WO2022262672A1 - 一种控制涉水模式差速锁的方法、系统及车辆 - Google Patents

一种控制涉水模式差速锁的方法、系统及车辆 Download PDF

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Publication number
WO2022262672A1
WO2022262672A1 PCT/CN2022/098387 CN2022098387W WO2022262672A1 WO 2022262672 A1 WO2022262672 A1 WO 2022262672A1 CN 2022098387 W CN2022098387 W CN 2022098387W WO 2022262672 A1 WO2022262672 A1 WO 2022262672A1
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Prior art keywords
vehicle
differential lock
wading
speed
control request
Prior art date
Application number
PCT/CN2022/098387
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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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Filing date
Publication date
Application filed by 长城汽车股份有限公司 filed Critical 长城汽车股份有限公司
Priority to EP22824152.7A priority Critical patent/EP4353994A4/en
Priority to BR112023026571A priority patent/BR112023026571A2/pt
Publication of WO2022262672A1 publication Critical patent/WO2022262672A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H48/00—Differential gearings
    • F16H48/20—Arrangements for suppressing or influencing the differential action, e.g. locking devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H48/00—Differential gearings
    • F16H48/20—Arrangements for suppressing or influencing the differential action, e.g. locking devices
    • F16H48/22—Arrangements for suppressing or influencing the differential action, e.g. locking devices using friction clutches or brakes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H48/00—Differential gearings
    • F16H48/20—Arrangements for suppressing or influencing the differential action, e.g. locking devices
    • F16H48/30—Arrangements for suppressing or influencing the differential action, e.g. locking devices using externally-actuatable means
    • F16H48/34—Arrangements for suppressing or influencing the differential action, e.g. locking devices using externally-actuatable means using electromagnetic or electric actuators
    • 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
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/344—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having a transfer gear
    • B60K17/346—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having a transfer gear the transfer gear being a differential gear
    • 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
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/344—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having a transfer gear
    • B60K17/346—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having a transfer gear the transfer gear being a differential gear
    • B60K17/3462—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having a transfer gear the transfer gear being a differential gear with means for changing distribution of torque between front and rear wheels
    • 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
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/348—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having differential means for driving one set of wheels, e.g. the front, at one speed and the other set, e.g. the rear, at a different speed
    • 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
    • F16H2048/204—Control of arrangements for suppressing differential actions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present application relates to the technical field of vehicle engineering, in particular to a method, system and vehicle for controlling a differential lock in wading mode.
  • the wading mode of the vehicle is a driving mode that is more conducive to the vehicle getting out of trouble when the vehicle is in a wading condition.
  • the current wading mode is divided into high-speed four-wheel drive wading mode and low-speed four-wheel drive wading mode.
  • high-speed four-wheel drive wading mode the high-speed four-wheel drive of the vehicle will cause serious sideslip, which will easily cause the vehicle to get trapped and unpredictable. Increased likelihood of risk.
  • low-speed four-wheel drive wading mode the steering of the vehicle is limited, and when the steering of the vehicle does not reach the steering required by the driver, the possibility of unpredictable risks increases.
  • the present application aims to propose a method, system and vehicle for controlling the differential lock in wading mode, so as to solve the serious problem of sideslip caused by high-speed four-wheel drive in wading mode, and to solve the problem of low-speed four-wheel drive in wading mode.
  • the problem of an increased possibility of unpredictable risks occurring when the steering of a driving vehicle is restricted so that the steering of the vehicle does not achieve the steering desired by the driver.
  • a method of controlling a wading mode differential lock comprising:
  • a control request is received
  • At least one of the center differential lock and the rear axle differential lock is controlled to be locked, so as to control the vehicle to be in a state corresponding to the control The requested wading mode.
  • the differential lock controlling the locking of the at least one remains locked until a next control request is received.
  • At least one of the central differential lock and the rear axle differential lock is controlled to be locked, so as to control the vehicle to be in the
  • the wading mode corresponding to the control request includes:
  • the central differential lock is controlled to be locked, so as to control the vehicle to be in a position corresponding to the high-speed wading control request.
  • High-speed wading mode In response to the high-speed wading control request, the central differential lock is controlled to be locked, so as to control the vehicle to be in a position corresponding to the high-speed wading control request.
  • control the central differential lock and the rear axle differential A lock is locked to control the vehicle to be in a low-speed wading mode corresponding to the low-speed wading control request.
  • the current state of the vehicle is in a preset state, including: the speed of the vehicle is lower than the preset speed, the speed difference between the left and right rear wheels of the vehicle is higher than the preset speed difference, and the steering assistance of the vehicle System is off.
  • the method for controlling the differential lock in the wading mode described in this application only locks the central differential lock in the high-speed wading mode, and does not lock the rear axle differential lock in conjunction with each other, so as to avoid locking the rear axle differential lock.
