CN117704023A - Method and device for controlling unlocking of differential lock, electronic equipment and vehicle - Google Patents
Method and device for controlling unlocking of differential lock, electronic equipment and vehicle Download PDFInfo
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Abstract
The invention provides a method, a device, electronic equipment and a vehicle for controlling unlocking of a differential lock, wherein the method comprises the following steps: collecting the speed, front wheel speed and rear wheel speed of the vehicle in the running process; calculating a reference vehicle speed of the vehicle based on the vehicle speed, the front wheel speed and the rear wheel speed; and if the reference vehicle speed is greater than the unlocking threshold value, controlling the differential lock of the vehicle to be unlocked. In the scheme, the reference vehicle speed is calculated through the vehicle speed, the front wheel speed and the rear wheel speed of the vehicle in the running process of the vehicle. And if the reference vehicle speed is greater than the unlocking threshold value, controlling the differential lock of the vehicle to be unlocked. The speed of the vehicle is not used as a monitoring condition to control the unlocking of the differential lock, but the reference speed calculated by the speed of the vehicle, the front wheel speed and the rear wheel speed is used as a monitoring condition to control the unlocking of the differential lock, so that the frequent unlocking of the differential lock is avoided, and good driving experience is provided for users.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a method and a device for controlling unlocking of a differential lock, electronic equipment and a vehicle.
Background
With the rapid development of new energy automobiles, more types of plug-in hybrid motor vehicles also appear in the field of off-road. The main rear-drive hybrid off-road vehicle is different from the traditional off-road vehicle in that: the main and rear-drive hybrid off-road vehicle drives a pure electric rear axle by a P4 motor (arranged on a rear axle of the vehicle) and has no intermediate transmission shaft.
If the speed is used as a monitoring condition to control the unlocking of the differential lock, the rear wheel speed of the hybrid off-road vehicle rises rapidly compared with the front wheel speed when the hybrid off-road vehicle runs on a bumpy road, so that the speed of the vehicle rises to an unlocking threshold value of the unlocking of the differential lock, and the differential lock is frequently unlocked to influence driving experience.
Disclosure of Invention
In view of the above, the embodiments of the present invention provide a method, an apparatus, an electronic device, and a vehicle for controlling unlocking of a differential lock, so as to solve the problem that controlling unlocking of the differential lock by using a vehicle speed as a monitoring condition only results in frequent unlocking of the differential lock.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
the embodiment of the invention discloses a method for controlling unlocking of a differential lock, which comprises the following steps:
collecting the speed, front wheel speed and rear wheel speed of the vehicle in the running process;
calculating a reference vehicle speed of the vehicle based on the vehicle speed, the front wheel speed, and the rear wheel speed;
and if the reference vehicle speed is greater than an unlocking threshold value, controlling the differential lock of the vehicle to be unlocked.
Preferably, the front wheel speed includes a left front wheel speed and a right front wheel speed, and the rear wheel speed includes a left rear wheel speed and a right rear wheel speed;
the calculating a reference vehicle speed of the vehicle based on the vehicle speed, the front wheel speed, and the rear wheel speed includes:
calculating a front wheel speed average value by utilizing the left front wheel speed and the right front wheel speed;
calculating a rear wheel speed average value by utilizing the left rear wheel speed and the right rear wheel speed;
and determining the minimum value among the vehicle speed, the front wheel speed average value and the rear wheel speed average value as the reference vehicle speed of the vehicle.
Preferably, said calculating a front wheel speed average value using said left front wheel speed and said right front wheel speed includes:
judging whether the left front wheel speed and the right front wheel speed fail or not based on a preset failure condition;
if the left front wheel speed and the right front wheel speed are not invalid, calculating an average value between the left front wheel speed and the right front wheel speed to obtain a front wheel speed average value;
if the left front wheel speed fails, calculating an average value between a preset maximum value of the front wheel speed and the right front wheel speed to obtain a front wheel speed average value;
and if the right front wheel speed fails, calculating an average value between the preset maximum value of the front wheel speed and the left front wheel speed to obtain a front wheel speed average value.
Preferably, said calculating a rear wheel speed average value using said left rear wheel speed and said right rear wheel speed includes:
judging whether the left rear wheel speed and the right rear wheel speed fail or not based on a preset failure condition;
if the left rear wheel speed and the right rear wheel speed are not invalid, calculating an average value between the left rear wheel speed and the right rear wheel speed to obtain a rear wheel speed average value;
if the left rear wheel speed fails, calculating a first failure wheel speed substitution value based on the right rear wheel speed, the actual rotating speed of the P4 motor of the vehicle and the speed ratio of the current gear of the vehicle;
calculating an average value between the right rear wheel speed and the first failure wheel speed substitution value to obtain a rear wheel speed average value;
if the right rear wheel speed fails, calculating a second failure wheel speed substitution value based on the left rear wheel speed, the actual rotating speed of the P4 motor of the vehicle and the speed ratio of the current gear of the vehicle;
and calculating an average value between the left rear wheel speed and the second failure wheel speed substitution value to obtain a rear wheel speed average value.
