WO2022242336A1 - 差速锁控制系统、方法和车辆 - Google Patents

差速锁控制系统、方法和车辆 Download PDF

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Publication number
WO2022242336A1
WO2022242336A1 PCT/CN2022/084628 CN2022084628W WO2022242336A1 WO 2022242336 A1 WO2022242336 A1 WO 2022242336A1 CN 2022084628 W CN2022084628 W CN 2022084628W WO 2022242336 A1 WO2022242336 A1 WO 2022242336A1
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WO
WIPO (PCT)
Prior art keywords
differential lock
preset
vehicle
axle differential
locked
Prior art date
Application number
PCT/CN2022/084628
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English (en)
French (fr)
Inventor
黄旭宁
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长城汽车股份有限公司
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Publication date
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Publication of WO2022242336A1 publication Critical patent/WO2022242336A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/16—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of differential gearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H48/00—Differential gearings
    • F16H48/20—Arrangements for suppressing or influencing the differential action, e.g. locking devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/36—Inputs being a function of speed
    • F16H59/46—Inputs being a function of speed dependent on a comparison between speeds
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used

Definitions

  • the present disclosure relates to the field of vehicle control, in particular, to a differential lock control system, method and vehicle.
  • the differential lock system is a part of the vehicle transmission system, and its main function is to ensure that the transmission system can provide sufficient traction under different road conditions. For example, when one wheel slips, power can be transmitted to the other wheel through the differential lock system to help the vehicle get out of trouble. However, in some scenarios, if the differential lock is not used properly, it will cause the differential lock failure of the vehicle, and once the differential lock failure occurs, it will lead to the safety risk of getting stuck or slipping, which is very important for driving personnel. Danger.
  • the present disclosure provides a differential lock control system, method and vehicle.
  • the present disclosure provides a differential lock control system, including a controller, and a front axle differential lock, a central differential lock and a rear axle differential lock respectively connected to the controller;
  • the controller is configured to acquire a first driving speed of the vehicle and a front wheel speed difference in response to receiving a first locking instruction, the first locking instruction being used to instruct the front axle differential lock to lock ; when both the central differential lock and the rear axle differential lock are locked, determine whether the first driving speed and the front wheel speed difference satisfy a first preset locking condition, and When the first driving speed and the front wheel speed difference satisfy the first preset locking condition, the front axle differential lock is controlled to be locked.
  • the first preset locking condition includes:
  • the first driving speed is less than or equal to a first preset speed threshold
  • the front wheel speed difference is less than or equal to a first preset wheel speed difference threshold.
  • the controller is further configured to acquire the second driving speed of the vehicle and the wheel speed difference of the rear wheels of the vehicle in response to receiving a second locking instruction, the second locking instruction being used to indicate that the rear wheel Axle differential lock locking; determine whether the second driving speed and the rear wheel speed difference meet a second preset locking condition, and when the second driving speed and the rear wheel speed difference meet the In the case of the second preset locking condition, the rear axle differential lock is controlled to be locked.
  • the second preset locking condition includes:
  • the second driving speed is less than or equal to a second preset speed threshold
  • the rear wheel speed difference is less than or equal to a second preset wheel speed difference threshold
  • the vehicle is in a non-steer assist mode.
  • the controller is further configured to acquire a third driving speed of the vehicle and a gear position of the vehicle in response to receiving a third locking instruction, the third locking instruction being used to instruct the central Locking the differential lock: when the third driving speed and the gear position meet a third preset locking condition, control the locking of the central differential lock.
  • the third preset locking condition includes:
  • the third driving speed is less than or equal to a third preset speed threshold
  • the gear is neutral.
  • the controller is further configured to unlock the front axle differential lock if the central differential lock unlock command or the rear axle differential lock unlock command is received when the front axle differential lock is locked.
  • Axle differential lock is further configured to unlock the front axle differential lock if the central differential lock unlock command or the rear axle differential lock unlock command is received when the front axle differential lock is locked.
  • the controller is further configured to display a warning message if the driving speed of the vehicle is greater than a preset speed threshold when the target differential lock is locked, and the target differential lock is the One or more of the front axle differential lock, the central differential lock and the rear axle differential lock.
  • the present disclosure provides a differential lock control method, which is applied to a controller in a differential lock control system, the differential lock control system includes the controller, and the controllers respectively connected to the controller Front axle differential lock, central differential lock and rear axle differential lock, the method includes:
  • the first locking instruction In response to receiving a first locking instruction, acquiring a first driving speed of the vehicle and a front wheel speed difference, the first locking instruction is used to indicate that the front axle differential lock is locked;
  • the front axle differential lock is controlled to be locked.
  • the present disclosure provides a vehicle, which includes the differential lock control system described in the first aspect above.
  • the present disclosure provides a computing processing device, including:
  • One or more processors when the computer readable code is executed by the one or more processors, the computing processing device executes the differential lock control method proposed in the embodiment of the second aspect of the present disclosure.
  • the present disclosure provides a computer program, including computer readable codes, which, when the computer readable codes are run on a computing processing device, cause the computing processing device to execute the program proposed in the embodiment of the second aspect of the present disclosure. differential lock control method.
  • the present disclosure provides a computer-readable storage medium, in which the computer program provided by the embodiment of the fifth aspect of the present disclosure is stored.
  • the differential lock control system includes a controller, and front axle differential locks, central differential locks and rear axle differential locks respectively connected to the controller;
  • the control strategy of the speed lock includes: obtaining the first driving speed of the vehicle and the speed difference of the front wheels in response to receiving a first locking command, the first locking command being used to indicate that the front axle differential lock is locked;
  • the central differential lock and the rear axle differential lock are locked, it is determined whether the first driving speed and the front wheel speed difference satisfy the first preset locking condition, and at the first driving speed and the When the front wheel speed difference satisfies the first preset locking condition, the front axle differential lock is controlled to be locked, thereby realizing the control strategy of the above three differential locks, so that in the technical solution of the present invention,
  • the front axle differential lock is only locked when both the rear axle differential lock and the central differential lock are locked, so as to avoid the problem of steering restriction caused by using the front axle differential lock alone, and can also reduce improper use of the differential lock The risk of causing differential lock failure
  • FIG. 1 is a schematic structural diagram of a differential lock control system provided by an embodiment of the present disclosure
  • FIG. 2 is a flow chart of a differential lock control method provided by an embodiment of the present disclosure
  • FIG. 3 is a block diagram of a vehicle provided by an embodiment of the present disclosure.
  • Fig. 4 is a schematic structural diagram of a computing processing device provided by an embodiment of the present disclosure.
  • Fig. 5 is a schematic diagram of a program code storage unit for portable or fixed implementation of the method according to the present invention provided by an embodiment of the present disclosure.
  • the present disclosure can be applied to a differential lock control scenario of a vehicle.
  • the current vehicle is generally equipped with one of the central differential lock or rear axle differential lock, and when the above two differential locks (central differential lock and rear axle differential lock) are configured at the same time, the two differential locks can be each independently controlled.
  • three differential locks can also be configured, including: front axle differential lock, rear axle differential lock and central differential lock.
  • the differential lock is used improperly, it will cause the differential lock failure of the vehicle. For example, if the differential lock is locked at high speed, it will cause the differential lock failure. And once the differential lock fails, it will lead to the safety risk of trapping and rolling, which is very dangerous for the driving personnel.