  • the sideslip problem occurs during high-speed 4WD driving in the wading mode; in the low-speed wading mode, only the central differential lock and the rear axle differential lock are locked, and the front axle differential is not linked. Lock, in order to avoid the possibility of unpredictable risks when the vehicle steering does not reach the steering required by the driver due to the limited steering of the vehicle caused by the locking of the front axle differential lock during low-speed driving in wading mode The problem of increased sexuality.
  • the locked differential lock will be in a locked state all the time when no further unlocking instruction is received from the user.
  • the differential lock is unlocked when it reaches the unlocking speed, but at this time the vehicle is in a slipping state, and the actual speed of the vehicle does not reach the speed displayed by the vehicle, resulting in a decrease in the ability of the vehicle to get out of trouble.
  • Another purpose of the present application is to propose a system for controlling the differential lock in the wading mode, so as to solve the serious problem of sideslip caused by high-speed four-wheel drive driving in the wading mode, and to solve the steering problem of the low-speed four-wheel drive vehicle in the wading mode. This problem increases the possibility of unpredictable risks when the vehicle does not steer as desired by the driver.
  • a system for controlling a differential lock in wading mode comprising:
  • a request receiving module configured to receive a control request
  • a determining module configured to determine the current state of the vehicle according to the control request
  • control module configured to control at least one of the central differential lock and the rear axle differential lock to lock in response to the control request when the current state of the vehicle is in a preset state, so as to control the vehicle to be in the A wading mode corresponding to the control request.
  • the system for controlling the differential lock in the wading mode has the same advantages as the above-mentioned method for controlling the differential lock in the wading mode relative to the prior art, and will not be repeated here.
  • Another object of the present application is to propose a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method for controlling the wading mode differential lock as proposed in the present application is implemented. step.
  • Another object of the present application is to propose an electronic device, including a memory, a processor, and a computer program stored in the memory and operable on the processor, and the processor implements the control as proposed in the present application when executed. Steps in the method of differential lock in ford mode.
  • Another purpose of the present application is to propose a vehicle to solve the serious problem of sideslip caused by high-speed four-wheel drive in wading mode, and to solve the problem that the steering of the low-speed four-wheel drive vehicle in wading mode is limited and the steering of the vehicle does not reach the driver.
  • a vehicle comprising: the above-mentioned system for controlling a differential lock in a wading mode.
  • the vehicle Compared with the prior art, the vehicle has the same advantages as the above-mentioned method for controlling the differential lock in the wading mode, and will not be repeated here.
  • FIG. 1 is a flow chart of a method for controlling a differential lock in a wading mode shown in an embodiment of the present application
  • Fig. 2 is an electronic control differential lock control strategy diagram of a method for controlling a wading mode differential lock according to an embodiment of the present application
  • Fig. 3 is a schematic diagram of a low-speed wading control request in a method for controlling a differential lock in a wading mode according to an embodiment of the present application;
  • Fig. 4 is a schematic diagram of a system for controlling a differential lock in a wading mode shown in an embodiment of the present application
  • FIG. 5 is a structural block diagram of an electronic device provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of a hardware structure of an electronic device provided by an embodiment of the present application.
  • Fig. 1 is a flowchart of a method for controlling a differential lock in a wading mode according to an embodiment of the present application.
  • the method for controlling the wading mode differential lock provided by the present application includes the following steps:
  • Step S11 A control request is received.
  • the user controls the body stability control system ESP to send a control request through a trigger operation, and the electronic differential lock in the vehicle receives the control request.
  • Step S12 Determine the current state of the vehicle according to the control request.
  • the electronic differential lock after receiving the control request, needs to determine the current state of the vehicle, and according to the current state of the vehicle, determine whether the vehicle in the current state satisfies switching to the wading mode corresponding to the control request.
  • Step S13 When the current state of the vehicle is in a preset state, in response to the control request, at least one of the central differential lock and the rear axle differential lock is controlled to be locked, so as to control the vehicle to be in a position corresponding to The wading mode requested by the control.
  • the electronic differential lock in the vehicle when it is determined that the current state of the vehicle is in a preset state that satisfies switching to the wading mode corresponding to the control request, the electronic differential lock in the vehicle performs a locking operation in response to the control request to complete the locking operation.
  • the electronic differential lock that prohibits the operation controls the vehicle to enter the wading mode corresponding to the control request.
  • the vehicle being in the wading mode corresponding to the control request includes: when the control request is a high-speed wading control request, controlling the central differential lock to lock in response to the high-speed wading control request, so that Controlling the vehicle to be in a high-speed wading mode corresponding to the high-speed wading control request; when the control request is a low-speed wading control request and it is determined that the current state of the vehicle is in a preset state, responding to the A low-speed wading control request, controlling the central differential lock and the rear axle differential lock to be locked, so as to control the vehicle to be in a low-speed wading mode corresponding to the low-speed wading control request.
  • the electronic differential lock when the control request received by the electronic differential lock is a high-speed wading control request, there is no need to determine whether the current state of the vehicle is in a preset state.
