CN114954433A - Control method and device for vehicle in four-wheel drive mode and vehicle - Google Patents
Control method and device for vehicle in four-wheel drive mode and vehicle Download PDFInfo
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- CN114954433A CN114954433A CN202110825301.8A CN202110825301A CN114954433A CN 114954433 A CN114954433 A CN 114954433A CN 202110825301 A CN202110825301 A CN 202110825301A CN 114954433 A CN114954433 A CN 114954433A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
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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
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
- B60W2030/043—Control of vehicle driving stability related to roll-over prevention about the roll axis
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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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
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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
- B60W2520/10—Longitudinal speed
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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- Combustion & Propulsion (AREA)
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Abstract
The embodiment of the application relates to the technical field of automobiles, in particular to a control method and device for a vehicle in a four-wheel drive mode and the vehicle, and aims to solve the problem of poor safety performance of the vehicle. The control method comprises the steps of acquiring a driving mode of a vehicle when a front axle differential lock engagement request is detected; when the driving mode of the vehicle is a high-speed four-wheel drive mode, prohibiting the front axle differential lock from being hung; when the driving mode of the vehicle is a low-speed four-wheel drive mode, allowing a front axle differential lock to be engaged; and under the condition that the front axle differential lock is allowed to be hung, changing the hanging state of the front axle differential lock according to the current speed of the vehicle and the current steering wheel angle of the vehicle. The state of the front axle differential lock is changed, so that the danger of the vehicle in the driving process is avoided, and the safety performance of the vehicle is effectively improved by controlling the state of the front axle differential lock.
Description
Technical Field
The embodiment of the application relates to the technical field of automobiles, in particular to a control method and device for a vehicle in a four-wheel drive mode and the vehicle.
Background
The transfer case is an important component of an automobile power system, and mainly has the functions of distributing power transmitted by power to a front transmission shaft and a rear transmission shaft and transmitting torque to 4 wheels through a main reducer and a driving shaft, so that four-wheel drive is realized. When the transfer case is in a mode, the transfer case can rigidly lock the front and rear output shafts, and output power according to the ratio of 1:1, and the transfer case is used for driving on mud and sand; when the transfer case is in a mode, the transfer case can amplify the output torque of the transmission by more than 2.5 times so that the front axle and the rear axle obtain larger input torque, the dynamic property of the vehicle is improved, and the vehicle can easily face non-paved roads and complex-terrain road conditions.
In the prior art, when a user controls the differential lock to be hung in the high-speed running process of a vehicle, the danger that the vehicle is out of control or overturns easily occurs when the steering wheel is too large in turning, and the safety performance is poor.
Content of application
The embodiment of the application provides a control method and device for a vehicle in a four-wheel drive mode and the vehicle, and aims to solve the problem of poor safety performance of the vehicle.
A first aspect of an embodiment of the present application provides a control method for a vehicle, where the control method includes, when a request for engaging a front axle differential lock is detected, acquiring a driving mode of the vehicle;
when the driving mode of the vehicle is a high-speed four-wheel drive mode, prohibiting a front axle differential lock from being engaged;
when the driving mode of the vehicle is a low-speed four-wheel drive mode, allowing a front axle differential lock to be engaged;
and under the condition that the front axle differential lock is allowed to be hung, changing the hanging state of the front axle differential lock according to the current speed of the vehicle and the current steering wheel angle of the vehicle.
Optionally, the engaging state of the front axle differential lock is changed according to the current steering wheel angle of the vehicle and the current speed of the vehicle, including,
when the current vehicle speed exceeds a vehicle speed threshold and the steering wheel angle exceeds an angle threshold, changing the hanging-in state of the front axle differential lock into a disconnecting state;
the method further comprises the following steps:
and detecting the steering wheel angle of the vehicle in real time, and allowing the front axle differential lock to be hung again when the steering wheel angle is smaller than the steering wheel threshold value.
Optionally, the control method further comprises,
when the vehicle is in a high-speed four-wheel drive mode, the vehicle speed threshold is determined as a first threshold;
when the vehicle is in a low-speed four-wheel drive mode, the vehicle speed threshold value is determined as a second threshold value;
wherein the first threshold is greater than the second threshold.