  • the differential lock control system includes a controller, and front axle differential locks, central differential locks and rear differential locks respectively connected to the controller.
  • Axle differential lock the controller is used to, in response to receiving a first lock command indicating that the front axle differential lock is locked, to obtain a first driving speed of the vehicle and a front wheel speed difference of the two front wheels ;
  • both the central differential lock and the rear axle differential lock are locked, determine whether the first driving speed and the front wheel speed difference meet the first preset locking condition, and at the first driving speed and When the front wheel speed difference satisfies the first preset locking condition, the front axle differential lock is controlled to be locked.
  • the control strategy of three differential locks is realized, so that the front axle differential lock can only be locked when both the rear axle differential lock and the central differential lock are locked, thus avoiding the use of the front differential lock alone.
  • the steering restriction problem caused by the axle differential lock can also reduce the risk of failure of the front axle differential lock.
  • Fig. 1 is a differential lock control system provided by an embodiment of the present disclosure.
  • the differential lock control system includes a controller 101, and front axle differential locks 102 respectively connected to the controller.
  • the controller 101 is configured to acquire the first driving speed of the vehicle and the speed difference of the front wheels in response to receiving a first locking command, where the first locking command is used to indicate that the front axle differential lock is locked; When both the central differential lock and the rear axle differential lock are locked, it is determined whether the first driving speed and the front wheel speed difference satisfy the first preset locking condition, and at the first driving speed and the When the front wheel speed difference satisfies the first preset locking condition, the front axle differential lock is controlled to be locked.
  • the above-mentioned first locking instruction may be a locking request instruction issued by the driver through the front axle differential lock control button of the vehicle, and the button may be a physical button or a virtual button.
  • the front axle differential of the vehicle is responsible for the steering function of the vehicle. It has a series of steering mechanisms and components such as ball cages and cross knots, and its structure is slightly weaker than that of the rear axle differential.
  • the differential can work normally, that is to say, the vehicle can turn normally; but when the front axle differential lock is locked, the rotational speed between the left and right wheels will The difference will cause the above-mentioned components on the front axle differential to be subjected to different degrees of stress, which will lead to wear of the components.
  • the central differential lock or the rear axle differential lock can be used preferentially, that is, only when the central differential lock Only when the differential lock of the front axle and the differential lock of the rear axle are locked can the locking of the differential lock of the front axle be controlled, so as to avoid the problem of steering restriction caused by using the differential lock of the front axle alone, and can also reduce the differential lock caused by improper use of the differential lock.
  • the risk of speed lock failure avoids the safety risks of car trapping and slipping, and improves the safety of the vehicle.
  • first preset locking condition may include:
  • the first driving speed is less than or equal to a first preset speed threshold
  • the front wheel speed difference is less than or equal to the first preset wheel speed difference threshold.
  • the front wheel speed difference is used to represent the wheel speed difference between the two front wheels of the vehicle, and the wheel speeds of the two front wheels can be acquired respectively by the wheel speed sensor, so as to calculate the front wheel speed difference.
  • Both the first preset speed threshold and the first preset wheel speed difference threshold can be set according to empirical values, or calibrated according to differential tests of the vehicle under different working conditions.
  • the first preset speed threshold may be any value between 5 km/h and 40 km/h, such as 10 km/h, 20 km/h, or 30 km/h;
  • the front wheel speed difference can be any value between 10 rpm and 50 rpm, such as 20 rpm, 30 rpm, or 40 rpm.
  • controller is further configured to unlock the front axle differential lock if the central differential lock unlocking instruction or the rear axle differential lock unlocking instruction is received when the front axle differential lock is locked.
  • central differential lock unlocking instruction may also be an instruction for the transfer case of the vehicle to exit the low-speed four-wheel drive mode.
  • the front axle differential lock can also be unlocked, thereby avoiding the situation where the front axle differential lock is locked alone, and the front axle differential lock can be reduced. Risk of axle differential lock failure.
  • the controller may also be used to unlock the front axle differential lock when the following first unlocking condition is met.
  • the first unlocking condition includes any one of the following conditions:
  • the driving speed of the vehicle is greater than the first preset unlocking speed threshold.
  • the first preset unlocking speed threshold may be greater than or equal to the above-mentioned first preset speed threshold, and after unlocking the front axle differential lock according to the condition 1-1, if the driving speed of the vehicle falls back to If it is less than or equal to the first preset speed threshold, the front axle differential lock will not be automatically locked, so as to avoid frequent locking and unlocking of the differential lock.
  • the first preset unlocking speed threshold may be equal to the above-mentioned first preset speed threshold; it may also be the sum of the above-mentioned first preset speed threshold and a preset speed difference, and the preset speed difference may be 1 kilometer Any numerical value between /hour and 20km/hour, for example, can be 5km/hour, 10km/hour, or 15km/hour.
  • Condition 1-2 The command to unlock the front axle differential lock is received.
  • the front axle differential lock can be unlocked in time to prevent the front axle differential lock from being worn.
  • the controller is further configured to obtain the second driving speed of the vehicle and the rear wheel speed difference of the vehicle in response to receiving a second locking instruction, the second locking instruction being used to indicating that the rear axle differential lock is locked; determining whether the second driving speed and the rear wheel speed difference meet a second preset locking condition, and when the second driving speed and the rear wheel speed difference meet the first 2. In the case of a preset locking condition, the rear axle differential lock is controlled to be locked.
  • the second preset locking condition may include:
  • the second driving speed is less than or equal to a second preset speed threshold
  • the rear wheel speed difference is less than or equal to a second preset wheel speed difference threshold
  • the vehicle is in non-steer assist mode.
  • the rear wheel speed difference is used to represent the wheel speed difference between the two rear wheels of the vehicle, and the wheel speeds of the two rear wheels can be acquired respectively by the wheel speed sensor, so as to calculate the rear wheel speed difference.
  • the second preset speed threshold and the second preset wheel speed difference threshold can also be set according to empirical values, or calibrated according to differential tests of the vehicle under different working conditions.
  • the second preset speed threshold may be any value between 5 km/h and 40 km/h, such as 10 km/h, 20 km/h, or 30 km/h;
  • the rear wheel speed difference can be any value between 10 rpm and 50 rpm, such as 20 rpm, 30 rpm, or 40 rpm.
  • the rear axle differential lock can be locked according to the second locking command, so as to avoid failure of the rear axle differential lock due to improper use.
  • the controller can also be used to unlock the rear axle differential lock when the following second unlocking condition is met.
  • the second unlocking condition includes any one of the following conditions:
  • the driving speed of the vehicle is greater than the second preset unlocking speed threshold.
  • the second preset unlocking speed threshold may be greater than or equal to the above-mentioned second preset speed threshold, and after unlocking the rear axle differential lock according to the condition 2-1, if the driving speed of the vehicle falls back to If the speed is less than or equal to the second preset speed threshold, the rear axle differential lock will not be automatically locked, so as to avoid frequent locking and unlocking of the differential lock.
  • the second preset unlocking speed threshold may be equal to the above-mentioned second preset speed threshold; it may also be the sum of the above-mentioned second preset speed threshold and a preset speed difference, and the preset speed difference may be 1 kilometer Any numerical value between /hour and 20km/hour, for example, can be 5km/hour, 10km/hour, or 15km/hour.