  • the electronic differential lock responds to the high-speed wading control request, and the electronic The central differential lock in the differential lock is locked, and the rear axle differential lock is not locked in linkage. After the central differential lock is locked, the vehicle is controlled to enter the high-speed wading mode corresponding to the high-speed wading control request.
  • Vehicles in the high-speed wading mode can perform high-speed four-wheel drive in a wading environment, and are not prone to sideslips, thus avoiding the rear axle differential lock when the vehicle is driving at a high speed in a wading environment.
  • the sideslip problem caused by the synchronous rotation of the rear two wheels of the vehicle.
  • the electronic differential lock When the control request received by the electronic differential lock is a low-speed wading control request, it is necessary to determine whether the front state of the vehicle is in a preset state. After the electronic differential lock receives the low-speed wading control request, when it is determined that the current state of the vehicle is in the preset state that satisfies switching to the low-speed wading mode, the electronic differential lock responds to the low-speed wading control request, and the electronic differential lock The central differential lock and the rear axle differential lock in the system are interlocked and locked. After the central differential lock and the rear axle differential lock are interlocked and locked, the vehicle is controlled to enter the low-speed wading mode corresponding to the low-speed wading control request. Vehicles in the low-speed wading mode can perform low-speed four-wheel drive in a wading environment, the steering of the vehicle is no longer restricted, and the possibility of unpredictable risks of the vehicle is reduced.
  • the method for controlling the differential lock in the wading mode of the present application requires that the vehicle can switch to the low-speed wading mode according to the control command when the current state of the vehicle is in a preset state that satisfies the switch to the low-speed wading mode, which avoids the need for the vehicle to switch to the low-speed wading mode.
  • the possibility of the vehicle entering the low-speed wading mode increases the possibility of unpredictable risks.
  • controlling at least one of the central differential lock and the rear axle differential lock to lock it also includes: controlling the at least one of the locked differential locks to maintain the locked state until receiving the following One-time control request.
  • the vehicle is very prone to skidding in various wading modes.
  • the actual speed of the vehicle does not reach the speed displayed by the vehicle.
  • the displayed speed of the vehicle reaches the unlocking of the electronic differential lock.
  • the unlocking operation is completed after the speed of the vehicle is reached, and at the same time, the unlocked differential lock will not be locked again. Therefore, when the vehicle is actually in a slipping state, the actual speed of the vehicle has not reached the unlocking speed of the electronic differential lock, but the electronic differential lock is automatically unlocked, which will cause the vehicle's ability to get out of trouble in a slipping state in a wading environment. reduce.
  • the electronic differential lock that controls the locking remains in the locked state until the driver presses the unlock switch, or the vehicle body stabilization system issues an exit signal.
  • the unlocking control instruction of the current wading mode the currently locked electronic differential lock performs an unlocking operation according to the received unlocking control instruction. Therefore, the vehicle's ability to get out of trouble in a vehicle slipping state in a wading environment is enhanced.
  • the current state of the vehicle is in a preset state, including: the vehicle speed of the vehicle is lower than the preset speed, the speed difference between the rear left and right wheels of the vehicle is higher than the preset speed difference, and the vehicle's Steering assistance is switched off.
  • the preset state of the vehicle is only for the low-speed wading mode.
  • the speed of the vehicle is lower than the preset speed to determine whether the vehicle is running at a low speed.
  • the speed difference between the left and right rear wheels of the vehicle is higher than the preset speed difference to determine whether the vehicle is in a slipping state and whether a stronger ability to get out of trouble is needed.
  • the purpose of turning off the steering assist system is to prevent the vehicle from turning suddenly and causing rollover at the moment of getting out of trouble.
  • the vehicle When the vehicle simultaneously satisfies that the speed of the vehicle is lower than the preset speed, the speed difference between the left and right rear wheels of the vehicle is higher than the preset speed difference, and the steering assist system of the vehicle is turned off, it is determined that the current state of the vehicle meets the requirements for switching to low-speed wading The default state of the mode.
  • the electronic differential lock of the vehicle After determining that the current state of the vehicle is in the preset state, the electronic differential lock of the vehicle responds to the received low-speed wading control request, and the central differential lock and the rear axle differential lock in the electronic differential lock are locked. After the differential lock and the rear axle differential lock are locked, the vehicle is controlled to enter the low-speed wading mode.
  • Fig. 2 is an electronically controlled differential lock control strategy diagram of a method for controlling a wading mode differential lock shown in an embodiment of the present application; Schematic diagram of the low-speed wading control request in the method of speed lock.
  • the user controls the body stability control system ESP through the switch to send the high-speed wading control request Wade_4H corresponding to the high-speed wading mode and the low-speed wading control request Wade_4L corresponding to the low-speed wading mode, and the electronic differential lock ELD In response to the control request issued by the vehicle stability control system ESP.
  • the central differential lock in the electronic differential lock ELD responds to Wade_4H of the high-speed wading mode to lock , after the central differential lock is locked, the vehicle is controlled to enter the high-speed wading mode.