Preferably, the failure condition comprises at least any one or a combination of the following: E2E fault, signal effective value is invalid, signal loss, and exceeds preset range.
Preferably, after calculating the reference vehicle speed of the vehicle, the method further comprises:
filtering the reference vehicle speed by using preset filtering parameters;
correspondingly, if the reference vehicle speed is greater than an unlocking threshold, controlling the unlocking of the differential lock of the vehicle comprises:
and if the filtered reference vehicle speed is greater than an unlocking threshold value, controlling the differential lock of the vehicle to be unlocked.
Preferably, after calculating the reference vehicle speed of the vehicle, the method further comprises:
and if the reference vehicle speed is smaller than or equal to the unlocking threshold value, controlling the differential lock of the vehicle to be in a locking state.
The second aspect of the embodiment of the invention discloses a device for controlling unlocking of a differential lock, which comprises:
the acquisition unit is used for acquiring the speed, the front wheel speed and the rear wheel speed of the vehicle in the running process;
a calculation unit that calculates a reference vehicle speed of the vehicle based on the vehicle speed, the front wheel speed, and the rear wheel speed;
and the control unit is used for controlling the differential lock of the vehicle to be unlocked if the reference vehicle speed is greater than the unlocking threshold value.
A third aspect of an embodiment of the present invention discloses an electronic device, including: the device comprises a processor and a memory, wherein the processor and the memory are connected through a communication bus; the processor is used for calling and executing the program stored in the memory; the memory is used for storing a program for realizing the method for controlling unlocking of the differential lock disclosed in the first aspect of the embodiment of the invention.
A fourth aspect of an embodiment of the present invention discloses a vehicle, which includes the electronic device disclosed in the third aspect of the embodiment of the present invention.
Based on the method, the device, the electronic equipment and the vehicle for controlling unlocking of the differential lock provided by the embodiment of the invention, the method comprises the following steps: collecting the speed, front wheel speed and rear wheel speed of the vehicle in the running process; calculating a reference vehicle speed of the vehicle based on the vehicle speed, the front wheel speed and the rear wheel speed; and if the reference vehicle speed is greater than the unlocking threshold value, controlling the differential lock of the vehicle to be unlocked. In the scheme, the reference vehicle speed is calculated through the vehicle speed, the front wheel speed and the rear wheel speed of the vehicle in the running process of the vehicle. And if the reference vehicle speed is greater than the unlocking threshold value, controlling the differential lock of the vehicle to be unlocked. The speed of the vehicle is not used as a monitoring condition to control the unlocking of the differential lock, but the reference speed calculated by the speed of the vehicle, the front wheel speed and the rear wheel speed is used as a monitoring condition to control the unlocking of the differential lock, so that the frequent unlocking of the differential lock is avoided, and good driving experience is provided for users.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for controlling unlocking of a differential lock according to an embodiment of the present invention;
FIG. 2 is a flow chart of calculating a reference vehicle speed provided by an embodiment of the present invention;
FIG. 3 is a diagram of an exemplary data obtained by a method for controlling unlocking of a differential lock according to an embodiment of the present invention;
fig. 4 is a block diagram of a device for controlling unlocking of a differential lock according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In this application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In combination with the background technology, with the rapid development of new energy automobiles, more types of plug-in hybrid motor vehicles are also in the off-road field. The main rear-drive hybrid off-road vehicle is different from the traditional off-road vehicle in that: the main and rear-drive hybrid off-road vehicle is driven by a P4 motor to drive a pure electric rear axle without an intermediate transmission shaft. If the speed is used as a monitoring condition to control the unlocking of the differential lock, the rear wheel speed of the hybrid off-road vehicle rises rapidly compared with the front wheel speed when the hybrid off-road vehicle runs on a bumpy road, so that the speed of the vehicle rises to an unlocking threshold value of the unlocking of the differential lock, and the differential lock is frequently unlocked to influence driving experience.
In order to solve the problems, the scheme provides a method and a device for controlling unlocking of a differential lock, electronic equipment and a vehicle, wherein the reference vehicle speed is calculated through the vehicle speed, the front wheel speed and the rear wheel speed of the vehicle in the running process of the vehicle. And if the reference vehicle speed is greater than the unlocking threshold value, controlling the differential lock of the vehicle to be unlocked. The speed of the vehicle is not used as a monitoring condition to control the unlocking of the differential lock, but the reference speed calculated by the speed of the vehicle, the front wheel speed and the rear wheel speed is used as a monitoring condition to control the unlocking of the differential lock, so that the frequent unlocking of the differential lock is avoided, and good driving experience is provided for users.