  • Condition 2-2 Receiving a command to unlock the rear axle differential lock.
  • the rear axle differential lock can be unlocked in time to prevent the rear axle differential lock from malfunctioning due to improper use.
  • the controller is further configured to acquire a third driving speed of the vehicle and a gear position of the vehicle in response to receiving a third locking instruction, the third locking instruction being used to indicate The central differential lock is locked; when the third driving speed and the gear position meet a third preset locking condition, the central differential lock is controlled to be locked.
  • the third preset locking condition includes:
  • the third driving speed is less than or equal to a third preset speed threshold
  • This gear is neutral.
  • the third preset speed threshold can also be set according to empirical values, or calibrated according to differential gear tests of the vehicle under different working conditions.
  • the third preset speed threshold may be any value between 5 km/h and 40 km/h, such as 10 km/h, 20 km/h, or 30 km/h.
  • the central differential lock can be locked according to the third locking command, so as to avoid failure of the central differential lock due to improper use.
  • the controller can also be used to unlock the central differential lock when the following third unlocking condition is met.
  • the third unlocking condition includes receiving a command to unlock the center differential lock.
  • the controller can also be used to display overspeed warning information, specifically, the controller can be used to display the target differential lock, if the vehicle speed is greater than If the speed threshold is preset, the warning information is displayed, and the target differential lock is one or more of the front differential lock, the central differential lock and the rear differential lock.
  • the preset speed threshold may be a speed threshold set according to experience.
  • the preset speed threshold may be any value between 5 km/h and 40 km/h, for example, 10 km/h, 20 km/h, or 30 km/h.
  • the controller may display an overspeed warning message by flashing an instrument indicator light to prompt the driver to reduce the vehicle speed when the target differential lock is locked and the formal speed of the vehicle is greater than a preset speed threshold.
  • an instrument indicator light to prompt the driver to reduce the vehicle speed when the target differential lock is locked and the formal speed of the vehicle is greater than a preset speed threshold.
  • the overspeed warning information can be displayed by flashing the indicator light of the instrument; it can also be displayed by flashing the switch corresponding to the target differential lock; it can also be displayed by voice broadcast.
  • the warning information can be displayed to remind the driver to reduce the speed of the vehicle, so as to avoid the failure of the differential lock due to improper use.
  • a failure alarm message can be displayed, so that the driver can find the failure in time and perform maintenance in time.
  • the way to display the fault alarm information can be to set the indicator light of the meter to be always on yellow (color can be defined), or to set the indicator light of the switch to be always on.
  • Fig. 2 is a flow chart of a differential lock control method provided by an embodiment of the present disclosure.
  • the execution subject of the method may be the controller in the above-mentioned differential lock control system, the differential lock control system Including the controller, and the front axle differential lock, the central differential lock and the rear axle differential lock respectively connected with the controller, the method includes:
  • the first locking command is used to instruct the front axle differential lock to be locked.
  • the first locking instruction may be a locking request instruction issued by the driver through a front axle differential lock control button of the vehicle, and the button may be a physical button or a virtual button.
  • the first driving speed may be the current driving speed of the vehicle acquired through a speed sensor of the vehicle.
  • the front wheel speed difference is used to represent the wheel speed difference between the two front wheels of the vehicle, and the wheel speeds of the two front wheels can be respectively acquired by the wheel speed sensor, so as to calculate the front wheel speed difference.
  • the first preset locking condition may include:
  • the first driving speed is less than or equal to a first preset speed threshold
  • the front wheel speed difference is less than or equal to the first preset wheel speed difference threshold.
  • the first driving speed of the vehicle and the front wheel speed difference are acquired in response to receiving the first locking instruction, which is used to instruct the front axle differential lock to be locked;
  • the speed lock and the rear axle differential lock are locked, determine whether the driving speed and the front wheel speed difference meet the first preset locking condition; In the case of a preset locking condition, the front axle differential lock is controlled to be locked.
  • the central differential lock or the rear axle differential lock can be used preferentially, that is, only when the central differential lock and the rear axle differential lock are both locked, can the front axle differential lock be controlled to lock, avoiding a separate
  • the steering restriction problem caused by the use of the front axle differential lock can also reduce the risk of differential lock failure caused by improper use of the differential lock, avoid the safety risks of car trapping and slipping, and improve the safety of the vehicle.
  • the method may also include:
  • central differential lock unlocking instruction may also be an instruction for the transfer case of the vehicle to exit the low-speed four-wheel drive mode.
  • the front axle differential lock can also be unlocked, thereby avoiding the situation where the front axle differential lock is locked alone, and the front axle differential lock can be reduced. Risk of malfunction of the axle differential lock due to improper use.
  • the method may further include: unlocking the front axle differential lock when the following first unlocking condition is satisfied.
  • the first unlocking condition includes any one of the following conditions:
  • the driving speed of the vehicle is greater than the first preset unlocking speed threshold.
  • the first preset unlocking speed threshold may be greater than or equal to the above-mentioned first preset speed threshold, and after unlocking the front axle differential lock according to the condition 1-1, if the driving speed of the vehicle falls back to If it is less than or equal to the first preset speed threshold, the front axle differential lock will not be automatically locked, so as to avoid frequent locking and unlocking of the differential lock.
  • Condition 1-2 The command to unlock the front axle differential lock is received.
  • the front axle differential lock can be unlocked in time to avoid failure of the front axle differential lock due to improper use.
  • the method may also include:
  • the second locking instruction is used to instruct the rear axle differential lock to be locked.
  • the rear axle differential lock is controlled to be locked.
  • the second preset locking condition may include:
  • the second driving speed is less than or equal to a second preset speed threshold
  • the rear wheel speed difference is less than or equal to a second preset wheel speed difference threshold
  • the vehicle is in non-steer assist mode.
  • the second preset speed threshold and the second preset wheel speed difference threshold can also be set according to empirical values, or calibrated according to differential tests of the vehicle under different working conditions.
  • the rear axle differential lock can be locked according to the second locking command, so as to avoid failure of the rear axle differential lock due to improper use.
  • the method may further include unlocking the rear axle differential lock when the following second unlocking condition is satisfied.
  • the second unlocking condition includes any one of the following conditions:
  • the driving speed of the vehicle is greater than the second preset unlocking speed threshold.
  • the second preset unlocking speed threshold may be greater than or equal to the above-mentioned second preset speed threshold, and after unlocking the rear axle differential lock according to the condition 2-1, if the driving speed of the vehicle falls back to If the speed is less than or equal to the second preset speed threshold, the rear axle differential lock will not be automatically locked, so as to avoid frequent locking and unlocking of the differential lock.
  • Condition 2-2 Receiving a command to unlock the rear axle differential lock.
  • the rear axle differential lock can be unlocked in time to avoid malfunction of the rear axle differential lock due to improper use.
  • the method also includes:
  • the third locking instruction is used to instruct the central differential lock to be locked
  • the central differential lock is controlled to be locked.
  • the third preset locking condition includes:
  • the third driving speed is less than or equal to a third preset speed threshold
  • This gear is neutral.
  • the third preset speed threshold can also be set according to empirical values, or be calibrated according to differential gear tests of the vehicle under different working conditions.
  • the central differential lock can be locked according to the third locking command, so as to avoid failure of the central differential lock due to improper use.