Alternatively, a decrease engine torque request is output to cause the engine to decrease output torque in response to the decrease engine torque request when the current vehicle speed exceeds a vehicle speed threshold and the steering wheel angle exceeds a steering angle threshold.
Alternatively, after outputting the reduced engine torque request to cause the engine to reduce the output torque in response to the reduced engine torque request, the control method further includes,
detecting whether the steering wheel angle of the vehicle is smaller than the steering angle threshold value in real time;
and when the steering wheel angle is smaller than the steering angle threshold value, controlling the engine to output torque according to the actual torque request of the vehicle.
Optionally, the method further comprises the step of,
when the current vehicle speed of the vehicle exceeds the vehicle speed threshold value, controlling the instrument to send out a warning with higher vehicle speed;
and when the steering wheel rotating angle exceeds a rotating angle threshold value, driving the instrument to send out operation danger warning.
Optionally, the control method further comprises,
when the driving mode of the vehicle is a high-speed four-wheel drive mode, the front axle differential lock is prohibited from being hung, the instrument is controlled to send out a warning for prohibiting the front axle differential lock from being hung,
optionally, the control method further comprises,
and when the driving mode of the vehicle is a low-speed four-wheel drive mode, allowing the front axle differential lock to be hung in, and controlling the instrument to send a warning of hanging the front axle differential lock when the front axle differential lock is hung in.
Optionally, the control method further comprises,
acquiring state information of a rear axle differential lock;
and when the state information of the rear axle differential lock represents that the rear axle differential lock is hung, driving the instrument to send out a warning of hanging the rear axle differential lock.
A second aspect of the embodiments of the present application provides a control apparatus, including:
the state acquisition module is used for acquiring a driving mode of a vehicle when the front axle differential lock is detected to be in a hanging request;
the transfer case control module is used for forbidding a front axle differential lock from being hung when the driving mode of the vehicle is a high-speed four-wheel driving mode;
and allowing the front axle differential lock to be engaged when the driving mode of the vehicle is a low-speed four-wheel drive mode;
and changing the engaging state of the front axle differential lock according to the current speed of the vehicle and the current steering wheel angle of the vehicle under the condition that the front axle differential lock is allowed to be engaged.
A third aspect of the embodiments of the present application provides a vehicle including the control apparatus to implement the control method described above.
Has the beneficial effects that:
the application provides a control method and a control device for a vehicle in a four-wheel drive mode and the vehicle, when the vehicle is in a high-speed four-wheel drive mode, the speed of the vehicle is high, the torque of the vehicle is relatively small, and when a front axle differential lock is engaged, the vehicle is easy to overturn when a driver turns, so that when the driving mode of the vehicle is the high-speed four-wheel drive mode, the engagement of the front axle differential lock is forbidden; when the driving mode is a low-speed four-wheel drive mode, in order to improve the ground gripping capacity of the vehicle, the front axle differential lock is allowed to be hung, when the front axle differential lock is hung, the current speed information and the steering wheel angle information of the vehicle are acquired, the current vehicle condition is judged, when the speed of the vehicle is too high or the vehicle needs to turn, the hanging state of the front axle differential lock is changed, the vehicle is prevented from being dangerous in the driving process, and the safety performance of the vehicle is effectively improved by controlling the state of the front axle differential lock.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic flowchart of a control method according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a front axle differential lock engagement proposed in an embodiment of the present application;
FIG. 3 is a schematic illustration of a torque reduction process according to an embodiment of the present application;
FIG. 4 is a schematic flow chart of a rear axle differential warning proposed in an embodiment of the present application;
fig. 5 is a block diagram of a control device according to an embodiment of the present application;
fig. 6 is a block diagram of an electronic device according to an embodiment of the present application.
Description of reference numerals: 7. a control device; 71. a state acquisition module; 72. a transfer case control module; 73. an information acquisition module; 74. and an alarm module.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. 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 application.
