WO2023000897A1

WO2023000897A1 - Vehicle control method and apparatus in four-wheel drive mode, and vehicle

Info

Publication number: WO2023000897A1
Application number: PCT/CN2022/100087
Authority: WO
Inventors: 王建
Original assignee: 长城汽车股份有限公司
Priority date: 2021-07-21
Filing date: 2022-06-21
Publication date: 2023-01-26
Also published as: CN114954433A

Abstract

A vehicle control method and apparatus in a four-wheel drive (4WD) mode, and a vehicle, which aim to solve the problem of poor vehicle safety performance. The control method comprises: obtaining a drive mode of a vehicle when a front axle differential lock engagement request is detected; when the drive mode of the vehicle is a 4WD high mode, prohibiting the front axle differential lock from being engaged; if the drive mode of the vehicle is a 4WD low mode, allowing the front axle differential lock to be engaged; and when the front axle differential lock is allowed to be engaged, changing the engagement state of the front axle differential lock according to the current speed of the vehicle and the current steering wheel angle of the vehicle. By changing the engagement state of the front axle differential lock, danger during driving is prevented from occurring to the vehicle, and by controlling the state of the front axle differential lock, the safety performance of the vehicle is effectively improved.

Description

Vehicle control method, device and vehicle in four-wheel drive mode

Cross References to Related Applications

This disclosure claims the priority of the Chinese patent application with the application number 202110825301.8 and titled "A Control Method, Device and Vehicle for a Vehicle in Four-Wheel Mode" submitted to the China Patent Office on July 21, 2021, the entire content of which is passed References are incorporated in this disclosure.

technical field

The embodiments of the present application relate to the technical field of automobiles, and in particular, to a control method and device for a vehicle in four-wheel drive mode, and the vehicle.

Background technique

The transfer case is an important component of the vehicle power system. Its main function is to distribute the power of the power transmission to the front and rear drive shafts, and transmit the torque to the four wheels through the main reduction and drive shafts, thereby realizing four-wheel drive. When the transfer case is in mode, the transfer case will rigidly lock the front and rear output shafts, and output power according to 1:1, which is used for driving on muddy and sandy ground; when the transfer case is in mode, the transfer case will transfer the output of the transmission The torque amplification is more than 2.5 times, so that the front and rear axles can obtain greater input torque, improve the dynamic performance of the vehicle, and calmly face non-paved roads and road conditions with complex terrain.

In the prior art, when the vehicle is running at high speed, when the user controls the differential lock to be engaged, the steering wheel angle is too large when turning, which is likely to cause the risk of vehicle loss of control or rollover, and the safety performance is poor.

Contents of the invention

The embodiment of the present application is to provide a control method, device and vehicle for a vehicle in four-wheel drive mode, aiming at solving the problem of poor safety performance of the vehicle.

The first aspect of the embodiments of the present application provides a vehicle control method, the control method includes:

Acquiring the driving mode of the vehicle when the request to mount the front axle differential lock is detected;

When the driving mode of the vehicle is the high-speed four-wheel drive mode, the front axle differential lock is prohibited from being engaged;

When the driving mode of the vehicle is the low-speed four-wheel drive mode, the front axle differential lock is allowed to be engaged;

In the case that the front axle differential lock is allowed to be hung in, the state of the front axle differential lock is changed according to the current vehicle speed of the vehicle and the current steering wheel angle of the vehicle.

Optionally, changing the engaged state of the front axle differential lock according to the current steering wheel angle of the vehicle and the current speed of the vehicle includes:

When the current vehicle speed exceeds the vehicle speed threshold and the steering wheel rotation angle exceeds the rotation angle threshold, change the engaged state of the front axle differential lock to the disconnected state;

The method also includes:

The steering wheel angle of the vehicle is detected in real time, and when it is detected that the steering wheel angle is smaller than the rotation angle threshold, the front axle differential lock is allowed to be re-engaged.