It should be noted that, this scheme can be applied to the main rear drive hybrid vehicle type that does not have the intermediate drive axle to solve the problem that the vehicle leads to the frequent unblock of differential lock when passing through the road conditions that jolts, for example this scheme can be applied to the main rear drive hybrid off-road vehicle type that does not have the intermediate drive axle, does not specifically limit the application object of this scheme here.
Referring to fig. 1, a flowchart of a method for controlling unlocking of a differential lock according to an embodiment of the present invention is shown, where the method includes:
step S101: the method comprises the steps of collecting the speed, the front wheel speed and the rear wheel speed of the vehicle in the running process.
In the specific implementation process of the step S101, the speed, the front wheel speed and the rear wheel speed of the vehicle are collected in the running process of the vehicle; wherein the front wheel speed includes a left front wheel speed and a right front wheel speed, and the rear wheel speed includes a left rear wheel speed and a right rear wheel speed.
Step S102: a reference vehicle speed of the vehicle is calculated based on the vehicle speed, the front wheel speed, and the rear wheel speed.
In the process of concretely implementing step S102, a reference vehicle speed of the vehicle is calculated based on the vehicle speed, the front left wheel speed, the front right wheel speed, the rear left wheel speed, and the rear right wheel speed of the vehicle.
Step S103: and if the reference vehicle speed is greater than the unlocking threshold value, controlling the differential lock of the vehicle to be unlocked.
In the specific implementation process of step S103, after the reference vehicle speed of the vehicle is calculated, if the reference vehicle speed is greater than the unlocking threshold, the differential lock of the vehicle is controlled to be unlocked.
For example: setting the unlocking threshold to be 40kph; if the reference vehicle speed is greater than 40kph, the differential lock of the vehicle is automatically unlocked.
In some embodiments, if the reference vehicle speed is less than or equal to the unlock threshold, the differential lock of the vehicle is controlled to be in a locked state.
It should be noted that, since the instantaneous wheel speed of the vehicle may rise too fast under certain road conditions, this may cause distortion of the calculated reference vehicle speed, for example: when the vehicle runs under the road conditions of jolt, skid and the like, the instantaneous wheel speed can rise too fast, which can cause distortion of the calculated reference vehicle speed. Therefore, when the reference vehicle speed of the vehicle is calculated, the reference vehicle speed can be filtered in order to ensure that the accurate reference vehicle speed is calculated.
In some embodiments, after the reference vehicle speed of the vehicle is calculated, the reference vehicle speed is filtered by using a preset filtering parameter, so as to obtain the filtered reference vehicle speed, where the preset filtering parameter is obtained by calibrating in advance.
The preset filter parameter is determined based on a maximum gradient of the vehicle speed, and the maximum gradient of the vehicle speed is determined based on a preset maximum acceleration. One of the preferred values of the preset filter parameters may be 36kph/s, and 36kph/s may be based on the maximum additionSpeed 10m/s 2 Determining that "kph" represents kilometers per hour; the reason for selecting 36kph/s as the preset filter parameter is that: according to the maximum acceleration 1G of the vehicle, the maximum rising gradient of the vehicle speed can be calculated to be 36kph; since it is not practical to define a maximum vehicle speed rise within 1s to be 36kph and to exceed 36kph/s, a rise gradient exceeding 36kph/s is treated as 36kph/s with 36kph/s as the upper limit.
It should be further noted that, in practical application, the preset filtering parameters may be calibrated according to practical situations, and 36kph/s is only one of the preferred values of the preset filtering parameters, and other values of the preset filtering parameters are not illustrated herein.
Based on the above explanation about the preset filtering parameters, the specific way to filter the reference vehicle speed by using the preset filtering parameters is as follows: after the reference vehicle speed is calculated, calculating the rising gradient of the reference vehicle speed; if the rising gradient of the calculated reference vehicle speed is smaller than or equal to a preset filtering parameter, taking the calculated reference vehicle speed as the reference vehicle speed of practical application; if the calculated rising gradient of the reference vehicle speed is larger than the preset filtering parameter, limiting the rising gradient of the reference vehicle speed as the preset filtering parameter, and then calculating by using the preset filtering parameter to obtain the actually applied reference vehicle speed; the filtering processing of the reference vehicle speed is finished in the mode, and the actual applied reference vehicle speed obtained in the mode is the filtered reference vehicle speed.
For example: after the reference vehicle speed is calculated, calculating the rising gradient of the reference vehicle speed; if the rising gradient of the calculated reference vehicle speed is less than or equal to 36kph/s, taking the calculated reference vehicle speed as the reference vehicle speed of practical application; if the calculated rising gradient of the reference vehicle speed is larger than 36kph/s, limiting the rising gradient of the reference vehicle speed to 36kph/s, and then calculating by using 36kph/s to obtain the actually applied reference vehicle speed.