The transfer case is an important component of an automobile power system, and mainly has the functions of distributing power transmitted by power to a front transmission shaft and a rear transmission shaft and transmitting torque to 4 wheels through a main reducer and a driving shaft, so that four-wheel drive is realized. The transfer case generally includes a high-speed four-wheel drive mode and a low-speed four-wheel drive mode. When the transfer case is in a high-speed four-wheel drive mode, the transfer case can rigidly lock the front and rear output shafts, and output power according to the ratio of 1:1 for driving on mud and sand; when the transfer case is in a low-speed four-wheel drive mode, the output torque of the transmission is amplified by more than 2.5 times by the transfer case, so that the front axle and the rear axle obtain larger input torque, the dynamic property of the vehicle is improved, and the transfer case can easily face non-paved roads and road conditions with complex terrain. By switching the mode of the transfer case, the dynamic property and the fuel economy of the vehicle under different road conditions can be improved.
In the related art, when the front axle differential lock is engaged when the front axle differential lock is driven on a non-paved road, the rotating speed of the front wheels of the vehicle can be improved to be the same, when the vehicle speed is high, the vehicle turns to cause the rollover easily, and the vehicle safety is low.
In view of the above, referring to fig. 1, an embodiment of the present application provides a method for controlling a vehicle in a four-wheel drive mode:
s1, when detecting the front axle differential lock hanging request, obtaining the driving mode of the vehicle;
in some embodiments, during the running of the vehicle, the driver sends mode requests to the vehicle by controlling the mode control switch, wherein the mode requests comprise a high-speed four-wheel drive mode and a low-speed four-wheel drive mode, and the high-speed four-wheel drive mode and the low-speed four-wheel drive mode are used for adapting to different road surfaces.
In one embodiment, when the vehicle is driven to enter a high-speed four-wheel drive mode when the vehicle runs on mud and sand, the middle shaft differential lock locks a front driving shaft and a rear driving shaft of the vehicle, so that the torques of the front driving shaft and the rear driving shaft of the vehicle are the same, and the vehicle is prevented from being trapped due to the fact that any tire of the vehicle slips; when the vehicle is on a non-paved road surface, the vehicle is driven to enter a low-speed four-wheel drive mode, the vehicle can amplify the output torque of the transmission by more than 2.5 times, so that the front axle and the rear axle obtain larger input torque, and the dynamic property of the vehicle is improved.
S2, when the driving mode of the vehicle is a high-speed four-wheel driving mode, the front axle differential lock is prohibited to be engaged;
when the vehicle is in a high-speed four-wheel drive mode, the torque of the vehicle is smaller, the speed of the vehicle is higher under the same power, and when the vehicle needs to turn, the rotating speeds of two sides of the front wheel are the same, so that the vehicle is easy to turn over.
S3, when the driving mode of the vehicle is a low-speed four-wheel driving mode, the front axle differential lock is allowed to be engaged;
when the vehicle is in a low-speed four-wheel drive mode, the torque of the vehicle is large, the vehicle speed is low under the same power, the safety is high, and the front axle differential lock is allowed to be engaged to improve the driving performance of the vehicle.
In one embodiment, the differential lock signal is initially acquired when the vehicle is in the low-speed four-wheel drive mode, and the front axle differential lock is actuated to engage the front axle differential when the front axle differential lock engagement request is detected.
And S4, under the condition that the front axle differential lock is allowed to be engaged, the engaging state of the front axle differential lock is changed according to the current speed of the vehicle and the current steering wheel angle of the vehicle.
Under the condition that the front axle differential lock is allowed to be hung, namely when the vehicle is in a low-speed four-wheel drive mode, the speed of the vehicle is monitored, when the speed of the vehicle is too high, the vehicle is easy to turn dangerously, so that the steering wheel angle is detected, when the condition that the vehicle needs to turn is detected, the hanging state of the front axle differential lock is changed, and the vehicle is prevented from being dangerous in the driving process.