Optionally, the control method also includes,

When the vehicle is in a high-speed four-wheel drive mode, the vehicle speed threshold is determined as a first threshold;

When the vehicle is in a low-speed four-wheel drive mode, the vehicle speed threshold is determined as a second threshold;

Wherein, the first threshold is greater than the second threshold.

Optionally, when the current vehicle speed exceeds a vehicle speed threshold and the steering wheel angle exceeds a rotation angle threshold, outputting a reduced engine torque request, so that the engine reduces output torque in response to the reduced engine torque request.

Optionally, after outputting the reduced engine torque request to cause the engine to reduce the output torque in response to the reduced engine torque request, the control method further includes,

Detecting in real time whether the steering wheel angle of the vehicle is less than the angle threshold;

When the steering wheel rotation angle is smaller than the rotation angle threshold, the engine is controlled to output torque according to the actual torque request of the vehicle.

Optionally, the method also includes,

When the current vehicle speed of the vehicle exceeds the vehicle speed threshold, the instrument is controlled to issue a high vehicle speed warning;

When the steering wheel rotation angle exceeds the rotation angle threshold, the instrument is driven to issue an operation danger warning.

Optionally, the control method also includes,

When the driving mode of the vehicle is the high-speed four-wheel drive mode, the front axle differential lock is prohibited from being mounted, and the instrument is controlled to issue a warning that the front axle differential lock is prohibited from being mounted,

Optionally, the control method also includes,

When the driving mode of the vehicle is the low-speed four-wheel drive mode, the front axle differential lock is allowed to be engaged, and when the front axle differential lock is engaged, the instrument is controlled to issue a front axle differential lock alert.

Optionally, the control method also includes,

Obtain the status information of the rear axle differential lock;

When the state information of the rear axle differential lock indicates that the rear axle differential lock is engaged, the instrument is driven to issue a warning that the rear axle differential lock is engaged.

The second aspect of the embodiment of the present application provides a control device, characterized in that the control device includes:

A state acquiring module, configured to acquire the driving mode of the vehicle when the request for hanging the front axle differential lock is detected;

The transfer case control module is used to prohibit the front axle differential lock from being engaged when the driving mode of the vehicle is a high-speed four-wheel drive mode;

And when the driving mode of the vehicle is the low-speed four-wheel drive mode, the front axle differential lock is allowed to be engaged;

And under the condition that the front axle differential lock is allowed to be engaged, the engaged state of the front axle differential lock is changed according to the current vehicle speed of the vehicle and the current steering wheel angle of the vehicle.

A third aspect of the embodiments of the present application provides a vehicle, including the control device, so as to implement the above control method.

Beneficial effect:

The present application provides a vehicle control method, device and vehicle in the four-wheel drive mode. When the vehicle is in the high-speed four-wheel drive mode, the vehicle speed is fast and the vehicle torque is relatively small. When the front axle differential lock is engaged and the driver turns It is easy to roll over, so when the driving mode of the vehicle is the high-speed four-wheel drive mode, the front axle differential lock is prohibited; when the driving mode is the low-speed four-wheel drive mode, the front axle differential lock is allowed to improve the vehicle's grip When the front axle differential lock is engaged, obtain the current vehicle speed information and steering wheel angle information, and judge the current vehicle condition. Change to avoid the danger of the vehicle during driving, and effectively improve the safety performance of the vehicle by controlling the state of the front axle differential lock.

The above description is only an overview of the technical solution of the present disclosure. In order to better understand the technical means of the present disclosure, it can be implemented according to the contents of the description, and in order to make the above and other purposes, features and advantages of the present disclosure more obvious and understandable , the specific embodiments of the present disclosure are enumerated below.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or related technologies, the following will briefly introduce the drawings that need to be used in the descriptions of the embodiments or related technologies. Obviously, the drawings in the following description are the For some disclosed embodiments, those skilled in the art can also obtain other drawings based on these drawings without any creative work.