  • the controller can also be used to unlock the central differential lock when the following third unlocking condition is met.
  • the third unlocking condition includes receiving a command to unlock the center differential lock.
  • the method may further include displaying overspeed warning information, specifically, in the case of target differential lock locking, if the vehicle's driving speed is greater than a preset speed threshold, displaying the warning information , the target differential lock is one or more of the front axle differential lock, the central differential lock and the rear axle differential lock.
  • the preset speed threshold may be a speed threshold set according to experience, for example, 30 kilometers per hour.
  • an overspeed warning message will be displayed by flashing the instrument indicator light to remind the driver to reduce the vehicle speed.
  • the overspeed warning information can be displayed by flashing the indicator light of the instrument; it can also be displayed by flashing the switch corresponding to the target differential lock; it can also be displayed by voice broadcast.
  • the warning information can be displayed to remind the driver to reduce the speed of the vehicle, so as to avoid the failure of the differential lock due to improper use.
  • Fig. 3 is a block diagram of a vehicle provided by an embodiment of the present disclosure. As shown in Fig. 3 , the vehicle includes: the differential lock control system described above.
  • the present disclosure also proposes a computing processing device, including:
  • One or more processors when the computer readable code is executed by the one or more processors, the computing processing device executes the aforementioned differential lock control method.
  • the present disclosure also proposes a computer program, including computer readable codes, which, when the computer readable codes run on a computing processing device, cause the computing processing device to execute the aforementioned differential lock control method.
  • the present disclosure also proposes a computer-readable storage medium in which the aforementioned computer program is stored.
  • FIG. 4 is a schematic structural diagram of a computing processing device provided by an embodiment of the present disclosure.
  • the computing processing device typically includes a processor 1110 and a computer program product or computer readable medium in the form of memory 1130 .
  • Memory 1130 may be electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM.
  • the memory 1130 has a storage space 1150 for program code 1151 for performing any method steps in the methods described above.
  • the storage space 1150 for program codes may include respective program codes 1151 for respectively implementing various steps in the above methods. These program codes can be read from or written into one or more computer program products.
  • These computer program products comprise program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks.
  • Such a computer program product is typically a portable or fixed storage unit as shown in FIG. 5 .
  • the storage unit may have storage segments, storage spaces, etc. arranged similarly to the storage 1130 in the server of FIG. 4 .
  • the program code can eg be compressed in a suitable form.
  • the storage unit includes computer readable code 1151', i.e. code readable by, for example, a processor such as 1110, which when executed by the server causes the server to perform the various steps in the methods described above.
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features.