The application provides a control method and a control device for a vehicle in a four-wheel drive mode and the vehicle, when the vehicle is in a high-speed four-wheel drive mode, the speed of the vehicle is high, the torque of the vehicle is relatively small, and when a front axle differential lock is engaged, the vehicle is easy to overturn when a driver turns, so that when the driving mode of the vehicle is the high-speed four-wheel drive mode, the engagement of the front axle differential lock is forbidden; when the driving mode is a low-speed four-wheel drive mode, in order to improve the ground gripping capacity of the vehicle and allow the front axle differential lock to be engaged, when the front axle differential lock is engaged, the current vehicle speed information and the steering wheel angle information of the vehicle are acquired, the current vehicle condition is judged, and when the vehicle speed is too high or the vehicle needs to turn, the engagement state of the front axle differential lock is changed, so that the vehicle is prevented from being dangerous in the driving process, and the safety performance of the vehicle is effectively improved by controlling the state of the front axle differential lock.
In which, changing the engaging state of the front axle differential lock according to the current steering wheel angle of the vehicle and the current vehicle speed of the vehicle, referring to fig. 2, includes:
s401, when the current vehicle speed exceeds a vehicle speed threshold and the steering wheel angle exceeds a steering angle threshold, changing the hanging-in state of the front axle differential lock into a disconnecting state;
s402, detecting the steering wheel angle of the vehicle in real time, and allowing the front axle differential lock to be hung again when the steering wheel angle is smaller than the steering angle threshold value.
And when the vehicle is in the low-speed four-wheel drive mode, acquiring a differential lock signal, and when a front axle differential lock engagement request is acquired, engaging the front axle differential lock into a front axle differential of the vehicle. A vehicle speed signal and a transmission gear signal are acquired to determine a current slave vehicle speed of the vehicle.
When the current speed of a motor vehicle exceeded the speed of a motor vehicle threshold value, namely the vehicle speed reached dangerous state, the vehicle turned and taken place danger easily this moment, consequently began to acquire steering wheel corner signal, when steering wheel corner signal reached the corner threshold value, the vehicle got into the state of turning, ordered about the state of hanging of front axle differential lock and changed into the off-state, even the front axle differential lock left the front axle differential mechanism of vehicle, the vehicle took place to turn on one's side when effectively avoiding turning.
When the turning action of the vehicle is finished, the steering wheel needs to be turned back, the turning angle of the steering wheel is reduced, therefore, when the turning angle of the steering wheel is smaller than the turning angle threshold value, the turning action of the vehicle can be considered to be finished, the front axle differential lock is allowed to be re-engaged, the differential lock signal is obtained again, and when the request for engaging the front axle differential lock is obtained, the front axle differential lock is engaged with a front axle differential mechanism of the vehicle.
In some embodiments, when the driving mode of the vehicle is a high-speed four-wheel drive mode, the front axle differential lock is prohibited from being hung, and the control instrument sends out a warning for prohibiting the front axle differential lock from being hung;
when the driving mode of the vehicle is a low-speed four-wheel drive mode, the front axle differential lock is allowed to be hung, and when the front axle differential lock is hung, the control instrument sends a warning that the front axle differential lock is hung.
The warning for forbidding the front axle differential lock to be hung or the warning for hanging the front axle differential lock is sent by the instrument to remind a driver of safe operation, so that the driver is prevented from danger caused by improper operation or influence on vehicle running caused by repeated operation.
When the vehicle is in a high-speed four-wheel drive mode, determining a vehicle speed threshold as a first threshold;
when the vehicle is in a low-speed four-wheel drive mode, determining the vehicle speed threshold as a second threshold;
wherein the first threshold is greater than the second threshold.
When the vehicle is in different driving modes, because the torque of the vehicle is different, the vehicle speed when the vehicle reaches a dangerous state is also different, namely the vehicle speed thresholds of the vehicle in different driving modes are different, so that the vehicle speed threshold is determined as a first threshold when the vehicle is in a high-speed four-wheel drive mode, the vehicle speed threshold is determined as a second threshold when the vehicle is in a low-speed four-wheel drive mode, the first threshold is larger than the second threshold, and then the vehicle speed threshold is changed according to the driving modes, so that the vehicle condition is judged according to the performance of the driving modes in different driving modes.
