the differential lock shell into a whole, and the electrically controlled mechanical differential lock is successfully locked; when the electric control type mechanical differential lock is unlocked, the differential lock controller cuts off current input, the locking ring and the push rod return to the original position under the action of the return spring, and the electric control type mechanical differential lock is successfully unlocked.
In the related art, the state of the differential lock is mainly determined by the energized state of the electromagnetic coil in the differential lock. When the vehicle speed is less than 5km/h, the differential lock switch and differential lock controller is pressed to receive a switch signal, the electromagnetic coil in the differential lock is controlled to be electrified, a locking signal is immediately output to the instrument, the indicator light of the differential lock on the instrument is lightened, and the differential lock is defaulted to be successfully locked. When the differential lock is locked and the differential lock switch is pressed down or the vehicle speed is more than 40km/h, the differential lock controller controls the electromagnetic coil in the differential lock to be powered off, an unlocking signal is immediately output to the instrument, the indicator light of the differential lock on the instrument is turned off, and the default differential lock is successfully unlocked. However, during the actual operation of the differential lock, there are cases where the actual state of the differential lock is inconsistent with the determination result based on the electromagnetic coil thereof, such as the electromagnetic coil being in the energized state and the differential being in the locked state. In the vehicle climbing process, the vehicle climbing failure is caused because the actual state of the differential lock is inconsistent with the judgment result; in the turning process of the vehicle, the actual state of the differential lock is inconsistent with the judgment result, so that the vehicle is difficult to turn.
In order to solve the technical problem, the present disclosure provides a method, an apparatus, a storage medium, and an electronic device for determining a state of a differential lock, which can determine the state of the differential lock according to a control command of the differential lock, a wheel speed and a steering angle during a vehicle driving process, without modifying and optimizing a structure of the differential lock, thereby reducing a failure risk of a component of the differential lock, facilitating obtaining of the wheel speed and the steering angle of the vehicle, reducing a cost, and providing a reliable state determination result for the differential lock, thereby improving the driving safety of the vehicle, and warning different states of the differential lock, so that a user can conveniently and quickly obtain a current state of the differential lock.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 2 is a flowchart illustrating a differential lock state determination method according to an exemplary embodiment, and as shown in fig. 2, the differential lock state determination method provided by the embodiment of the present disclosure includes the following steps.
In step S101, a control command of the differential lock and running information of the vehicle including a wheel speed and a steering angle of the vehicle are acquired.
In step S102, the state of a differential lock of the vehicle, including a locked state and an unlocked state, is determined based on the control command, the wheel speed, and the steering angle. As shown in fig. 3, a Control command (Elocker Switch Instructions) of the differential lock can be obtained through a physical Switch of a Central Control Switch Module (CCSM); the Wheel Speed (Wheel Speed) of the Vehicle may be obtained by an Electronic Stability Program (ESP) of the Vehicle, which may also obtain the Vehicle Speed (Vehicle Speed) of the Vehicle, including the Wheel speeds of the respective driving wheels of the Vehicle; the Steering Angle (Steering Angle) of the vehicle, which may be a turning Angle of a Steering wheel of the vehicle, may be obtained by a Combination Switch Assembly (CSA) on the vehicle.
The switch states of the differential lock can comprise a locking state, a locking success state, an unlocking state and an unlocking success state, and the states of the relevant parameters of the vehicle are different under different states of the differential lock.
In step S102, both the preset angle range and the preset value may be set by the user according to the requirement, the preset angle range may also be preset through a large amount of steering angle data of a steering wheel of the vehicle when the differential lock is in the locked state during the actual driving of the vehicle, the preset value may also be determined through a large amount of experimental data, and the difference between the left and right wheel speeds of the current vehicle may be accurately determined to be obtained when the differential lock is in the locked state, and so on, in this embodiment, the preset angle range is-30 ° to +30 °, and the preset value is 20 rpm.
In one embodiment, in the case that the locking state is a locking success state, in step S102, the state of a differential lock of the vehicle is determined according to the control command, the wheel speed and the steering angle, and the state of the differential lock includes a locking state and an unlocking state, which may include:
calculating a left and right wheel speed difference of the vehicle according to the wheel speed of the vehicle;
and under the conditions that the control command is a locking command, the steering angle is in a preset angle range, and the difference between the left wheel speed and the right wheel speed of the vehicle is smaller than a preset value, determining that the differential lock of the vehicle is in a locking success state.