FIG. 1 is a schematic flow diagram of a control method proposed in an embodiment of the present application;

Fig. 2 is a schematic flow diagram of hanging the front axle differential lock proposed by an embodiment of the present application;

Fig. 3 is a schematic flow chart of torque reduction proposed by an embodiment of the present application;

Fig. 4 is a schematic flow chart of rear axle differential warning proposed by an embodiment of the present application;

Fig. 5 is a block diagram of a control device proposed by an embodiment of the present application;

FIG. 6 is a schematic diagram of modules of an electronic device proposed by an embodiment of the present application;

Figure 7 schematically illustrates a block diagram of a computing processing device for performing a method according to the present disclosure; and

Fig. 8 schematically shows a storage unit for holding or carrying program codes implementing the method according to the present disclosure.

Description of reference numerals: 7. Control device; 71. Status acquisition module; 72. Transfer case control module; 73. Information acquisition module; 74. Alarm module.

specific embodiment

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

The transfer case is an important component of the vehicle power system. Its main function is to distribute the power of the power transmission to the front and rear drive shafts, and transmit the torque to the four wheels through the main reduction and drive shafts, thereby realizing four-wheel drive. The transfer case usually includes a high-speed four-wheel drive mode and a low-range four-wheel drive mode. When the transfer case is in the high-speed four-wheel drive mode, the transfer case will rigidly lock the front and rear output shafts, and output power at a ratio of 1:1 for driving on mud and sandy ground; when the transfer case is in the low-speed four-wheel drive mode, the split case will The actuator will amplify the output torque of the transmission by more than 2.5 times, so that the front and rear axles can obtain greater input torque, improve the power of the vehicle, and calmly face non-paved roads and road conditions with complex terrain. By switching the transfer case mode, the power performance and fuel economy of the vehicle under different road conditions can be improved.

In related technologies, when driving on non-paved roads, when the front axle differential lock is engaged, the front wheels of the vehicle that can lift the vehicle rotate at the same speed. Turning when the vehicle speed is fast will easily cause rollover, and the vehicle safety is low.

In view of this, referring to Fig. 1, the embodiment of the present application proposes a control method for a vehicle in four-wheel drive mode:

S1, when a request to engage the front axle differential lock is detected, obtain the driving mode of the vehicle;

In some embodiments, when the vehicle is running, the driver sends a mode request to the vehicle by controlling the mode control switch, including a high-speed four-wheel drive mode and a low-speed four-wheel drive mode, for adapting to different road surfaces.

In one embodiment, when the vehicle is driven on muddy or sandy ground and the vehicle enters the high-speed four-wheel drive mode, the center axle differential lock locks the front drive shaft and the rear drive shaft of the vehicle so that the front drive shaft of the vehicle The torque of the shaft and the rear drive shaft is the same, so as to avoid the slippage of any tire of the vehicle and cause the vehicle to get stuck; when the vehicle is on a non-paved road, the vehicle is driven into a low-speed four-wheel drive mode, and the vehicle will amplify the output torque of the transmission by more than 2.5 times to make the front and rear The axle gets more input torque, which improves the dynamic performance of the vehicle.

S2, when the driving mode of the vehicle is the high-speed four-wheel drive mode, the front axle differential lock is prohibited from being engaged;

When the vehicle is in the high-speed four-wheel drive mode, the torque of the vehicle is small, and the speed is high under the same power. When the vehicle needs to turn, the speed on both sides of the front wheels is the same, and it is easy to roll over. Therefore, it is forbidden to mount the front axle differential lock. Effectively prevent the driver from failing to grasp the speed of the vehicle when the front axle differential lock is engaged, causing the vehicle to roll over when turning.

S3, when the driving mode of the vehicle is the low-speed four-wheel drive mode, the front axle differential lock is allowed to be engaged;

When the vehicle is in the low-speed four-wheel drive mode, the torque of the vehicle is relatively large, and the speed of the vehicle is low under the same power, so the safety is high, and the front axle differential lock is allowed to be engaged to improve the driving performance of the vehicle.