In one embodiment, the first threshold may be 80km/h when the vehicle is in high-speed four-wheel drive mode, and the second threshold may be 40km/h when the vehicle is in low-speed four-wheel drive mode, and in other embodiments, the vehicle speed threshold may be determined based on vehicle performance.
In some embodiments, the reduced engine torque request is output when the current vehicle speed exceeds a vehicle speed threshold and the steering wheel angle exceeds a steering angle threshold, such that the engine reduces the output torque in response to the reduced engine torque request.
When the vehicle exceeds a certain vehicle speed, the wheel speed of the vehicle is large, when the vehicle turns, the vehicle is easy to cause the wheel on one side to float due to the action of centrifugal force to idle, so that the wheel speed difference between two ends of the same output shaft of the vehicle is overlarge, when the vehicle outputs large torque, the differential mechanism of the vehicle is easy to damage, namely when the vehicle speed reaches a moving threshold value and the steering wheel angle exceeds a steering angle threshold value, the vehicle is easy to generate the condition that the wheel speed difference between two ends is overlarge, and therefore an engine torque reducing request is sent to the engine, so that the engine reduces the output torque in response to the engine torque reducing request, and the damage to the differential mechanism is reduced.
After outputting the reduced engine torque request to cause the engine to reduce the output torque in response to the reduced engine torque request, referring to fig. 3, the control method further includes:
s501, detecting whether the steering wheel angle of the vehicle is smaller than an angle threshold value in real time;
and S502, controlling the engine to output torque according to the actual torque request of the vehicle when the steering wheel angle is smaller than the steering angle threshold value.
And detecting the steering wheel angle of the vehicle in real time, and finishing the turning action of the vehicle when the steering wheel angle is smaller than a steering angle threshold value, so that the engine is controlled to output torque according to the actual torque request of the vehicle, and the vehicle recovers power, wherein the actual torque request of the vehicle is determined according to the gear information and the accelerator pedal information of the vehicle.
In some embodiments, the control instrument issues a high vehicle speed alert when the current vehicle speed of the vehicle exceeds a vehicle speed threshold;
when the steering wheel rotation angle exceeds the rotation angle threshold value, the instrument is driven to send out operation danger warning.
When the current speed of a motor vehicle exceeded the speed of a motor vehicle threshold value, then the vehicle got into dangerous state, consequently sent the higher warning of the speed of a motor vehicle through control instrument, reminded the navigating mate speed of a motor vehicle too high, slowed down and walked slowly, can also send audible alarm simultaneously, improved warning effect.
When the steering wheel corner exceeds the corner threshold value, the vehicle corner angle is too large, and the vehicle is easy to turn over, so that the control instrument gives out a warning of the too large corner, and meanwhile, the control instrument can give out sound alarm, and the warning effect is improved.
Referring to fig. 4, in some embodiments, the control method further includes:
s601, acquiring state information of a rear axle differential lock;
s602, when the state information of the rear axle differential lock represents that the rear axle differential lock is hung, the instrument is driven to send out a warning of hanging the rear axle differential lock.
In the process of traveling, the vehicle acquires the differential lock signal, and when the state information sign rear axle differential lock that detects rear axle differential lock hung, the axis differential lock and the rear axle differential lock of vehicle hung, orders about the instrument simultaneously and sends rear axle differential lock and hang into the warning, reminds navigating mate safety operation, avoids navigating mate misoperation to take place danger, or the repetitive operation influences the vehicle and traveles.
In one specific embodiment, during the running process of the vehicle, a vehicle driving mode signal is obtained, and the vehicle is driven to enter a high-speed four-wheel drive mode or a low-speed four-wheel drive mode according to the driving mode signal. Acquiring a differential signal of a vehicle, controlling a middle axle differential lock and a rear axle differential lock of the vehicle to be hung when a rear axle differential lock hanging request is detected, and driving an instrument to send a rear axle differential lock hanging warning; when a request for hanging the front axle differential lock is detected, if the vehicle is in a high-speed four-wheel drive mode, the front axle differential lock is forbidden to be hung, the instrument is driven to send a warning for forbidding the front axle differential lock to be hung, the safety of the vehicle is improved, if the vehicle is in a low-speed four-wheel drive mode, the front axle differential lock is allowed to be hung, and when the front axle differential lock is hung, the instrument is driven to send a warning for hanging the front axle differential lock.