  • the control request issued by the body stability control system ESP is the low-speed wading control request Wade_4L corresponding to the low-speed wading mode
  • the central differential lock and the electronic differential lock ELD The rear axle differential lock is locked in response to Wade_4L in the low-speed wading mode, and after the central differential lock and the rear axle differential lock are locked, the vehicle is controlled to enter the low-speed wading mode.
  • the signal of the low-speed wading control request Wade_4L is DrivingModeReq_ESP, and the signal value is 0x1.
  • the method for controlling the differential lock in the wading mode described in the embodiment of the present application at least includes the following advantages:
  • the method for controlling the differential lock in the wading mode described in this application only locks the central differential lock in the high-speed wading mode, and does not lock the rear axle differential lock in conjunction with each other, so as to avoid locking the rear axle differential lock. Finally, the sideslip problem occurs during high-speed 4WD driving in the wading mode; in the low-speed wading mode, only the central differential lock and the rear axle differential lock are locked, and the front axle differential lock is not linked. This reduces the possibility of unpredictable risks due to the limited steering of the vehicle caused by the locking of the front axle differential lock in the wading mode.
  • the locked differential lock will be in a locked state all the time when no further unlocking instruction is received from the user.
  • the differential lock is unlocked when it reaches the unlocking speed of the differential lock.
  • the vehicle may be in a slipping state, and the actual speed of the vehicle does not reach the speed displayed by the vehicle, resulting in a decrease in the vehicle's ability to get out of trouble. .
  • the vehicle in the low-speed wading mode, the vehicle will be controlled to enter the low-speed wading mode according to the control request only when the vehicle is in a set state. It avoids the problem that the vehicle enters the low-speed wading mode under the condition that the low-speed wading mode is not satisfied, which increases the possibility of unpredictable risks of the vehicle.
  • Fig. 4 is a schematic diagram of a system for controlling a differential lock in a wading mode according to an embodiment of the present application.
  • the system 400 for controlling the differential lock in wading mode provided by the present application includes:
  • a request receiving module 401 configured to receive a control request
  • a determining module 402 configured to determine the current state of the vehicle according to the control request
  • a control module 403 configured to control at least one of the central differential lock and the rear axle differential lock to lock in response to the control request when the current state of the vehicle is in a preset state, so as to control the vehicle In the wading mode corresponding to the control request.
  • the present application discloses a vehicle, and the working state of the vehicle is controlled by the above-mentioned system for controlling the differential lock in the wading mode.
  • embodiments of the embodiments of the present application may be provided as methods, devices, or computer program products. Therefore, the embodiment of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • Embodiments of the present application are described with reference to flowcharts and/or block diagrams of methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor or processor of other programmable data processing terminal equipment to produce a machine such that instructions executed by the computer or processor of other programmable data processing terminal equipment Produce means for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the The instruction means implements the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
  • the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative efforts.
  • the various component embodiments of the present application may be realized in hardware, or in software modules running on one or more processors, or in a combination thereof.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some or all components in the computing processing device according to the embodiments of the present application.
  • DSP digital signal processor
  • the present application can also be implemented as an apparatus or apparatus program (eg, computer program and computer program product) for performing a part or all of the methods described herein.
  • Such a program implementing the present application may be stored on a computer-readable medium, or may be in the form of one or more signals.
  • Such a signal may be downloaded from an Internet site, or provided on a carrier signal, or provided in any other form.
  • Fig. 5 shows a computing processing device that may implement a method according to the present application.
  • the computing processing device conventionally includes a processor 1010 and a computer program product or computer readable medium in the form of memory 1020 .
  • Memory 1020 may be electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM.
  • the memory 1020 has a storage space 1030 for program code 1031 for performing any method steps in the methods described above.
  • the storage space 1030 for program codes may include respective program codes 1031 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 described with reference to FIG. 6 .
  • the storage unit may have storage segments, storage spaces, etc. arranged similarly to the memory 1020 in the computing processing device of FIG. 5 .
  • the program code can eg be compressed in a suitable form.
  • the storage unit includes computer readable code 1031', i.e. code readable by, for example, a processor such as 1010, which code, when executed by a computing processing device, causes the computing processing device to perform the above-described methods. each step.