In step S102, when an ESP acquires a vehicle speed signal of a vehicle, and a differential lock controller receives a control command sent by a CCSM and the vehicle speed is less than 5km/h, the differential lock calculates the left and right wheel speed difference of the vehicle according to the wheel speed of each driving wheel of the vehicle to be less than 20rpm, and the rotation angle of a steering wheel on the vehicle is between-30 degrees and +30 degrees, and the differential lock of the vehicle is determined to be in a locking success state.
In an embodiment, in the case that the locked state is the locking state, in step S102, the state of the differential lock of the vehicle is determined according to the control command, the wheel speed and the steering angle, and the state of the differential lock includes the locked state and the unlocked state, which may include:
calculating a left and right wheel speed difference of the vehicle according to the wheel speed of the vehicle;
and under the conditions that the control command is a locking command, the steering angle is in a preset angle range, and the difference between the left wheel speed and the right wheel speed of the vehicle is greater than a preset value, determining that the differential lock of the vehicle is in a locking state.
In step S102, when an ESP acquires a vehicle speed signal of a vehicle, and a differential lock controller receives a control command sent by a CCSM and the vehicle speed is less than 5km/h as a locking command, the differential lock calculates that the difference between the left and right wheel speeds of the vehicle is greater than 20rpm according to the wheel speeds of the driving wheels of the vehicle, and the rotation angle of a steering wheel on the vehicle is between-30 degrees and +30 degrees, and the differential lock of the vehicle is determined to be in a locking state.
In one embodiment, in the case that the locked state is the unlocking success state, in step S102, the state of a differential lock of the vehicle is determined according to the control command, the wheel speed and the steering angle, and the state of the differential lock includes the locked state and the unlocked state, which may include:
calculating a left-right wheel speed difference of the vehicle according to the wheel speed of the vehicle;
and under the conditions that the control command is an unlocking command, the steering angle is in a preset angle range, and the difference between the left wheel speed and the right wheel speed of the vehicle is greater than a preset value, determining that the differential lock of the vehicle is in an unlocking success state.
In step S102, when an ESP acquires a vehicle speed signal of a vehicle, and a differential lock controller receives a control command sent by a CCSM and the vehicle speed is greater than 40km/h or the received control command is an unlocking command, the differential lock determines that the differential lock of the vehicle is in an unlocking state, wherein the left and right wheel speed difference of the vehicle calculated by the differential lock according to the wheel speeds of driving wheels of the vehicle is greater than 20rpm, and the rotation angle of a steering wheel on the vehicle is between-30 degrees and +30 degrees.
In an embodiment, in the case that the locked state is the unlocking state, in step S102, the state of the differential lock of the vehicle is determined according to the control command, the wheel speed and the steering angle, and the state of the differential lock includes the locked state and the unlocked state, which may include:
calculating a left-right wheel speed difference of the vehicle according to the wheel speed of the vehicle;
and under the conditions that the control command is an unlocking command, the steering angle is in a preset angle range, and the difference between the left wheel speed and the right wheel speed of the vehicle is smaller than a preset value, determining that the differential lock of the vehicle is in an unlocking state.
In step S102, when an ESP acquires a vehicle speed signal of a vehicle, and a differential lock controller receives a control command sent by a CCSM and the vehicle speed is greater than 40km/h or the received control command is an unlocking command, the differential lock calculates the left and right wheel speed difference of the vehicle according to the wheel speeds of the driving wheels of the vehicle to be less than 20rpm, and the rotation angle of a steering wheel on the vehicle is between-30 degrees and +30 degrees, so that the differential lock of the vehicle is determined to be in an unlocking state.
In an embodiment, the method for determining the state of the differential lock further includes: the state of a differential lock of a vehicle is warned.
After the state of the differential lock is determined, warning can be carried out on each state of the differential lock, so that a driver can conveniently and quickly master the current state of the differential lock, and corresponding driving operation can be carried out.
In one embodiment, alerting a state of a differential lock of a vehicle comprises:
under the condition that a differential lock of a vehicle is in a locking state, controlling an instrument panel of the vehicle to display first information and controlling a differential lock indicator lamp on the vehicle to flash in a first color;
under the condition that the differential lock of the vehicle is in a locking success state, controlling an instrument panel of the vehicle to display second information and controlling a differential lock indicator lamp on the vehicle to be long-lighted in a second color;
controlling an instrument panel of the vehicle to display third information and an indicator light to flash in a second color under the condition that a differential lock of the vehicle is in an unlocking state;
and under the condition that the differential lock of the vehicle is in the unlocking success state, controlling an instrument panel of the vehicle to display fourth information and controlling a differential lock indicator lamp on the vehicle to be in an off state.