Then obtaining the current speed of the vehicle, determining a speed threshold according to the driving mode of the vehicle, driving the instrument to send a warning of overlarge speed when the current speed of the vehicle reaches the speed threshold corresponding to the current driving mode, obtaining the current steering wheel angle, driving the instrument to send a warning of overlarge steering angle when the steering wheel angle is large, and outputting a request for reducing the torque of the engine so that the engine responds to the request for reducing the torque of the engine to reduce the output torque; and when the steering wheel angle is smaller than the steering angle threshold value, controlling the engine to output torque according to the actual torque request of the vehicle so as to recover the power of the vehicle.
When the vehicle is in a low-speed four-wheel drive mode and the steering wheel has a large rotation angle, the engaging state of the front axle differential lock is changed into an disengaging state, and when the rotation angle of the steering wheel is detected to be smaller than a rotation angle threshold value, the front axle differential lock is allowed to be engaged again.
Referring to fig. 5; the present application also provides a control device, the control device 7 includes:
a state acquisition module 71, configured to acquire a driving mode of the vehicle when detecting a front axle differential lock engagement request;
the vehicle driving mode is controlled by a mode switch of the vehicle, and a signal of the mode switch is acquired through the state acquisition module, so that the vehicle driving mode is determined.
The differential lock hanging request is sent by a differential control switch and used for controlling the hanging or the disconnection of the differential lock, wherein the differential lock comprises a front axle differential lock, a middle axle differential lock and a rear axle differential lock, and the state acquisition module acquires the differential lock hanging request by acquiring and analyzing a signal of the differential control switch.
A transfer case control module 72 for prohibiting the front axle differential lock from being engaged when the driving mode of the vehicle is a high-speed four-wheel drive mode;
and allowing the front axle differential lock to be engaged when the driving mode of the vehicle is a low-speed four-wheel drive mode;
and changing the engaging state of the front axle differential lock according to the current speed of the vehicle and the current steering wheel angle of the vehicle under the condition that the engaging of the front axle differential lock is allowed.
The control device further comprises an information acquisition module 73 for the current steering wheel angle of the vehicle and the current vehicle speed of the vehicle, so that the following steps are implemented by the transfer case control module 72:
when the current vehicle speed exceeds a vehicle speed threshold value and a steering wheel corner exceeds a corner threshold value, changing the hanging-in state of a front axle differential lock into a disconnecting state;
and detecting the steering wheel angle of the vehicle in real time, and allowing the front axle differential lock to be hung again when the steering wheel angle is detected to be smaller than a steering angle threshold value.
The information obtaining module 73 determines the current speed of the vehicle by obtaining a vehicle speed signal and a transmission gear signal, and determines the steering angle by obtaining a steering wheel angle signal.
Wherein the transfer case control module 72 is further configured to implement the following steps:
when the vehicle is in a high-speed four-wheel drive mode, determining a vehicle speed threshold as a first threshold;
when the vehicle is in a low-speed four-wheel drive mode, determining the vehicle speed threshold as a second threshold;
wherein the first threshold is greater than the second threshold.
The transfer case control module 72 is further configured to implement the following steps:
a reduced engine torque request is output to cause the engine to reduce the output torque in response to the reduced engine torque request when the current vehicle speed exceeds a vehicle speed threshold and the steering wheel angle exceeds a steering angle threshold.
Detecting whether the steering wheel angle of the vehicle is smaller than an angle threshold value in real time;
when the steering wheel angle is smaller than the steering angle threshold, the engine is controlled to output torque in accordance with an actual torque request of the vehicle.
The engine torque is controlled by an engine control module, and the transfer case control module drives the engine control module to control the engine torque by sending a request signal to the engine control module.