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Abstract

本申请提供了一种控制涉水模式差速锁的方法、系统及车辆，所述方法包括：接收到控制请求；根据所述控制请求，确定车辆的当前状态；在所述车辆的当前状态处于预设状态时，响应于所述控制请求，控制中央差速锁和后桥差速锁中的至少一者锁止，以控制所述车辆处于对应于所述控制请求的涉水模式。本申请所述的方法旨在解决涉水模式下高速四驱行驶导致的侧滑严重问题，以及解决涉水模式下低速四驱行驶车辆转向受限导致车辆转向未达到驾驶员所需的转向时，发生不可预知风险的可能性增加的问题。

Description

一种控制涉水模式差速锁的方法、系统及车辆
相关申请的交叉引用
本申请要求在2021年06月17日提交中国专利局、申请号为202110674856.7、名称为“一种控制涉水模式差速锁的方法、系统及车辆”的中国专利公开的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及车辆工程技术领域，特别涉及一种控制涉水模式差速锁的方法、系统及车辆。
背景技术
车辆的涉水模式为在车辆处于涉水工况时，更有利于车辆脱困的行驶模式。
目前的涉水模式分为高速四驱涉水模式和低速四驱涉水模式，对于高速四驱涉水模式，车辆高速四驱行驶将导致侧滑严重，容易使车辆发生陷车，发生不可预知风险的可能性增加。对于低速四驱涉水模式，车辆转向受限，在车辆转向未达到驾驶员所需的转向时，发生不可预知风险的可能性增加。
概述
有鉴于此，本申请旨在提出一种控制涉水模式差速锁的方法、系统及车辆，以解决涉水模式下高速四驱行驶导致的侧滑严重问题，以及解决涉水模式下低速四驱行驶车辆转向受限导致车辆转向未达到驾驶员所需的转向时，发生不可预知风险的可能性增加的问题。
为达到上述目的，本申请的技术方案是这样实现的：
一种控制涉水模式差速锁的方法，所述方法包括：
接收到控制请求；
根据所述控制请求，确定车辆的当前状态；
在所述车辆的当前状态处于预设状态时，响应于所述控制请求，控制中央差速锁和后桥差速锁中的至少一者锁止，以控制所述车辆处于对应于所述控制请求的涉水模式。
进一步地，在控制中央差速锁和后桥差速锁中的至少一者锁止之后，还包括：
控制所述至少一者锁止的差速锁保持锁止状态，直至接收到下一次的控制请求。
进一步地，所述在所述车辆的当前状态处于预设状态时，响应于所述控制请求，控制中央差速锁和后桥差速锁中的至少一者锁止，以控制所述车辆处于对应于所述控制请求的涉水模式，包括：
在所述控制请求为高速涉水控制请求时，响应于所述高速涉水控制请求，控制所述中央差速锁进行锁止，以控制所述车辆处于对应于所述高速涉水控制请求的高速涉水模式；
在所述控制请求为低速涉水控制请求，确定到所述车辆的当前状态处于预设状态时，响应于所述低速涉水控制请求，控制所述中央差速锁和所述后桥差速锁进行锁止，以控制所述车辆处于对应于所述低速涉水控制请求的低速涉水模式。
进一步地，所述车辆的当前状态处于预设状态，包括：所述车辆的车速低于预设速度、所述车辆的后左右轮转速差高于预设速度差，以及所述车辆的转向辅助系统处于关闭状态。
相对于现有技术，本申请所述的一种控制涉水模式差速锁的方法具有以下优势：
本申请所述的控制涉水模式差速锁的方法，在高速涉水模式只锁止中央差速锁，而不联动锁止后桥差速锁，以此避免因后桥差速锁锁止后，导致的在涉水模式下高速四驱行驶过程中的侧滑问题发生；在低速涉水模式下只锁止中央差速锁和后桥差速锁，而不联动锁止前桥差速锁，以此避免涉水模式下低速行驶过程中，因前桥差速锁锁止后造成的车辆转向受限，进而导致车辆转向未达到驾驶员所需的转向时，发生不可预知风险的可能性增加的问题。
本申请所述的控制涉水模式差速锁的方法，锁止后的差速锁，在未进一步接收到用户的解锁指令时，锁止后的差速锁将处于一直锁止的状态。以避免涉水模式下，差速锁在达到解锁速度时进行解锁，而此时车辆处于打滑状态，车辆的实际速度并未达到车辆显示的车速，由此导致的车辆脱困能力降低的问题。
同时，本申请所述的控制涉水模式差速锁的方法，在低速涉水模式下， 在接收到对应的控制请求后，只有在满足车辆处于设定的状态时，中央差速锁和后桥差速锁才会进行锁止，此时车辆进入低速涉水模式。避免了车辆在不满足进入低速涉水模式的工况下，进入到低速涉水模式而使得车辆发生不可预知风险的可能性增加的问题。
本申请的另一目的在于提出一种控制涉水模式差速锁的系统，以解决涉水模式下高速四驱行驶导致的侧滑严重问题，以及解决涉水模式下低速四驱行驶车辆转向受限导致车辆转向未达到驾驶员所需的转向时，发生不可预知风险的可能性增加的问题。
为达到上述目的，本申请的技术方案是这样实现的：
一种控制涉水模式差速锁的系统，所述系统包括：
请求接收模块，用于接收到控制请求；
确定模块，用于根据所述控制请求，确定车辆的当前状态；
控制模块，用于在所述车辆的当前状态处于预设状态时，响应于所述控制请求，控制中央差速锁和后桥差速锁中的至少一者锁止，以控制所述车辆处于对应于所述控制请求的涉水模式。
所述控制涉水模式差速锁的系统与上述控制涉水模式差速锁的方法相对于现有技术所具有的优势相同，在此不再赘述。
本申请的另一目的在于提出一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本申请所提出的所述控制涉水模式差速锁的方法中的步骤。