  • the features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • a "computer-readable medium” may be any device that can contain, store, communicate, propagate or transmit a program for use in or in conjunction with an instruction execution system, device or device.
  • computer-readable media include the following: electrical connection with one or more wires (electronic device), portable computer disk case (magnetic device), random access memory (RAM), Read Only Memory (ROM), Erasable and Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and Portable Compact Disc Read Only Memory (CDROM).
  • the computer-readable medium may even be paper or other suitable medium on which the program can be printed, since the program can be read, for example, by optically scanning the paper or other medium, followed by editing, interpretation or other suitable processing if necessary.
  • the program is processed electronically and stored in computer memory.
  • various parts of the present disclosure may be implemented in hardware, software, firmware or a combination thereof.
  • various steps or methods may be implemented by software or firmware stored in memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware as in another embodiment, it can be implemented by any one or a combination of the following techniques known in the art: a discrete Logic circuits, ASICs with suitable combinational logic gates, Programmable Gate Arrays (PGA), Field Programmable Gate Arrays (FPGA), etc.
  • each functional unit in each embodiment of the present disclosure may be integrated into one processing module, each unit may exist separately physically, or two or more units may be integrated into one module.
  • the above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules. If the integrated modules are realized in the form of software function modules and sold or used as independent products, they can also be stored in a computer-readable storage medium.
  • the storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, and the like.

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Abstract

一种差速锁控制系统、方法和车辆，差速锁控制系统包括控制器（101），以及分别与控制器连接的前桥差速锁（102）、中央差速锁（103）和后桥差速锁（104）；控制器，用于响应于接收到第一锁止指令，获取车辆的第一行驶速度和前轮轮速差，第一锁止指令用于指示前桥差速锁锁止；在中央差速锁和后桥差速锁均锁止的情况下，确定第一行驶速度和前轮轮速差是否满足第一预设锁止条件，并在第一行驶速度和前轮轮速差满足第一预设锁止条件的情况下，控制前桥差速锁锁止。通过差速锁控制系统，实现了三把差速锁的控制策略，从而避免单独使用前桥差速锁带来的转向限制问题，也能够降低前桥差速锁由于使用不当而发生故障的风险。

Description

差速锁控制系统、方法和车辆
相关申请的交叉引用
本公开要求在2021年05月21日提交中国专利局、申请号为202110558557.7、名称为“差速锁控制系统、方法和车辆”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及车辆控制领域，具体地，涉及一种差速锁控制系统、方法和车辆。
背景技术
差速锁系统是车辆传动系统的一部分，其主要功能是保证传动系统在不同路况条件下能够提供足够的牵引力。示例地，在一侧车轮打滑时，可通过差速锁系统将动力传递给另一侧车轮，帮助车辆脱离困境。但在部分场景下，若差速锁使用不当，会导致车辆的差速锁故障，而一旦发生差速锁故障，会导致陷车、溜车的安全风险，这对于正在驾驶的人员来说非常危险。
发明内容
为了解决上述差速锁使用不当的问题，本公开提供一种差速锁控制系统、方法和车辆。
第一方面，本公开提供了一种差速锁控制系统，包括控制器，以及分别与所述控制器连接的前桥差速锁，中央差速锁和后桥差速锁；
所述控制器，用于响应于接收到第一锁止指令，获取车辆的第一行驶速度和前轮轮速差，所述第一锁止指令用于指示所述前桥差速锁锁止；在所述中央差速锁和所述后桥差速锁均锁止的情况下，确定所述第一行驶速度和所述前轮轮速差是否满足第一预设锁止条件，并在所述第一行驶速度和所述前轮轮速差满足所述第一预设锁止条件的情况下，控制所述前桥差速锁锁止。
可选地，所述第一预设锁止条件包括：
所述第一行驶速度小于或者等于第一预设速度阈值；以及，
所述前轮轮速差小于或者等于第一预设轮速差阈值。
可选地，所述控制器，还用于响应于接收到第二锁止指令，获取车辆的第二行驶速度和车辆后轮轮速差，所述第二锁止指令用于指示所述后桥差速锁锁止；确定所述第二行驶速度和所述后轮轮速差是否满足第二预设锁止条件，并在所述第二行驶速度和所述后轮轮速差满足所述第二预设锁止条件的情况下，控制所述后桥差速锁锁止。
可选地，所述第二预设锁止条件包括：
所述第二行驶速度小于或者等于第二预设速度阈值；
所述后轮轮速差小于或者等于第二预设轮速差阈值；以及，
所述车辆处于非转向辅助模式。
可选地，所述控制器，还用于响应于接收到第三锁止指令，获取车辆的第三行驶速度和所述车辆的挡位，所述第三锁止指令用于指示所述中央差速锁锁止；在所述第三行驶速度和所述挡位满足第三预设锁止条件的情况下，控制所述中央差速锁锁止。
可选地，所述第三预设锁止条件包括：
所述第三行驶速度小于或者等于第三预设速度阈值；以及，
所述挡位为空挡。
可选地，所述控制器，还用于在所述前桥差速锁锁定的情况下，若接收到所述中央差速锁解锁指令或后桥差速锁解锁指令，则解锁所述前桥差速锁。
可选地，所述控制器，还用于在目标差速锁锁止的情况下，若所述车辆的行驶速度大于预设速度阈值，则展示告警信息，所述目标差速锁为所述前桥差速锁，所述中央差速锁和所述后桥差速锁中的一个或多个。
第二方面，本公开提供了一种差速锁控制方法，应用于差速锁控制系统中的控制器，所述差速锁控制系统包括所述控制器，以及分别与所述控制器连接的前桥差速锁，中央差速锁和后桥差速锁，所述方法包括：
响应于接收到第一锁止指令，获取车辆的第一行驶速度和前轮轮速差，所述第一锁止指令用于指示所述前桥差速锁锁止；
在所述中央差速锁和所述后桥差速锁均锁止的情况下，确定所述行驶速度和所述前轮轮速差是否满足第一预设锁止条件；