In other embodiments, after the reference vehicle speed is filtered, if the filtered reference vehicle speed is greater than an unlocking threshold, controlling the differential lock of the vehicle to be unlocked; and if the filtered reference vehicle speed is smaller than or equal to the unlocking threshold value, controlling the differential lock of the vehicle to be in a locking state.
In the embodiment of the invention, the reference vehicle speed is calculated through the vehicle speed, the front wheel speed and the rear wheel speed of the vehicle in the running process of the vehicle. And if the reference vehicle speed is greater than the unlocking threshold value, controlling the differential lock of the vehicle to be unlocked. The speed of the vehicle is not used as a monitoring condition to control the unlocking of the differential lock, but the reference speed calculated by the speed of the vehicle, the front wheel speed and the rear wheel speed is used as a monitoring condition to control the unlocking of the differential lock, so that the frequent unlocking of the differential lock is avoided, and good driving experience is provided for users.
For the reference vehicle speed calculation of the vehicle mentioned in step S102 of fig. 1 in the above embodiment of the present invention, referring to fig. 2, a flowchart for calculating the reference vehicle speed provided in the embodiment of the present invention is shown, including the following steps:
step S201: the front wheel speed average value is calculated using the left front wheel speed and the right front wheel speed.
In the process of concretely implementing step S201, it is determined whether the left front wheel speed and the right front wheel speed fail based on a preset failure condition.
In specific implementation, judging whether the left front wheel speed meets a preset failure condition or not and judging whether the right front wheel speed meets the failure condition or not; if the left front wheel speed meets the failure condition, determining that the left front wheel speed fails; if the left front wheel speed does not meet the failure condition, determining that the left front wheel speed is not failed; if the right front wheel speed meets the failure condition, determining that the right front wheel speed fails; if the right front wheel speed does not meet the failure condition, it is determined that the right front wheel speed is not failed.
Wherein the failure condition comprises at least any one or a combination of the following: E2E failure, signal valid value being invalid, signal loss, exceeding a preset range (e.g. exceeding 300 km/h); when the left front wheel speed meets any content contained in the failure condition, determining that the left front wheel speed is invalid; and when the right front wheel speed meets any content contained in the failure condition, determining that the right front wheel speed is failed.
It should be noted that the signals used to determine whether the left front wheel speed fails include, but are not limited to: a left front wheel speed valid signal, a left front wheel speed signal, and a left front wheel speed direction signal; signals used to determine whether the right front wheel speed has failed include, but are not limited to: the right front wheel speed signal is an effective signal, a right front wheel speed signal and a right front wheel speed direction signal.
Specifically, "the left front wheel speed satisfies the failure condition" is specifically: the "signal for judging whether the left front wheel speed is invalid" has an E2E failure, and/or the signal valid value of the left front wheel speed valid signal is invalid, and/or the "signal for judging whether the left front wheel speed is invalid" is lost, and/or the left front wheel speed exceeds a preset range (for example, exceeds 300 km/h). The specific content of the "the right front wheel speed satisfies the failure condition" is the same, and is not described here again.
It should be noted that, the E2E specifically refers to whether the sender and the receiver check whether the signals are complete or not, and whether the number is correct or not; "Signal valid" is characterized by an invalid: signal is not trusted due to faults such as sensor faults; "loss of signal" characterization: the receiving party cannot receive the signal; "wheel speed exceeds a preset range" is characterized by: the wheel speed is greater than the maximum value of the preset range (e.g., greater than 300 km/h) or the wheel speed is less than the minimum value of the preset range.
If neither the left front wheel speed nor the right front wheel speed fails, an average value between the left front wheel speed and the right front wheel speed is calculated to obtain an average value of the front wheel speeds.
That is, if neither the left front wheel speed nor the right front wheel speed fails, the front wheel speed average value=the average value between the left front wheel speed and the right front wheel speed.
If the left front wheel speed fails, calculating an average value between a preset maximum value of the front wheel speed and the right front wheel speed to obtain an average value of the front wheel speed.
That is, if the left front wheel speed fails, a preset front wheel speed maximum value is used instead of the failed left front wheel speed, at which time the front wheel speed average value=the average value between the front wheel speed maximum value and the right front wheel speed.
If the right front wheel speed fails, calculating an average value between a preset maximum value of the front wheel speed and the left front wheel speed to obtain an average value of the front wheel speed.
That is, if the right front wheel speed fails, the preset front wheel speed maximum value is used instead of the failed right front wheel speed, at which time the front wheel speed average value=the average value between the front wheel speed maximum value and the left front wheel speed.
If the left front wheel speed and the right front wheel speed are simultaneously invalid, the abnormal condition of the vehicle is indicated, and at the moment, alarm information can be output and displayed.