本申请的另一目的在于提出一种电子设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行时实现如本申请所提出的所述控制涉水模式差速锁的方法中的步骤。
本申请的另一目的在于提出一种车辆，以解决涉水模式下高速四驱行驶导致的侧滑严重问题，以及解决涉水模式下低速四驱行驶车辆转向受限导致车辆转向未达到驾驶员所需的转向时，发生不可预知风险的可能性增加的问题。
为达到上述目的，本申请的技术方案是这样实现的：
一种车辆，包括：上述控制涉水模式差速锁的系统。
所述车辆与上述控制涉水模式差速锁的方法相对于现有技术所具有的优势相同，在此不再赘述。
附图简述
构成本申请的一部分的附图用来提供对本申请的进一步理解，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1是本申请一实施例示出的控制涉水模式差速锁的方法的流程图；
图2是本申请一实施例示出的控制涉水模式差速锁的方法的电控差速锁控制策略图；
图3是本申请一实施例示出的控制涉水模式差速锁的方法中的低速涉水控制请求的示意图；
图4是本申请一实施例示出的控制涉水模式差速锁的系统的示意图；
图5为本申请实施例提供的一种电子设备的结构框图；并且
图6为本申请实施例提供的一种电子设备的硬件结构示意图。
详细描述
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
下面将参考附图并结合实施例来详细说明本申请。
图1是本申请一实施例示出的控制涉水模式差速锁的方法的流程图。参照图1，本申请提供的控制涉水模式差速锁的方法包括以下步骤：
步骤S11：接收到控制请求。
在本实施例中，用户通过触发操作，控制车身稳定控制系统ESP发出控制请求，车内的电子差速锁接收到该控制请求。
步骤S12：根据所述控制请求，确定车辆的当前状态。
在本实施例中，电子差速锁接收到该控制请求后，需要确定车辆的当前状态，根据车辆的当前状态，确定处于当前状态的车辆是否满足切换到该控制请求对应的涉水模式。
步骤S13：在所述车辆的当前状态处于预设状态时，响应于所述控制请求，控制中央差速锁和后桥差速锁中的至少一者锁止，以控制所述车辆处于对应于所述控制请求的涉水模式。
在本实施例中，在确定车辆的当前状态处于满足切换到该控制请求对应 的涉水模式的预设状态时，车辆中的电子差速锁响应于该控制请求，进行锁止操作，完成锁止操作的电子差速锁控制车辆进入对应于该控制请求的涉水模式。
在本申请中，所述在所述车辆的当前状态处于预设状态时，响应于所述控制请求，控制中央差速锁和后桥差速锁中的至少一者锁止，以控制所述车辆处于对应于所述控制请求的涉水模式，包括：在所述控制请求为高速涉水控制请求时，响应于所述高速涉水控制请求，控制所述中央差速锁进行锁止，以控制所述车辆处于对应于所述高速涉水控制请求的高速涉水模式；在所述控制请求为低速涉水控制请求，确定到所述车辆的当前状态处于预设状态时，响应于所述低速涉水控制请求，控制所述中央差速锁和所述后桥差速锁进行锁止，以控制所述车辆处于对应于所述低速涉水控制请求的低速涉水模式。
在本实施例中，在电子差速锁接收到的控制请求为高速涉水控制请求时，无需确定车辆的当前状态是否处于预设状态，电子差速锁响应于该高速涉水控制请求，电子差速锁中的中央差速锁进行锁止，而不联动锁止后桥差速锁，中央差速锁锁止后，控制车辆进入对应于该高速涉水控制请求的高速涉水模式。处于高速涉水模式的车辆可在涉水环境下进行高速四驱驱动，而不易发生侧滑，由此避免了车辆在涉水环境下，高速行进过程中因后桥差速锁锁止后，车辆后两轮处于同步转动导致的侧滑问题。
在电子差速锁接收到的控制请求为低速涉水控制请求时，需要确定车辆前状态是否处于预设状态。在电子差速锁接收到低速涉水控制请求后，在确定车辆当前状态处于满足切换到低速涉水模式的预设状态时，电子差速锁响应于该低速涉水控制请求，电子差速锁中的中央差速锁和后桥差速锁进行联动锁止，中央差速锁和后桥差速锁联动锁止后，控制车辆进入对应于该低速涉水控制请求的低速涉水模式。处于低速涉水模式的车辆可在涉水环境下进行低速四驱驱动，车辆转向不再受限，车辆发生不可预知风险的可能性降低。
本申请的控制涉水模式差速锁的方法，需要在车辆的当前状态处于满足切换到低速涉水模式下的预设状态时，车辆才能根据控制指令切换到低速涉水模式，避免了车辆在不满足进入低速涉水模式的工况下，进入到低速涉水模式而使得车辆发生不可预知风险的可能性增加的问题。
在本申请中，在控制中央差速锁和后桥差速锁中的至少一者锁止之后，还包括：控制所述至少一者锁止的差速锁保持锁止状态，直至接收到下一次 的控制请求。
在本实施例中，车辆在各种涉水模式下极易发生打滑，在车辆打滑过程中，车辆的实际车速并未达到车辆显示的车速，此时车辆的显示车速达到电子差速锁的解锁车速后完成解锁操作，同时，解锁后的差速锁将不会再上锁。因此在车辆实际处于打滑状态，车辆的实际车速并未达到电子差速锁的解锁车速，而电子差速锁却自动解锁，由此将造成车辆在涉水环境下的车辆打滑状态下的脱困能力降低。而本申请在车辆根据控制请求，控制车辆中的电子差速锁锁止后，控制锁止的电子差速锁一直保持为锁止状态，直至驾驶员按下解锁开关，或车身稳定系统发出退出当前涉水模式的解锁控制指令后，当前锁止的电子差速锁根据接收到的该解锁控制指令执行解锁操作。由此增强了车辆在涉水环境下的车辆打滑状态下的脱困能力。