In one example, when the vehicle is in the low-speed four-wheel drive mode, it starts to acquire the differential lock signal, and when the front axle differential lock is detected, the front axle differential lock is driven into the front axle differential .

S4. Under the condition that the front axle differential lock is allowed to be engaged, the state of engaging the front axle differential lock is changed according to the current vehicle speed and the current steering wheel angle of the vehicle.

When the front axle differential lock is allowed, that is, when the vehicle is in the low-speed four-wheel drive mode, the vehicle speed is monitored. When the vehicle speed is too fast, the vehicle is prone to danger when turning, so the steering wheel angle is detected. When it is detected that the vehicle needs to turn, the hanging state of the front axle differential lock is changed to avoid danger to the vehicle during driving.

Among them, according to the current steering wheel angle of the vehicle and the current speed of the vehicle, the hanging state of the front axle differential lock is changed, referring to Figure 2, including:

S401, when the current vehicle speed exceeds the vehicle speed threshold and the steering wheel rotation angle exceeds the rotation angle threshold, change the engaged state of the front axle differential lock to the disconnected state;

S402. Real-time detection of the steering wheel angle of the vehicle, and when it is detected that the steering wheel angle is smaller than the steering angle threshold, allow the front axle differential lock to be re-engaged.

When the vehicle is in the low-speed four-wheel drive mode, the differential lock signal is acquired, and when the front axle differential lock is acquired, the front axle differential lock is engaged with the front axle differential of the vehicle. Obtain the vehicle speed signal and the gear position signal of the transmission to determine the current slave speed of the vehicle.

When the current speed exceeds the speed threshold, that is, the vehicle speed reaches a dangerous state. At this time, the vehicle is prone to danger when turning, so the steering wheel angle signal is obtained. When the steering wheel angle signal reaches the corner threshold, the vehicle enters the turning state, driving the front axle differential lock The hooked state is changed to the disconnected state, even if the front axle differential lock is separated from the front axle differential of the vehicle, it can effectively prevent the vehicle from rolling over when turning.

After the vehicle turns, it is necessary to turn the steering wheel back, and the steering wheel angle decreases. Therefore, when the steering wheel angle is smaller than the threshold value, it can be considered that the vehicle is turning. Therefore, the front axle differential lock is allowed to be re-engaged, and the differential lock can be obtained again. signal, when the request to engage the front axle differential lock is acquired, the front axle differential lock is engaged to the front axle differential of the vehicle.

In some embodiments, when the driving mode of the vehicle is the high-speed four-wheel drive mode, the front axle differential lock is prohibited from being engaged, and the control instrument issues a warning that the front axle differential lock is prohibited from being engaged;

When the driving mode of the vehicle is the low-speed four-wheel drive mode, the front axle differential lock is allowed to be engaged. When the front axle differential lock is engaged, the control instrument will issue a warning for the front axle differential lock.

Through the above-mentioned instrument, it will issue a warning of prohibiting the installation of the front axle differential lock or a warning of the installation of the front axle differential lock to remind the driver to operate safely and avoid danger caused by improper operation of the driver, or repeated operations will affect the driving of the vehicle.

Wherein, when the vehicle is in the high-speed four-wheel drive mode, the vehicle speed threshold is determined as the first threshold;

When the vehicle is in the low-speed four-wheel drive mode, the vehicle speed threshold is determined as the second threshold;

Wherein, the first threshold is greater than the second threshold.

When the vehicle is in different driving modes, due to the different vehicle torque, the vehicle speed when the vehicle reaches a dangerous state is also different, that is, the vehicle speed thresholds are different in different driving modes, so the vehicle speed threshold is determined as the first threshold when the vehicle is in the high-speed four-wheel drive mode , when the vehicle is in the low-speed four-wheel drive mode, the vehicle speed threshold is determined as the second threshold, and the first threshold is greater than the second threshold, and then the vehicle speed threshold is changed according to the driving mode, so as to realize the determination of the vehicle condition according to the performance of the driving mode in different driving modes .