It should be noted that, the motors on the vehicle may be classified into a P0 motor-P4 motor (for example only) according to the position, such as the P4 motor is disposed at the rear axle of the vehicle; the front motor of the vehicle is a P2 motor, and after the clutch is disconnected, the actual rotating speed of the P2 motor cannot be used for calculating a substitute value for substituting the failed right front wheel speed or left front wheel speed; the present solution therefore uses the maximum value of front wheel speed to replace the failed right or left front wheel speed.
Step S202: the average value of the rear wheel speeds is calculated using the left rear wheel speed and the right rear wheel speed.
In the specific implementation process of step S202, it is determined whether the left rear wheel speed and the right rear wheel speed fail based on a preset failure condition.
In specific implementation, judging whether the left rear wheel speed meets a preset failure condition or not and judging whether the right rear wheel speed meets the failure condition or not; if the left rear wheel speed meets the failure condition, determining that the left rear wheel speed fails; if the left rear wheel speed does not meet the failure condition, determining that the left rear wheel speed is not failed; if the right rear wheel speed meets the failure condition, determining that the right rear wheel speed fails; if the right rear wheel speed does not meet the failure condition, it is determined that the right rear wheel speed is not failed.
Wherein the failure condition comprises at least any one or a combination of the following: E2E fault, signal effective value is invalid, signal loss, exceeding preset range; when the left rear wheel speed meets any content contained in the failure condition, determining that the left rear wheel speed is invalid; and when the right rear wheel speed meets any content contained in the failure condition, determining that the right rear wheel speed is failed.
It should be noted that the signals used to determine whether the left rear wheel speed fails include, but are not limited to: a rear left wheel speed valid signal, a rear left wheel speed signal, and a rear left wheel speed direction signal; signals used to determine whether the right rear wheel speed has failed include, but are not limited to: the right rear wheel speed signal is an effective signal, a right rear wheel speed signal and a right rear wheel speed direction signal.
For details of the "the left rear wheel speed satisfies the failure condition" and the "the right rear wheel speed satisfies the failure condition", reference may be made to the relevant content of the "the left front wheel speed satisfies the failure condition" in the above step S201, and the details are not repeated here.
If the left rear wheel speed and the right rear wheel speed are not invalid, calculating the average value between the left rear wheel speed and the right rear wheel speed to obtain the average value of the rear wheel speeds.
That is, if neither the left rear wheel speed nor the right rear wheel speed fails, the rear wheel speed average value=the average value between the left rear wheel speed and the right rear wheel speed.
If the left or right rear wheel speed fails, the actual rotational speed of the P4 motor of the vehicle is used to calculate a failure wheel speed replacement value for replacing the failure wheel speed (left or right rear wheel speed). Specifically, the failure wheel speed substitute value= (P4 ratio of actual motor speed/current gear of vehicle) 2-effective wheel speed. Wherein, if the left rear wheel speed fails, the "effective wheel speed" is the right rear wheel speed; if the right rear wheel speed fails, then the "valid wheel speed" is the left rear wheel speed.
And replacing the failed wheel speed by the calculated failed wheel speed substitution value, and further calculating to obtain a rear wheel speed average value. Based on the above, when the left rear wheel speed fails or the right rear wheel speed fails, the following processing strategy is adopted:
if the left rear wheel speed fails, calculating a first failure wheel speed substitution value based on the right rear wheel speed, the actual rotating speed of the P4 motor of the vehicle and the speed ratio of the current gear of the vehicle; an average value between the right rear wheel speed and the first failed wheel speed substitute value is calculated to obtain a rear wheel speed average value.
That is, if the left rear wheel speed fails, the first failed wheel speed substitute value= (the speed ratio of the actual rotational speed of the P4 motor/the current gear of the vehicle) ×2—the right rear wheel speed; the rear wheel speed average value, that is, the average value between the rear wheel speed average value=the right rear wheel speed and the first failed wheel speed substitute value is calculated by substituting the first failed wheel speed substitute value for the failed left rear wheel speed.
If the right rear wheel speed fails, calculating a second failure wheel speed substitution value based on the left rear wheel speed, the actual rotating speed of the P4 motor of the vehicle and the speed ratio of the current gear of the vehicle; an average value between the left rear wheel speed and the second failed wheel speed substitute value is calculated to obtain a rear wheel speed average value.
That is, if the right rear wheel speed fails, the second failure wheel speed substitute value= (the ratio of the actual rotational speed of the P4 motor/the current gear of the vehicle) ×2—the left rear wheel speed; the rear wheel speed average value is calculated by replacing the failed right rear wheel speed with the second failed wheel speed substitute value, that is, the rear wheel speed average value = the average value between the left rear wheel speed and the second failed wheel speed substitute value.
If the left rear wheel speed and the right rear wheel speed are simultaneously invalid, the abnormal condition of the vehicle is indicated, and at the moment, alarm information can be output and displayed.
Step S203: and determining the minimum value among the vehicle speed, the front wheel speed average value and the rear wheel speed average value as the reference vehicle speed of the vehicle.