In the process of warning the state of the differential lock of the vehicle, the first information, the second information, the third information and the fourth information may be text information or sound information, and the content of the information may be preset by a user according to the state of the warning differential lock, and so on.
When the state of the differential lock of the vehicle is warned, the warning can be performed through the light-on color, the light-on state and the light-on duration of the indicator light. The color, the lighting state and the lighting duration of the indicator light can be preset by a user according to driving habits, and in the embodiment, the indicator light is yellow and flickers under the condition that the differential lock is in the locking state; under the condition that the differential lock is successfully locked, the indicator light is green and is long-lighted; under the condition that the differential lock is in an unlocking state, the indicator light is green and flickers; and when the differential lock is in the unlocking success state, the indicator lamp is turned off.
For example, in step S102, in the case that the differential lock of the vehicle is in the locking state, the instrument panel of the vehicle is controlled to display the 3S text message that the differential lock is in the locking state, and the differential lock indicator lamp on the vehicle blinks in yellow; under the condition that the differential lock of the vehicle is in a successful locking state, controlling a dashboard of the vehicle to display 3s of character information that the differential lock is in the successful locking state, and enabling a differential lock indicator lamp on the vehicle to be in green for long lighting; and under the condition that the differential lock of the vehicle is in the unlocking state, controlling the instrument panel of the vehicle to display 3s of character information that the differential lock is in the unlocking success state, and turning off an indicator light of the differential lock on the vehicle.
The method for determining the state of the differential lock provided by this embodiment is applied to a vehicle for distance description, as shown in fig. 3, a CCSM sends a differential lock Control command to a vehicle Body Controller (BCM) through an LIN line, the BCM sends the differential lock Control command to a differential lock (ELD) through a CAN line, after receiving the differential lock Control command, the ELD determines a state signal of the differential lock by combining a steering angle sent by a CSA and a vehicle speed and a wheel speed sent by an ESP, and sends the state signal of the differential lock to an Instrument (Instrument Panel, IP) through the CAN line so that the IP warns the state of the differential lock, and sends the state signal of the differential lock to the BMC through the BMC line, thereby realizing accurate determination of the state of the differential lock in the differential lock Control process.
According to the differential lock state judgment method provided by the embodiment, the state of the differential lock of the vehicle is determined according to the control instruction of the differential lock, the wheel speed of the vehicle and the steering angle of the vehicle, the internal structure of the differential lock is not required to be changed, any part is not required to be added, extra cost and weight are not required to be added, the fault risk of each part in the differential lock is reduced, the state of the differential lock of the vehicle is accurately judged, the consistency of the judgment result and the current state of the actual differential lock is ensured, the state of the differential lock is warned, and a driver can conveniently and quickly obtain the current state of the differential lock.
Fig. 4 is a block diagram illustrating a differential lock state determination apparatus 1300 according to an exemplary embodiment, as shown in fig. 4, including an obtaining module 1301 and an executing module 1302.
The obtaining module 1301 is configured to obtain a control command of the differential lock and running information of the vehicle, where the running information includes a wheel speed and a steering angle of the vehicle.
The execution module 1302 is configured to determine a state of a differential lock of a vehicle based on a control command, a wheel speed, and a steering angle, the state of the differential lock including a locked state and an unlocked state.
The differential lock state judgment device provided by the embodiment of the disclosure determines the state of the differential lock of the vehicle according to the control instruction of the differential lock, the wheel speed of the vehicle and the steering angle of the vehicle, does not need to change the internal structure of the differential lock, does not need to add any part, does not need to add extra cost and weight, reduces the fault risk of each part in the differential lock, and judges the state of the differential lock of the vehicle accurately, guarantees the consistency of the judgment result and the current state of the actual differential lock, warns the state of the differential lock, and is convenient for a driver to acquire the current state of the differential lock quickly.
In one embodiment, the execution module 1302 is configured to calculate a left-right wheel speed difference of the vehicle according to a wheel speed of the vehicle;
and under the conditions that the control command is a locking command, the steering angle is in a preset angle range, and the difference between the left wheel speed and the right wheel speed of the vehicle is smaller than a preset value, determining that the differential lock of the vehicle is in a locking success state.