In some embodiments, the control apparatus further comprises an alarm module 74, and the transfer case control module 72 is further configured to implement the following steps via the alarm module 74:
when the current speed of the vehicle exceeds a speed threshold, the control instrument sends out a higher speed warning;
when the steering wheel rotation angle exceeds the rotation angle threshold value, the instrument is driven to send out operation danger warning.
When the driving mode of the vehicle is a high-speed four-wheel drive mode, the front axle differential lock is prohibited from being hung, and the control instrument sends out a warning for prohibiting the front axle differential lock from being hung,
when the driving mode of the vehicle is a low-speed four-wheel drive mode, the front axle differential lock is allowed to be hung, and when the front axle differential lock is hung, the control instrument sends out a warning that the front axle differential lock is hung.
Acquiring state information of a rear axle differential lock;
when the state information of the rear axle differential lock represents that the rear axle differential lock is hung, the instrument is driven to send out a warning that the rear axle differential lock is hung.
Based on the same inventive concept, the present application further provides an electronic device, and with reference to fig. 6, the electronic device includes:
a memory for storing a computer program;
a processor for executing a computer program stored on the memory to implement the above-described method.
Based on the same inventive concept, the application also provides a vehicle which comprises a control device, wherein the control device is used for realizing the control method.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.
For the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and reference may be made to the partial description of the method embodiment for relevant points.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one of skill in the art, embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the true scope of the embodiments of the application.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal 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 terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The pedal control system and the automobile comprising the same provided by the application are introduced in detail, specific examples are applied in the description to explain the principle and the implementation mode of the application, and the description of the above embodiments is only used for helping to understand the method and the core idea of the application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
It should also be noted that, in this document, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application. Moreover, relational terms such as "first" and "second" are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions or should not be construed as indicating or implying relative importance. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal 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 terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or terminal equipment comprising the element.
The technical solutions provided by the present application are described in detail above, and the principles and embodiments of the present application are described herein by using specific examples, which are only used to help understanding the present application, and the content of the present description should not be construed as limiting the present application. While various modifications of the illustrative embodiments and applications will be apparent to those skilled in the art based upon this disclosure, it is not necessary or necessary to exhaustively enumerate all embodiments, and all obvious variations and modifications can be resorted to, falling within the scope of the disclosure.
Claims (11)
1. A control method of a vehicle, characterized by comprising,
when the front axle differential lock is detected to be in a hanging request, acquiring a driving mode of a vehicle;
when the driving mode of the vehicle is a high-speed four-wheel drive mode, prohibiting a front axle differential lock from being hung;
when the driving mode of the vehicle is a low-speed four-wheel drive mode, allowing a front axle differential lock to be engaged;
and under the condition that the front axle differential lock is allowed to be hung, changing the hanging state of the front axle differential lock according to the current speed of the vehicle and the current steering wheel angle of the vehicle.
2. The control method according to claim 1, wherein changing the engaged state of the front axle differential lock in accordance with the current steering wheel angle magnitude of the vehicle and the current vehicle speed of the vehicle includes,
when the current vehicle speed exceeds a vehicle speed threshold and the steering wheel angle exceeds an angle threshold, changing the hanging-in state of the front axle differential lock into a disconnecting state;
the method further comprises the following steps:
and detecting the steering wheel angle of the vehicle in real time, and allowing the front axle differential lock to be hung again when the steering wheel angle is detected to be smaller than the steering angle threshold value.
3. The control method according to claim 2, characterized by further comprising,
when the vehicle is in a high-speed four-wheel drive mode, the vehicle speed threshold value is determined as a first threshold value;
when the vehicle is in a low-speed four-wheel drive mode, the vehicle speed threshold value is determined as a second threshold value;
wherein the first threshold is greater than the second threshold.
4. The control method according to claim 3, characterized in that a decrease engine torque request is output to cause the engine to decrease the output torque in response to the decrease engine torque request when the current vehicle speed exceeds a vehicle speed threshold and the steering wheel angle exceeds a steering angle threshold.