In one embodiment, when the vehicle is in the high-speed four-wheel drive mode, the first threshold may be 80km/h; when the vehicle is in the low-speed four-wheel drive mode, the second threshold may be 40km/h; in other embodiments, the vehicle speed The threshold may be determined based on vehicle performance.

In some embodiments, a reduced engine torque request is output to cause the engine to reduce output torque in response to the reduced engine torque request when the current vehicle speed exceeds a vehicle speed threshold and the steering wheel angle exceeds a rotation angle threshold.

When the vehicle exceeds a certain speed, the wheel speed of the vehicle is relatively high. When the vehicle is turning, the centrifugal force of the vehicle will easily cause one side of the wheel to float in the air and cause idling, which will cause the wheel speed difference between the two ends of the same output shaft of the vehicle to be too large. When the vehicle When a large torque is output, it is easy to cause damage to the differential of the vehicle, that is, when the vehicle speed reaches the moving threshold and the steering wheel angle exceeds the angle threshold, the vehicle is prone to excessive wheel speed difference at both ends, so a request to reduce the engine torque is sent to the engine to cause the engine to reduce output torque in response to a reduced engine torque request, thereby reducing damage to the differential.

After outputting the reduced engine torque request to cause the engine to reduce the output torque in response to the reduced engine torque request, referring to FIG. 3 , the control method further includes:

S501, detecting in real time whether the steering wheel angle of the vehicle is less than the angle threshold;

S502. When the steering wheel angle is smaller than the angle threshold, control the engine to output torque according to the actual torque request of the vehicle.

The steering wheel angle of the vehicle is detected in real time. When the steering wheel angle is less than the threshold value of the steering wheel, the turning action of the vehicle is completed. Therefore, the engine is controlled to output torque according to the actual torque request of the vehicle, so that the vehicle can regain power. The actual torque request of the vehicle is based on the actual torque of the vehicle. Gear position information and accelerator pedal information are determined.

In some embodiments, when the current vehicle speed of the vehicle exceeds the vehicle speed threshold, the control instrument issues a high vehicle speed warning;

When the steering wheel angle exceeds the angle threshold, the instrument is driven to issue an operation hazard warning.

When the current vehicle speed exceeds the vehicle speed threshold, the vehicle enters a dangerous state. Therefore, the control instrument issues a high-speed warning to remind the driver that the vehicle speed is too high and slow down. At the same time, a sound alarm can be issued to improve the warning effect.

When the steering wheel angle exceeds the threshold value, the vehicle turning angle is too large, and the vehicle is prone to the danger of overturning. Therefore, the control instrument will issue a warning of excessive rotation angle, and at the same time, it can also issue a sound alarm to improve the warning effect.

Referring to Fig. 4, in some embodiments, the control method also includes:

S601, acquiring status information of the rear axle differential lock;

S602. When the status information of the rear axle differential lock indicates that the rear axle differential lock is engaged, the instrument is driven to issue a warning for the engagement of the rear axle differential lock.

During driving, the vehicle acquires the differential lock signal. When the status information of the rear axle differential lock is detected, indicating that the rear axle differential lock is engaged, the center axle differential lock and the rear axle differential lock of the vehicle are engaged. At the same time, the instrument is driven to issue a warning that the rear axle differential lock is engaged, reminding the driver to operate safely, avoiding danger caused by improper operation of the driver, or repeated operations affecting the driving of the vehicle.