In one embodiment, the execution module 1302 is configured to calculate a left-right wheel speed difference of the vehicle according to a wheel speed of the vehicle;
and under the conditions that the control command is a locking command, the steering angle is in a preset angle range, and the difference between the left wheel speed and the right wheel speed of the vehicle is greater than a preset value, determining that the differential lock of the vehicle is in a locking state.
In one embodiment, the execution module 1302 is configured to calculate a left-right wheel speed difference of the vehicle according to a wheel speed of the vehicle;
and under the conditions that the control command is an unlocking command, the steering angle is in a preset angle range, and the difference between the left wheel speed and the right wheel speed of the vehicle is greater than a preset value, determining that the differential lock of the vehicle is in an unlocking success state.
In one embodiment, the execution module 1302 is configured to calculate a left-right wheel speed difference of the vehicle according to a wheel speed of the vehicle;
and under the conditions that the control command is an unlocking command, the steering angle is in a preset angle range, and the difference between the left wheel speed and the right wheel speed of the vehicle is smaller than a preset value, determining that the differential lock of the vehicle is in an unlocking state.
In one embodiment, the differential lock status determining device 1300 further comprises an alert module configured to alert the status of the differential lock of the vehicle.
In one embodiment, the warning module is configured to control a first message to be displayed on an instrument panel of the vehicle and a differential lock indicator light on the vehicle to flash in a first color if a differential lock of the vehicle is in a locking state;
under the condition that the differential lock of the vehicle is in a locking success state, controlling an instrument panel of the vehicle to display second information and controlling a differential lock indicator lamp on the vehicle to be long-lighted in a second color;
controlling an instrument panel of the vehicle to display third information and an indicator light to flash in a second color under the condition that a differential lock of the vehicle is in an unlocking state;
and under the condition that the differential lock of the vehicle is in the unlocking success state, controlling an instrument panel of the vehicle to display fourth information and controlling a differential lock indicator lamp on the vehicle to be in an off state.
It should be noted that, for convenience and brevity of description, the embodiments described in the specification all belong to the preferred embodiments, and the related parts are not necessarily essential to the present invention, for example, the obtaining module and the executing module may be independent devices or may be the same device when being implemented specifically, and the disclosure is not limited thereto.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the differential lock state determination method provided by the present disclosure.
Specifically, the computer-readable storage medium may be a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, a server, etc.
With regard to the computer-readable storage medium in the above-described embodiments, the steps of the differential lock state determination method when the computer program stored thereon is executed will be described in detail in relation to the embodiments of the method, and will not be elaborated upon here.
The present disclosure also provides an electronic device, including:
a memory having a computer program stored thereon;
and the processor is used for executing the computer program in the memory so as to realize the steps of the differential lock state judgment method.
The electronic equipment that this embodiment provided, according to the control command of differential lock, the state of the differential lock of vehicle is confirmed to the fast and turn to the angle of vehicle of the wheel speed of vehicle, need not change the inner structure of differential lock, also need not to increase any spare part, need not to increase extra cost and weight, the trouble risk of each spare part in the differential lock has been reduced, and judge the accuracy to the state of vehicle differential lock, the uniformity of the current state of judged result and actual differential lock has been guaranteed, warn the state of differential lock, be convenient for the driver to obtain the current state of differential lock fast.
Fig. 5 is a block diagram illustrating an electronic device 700 according to an example embodiment. As shown in fig. 5, the electronic device 700 may include: a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input/output (I/O) interface 704, and a communication component 705.
The processor 701 is configured to control the overall operation of the electronic device 700 to complete all or part of the steps in the differential lock state determination method.
The memory 702 is used to store various types of data to support operation at the electronic device 700, such as instructions for any application or method operating on the electronic device 700 and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and the like. The Memory 702 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk.
The multimedia components 703 may include screen and audio components. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 702 or transmitted through the communication component 705. The audio assembly further comprises at least one speaker for outputting audio signals.
The I/O interface 704 provides an interface between the processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons.
The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, which is not limited herein. The corresponding communication component 705 may thus include: Wi-Fi module, Bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic Device 700 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components for performing the differential lock state determination method.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the differential lock status determination method described above when executed by the programmable apparatus.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the foregoing embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A differential lock state judgment method is characterized by comprising the following steps:
acquiring a control instruction of a differential lock and running information of a vehicle, wherein the running information comprises a wheel speed and a steering angle of the vehicle;
determining the state of a differential lock of the vehicle according to the control command, the wheel speed and the steering angle, wherein the state of the differential lock comprises a locking state and an unlocking state.