In the process of specifically implementing step S203, after the front wheel speed average value and the rear wheel speed average value of the vehicle are calculated through the above-mentioned steps S201 and S202, the minimum value among the vehicle speed, the front wheel speed average value and the rear wheel speed average value is taken as the reference vehicle speed of the vehicle.
I.e., reference vehicle speed=min (vehicle speed, front wheel speed average, rear wheel speed average).
It can be understood that, for abnormal situations such as slip of the rear wheels and no movement of the front wheels, the acquired vehicle speed is inaccurate under the abnormal situations, and if the acquired vehicle speed is directly used as a monitoring condition to control the unlocking of the differential lock, the unlocking timing of the differential lock is inaccurate, so that the differential lock is frequently unlocked; the scheme takes the minimum value of the vehicle speed, the front wheel speed average value and the rear wheel speed average value as the reference vehicle speed and takes the reference vehicle speed as the monitoring condition for controlling the unlocking of the differential lock, and even under the abnormal conditions such as the slip of the rear wheels and the lack of movement of the front wheels, the moment for controlling the unlocking of the differential lock can be accurately controlled, so that the frequent unlocking of the differential lock is avoided.
In the embodiment of the invention, the front wheel speed average value is calculated according to the left front wheel speed and the right front wheel speed, and when the left front wheel speed or the right front wheel speed fails, the front wheel speed average value is calculated by utilizing the maximum value of the front wheel speed to replace the failed wheel speed. And calculating a rear wheel speed average value according to the left rear wheel speed and the right rear wheel speed, when the left rear wheel speed or the right rear wheel speed fails, calculating a failure wheel speed substitution value by utilizing the actual rotating speed and the speed ratio of the P4 motor, and calculating the rear wheel speed average value by substituting the failure wheel speed substitution value for the failure wheel speed. And taking the minimum value of the vehicle speed, the front wheel speed average value and the rear wheel speed average value as the reference vehicle speed of the vehicle. The reference vehicle speed is used as a monitoring condition for controlling the unlocking of the differential lock, and the vehicle speed is not used as the monitoring condition only for controlling the unlocking of the differential lock, so that the frequent unlocking of the differential lock is avoided, and good driving experience is provided for a user.
In order to intuitively show that the scheme takes the reference vehicle speed as a monitoring condition for controlling the unlocking of the differential lock, a data example diagram obtained by the method for controlling the unlocking of the differential lock by application is illustrated in fig. 3.
As can be seen from the contents of fig. 3, the vehicle has a vehicle speed of 44.21, a front average wheel speed (i.e., front wheel speed average) of 57.89, and a rear average wheel speed (i.e., rear wheel speed average) of 35.83, calculated during running; then the reference vehicle speed ref_vehspd=min (44.21, 35.83, 57.89) kph=35.83 kph, and the reference vehicle speed is less than the unlock threshold 40kph, at which time the differential lock is not unlocked (the differential lock state is locked). Compared with the traditional mode of controlling the unlocking of the differential lock by taking the vehicle speed as the monitoring condition, after the scheme is applied, when the vehicle passes through a bumpy road condition or a getting-out scene, the reference vehicle speed calculated by the embodiment of the invention in figure 2 is taken as the monitoring condition for controlling the unlocking of the differential lock, so that the frequent unlocking of the differential lock can be effectively avoided, and good driving experience is provided for users.
In summary, the scheme has the following advantages: when the vehicle runs on a bumpy road, the rotation speed of the rear wheels rises faster, or the front wheel speed and the rear wheel speed are inconsistent due to the fact that the wheels slip when the vehicle is trapped, the vehicle speed can reach an unlocking threshold value under the conditions, and if the differential lock is controlled to be unlocked by taking the vehicle speed alone as a monitoring condition, the differential lock can be unlocked frequently; according to the scheme, the reference vehicle speed calculated by the vehicle speed, the front wheel speed and the rear wheel speed is used as a monitoring condition for controlling the unlocking of the differential lock, so that the frequent unlocking of the differential lock can be avoided.
Corresponding to the method for controlling unlocking of the differential lock provided in the above embodiment of the present invention, referring to fig. 4, the embodiment of the present invention further provides a block diagram of a device for controlling unlocking of the differential lock, where the device includes: an acquisition unit 401, a calculation unit 402, and a control unit 403;
the acquisition unit 401 is used for acquiring the speed, the front wheel speed and the rear wheel speed of the vehicle in the running process.
A calculation unit 402 for calculating a reference vehicle speed of the vehicle based on the vehicle speed, the front wheel speed, and the rear wheel speed.
And the control unit 403 is used for controlling the unlocking of the differential lock of the vehicle if the reference vehicle speed is greater than the unlocking threshold value.
Preferably, the control unit 403 is further configured to: and if the reference vehicle speed is less than or equal to the unlocking threshold value, controlling the differential lock of the vehicle to be in a locking state.