在所述行驶速度和所述前轮轮速差满足所述第一预设锁止条件的情况下，控制所述前桥差速锁锁止。
第三方面，本公开提供了一种车辆，所述车辆包括上述第一方面所述的差速锁控制 系统。
第四方面，本公开提供了一种计算处理设备，包括：
存储器，其中存储有计算机可读代码；以及
一个或多个处理器，当所述计算机可读代码被所述一个或多个处理器执行时，所述计算处理设备执行本公开第二方面实施例所提出的差速锁控制方法。
第五方面，本公开提供了一种计算机程序，包括计算机可读代码，当所述计算机可读代码在计算处理设备上运行时，导致所述计算处理设备执行本公开第二方面实施例所提出的差速锁控制方法。
第六方面，本公开提供了一种计算机可读存储介质，其中存储了本公开第五方面实施例所提出的计算机程序。
采用上述技术方案，差速锁控制系统包括控制器，以及分别与该控制器连接的前桥差速锁，中央差速锁和后桥差速锁；该控制器，用于实现三把锁差速锁的控制策略，包括：响应于接收到第一锁止指令，获取车辆的第一行驶速度和前轮轮速差，该第一锁止指令用于指示该前桥差速锁锁止；在中央差速锁和后桥差速锁均锁止的情况下，确定该第一行驶速度和该前轮轮速差是否满足第一预设锁止条件，并在该第一行驶速度和该前轮轮速差满足该第一预设锁止条件的情况下，控制该前桥差速锁锁止，从而实现了上述三把差速锁的控制策略，使得在本发明的技术方案中，前桥差速锁在后桥差速锁和中央差速锁均锁止的情况下才锁止，从而避免单独使用前桥差速锁带来的转向限制问题，也能够降低差速锁使用不当导致差速锁故障的风险，避免陷车、溜车的安全风险，提高了车辆的安全性。
本公开的其他特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本公开的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本公开，但并不构成对本公开的限制。在附图中：
图1是本公开实施例提供的一种差速锁控制系统的结构示意图；
图2是本公开实施例提供的一种差速锁控制方法的流程图；
图3是本公开实施例提供的车辆的框图。
图4为本公开实施例提供的一种计算处理设备的结构示意图。
图5为本公开实施例提供的一种用于便携式或者固定实现根据本发明的方法的程序 代码的存储单元的示意图。
具体实施方式
以下结合附图对本公开的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本公开，并不用于限制本公开。
需要说明的是，在本公开中，“第一”、“第二”等词汇，仅用于区分描述的目的，而不能理解为指示或暗示相对重要性，也不能理解为指示或暗示顺序；术语“S101”、“S102”、“S201”、“S202”等用于区别步骤，而不必理解为按照特定的顺序或先后次序执行方法步骤；下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。
首先，对本公开的应用场景进行说明。本公开可以应用于车辆的差速锁控制场景。当前车辆一般会配置中央差速锁或后桥差速锁中的一种，而同时配置上述两把差速锁(中央差速锁和后桥差速锁)时，可以对两把差速锁各自独立控制。进一步地，还可以配置三把差速锁，包括：前桥差速锁、后桥差速锁和中央差速锁。在部分场景下，若差速锁使用不当，会导致车辆的差速锁故障，例如在高速情况下锁止差速锁，会导致差速锁故障。而一旦发生差速锁故障，会导致陷车、溜车的安全风险，这对于正在驾驶的人员来说非常危险。
为了解决上述问题，本公开提供了一种差速锁控制系统、方法和车辆，差速锁控制系统包括控制器，以及分别与该控制器连接的前桥差速锁，中央差速锁和后桥差速锁；该控制器用于，响应于接收到用于指示前桥差速锁锁止的第一锁止指令，获取车辆的第一行驶速度、以及两个前轮的前轮轮速差；在中央差速锁和后桥差速锁均锁止的情况下，确定该第一行驶速度和该前轮轮速差是否满足第一预设锁止条件，并在该第一行驶速度和该前轮轮速差满足该第一预设锁止条件的情况下，控制该前桥差速锁锁止。这样，通过该系统，实现了三把差速锁的控制策略，使得前桥差速锁仅在后桥差速锁和中央差速锁均锁止的情况下才能锁止，从而避免单独使用前桥差速锁带来的转向限制问题，也能够降低前桥差速锁故障的风险。
以下结合附图对本公开的具体实施方式进行详细说明。
图1是本公开实施例提供的一种差速锁控制系统，如图1所示，该差速锁控制系统包括控制器101，以及分别与该控制器连接的前桥差速锁102，中央差速锁103和后桥差 速锁104；
该控制器101，用于响应于接收到第一锁止指令，获取车辆的第一行驶速度和前轮轮速差，该第一锁止指令用于指示该前桥差速锁锁止；在该中央差速锁和后桥差速锁均锁止的情况下，确定该第一行驶速度和该前轮轮速差是否满足第一预设锁止条件，并在该第一行驶速度和该前轮轮速差满足该第一预设锁止条件的情况下，控制该前桥差速锁锁止。
上述第一锁止指令可以是驾驶员通过车辆的前桥差速锁控制按键发出的锁止请求指令，该按键可以是实体按键，也可以是虚拟按键。
需要说明的是，车辆的前桥差速器承担车辆的转向功能，具有球笼、十字结等一系列转向机构和零部件，结构上相对后桥差速器略显脆弱。在前桥差速锁解锁情况下，差速器可以正常工作，也就是说车辆可以正常转向；但在前桥差速锁锁止的情况下，车辆转向过程中，左右两轮之间的转速差会使前桥差速器上的上述零部件会受到不同程度上的应力，会导致零部件的磨损。而且因为前桥差速锁前桥转向驱动桥存在转向制动，锁止了前轮间转速差，导致驾驶员转动方向盘沉重且转向回转力矩大，还会导致转弯半径增大，车辆出现拐不过来弯等现象。正是由于前桥差速锁的使用限制较多，容易损坏，因此，在本公开的实施例中，可以优先使用中央差速锁或后桥差速锁，也就是只有在该中央差速锁和后桥差速锁均锁止的情况下才能够控制该前桥差速锁锁止，从而避免单独使用前桥差速锁带来的转向限制问题，也能够降低差速锁使用不当导致差速锁故障的风险，避免陷车、溜车的安全风险，提高了车辆的安全性。
进一步地，上述该第一预设锁止条件可以包括：
该第一行驶速度小于或者等于第一预设速度阈值；以及，
该前轮轮速差小于或者等于第一预设轮速差阈值。
其中，该前轮轮速差用于表示车辆的两个前轮之间的轮速差，可以通过轮速传感器分别获取两个前轮的轮速，从而计算得到该前轮轮速差。该第一预设速度阈值和该第一预设轮速差阈值均可以根据经验值设定，或者根据车辆在不同工况下的差速器试验进行标定。示例地，该第一预设速度阈值可以为5千米/小时至40千米/小时之间的任意数值，例如10千米/小时、20千米/小时、或30千米/小时；该前轮轮速差可以为10转/分至50转/分之间的任意数值，例如20转/分、30转/分、或40转/分。
需要说明的是，在车速较高或前轮轮速差较大的情况下，将前桥差速锁锁止，会导 致差速锁瞬时受到较大的作用力冲击，会对差速锁造成磨损，影响差速锁的使用寿命。因此，通过本实施例，可以在高速或前轮轮速差较大的情况下，禁止将前桥差速锁锁止；在低速且前轮轮速差较小的情况下，控制前桥差速锁锁止，从而避免对前桥差速锁的磨损，延长前桥差速锁的使用寿命，提高车辆的安全性。
进一步地，该控制器，还用于在该前桥差速锁锁定的情况下，若接收到该中央差速锁解锁指令或后桥差速锁解锁指令，则解锁该前桥差速锁。
需要说明的是，该中央差速锁解锁指令也可以是车辆的分动器退出低速四驱模式的指令。
这样，将中央差速锁或后桥差速锁中任意一把差速锁解锁的同时，可以将前桥差速锁也解锁，从而避免前桥差速锁单独锁止的情况，能够降低前桥差速锁故障的风险。
可选地，该控制器，还可以用于在满足以下第一解锁条件的情况下，解锁该前桥差速锁。该第一解锁条件包括以下条件中的任意一种：
条件1-1、车辆的行驶速度大于第一预设解锁速度阈值。需要说明的是，该第一预设解锁速度阈值可以大于或等于上述第一预设速度阈值，并且在根据该条件1-1解锁该前桥差速锁后，若车辆的行驶速度再次回落至小于或等于第一预设速度阈值，不会自动锁止该前桥差速锁，以避免差速锁频繁锁止和解锁。示例地，该第一预设解锁速度阈值可以等于上述第一预设速度阈值；也可以是上述第一预设速度阈值与预设速度差的和值，该预设速度差可以是1千米/小时至20千米/小时之间的任意数值，例如，可以是5千米/小时、10千米/小时、或15千米/小时。
条件1-2、接收到前桥差速锁解锁指令。
条件1-3、接收到该中央差速锁解锁指令。
条件1-4、接收到后桥差速锁解锁指令。
这样，在行车条件变化后，可以及时解锁前桥差速锁，避免前桥差速锁受到磨损。
在本公开的另一实施例中，该控制器，还用于响应于接收到第二锁止指令，获取车辆的第二行驶速度和车辆后轮轮速差，该第二锁止指令用于指示该后桥差速锁锁止；确定该第二行驶速度和该后轮轮速差是否满足第二预设锁止条件，并在该第二行驶速度和该后轮轮速差满足该第二预设锁止条件的情况下，控制该后桥差速锁锁止。
其中，该第二预设锁止条件可以包括：