2. The method of claim 1, wherein the locked state comprises a lock-up success state, the determining a state of a differential lock of the vehicle based on the control command, the wheel speed, and the steering angle, the state of the differential lock comprising a locked state and an unlocked state, comprises:
calculating a left and right wheel speed difference of the vehicle according to the wheel speed of the vehicle;
and under the conditions that the control command is a locking command, the steering angle is in a preset angle range, and the difference between the left wheel speed and the right wheel speed of the vehicle is smaller than a preset value, determining that the differential lock of the vehicle is in a locking success state.
3. The method of claim 1, wherein the locked state comprises a locking state, the determining a state of a differential lock of the vehicle based on the control command, the wheel speed, and the steering angle, the state of the differential lock comprising a locked state and an unlocked state, comprises:
calculating a left-right wheel speed difference of the vehicle according to the wheel speed of the vehicle;
and under the condition that the control command is a locking command, the steering angle is in a preset angle range, and the difference between the left wheel speed and the right wheel speed of the vehicle is greater than a preset value, determining that the differential lock of the vehicle is in a locking state.
4. The method of claim 1, wherein the locked state comprises an unlocked successful state, the determining a state of a differential lock of the vehicle based on the control command, the wheel speed, and the steering angle, the state of the differential lock comprising a locked state and an unlocked state, comprises:
calculating a left and right wheel speed difference of the vehicle according to the wheel speed of the vehicle;
and under the conditions that the control command is an unlocking command, the steering angle is within a preset angle range, and the difference between the left wheel speed and the right wheel speed of the vehicle is greater than a preset value, determining that the differential lock of the vehicle is in an unlocking success state.
5. The method of claim 1, wherein the locked state comprises an unlocking state, the determining a state of a differential lock of the vehicle based on the control command, the wheel speed, and the steering angle, the state of the differential lock comprising a locked state and an unlocked state, comprises:
calculating a left and right wheel speed difference of the vehicle according to the wheel speed of the vehicle;
and under the conditions that the control command is an unlocking command, the steering angle is within a preset angle range, and the difference between the left wheel speed and the right wheel speed of the vehicle is smaller than a preset value, determining that the differential lock of the vehicle is in an unlocking state.
6. The method according to any one of claims 1-5, further comprising: and warning the state of a differential lock of the vehicle.
7. The method of claim 6, wherein said alerting a status of a differential lock of the vehicle comprises:
under the condition that a differential lock of the vehicle is in a locking state, controlling an instrument panel of the vehicle to display first information and a differential lock indicator lamp on the vehicle to flash in a first color;
under the condition that a differential lock of the vehicle is in a locking success state, controlling an instrument panel of the vehicle to display second information and a differential lock indicator lamp on the vehicle to be long-lighted in a second color;
controlling an instrument panel of the vehicle to display third information and the indicator light to flash in a second color when a differential lock of the vehicle is in an unlocking state;
and under the condition that the differential lock of the vehicle is in the unlocking success state, controlling an instrument panel of the vehicle to display fourth information and controlling a differential lock indicator lamp on the vehicle to be in an off state.
8. A differential lock state determination device, the device comprising:
the vehicle control device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a control command of a differential lock and running information of a vehicle, and the running information comprises a wheel speed and a steering angle of the vehicle;
an execution module configured to determine a state of a differential lock of the vehicle based on the control command, the wheel speed, and the steering angle, the state of the differential lock including a locked state and an unlocked state.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the differential lock status determination method according to any one of claims 1 to 7.
10. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing said computer program in said memory for carrying out the steps of the differential lock state determination method according to any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110455853.4A CN114701475A (en) | 2021-04-26 | 2021-04-26 | Method and device for judging state of differential lock, storage medium and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110455853.4A CN114701475A (en) | 2021-04-26 | 2021-04-26 | Method and device for judging state of differential lock, storage medium and electronic equipment |
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| CN114701475A true CN114701475A (en) | 2022-07-05 |
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| CN202110455853.4A Pending CN114701475A (en) | 2021-04-26 | 2021-04-26 | Method and device for judging state of differential lock, storage medium and electronic equipment |
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| Country | Link |
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| CN (1) | CN114701475A (en) |
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- 2021-04-26 CN CN202110455853.4A patent/CN114701475A/en active Pending
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