In the embodiment of the invention, the reference vehicle speed is calculated through the vehicle speed, the front wheel speed and the rear wheel speed of the vehicle in the running process of the vehicle. And if the reference vehicle speed is greater than the unlocking threshold value, controlling the differential lock of the vehicle to be unlocked. The speed of the vehicle is not used as a monitoring condition to control the unlocking of the differential lock, but the reference speed calculated by the speed of the vehicle, the front wheel speed and the rear wheel speed is used as a monitoring condition to control the unlocking of the differential lock, so that the frequent unlocking of the differential lock is avoided, and good driving experience is provided for users.
Preferably, in combination with the content shown in fig. 4, the apparatus further comprises:
the filtering unit is used for filtering the reference vehicle speed by utilizing preset filtering parameters;
accordingly, the control unit 403 is specifically configured to: if the filtered reference vehicle speed is greater than the unlocking threshold value, controlling the differential lock of the vehicle to be unlocked; and if the filtered reference vehicle speed is smaller than or equal to the unlocking threshold value, controlling the differential lock of the vehicle to be in a locking state.
Preferably, in conjunction with what is shown in FIG. 4, the front wheel speeds comprise left and right front wheel speeds, and the rear wheel speeds comprise left and right rear wheel speeds; the computing unit 402 includes a first computing module, a second computing module, and a determining module; the execution principle of each module is as follows:
a first computing module. For calculating a front wheel speed average value using the left front wheel speed and the right front wheel speed.
In a specific implementation, the first computing module is specifically configured to: judging whether the left front wheel speed and the right front wheel speed fail or not based on a preset failure condition; if the left front wheel speed and the right front wheel speed are not invalid, calculating an average value between the left front wheel speed and the right front wheel speed to obtain a front wheel speed average value; if the left front wheel speed fails, calculating an average value between a preset maximum value of the front wheel speed and the right front wheel speed to obtain a front wheel speed average value; if the right front wheel speed fails, calculating an average value between a preset maximum value of the front wheel speed and the left front wheel speed to obtain an average value of the front wheel speed.
In some embodiments, the failure condition comprises at least any one or a combination of the following: E2E fault, signal effective value is invalid, signal loss, and exceeds preset range.
And a second calculation module. For calculating a rear wheel speed average value using the left rear wheel speed and the right rear wheel speed.
In a specific implementation, the second computing module is specifically configured to: judging whether the left rear wheel speed and the right rear wheel speed fail or not based on a preset failure condition; if the left rear wheel speed and the right rear wheel speed are not invalid, calculating an average value between the left rear wheel speed and the right rear wheel speed to obtain a rear wheel speed average value; if the left rear wheel speed fails, calculating a first failure wheel speed substitution value based on the right rear wheel speed, the actual rotating speed of the P4 motor of the vehicle and the speed ratio of the current gear of the vehicle; calculating an average value between the right rear wheel speed and the first failure wheel speed substitution value to obtain a rear wheel speed average value; if the right rear wheel speed fails, calculating a second failure wheel speed substitution value based on the left rear wheel speed, the actual rotating speed of the P4 motor of the vehicle and the speed ratio of the current gear of the vehicle; an average value between the left rear wheel speed and the second failed wheel speed substitute value is calculated to obtain a rear wheel speed average value.
And the determining module is used for determining the minimum value among the vehicle speed, the front wheel speed average value and the rear wheel speed average value as the reference vehicle speed of the vehicle.
Preferably, the embodiment of the present invention further provides an electronic device, including: the processor and the memory are connected through a communication bus; the processor is used for calling and executing the program stored in the memory; and the memory is used for storing a program for realizing the method for controlling the unlocking of the differential lock provided by the embodiment of the method.
Preferably, the embodiment of the invention further provides a vehicle, which comprises the electronic device.
In summary, the embodiment of the invention provides a method, a device, electronic equipment and a vehicle for controlling unlocking of a differential lock, wherein the vehicle calculates a reference vehicle speed through the vehicle speed, the front wheel speed and the rear wheel speed of the vehicle in the running process. And if the reference vehicle speed is greater than the unlocking threshold value, controlling the differential lock of the vehicle to be unlocked. The speed of the vehicle is not used as a monitoring condition to control the unlocking of the differential lock, but the reference speed calculated by the speed of the vehicle, the front wheel speed and the rear wheel speed is used as a monitoring condition to control the unlocking of the differential lock, so that the frequent unlocking of the differential lock is avoided, and good driving experience is provided for users.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for a system or system embodiment, since it is substantially similar to a method embodiment, the description is relatively simple, with reference to the description of the method embodiment being made in part. The systems and system embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method of controlling unlocking of a differential lock, the method comprising:
collecting the speed, front wheel speed and rear wheel speed of the vehicle in the running process;
calculating a reference vehicle speed of the vehicle based on the vehicle speed, the front wheel speed, and the rear wheel speed;
and if the reference vehicle speed is greater than an unlocking threshold value, controlling the differential lock of the vehicle to be unlocked.