In a specific embodiment, during the running of the vehicle, the driving mode signal of the vehicle is acquired, and the vehicle is driven into a high-speed four-wheel drive mode or a low-speed four-wheel drive mode according to the drive mode signal. Acquire the differential signal of the vehicle, and when the request for the rear axle differential lock is detected, control the center axle differential lock and the rear axle differential lock of the vehicle to be engaged, and at the same time drive the instrument to issue the rear axle differential lock When a request to mount the front axle differential lock is detected, if the vehicle is in the high-speed four-wheel drive mode, the front axle differential lock is prohibited from being mounted, and the instrument is driven to issue a warning of prohibiting the front axle differential lock to improve vehicle safety. If the vehicle is in the low-speed four-wheel drive mode, the front axle differential lock is allowed to be engaged. When the front axle differential lock is engaged, the driving instrument will issue a warning for the front axle differential lock.

Then obtain the current speed of the vehicle, and determine the speed threshold according to the driving mode of the vehicle. When the current speed of the vehicle reaches the speed threshold corresponding to the current driving mode, the instrument will be driven to issue a warning of excessive vehicle speed, and the current steering wheel angle will be obtained. When the steering wheel angle is large When the steering wheel angle is smaller than the threshold value, the engine is controlled to output torque according to the actual torque request of the vehicle, so that The vehicle regains power.

When the vehicle is in low-speed four-wheel drive mode and the steering wheel angle is relatively large, change the engaged state of the front axle differential lock to the off state, and allow the front axle differential lock to be engaged again when it is detected that the steering wheel angle is less than the angle threshold.

Referring to Fig. 5; the present application also provides a control device, and the control device 7 includes:

A state acquiring module 71, configured to acquire the driving mode of the vehicle when a request for hanging the front axle differential lock is detected;

Wherein, the driving mode of the vehicle is controlled by the mode switch of the vehicle, and the signal of the mode switch is obtained through the state acquisition module, so as to determine the driving mode of the vehicle.

The differential lock lock-in request is sent by the differential control switch to control the differential lock lock-in or disconnection, where the differential lock includes the front axle differential lock, the central axle differential lock and the rear axle differential lock, The state acquisition module obtains the differential lock hook-in request by acquiring and analyzing the signal of the differential control switch.

The transfer case control module 72 is used to prohibit the front axle differential lock from being engaged when the driving mode of the vehicle is a high-speed four-wheel drive mode;

And in the case that the front axle differential lock is allowed to be engaged, the state of the front axle differential lock is changed according to the current speed of the vehicle and the current steering wheel angle of the vehicle.

The control device also includes an information acquisition module 73, which is used for the current steering wheel angle of the vehicle and the current speed of the vehicle, so as to realize the following steps through the transfer case control module 72:

Carry out real-time detection of the steering wheel angle of the vehicle, and allow the front axle differential lock to be re-engaged when it is detected that the steering wheel angle is less than the threshold value of the steering wheel.

Wherein, the information acquiring module 73 determines the current vehicle speed of the vehicle by acquiring the vehicle speed signal and the gear position signal of the transmission, and determines the steering wheel angle by acquiring the steering wheel angle signal.

Wherein, the transfer case control module 72 is also used to realize the following steps:

When the vehicle is in the high-speed four-wheel drive mode, the vehicle speed threshold is determined as the first threshold;

Wherein, the first threshold is greater than the second threshold.

The transfer case control module 72 is also used to realize the following steps:

A reduced engine torque request is output to cause the engine to reduce output torque in response to the reduced engine torque request when the current vehicle speed exceeds the vehicle speed threshold and the steering wheel angle exceeds the rotation angle threshold.

And, detect in real time whether the steering wheel angle of the vehicle is less than the angle threshold;

When the steering wheel angle is smaller than the angle threshold, the engine is controlled to output torque according to the actual torque request of the vehicle.

Wherein, the engine torque is controlled by the engine control module, and the transfer case control module drives the engine control module to control the engine torque by sending a request signal to the engine control module.