在本申请中，所述车辆的当前状态处于预设状态，包括：所述车辆的车速低于预设速度、所述车辆的后左右轮转速差高于预设速度差，以及所述车辆的转向辅助系统处于关闭状态。
在本实施例中，车辆的预设状态仅针对于低速涉水模式。车辆的车速低于预设速度是为了确定车辆是否处于低速行驶过程中，车辆的后左右轮转速差高于预设速度差是为了确定车辆是否处于打滑状态，是否需要更强的脱困能力，车辆的转向辅助系统处于关闭状态是为了防止车辆在脱困的瞬间车辆发生突然转向导致侧翻。在车辆同时满足车辆的车速低于预设速度、车辆的后左右轮转速差高于预设速度差，以及车辆的转向辅助系统处于关闭状态时，确定车辆的当前状态处于满足切换到低速涉水模式的预设状态。在确定车辆的当前状态处于预设状态后，车辆的电子差速锁响应于接收到的低速涉水控制请求，电子差速锁中的中央差速锁和后桥差速锁进行锁止，中央差速锁和后桥差速锁进行锁止后，控制车辆进入低速涉水模式。
在本实施例中，图2是本申请一实施例示出的控制涉水模式差速锁的方法的电控差速锁控制策略图；图3是本申请一实施例示出的控制涉水模式差速锁的方法中的低速涉水控制请求的示意图。参照图2和图3，用户通过开关控制车身稳定控制系统ESP发出对应于高速涉水模式的高速涉水控制请求Wade_4H和对应于低速涉水模式的低速涉水控制请求Wade_4L，电子差速锁ELD响应于车身稳定控制系统ESP发出的控制请求。在车身稳定控制系统ESP发出的控制请求为对应于高速涉水模式的高速涉水控制请求Wade_4H时，电 子差速锁ELD中的中央差速锁响应于该高速涉水模式的Wade_4H，进行锁止，中央差速锁锁止后，控制车辆进入高速涉水模式。在车身稳定控制系统ESP发出的控制请求为对应于低速涉水模式的低速涉水控制请求Wade_4L时，在确定车辆的当前状态处于预设状态后，电子差速锁ELD中的中央差速锁和后桥差速锁响应于该低速涉水模式的Wade_4L，进行锁止，中央差速锁和后桥差速锁锁止后，控制车辆进入低速涉水模式。低速涉水控制请求Wade_4L的信号为DrivingModeReq_ESP，信号值为0x1。
综上所述，本申请实施例所述的控制涉水模式差速锁的方法至少包括以下优点：
本申请所述的控制涉水模式差速锁的方法，在高速涉水模式只锁止中央差速锁，而不联动锁止后桥差速锁，以此避免因后桥差速锁锁止后，涉水模式下高速四驱行驶过程中的侧滑问题发生；在低速涉水模式下只锁止中央差速锁和后桥差速锁，而不联动锁止前桥差速锁，以此降低涉水模式下，因前桥差速锁锁止后造成的车辆转向受限，发生不可预知风险的可能性。
本申请所述的控制涉水模式差速锁的方法，锁止后的差速锁，在未进一步接收到用户的解锁指令时，锁止后的差速锁将处于一直锁止的状态。以避免涉水模式下，差速锁在达到差速锁的解锁速度时进行解锁，而此时可能车辆处于打滑状态，车辆实际速度并未达到车辆显示的车速，导致的车辆脱困能力降低的问题。
同时，本申请所述的控制涉水模式差速锁的方法，在低速涉水模式下，只有在满足车辆处于设定的状态时，才会根据控制请求控制车辆进入低速涉水模式。避免了车辆在不满足进入低速涉水模式的工况下，进入到低速涉水模式而使得车辆发生不可预知风险的可能性增加的问题。
本申请实施例还提供了一种控制涉水模式差速锁的系统。图4是本申请一实施例示出的一种控制涉水模式差速锁的系统的示意图。参照图4，本申请提供的控制涉水模式差速锁的系统400包括：
请求接收模块401，用于接收到控制请求；
确定模块402，用于根据所述控制请求，确定车辆的当前状态；
控制模块403，用于在所述车辆的当前状态处于预设状态时，响应于所述控制请求，控制中央差速锁和后桥差速锁中的至少一者锁止，以控制所述车辆处于对应于所述控制请求的涉水模式。
本申请公开了一种车辆，所述车辆通过如上述控制涉水模式差速锁的系统控制车辆的工作状态。
本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。
本领域内的技术人员应明白，本申请实施例的实施例可提供为方法、装置、或计算机程序产品。因此，本申请实施例可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请实施例是参照根据本申请实施例的方法、终端设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理终端设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理终端设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理终端设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理终端设备上，使得在计算机或其他可编程终端设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程终端设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络 单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