2. The method of claim 1, wherein the front wheel speeds comprise left and right front wheel speeds, and the rear wheel speeds comprise left and right rear wheel speeds;
the calculating a reference vehicle speed of the vehicle based on the vehicle speed, the front wheel speed, and the rear wheel speed includes:
calculating a front wheel speed average value by utilizing the left front wheel speed and the right front wheel speed;
calculating a rear wheel speed average value by utilizing the left rear wheel speed and the right rear wheel speed;
and determining the minimum value among the vehicle speed, the front wheel speed average value and the rear wheel speed average value as the reference vehicle speed of the vehicle.
3. The method of claim 2, wherein said calculating a front wheel speed average using said left front wheel speed and said right front wheel speed comprises:
judging whether the left front wheel speed and the right front wheel speed fail or not based on a preset failure condition;
if the left front wheel speed and the right front wheel speed are not invalid, calculating an average value between the left front wheel speed and the right front wheel speed to obtain a front wheel speed average value;
if the left front wheel speed fails, calculating an average value between a preset maximum value of the front wheel speed and the right front wheel speed to obtain a front wheel speed average value;
and if the right front wheel speed fails, calculating an average value between the preset maximum value of the front wheel speed and the left front wheel speed to obtain a front wheel speed average value.
4. The method of claim 2, wherein said calculating a rear wheel speed average using said left rear wheel speed and said right rear wheel speed comprises:
judging whether the left rear wheel speed and the right rear wheel speed fail or not based on a preset failure condition;
if the left rear wheel speed and the right rear wheel speed are not invalid, calculating an average value between the left rear wheel speed and the right rear wheel speed to obtain a rear wheel speed average value;
if the left rear wheel speed fails, calculating a first failure wheel speed substitution value based on the right rear wheel speed, the actual rotating speed of the P4 motor of the vehicle and the speed ratio of the current gear of the vehicle;
calculating an average value between the right rear wheel speed and the first failure wheel speed substitution value to obtain a rear wheel speed average value;
if the right rear wheel speed fails, calculating a second failure wheel speed substitution value based on the left rear wheel speed, the actual rotating speed of the P4 motor of the vehicle and the speed ratio of the current gear of the vehicle;
and calculating an average value between the left rear wheel speed and the second failure wheel speed substitution value to obtain a rear wheel speed average value.
5. The method according to claim 3 or 4, wherein the failure condition comprises at least any one or a combination of the following: E2E fault, signal effective value is invalid, signal loss, and exceeds preset range.
6. The method according to any one of claims 1 to 4, further comprising, after calculating the reference vehicle speed of the vehicle:
filtering the reference vehicle speed by using preset filtering parameters;
correspondingly, if the reference vehicle speed is greater than an unlocking threshold, controlling the unlocking of the differential lock of the vehicle comprises:
and if the filtered reference vehicle speed is greater than an unlocking threshold value, controlling the differential lock of the vehicle to be unlocked.
7. The method according to any one of claims 1 to 4, further comprising, after calculating the reference vehicle speed of the vehicle:
and if the reference vehicle speed is smaller than or equal to the unlocking threshold value, controlling the differential lock of the vehicle to be in a locking state.
8. An apparatus for controlling unlocking of a differential lock, the apparatus comprising:
the acquisition unit is used for acquiring the speed, the front wheel speed and the rear wheel speed of the vehicle in the running process;
a calculation unit that calculates a reference vehicle speed of the vehicle based on the vehicle speed, the front wheel speed, and the rear wheel speed;
and the control unit is used for controlling the differential lock of the vehicle to be unlocked if the reference vehicle speed is greater than the unlocking threshold value.
9. An electronic device, comprising: the device comprises a processor and a memory, wherein the processor and the memory are connected through a communication bus; the processor is used for calling and executing the program stored in the memory; the memory is used for storing a program for realizing the method for controlling unlocking of the differential lock according to any one of claims 1 to 7.
10. A vehicle, characterized in that it comprises the electronic device of claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311808644.9A CN117704023A (en) | 2023-12-26 | 2023-12-26 | Method and device for controlling unlocking of differential lock, electronic equipment and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311808644.9A CN117704023A (en) | 2023-12-26 | 2023-12-26 | Method and device for controlling unlocking of differential lock, electronic equipment and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117704023A true CN117704023A (en) | 2024-03-15 |
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ID=90151419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311808644.9A Pending CN117704023A (en) | 2023-12-26 | 2023-12-26 | Method and device for controlling unlocking of differential lock, electronic equipment and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117704023A (en) |
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2023
- 2023-12-26 CN CN202311808644.9A patent/CN117704023A/en active Pending
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