5. The control method according to claim 4, wherein after outputting a request to reduce engine torque such that the engine reduces output torque in response to the request to reduce engine torque, the control method further comprises,
detecting whether the steering wheel angle of the vehicle is smaller than the steering angle threshold value in real time;
and when the steering wheel angle is smaller than the steering angle threshold value, controlling the engine to output torque according to the actual torque request of the vehicle.
6. The control method according to claim 4, characterized in that the method further comprises,
when the current vehicle speed of the vehicle exceeds the vehicle speed threshold value, controlling the instrument to send out a warning with higher vehicle speed;
and when the steering wheel rotation angle exceeds the rotation angle threshold value, driving the instrument to send out operation danger warning.
7. The control method according to claim 2, characterized by further comprising,
when the driving mode of the vehicle is a high-speed four-wheel drive mode, the front axle differential lock is prohibited from being hung, the instrument is controlled to send out a warning for prohibiting the front axle differential lock from being hung,
8. the control method according to claim 2, characterized by further comprising,
when the driving mode of the vehicle is a low-speed four-wheel drive mode, the front axle differential lock is allowed to be hung in, and when the front axle differential lock is hung in, the instrument is controlled to send out a warning that the front axle differential lock is hung in.
9. The control method according to claim 1, characterized by further comprising,
acquiring state information of a rear axle differential lock;
and when the state information of the rear axle differential lock represents that the rear axle differential lock is hung, driving the instrument to send out a warning of hanging the rear axle differential lock.
10. A control device, characterized in that the control device comprises:
the state acquisition module is used for acquiring a driving mode of a vehicle when the front axle differential lock is detected to be in a hanging request;
the transfer case control module is used for forbidding a front axle differential lock from being hung when the driving mode of the vehicle is a high-speed four-wheel driving mode;
and allowing the front axle differential lock to be engaged when the driving mode of the vehicle is a low-speed four-wheel drive mode;
and changing the engaging state of the front axle differential lock according to the current speed of the vehicle and the current steering wheel angle of the vehicle under the condition that the engaging of the front axle differential lock is allowed.
11. A vehicle comprising a control apparatus according to claim 10 to implement the control method according to any one of claims 1 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110825301.8A CN114954433A (en) | 2021-07-21 | 2021-07-21 | Control method and device for vehicle in four-wheel drive mode and vehicle |
| PCT/CN2022/100087 WO2023000897A1 (en) | 2021-07-21 | 2022-06-21 | Vehicle control method and apparatus in four-wheel drive mode, and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110825301.8A CN114954433A (en) | 2021-07-21 | 2021-07-21 | Control method and device for vehicle in four-wheel drive mode and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114954433A true CN114954433A (en) | 2022-08-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110825301.8A Pending CN114954433A (en) | 2021-07-21 | 2021-07-21 | Control method and device for vehicle in four-wheel drive mode and vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114954433A (en) |
| WO (1) | WO2023000897A1 (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10050173A1 (en) * | 1999-10-12 | 2001-04-19 | Bosch Gmbh Robert | Method and device for realising differential lock function for four wheel drive vehicle |
| CN205395771U (en) * | 2016-03-28 | 2016-07-27 | 长城汽车股份有限公司 | Two 4 wheel driven system and vehicles |
| CN108657182B (en) * | 2017-03-29 | 2019-12-20 | 长城汽车股份有限公司 | All-terrain control method and system for automobile |
| CN107650677B (en) * | 2017-09-20 | 2020-05-08 | 奇瑞汽车股份有限公司 | Control method and device of differential lock |
| CN109733190A (en) * | 2019-01-18 | 2019-05-10 | 徐州徐工环境技术有限公司 | A kind of vehicle travel control system and method |
| CN112963517A (en) * | 2021-02-01 | 2021-06-15 | 北京汽车集团越野车有限公司 | Differential lock control method and device, off-road vehicle and readable storage medium |
-
2021
- 2021-07-21 CN CN202110825301.8A patent/CN114954433A/en active Pending
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2022
- 2022-06-21 WO PCT/CN2022/100087 patent/WO2023000897A1/en unknown
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| WO2023000897A1 (en) | 2023-01-26 |
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