该第二行驶速度小于或者等于第二预设速度阈值；
该后轮轮速差小于或者等于第二预设轮速差阈值；以及，
该车辆处于非转向辅助模式。
其中，该后轮轮速差用于表示车辆的两个后轮之间的轮速差，可以通过轮速传感器分别获取两个后轮的轮速，从而计算得到该后轮轮速差。同样地，该第二预设速度阈值和该第二预设轮速差阈值也可以根据经验值设定，或者根据车辆在不同工况下的差速器试验进行标定。示例地，该第二预设速度阈值可以为5千米/小时至40千米/小时之间的任意数值，例如10千米/小时、20千米/小时、或30千米/小时；该后轮轮速差可以为10转/分至50转/分之间的任意数值，例如20转/分、30转/分、或40转/分。
这样，可以在恰当的行车条件下，根据第二锁止指令锁止后桥差速锁，避免后桥差速锁由于使用不当而发生故障。
同样地，该控制器，还可以用于在满足以下第二解锁条件的情况下，解锁该后桥差速锁。该第二解锁条件包括以下条件中的任意一种：
条件2-1、车辆的行驶速度大于第二预设解锁速度阈值。需要说明的是，该第二预设解锁速度阈值可以大于或等于上述第二预设速度阈值，并且在根据该条件2-1解锁该后桥差速锁后，若车辆的行驶速度再次回落至小于或等于第二预设速度阈值，不会自动锁止该后桥差速锁，以避免差速锁频繁锁止和解锁。示例地，该第二预设解锁速度阈值可以等于上述第二预设速度阈值；也可以是上述第二预设速度阈值与预设速度差的和值，该预设速度差可以是1千米/小时至20千米/小时之间的任意数值，例如，可以是5千米/小时、10千米/小时、或15千米/小时。
条件2-2、接收到后桥差速锁解锁指令。
这样，在行车条件变化后，可以及时解锁后桥差速锁，避免后桥差速锁由于使用不当而发生故障。
在本公开的另一实施例中，该控制器，还用于响应于接收到第三锁止指令，获取车辆的第三行驶速度和该车辆的挡位，该第三锁止指令用于指示该中央差速锁锁止；在该第三行驶速度和该挡位满足第三预设锁止条件的情况下，控制该中央差速锁锁止。
该第三预设锁止条件包括：
该第三行驶速度小于或者等于第三预设速度阈值；以及，
该挡位为空挡。
同样地，该第三预设速度阈值也可以根据经验值设定，或者根据车辆在不同工况下 的差速器试验进行标定。示例地，该第三预设速度阈值可以为5千米/小时至40千米/小时之间的任意数值，例如10千米/小时、20千米/小时、或30千米/小时。
这样，可以在恰当的行车条件下，根据第三锁止指令锁止中央差速锁，避免中央差速锁由于使用不当而发生故障。
同样地，该控制器，还可以用于在满足以下第三解锁条件的情况下，解锁该中央差速锁。该第三解锁条件包括接收到中央差速锁解锁指令。
在本公开的另一实施例中，该控制器，还可以用于展示超速告警信息，具体地，该控制器可以用于在目标差速锁锁止的情况下，若该车辆的行驶速度大于预设速度阈值，则展示告警信息，该目标差速锁为该前桥差速锁，该中央差速锁和该后桥差速锁中的一个或多个。
该预设速度阈值可以为根据经验设定的速度阈值。示例地，该预设速度阈值可以为5千米/小时至40千米/小时之间的任意数值，例如，10千米/小时、20千米/小时、或30千米每小时。
示例地，该控制器，可以在目标差速锁锁止的情况下，若车辆的形式速度大于预设速度阈值，则通过仪表指示灯闪烁的方式展示超速告警信息，以提示驾驶员降低车速。展示该超速告警信息的方式有多种，示例地，可以通过仪表指示灯闪烁的方式展示；也可以通过该目标差速锁对应的开关等闪烁的方式展示；也可以通过语音播报的方式展示。
这样，在超速情况下，可以通过展示告警信息，以提示驾驶员降低车速，避免差速锁由于使用不当而发生故障。
可选地，在该差速锁控制系统出现故障的情况下，可以展示故障报警信息，以便驾驶员及时发现故障，及时进行维修。展示该故障报警信息的方式可以是将仪表指示灯设置为黄色常亮(颜色可定义)，也可以是将开关指示灯设置为常亮。
图2是本公开实施例提供的一种差速锁控制方法的流程图，如图2所示，该方法的执行主体可以是上述差速锁控制系统中的控制器，该差速锁控制系统包括该控制器，以及分别与该控制器连接的前桥差速锁，中央差速锁和后桥差速锁，该方法包括：
S201、响应于接收到第一锁止指令，获取车辆的第一行驶速度和前轮轮速差。
其中，该第一锁止指令用于指示该前桥差速锁锁止。该第一锁止指令可以是驾驶员通过车辆的前桥差速锁控制按键发出的锁止请求指令，该按键可以是实体按键，也可以是虚拟按键。该第一行驶速度可以是通过车辆的速度传感器获取车辆当前的行驶速度。 该前轮轮速差用于表示车辆的两个前轮之间的轮速差，可以通过轮速传感器分别获取两个前轮的轮速，从而计算得到该前轮轮速差。
S202、在中央差速锁和后桥差速锁均锁止的情况下，确定该行驶速度和该前轮轮速差是否满足第一预设锁止条件。
其中，该第一预设锁止条件可以包括：
该第一行驶速度小于或者等于第一预设速度阈值；以及，
该前轮轮速差小于或者等于第一预设轮速差阈值。
S203、在该行驶速度和该前轮轮速差满足该第一预设锁止条件的情况下，控制该前桥差速锁锁止。
采用上述方法，通过响应于接收到第一锁止指令，获取车辆的第一行驶速度和前轮轮速差，该第一锁止指令用于指示该前桥差速锁锁止；在中央差速锁和后桥差速锁均锁止的情况下，确定该行驶速度和该前轮轮速差是否满足第一预设锁止条件；在该行驶速度和该前轮轮速差满足该第一预设锁止条件的情况下，控制该前桥差速锁锁止。从而可以优先使用中央差速锁或后桥差速锁，也就是只有在该中央差速锁和后桥差速锁均锁止的情况下才能够控制该前桥差速锁锁止，避免单独使用前桥差速锁带来的转向限制问题，也能够降低差速锁使用不当导致差速锁故障的风险，避免陷车、溜车的安全风险，提高了车辆的安全性。
在本公开的另一实施例中，该方法还可以包括：
在该前桥差速锁锁定的情况下，若接收到该中央差速锁解锁指令或后桥差速锁解锁指令，则解锁该前桥差速锁。
需要说明的是，该中央差速锁解锁指令也可以是车辆的分动器退出低速四驱模式的指令。
这样，将中央差速锁或后桥差速锁中任意一把差速锁解锁的同时，可以将前桥差速锁也解锁，从而避免前桥差速锁单独锁止的情况，能够降低前桥差速锁由于使用不当而发生故障的风险。
可选地，该方法还可以包括：在满足以下第一解锁条件的情况下，可以解锁该前桥差速锁。该第一解锁条件包括以下条件中的任意一种：
条件1-1、车辆的行驶速度大于第一预设解锁速度阈值。需要说明的是，该第一预设解锁速度阈值可以大于或等于上述第一预设速度阈值，并且在根据该条件1-1解锁该前 桥差速锁后，若车辆的行驶速度再次回落至小于或等于第一预设速度阈值，不会自动锁止该前桥差速锁，以避免差速锁频繁锁止和解锁。
条件1-2、接收到前桥差速锁解锁指令。
条件1-3、接收到该中央差速锁解锁指令。
条件1-4、接收到后桥差速锁解锁指令。
这样，在行车条件变化后，可以及时解锁前桥差速锁，避免前桥差速锁由于使用不当而发生故障。
在本公开的另一实施例中，该方法还可以包括：
首先，响应于接收到第二锁止指令，获取车辆的第二行驶速度和车辆后轮轮速差，该第二锁止指令用于指示该后桥差速锁锁止。
其次，确定该第二行驶速度和该后轮轮速差是否满足第二预设锁止条件。
最后，在该第二行驶速度和该后轮轮速差满足该第二预设锁止条件的情况下，控制该后桥差速锁锁止。
其中，该第二预设锁止条件可以包括：
该第二行驶速度小于或者等于第二预设速度阈值；
该后轮轮速差小于或者等于第二预设轮速差阈值；以及，
该车辆处于非转向辅助模式。
同样地，该第二预设速度阈值和该第二预设轮速差阈值也可以根据经验值设定，或者根据车辆在不同工况下的差速器试验进行标定。
这样，可以在恰当的行车条件下，根据第二锁止指令锁止后桥差速锁，避免后桥差速锁由于使用不当而发生故障。
同样地，该方法还可以包括在满足以下第二解锁条件的情况下，解锁该后桥差速锁。该第二解锁条件包括以下条件中的任意一种：
条件2-1、车辆的行驶速度大于第二预设解锁速度阈值。需要说明的是，该第二预设解锁速度阈值可以大于或等于上述第二预设速度阈值，并且在根据该条件2-1解锁该后桥差速锁后，若车辆的行驶速度再次回落至小于或等于第二预设速度阈值，不会自动锁止该后桥差速锁，以避免差速锁频繁锁止和解锁。
条件2-2、接收到后桥差速锁解锁指令。
这样，在行车条件变化后，可以及时解锁后桥差速锁，避免后桥差速锁由于使用不 当而发生故障。
在本公开的另一实施例中，该方法还包括：
首先，响应于接收到第三锁止指令，获取车辆的第三行驶速度和该车辆的挡位，该第三锁止指令用于指示该中央差速锁锁止；
其次，在该第三行驶速度和该挡位满足第三预设锁止条件的情况下，控制该中央差速锁锁止。
其中，该第三预设锁止条件包括：
该第三行驶速度小于或者等于第三预设速度阈值；以及，
该挡位为空挡。
同样地，该第三预设速度阈值也可以根据经验值设定，或者根据车辆在不同工况下的差速器试验进行标定。
这样，可以在恰当的行车条件下，根据第三锁止指令锁止中央差速锁，避免中央差速锁由于使用不当而发生故障。