In some embodiments, the control device further includes an alarm module 74, and the transfer case control module 72 is also used to implement the following steps through the alarm module 74:

When the current speed of the vehicle exceeds the speed threshold, the control instrument will issue a high speed warning;

When the driving mode of the vehicle is the high-speed four-wheel drive mode, the front axle differential lock is prohibited from being engaged, and the control instrument sends out a warning that the front axle differential lock is prohibited from being engaged.

Obtain the status information of the rear axle differential lock;

When the status information of the rear axle differential lock indicates that the rear axle differential lock is engaged, the instrument is driven to issue a warning that the rear axle differential lock is engaged.

Based on the same inventive concept, the present application also provides an electronic device. Referring to FIG. 6, the electronic device includes:

memory for storing computer programs;

The processor is used to execute the computer program stored on the memory, so as to realize the above method.

Based on the same inventive concept, the present application also provides a vehicle, including a control device, and the control device is used to implement the above control method.

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 disclosure may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that 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 disclosure. The present disclosure 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 realizing the present disclosure may be stored on a computer-readable medium, or may have 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.

For example, FIG. 7 illustrates a computing processing device that may implement methods according to the present disclosure. 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. For example, 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. 8 . The storage unit may have storage segments, storage spaces, etc. arranged similarly to the memory 1020 in the computing processing device of FIG. 7 . The program code can eg be compressed in a suitable form. Typically, 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.

It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. For the same and similar parts in each embodiment, refer to each other, that is, Can.

As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

Those skilled in the art should understand that the 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.

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.

These computer program instructions can also be loaded into a computer or other programmable data processing terminal equipment, so that a series of operational steps are performed on the computer or other programmable terminal equipment to produce computer-implemented processing, thereby The instructions executed above provide steps for implementing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

While the preferred embodiments of the embodiments of the present application have been described, additional changes and modifications can be made to these embodiments by those skilled in the art once the basic inventive concept is understood. Therefore, the appended claims are intended to be interpreted to cover the preferred embodiment and all changes and modifications that fall within the scope of the embodiments of the application.

Finally, it should also be noted that in this text, relational terms such as first and second etc. are only used to distinguish one entity or operation from another, and do not necessarily require or imply that these entities or operations, any such actual relationship or order exists. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or terminal equipment comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements identified, or also include elements inherent in such a process, method, article, or end-equipment. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising said element.

Above, a kind of pedal control system provided by the application and the automobile comprising the system have been introduced in detail. In this paper, specific examples have been used to illustrate the principle and implementation of the application. The description of the above embodiments is only used to help Understand the method of this application and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation and scope of application. In summary, the content of this specification does not It should be understood as a limitation on the application.

It should also be noted that, in this document, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. indicate The orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be configured in a specific orientation, and operation and therefore should not be construed as limiting the application. Furthermore, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another and do not necessarily require or imply any such relationship between the entities or operations. no actual relationship or order, nor should it be construed as indicating or implying relative importance. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or terminal equipment comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements identified, or also include elements inherent in such a process, method, article, or end-equipment. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article or terminal device comprising the element.

The technical solutions provided by this application have been introduced in detail above, and specific examples have been used in this paper to illustrate the principles and implementation methods of this application. The descriptions of the above examples are only used to help understand this application, and the content of this specification should not be understood For the limitation of this application. At the same time, for those of ordinary skill in the art, according to the present application, there will be changes in different forms in the specific implementation methods and application ranges, and it is not necessary and impossible to exhaustively list all the implementation methods here. Obvious changes or modifications are still within the protection scope of the present application.