本申请的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本申请实施例的计算处理设备中的一些或者全部部件的一些或者全部功能。本申请还可以实现为用于执行这里所描述的方法的一部分或者全部的设备或者装置程序(例如，计算机程序和计算机程序产品)。这样的实现本申请的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
例如，图5示出了可以实现根据本申请的方法的计算处理设备。该计算处理设备传统上包括处理器1010和以存储器1020形式的计算机程序产品或者计算机可读介质。存储器1020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1020具有用于执行上述方法中的任何方法步骤的程序代码1031的存储空间1030。例如，用于程序代码的存储空间1030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1031。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参考图6所述的便携式或者固定存储单元。该存储单元可以具有与图5的计算处理设备中的存储器1020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1031’，即可以由例如诸如1010之类的处理器读取的代码，这些代码当由计算处理设备运行时，导致该计算处理设备执行上面所描述的方法中的各个步骤。
尽管已描述了本申请实施例的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本申请实施例范围的所有 变更和修改。
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者终端设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者终端设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者终端设备中还存在另外的相同要素。
以上对本申请所提供的一种全地形控制方法、装置、存储介质及车辆，进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

Claims (9)

  1. 一种控制涉水模式差速锁的方法，其特征在于，应用于电子差速锁，所述方法包括：
    接收到控制请求；
    根据所述控制请求，确定车辆的当前状态；
    在所述车辆的当前状态处于预设状态时，响应于所述控制请求，控制中央差速锁和后桥差速锁中的至少一者锁止，以控制所述车辆处于对应于所述控制请求的涉水模式。
  2. 根据权利要求1所述的方法，其特征在于，在控制中央差速锁和后桥差速锁中的至少一者锁止之后，还包括：
    控制所述至少一者锁止的差速锁保持锁止状态，直至接收到下一次的控制请求。
  3. 根据权利要求1所述的方法，其特征在于，所述在所述车辆的当前状态处于预设状态时，响应于所述控制请求，控制中央差速锁和后桥差速锁中的至少一者锁止，以控制所述车辆处于对应于所述控制请求的涉水模式，包括：
    在所述控制请求为高速涉水控制请求时，响应于所述高速涉水控制请求，控制所述中央差速锁进行锁止，以控制所述车辆处于对应于所述高速涉水控制请求的高速涉水模式；
    在所述控制请求为低速涉水控制请求，确定到所述车辆的当前状态处于预设状态时，响应于所述低速涉水控制请求，控制所述中央差速锁和所述后桥差速锁进行锁止，以控制所述车辆处于对应于所述低速涉水控制请求的低速涉水模式。
  4. 根据权利要求1所述的方法，其特征在于，所述车辆的当前状态处于预设状态，包括：所述车辆的车速低于预设速度、所述车辆的后左右轮转速差高于预设速度差，以及所述车辆的转向辅助系统处于关闭状态。
  5. 一种控制涉水模式差速锁的系统，其特征在于，所述系统包括：
    请求接收模块，用于接收到控制请求；
    确定模块，用于根据所述控制请求，确定车辆的当前状态；
    控制模块，用于在所述车辆的当前状态处于预设状态时，响应于所述控制请求，控制中央差速锁和后桥差速锁中的至少一者锁止，以控制所述车辆处于对应于所述控制请求的涉水模式。
  6. 一种电子设备，其特征在于，包括处理器，存储器及存储在所述存储器上并可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如权利要求1-4任一项所述的控制涉水模式差速锁方法的步骤。
  7. 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1-4任一项所述的控制涉水模式差速锁方法的步骤。
  8. 一种可读存储介质，其特征在于，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如权利要求7所述的计算机程序。
  9. 一种车辆，通过如权利要求1～4任意一项所述的控制涉水模式差速锁方法控制所述车辆的工作状态。
PCT/CN2022/098387 2021-06-17 2022-06-13 一种控制涉水模式差速锁的方法、系统及车辆 WO2022262672A1 (zh)

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