同样地，该控制器，还可以用于在满足以下第三解锁条件的情况下，解锁该中央差速锁。该第三解锁条件包括接收到中央差速锁解锁指令。
在本公开的另一实施例中，该方法还可以包括展示超速告警信息，具体地，在目标差速锁锁止的情况下，若该车辆的行驶速度大于预设速度阈值，则展示告警信息，该目标差速锁为该前桥差速锁，该中央差速锁和该后桥差速锁中的一个或多个。
该预设速度阈值可以为根据经验设定的速度阈值，例如30千米每小时。
示例地，在目标差速锁锁止的情况下，若车辆的形式速度大于预设速度阈值，则通过仪表指示灯闪烁的方式展示超速告警信息，以提示驾驶员降低车速。展示该超速告警信息的方式有多种，示例地，可以通过仪表指示灯闪烁的方式展示；也可以通过该目标差速锁对应的开关等闪烁的方式展示；也可以通过语音播报的方式展示。
这样，在超速情况下，可以通过展示告警信息，以提示驾驶员降低车速，避免差速锁由于使用不当而发生故障。
图3是本公开实施例提供的一种车辆的框图，如图3所示，该车辆包括：上述差速锁控制系统。
为了实现上述实施例，本公开还提出了一种计算处理设备，包括：
存储器，其中存储有计算机可读代码；以及
一个或多个处理器，当所述计算机可读代码被所述一个或多个处理器执行时，所述计算处理设备执行前述的差速锁控制方法。
为了实现上述实施例，本公开还提出了一种计算机程序，包括计算机可读代码，当所述计算机可读代码在计算处理设备上运行时，导致所述计算处理设备执行前述的差速锁控制方法。
为了实现上述实施例，本公开还提出了一种计算机可读存储介质，其中存储了前述的计算机程序。
图4为本公开实施例提供了一种计算处理设备的结构示意图。该计算处理设备通常包括处理器1110和以存储器1130形式的计算机程序产品或者计算机可读介质。存储器1130可以是诸如闪存、EEPROM(电可擦除可编程只读存储器)、EPROM、硬盘或者ROM之类的电子存储器。存储器1130具有用于执行上述方法中的任何方法步骤的程序代码1151的存储空间1150。例如，用于程序代码的存储空间1150可以包括分别用于实现上面的方法中的各种步骤的各个程序代码1151。这些程序代码可以从一个或者多个计算机程序产品中读出或者写入到这一个或者多个计算机程序产品中。这些计算机程序产品包括诸如硬盘，紧致盘(CD)、存储卡或者软盘之类的程序代码载体。这样的计算机程序产品通常为如图5所示的便携式或者固定存储单元。该存储单元可以具有与图4的服务器中的存储器1130类似布置的存储段、存储空间等。程序代码可以例如以适当形式进行压缩。通常，存储单元包括计算机可读代码1151’，即可以由例如诸如1110之类的处理器读取的代码，这些代码当由服务器运行时，导致该服务器执行上面所描述的方法中的各个步骤。
以上结合附图详细描述了本公开的优选实施方式，但是，本公开并不限于上述实施方式中的具体细节，在本公开的技术构思范围内，可以对本公开的技术方案进行多种简单变型，这些简单变型均属于本公开的保护范围。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本公开的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施 例或示例的特征进行结合和组合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本公开的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现定制逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本公开的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本公开的实施例所属技术领域的技术人员所理解。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
应当理解，本公开的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。如，如果用硬件来实现和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
此外，在本公开各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。
上述提到的存储介质可以是只读存储器，磁盘或光盘等。尽管上面已经示出和描述了本公开的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本公开的限制，本领域的普通技术人员在本公开的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (13)

  1. 一种差速锁控制系统，其特征在于，包括控制器，以及分别与所述控制器连接的前桥差速锁，中央差速锁和后桥差速锁；
    所述控制器，用于响应于接收到第一锁止指令，获取车辆的第一行驶速度和前轮轮速差，所述第一锁止指令用于指示所述前桥差速锁锁止；
    在所述中央差速锁和所述后桥差速锁均锁止的情况下，确定所述第一行驶速度和所述前轮轮速差是否满足第一预设锁止条件，并在所述第一行驶速度和所述前轮轮速差满足所述第一预设锁止条件的情况下，控制所述前桥差速锁锁止。
  2. 根据权利要求1所述的系统，其特征在于，所述第一预设锁止条件包括：
    所述第一行驶速度小于或者等于第一预设速度阈值；以及，
    所述前轮轮速差小于或者等于第一预设轮速差阈值。
  3. 根据权利要求1所述的系统，其特征在于，所述控制器，还用于响应于接收到第二锁止指令，获取车辆的第二行驶速度和车辆后轮轮速差，所述第二锁止指令用于指示所述后桥差速锁锁止；确定所述第二行驶速度和所述后轮轮速差是否满足第二预设锁止条件，并在所述第二行驶速度和所述后轮轮速差满足所述第二预设锁止条件的情况下，控制所述后桥差速锁锁止。
  4. 根据权利要求3所述的系统，其特征在于，所述第二预设锁止条件包括：
    所述第二行驶速度小于或者等于第二预设速度阈值；
    所述后轮轮速差小于或者等于第二预设轮速差阈值；以及，
    所述车辆处于非转向辅助模式。
  5. 根据权利要求1所述的系统，其特征在于，所述控制器，还用于响应于接收到第三锁止指令，获取车辆的第三行驶速度和所述车辆的挡位，所述第三锁止指令用于指示所述中央差速锁锁止；在所述第三行驶速度和所述挡位满足第三预设锁止条件的情况下，控制所述中央差速锁锁止。
  6. 根据权利要求5所述的系统，其特征在于，所述第三预设锁止条件包括：
    所述第三行驶速度小于或者等于第三预设速度阈值；以及，
    所述挡位为空挡。
  7. 根据权利要求1所述的系统，其特征在于，所述控制器，还用于在所述前桥差速锁锁定的情况下，若接收到所述中央差速锁解锁指令或后桥差速锁解锁指令，则解锁所述前桥差速锁。
  8. 根据权利要求1至7任一项所述的系统，其特征在于，所述控制器，还用于在目标差速锁锁止的情况下，若所述车辆的行驶速度大于预设速度阈值，则展示告警信息，所述目标差速锁为所述前桥差速锁，所述中央差速锁和所述后桥差速锁中的一个或多个。
  9. 一种差速锁控制方法，其特征在于，应用于差速锁控制系统中的控制器，所述差速锁控制系统包括所述控制器，以及分别与所述控制器连接的前桥差速锁，中央差速锁和后桥差速锁，所述方法包括：
    响应于接收到第一锁止指令，获取车辆的第一行驶速度和前轮轮速差，所述第一锁止指令用于指示所述前桥差速锁锁止；
    在所述中央差速锁和所述后桥差速锁均锁止的情况下，确定所述行驶速度和所述前轮轮速差是否满足第一预设锁止条件；
    在所述行驶速度和所述前轮轮速差满足所述第一预设锁止条件的情况下，控制所述前桥差速锁锁止。
  10. 一种车辆，其特征在于，所述车辆包括上述权利要求1至8中任一项所述的差速锁控制系统。
  11. 一种计算处理设备，其特征在于，包括：
    存储器，其中存储有计算机可读代码；以及
    一个或多个处理器，当所述计算机可读代码被所述一个或多个处理器执行时，所述计算处理设备执行如权利要求9所述的差速锁控制方法。
  12. 一种计算机程序，包括计算机可读代码，当所述计算机可读代码在计算处理设 备上运行时，导致所述计算处理设备执行根据权利要求9所述的差速锁控制方法。
  13. 一种计算机可读存储介质，其中存储了如权利要求12所述的计算机程序。
PCT/CN2022/084628 2021-05-21 2022-03-31 差速锁控制系统、方法和车辆 WO2022242336A1 (zh)

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