Claims

A control method for a vehicle, characterized in that the control method includes:

Acquiring the driving mode of the vehicle when the request to mount the front axle differential lock is detected;

When the driving mode of the vehicle is the high-speed four-wheel drive mode, the front axle differential lock is prohibited from being engaged;

When the driving mode of the vehicle is the low-speed four-wheel drive mode, the front axle differential lock is allowed to be engaged;

In the case that the front axle differential lock is allowed to be hung in, the state of the front axle differential lock is changed according to the current vehicle speed of the vehicle and the current steering wheel angle of the vehicle.
The control method according to claim 1, characterized in that, according to the current steering wheel angle of the vehicle and the current vehicle speed of the vehicle, changing the engaged state of the front axle differential lock includes:

When the current vehicle speed exceeds the vehicle speed threshold and the steering wheel rotation angle exceeds the rotation angle threshold, change the engaged state of the front axle differential lock to the disconnected state;

The method also includes:

The steering wheel angle of the vehicle is detected in real time, and when it is detected that the steering wheel angle is smaller than the rotation angle threshold, the front axle differential lock is allowed to be re-engaged.
The control method according to claim 2, characterized in that, the control method further comprises:

When the vehicle is in a high-speed four-wheel drive mode, the vehicle speed threshold is determined as a first threshold;

When the vehicle is in a low-speed four-wheel drive mode, the vehicle speed threshold is determined as a second threshold;

Wherein, the first threshold is greater than the second threshold.
The control method according to claim 3, characterized in that when the current vehicle speed exceeds a vehicle speed threshold and the steering wheel angle exceeds a rotation angle threshold, outputting a reduced engine torque request so that the engine decreases in response to the reduced engine torque request output torque.
The control method according to claim 4, characterized in that after outputting the reduced engine torque request to cause the engine to reduce the output torque in response to the reduced engine torque request, the control method further comprises,

Detecting in real time whether the steering wheel angle of the vehicle is less than the angle threshold;

When the steering wheel rotation angle is smaller than the rotation angle threshold, the engine is controlled to output torque according to the actual torque request of the vehicle.
The control method according to claim 4, wherein the method further comprises:

When the current vehicle speed of the vehicle exceeds the vehicle speed threshold, the instrument is controlled to issue a higher vehicle speed warning;

When the steering wheel rotation angle exceeds the rotation angle threshold, the instrument is driven to issue an operation danger warning.
The control method according to claim 2, characterized in that, the control method further comprises:

When the driving mode of the vehicle is the high-speed four-wheel drive mode, the front axle differential lock is prohibited from being mounted, and the instrument is controlled to issue a warning that the front axle differential lock is prohibited from being mounted,
The control method according to claim 2, characterized in that, the control method further comprises:

When the driving mode of the vehicle is the low-speed four-wheel drive mode, the front axle differential lock is allowed to be engaged, and when the front axle differential lock is engaged, the instrument is controlled to issue a front axle differential lock alert.
The control method according to claim 1, wherein the control method further comprises:

Obtain the status information of the rear axle differential lock;

When the state information of the rear axle differential lock indicates that the rear axle differential lock is engaged, the instrument is driven to issue a warning that the rear axle differential lock is engaged.
A control device, characterized in that the control device comprises:

A state acquiring module, configured to acquire the driving mode of the vehicle when the request for hanging the front axle differential lock is detected;

The transfer case control module is used to prohibit the front axle differential lock from being engaged when the driving mode of the vehicle is a high-speed four-wheel drive mode;

And when the driving mode of the vehicle is the low-speed four-wheel drive mode, the front axle differential lock is allowed to be engaged;

And under the condition that the front axle differential lock is allowed to be engaged, the engaged state of the front axle differential lock is changed according to the current vehicle speed of the vehicle and the current steering wheel angle of the vehicle.
A vehicle, characterized by comprising the control device according to claim 10, so as to implement the vehicle control method according to any one of claims 1-9.
A computing processing device, characterized in that it includes:

a memory having computer readable code stored therein; and

One or more processors, when the computer readable code is executed by the one or more processors, the computing processing device executes the vehicle control method according to any one of claims 1-9.
A computer program, comprising computer readable codes, when the computer readable codes are run on a computing processing device, causing the computing processing device to execute the vehicle control method according to any one of claims 1-9 .
A computer readable medium in which the computer program according to claim 13 is stored.