CN111267824B - Automatic control method of automobile differential lock - Google Patents
Automatic control method of automobile differential lock Download PDFInfo
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- CN111267824B CN111267824B CN202010052209.8A CN202010052209A CN111267824B CN 111267824 B CN111267824 B CN 111267824B CN 202010052209 A CN202010052209 A CN 202010052209A CN 111267824 B CN111267824 B CN 111267824B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/12—Conjoint control of vehicle sub-units of different type or different function including control of differentials
- B60W10/16—Axle differentials, e.g. for dividing torque between left and right wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses an automatic control method of an automobile differential lock, which comprises the following steps: an automatic opening method of an automobile differential lock and an automatic closing method of the automobile differential lock. The automatic control method of the automobile differential lock realizes the automatic opening and closing functions of the automobile differential lock through the control of the VCU controller, so that the vehicle can open and close the functions of the automobile differential lock accurately in time, the vehicle can run normally and safely, and the driving safety and the performance of the vehicle are ensured. The method compares the speed of the ABS system with the theoretical speed calculated by the TCU controller, and performs complementary substitution, so that the speed used in the control of the differential lock is more accurate and closer to the actual speed, the control precision of the differential lock is higher, the safety performance is better, the automatic opening and closing functions of the differential lock can be accurate and accurate, and the driving safety of the vehicle is ensured.
Description
Technical Field
The invention relates to the field of vehicle control, in particular to an automatic control method of an automobile differential lock.
Background
Along with the popularization of automobiles, the performance requirements of people on automobiles are higher and higher, and compared with the field of commercial automobiles, the performance requirements of automobiles are also increased year by year, such as the safety performance of the automobiles and the traffic capacity of the automobiles under poor road conditions, and the differential lock can well improve the traffic capacity of the automobiles under poor road conditions such as snowy fields, mud fields and the like, so the research on the differential lock technology is also more and more important.
The differential enables the left and right (or front and rear) drive wheels to realize a mechanism rotating at different rotating speeds. However, when one of the wheels spins, the other wheel on a good road surface can not obtain torque, and the driving power is lost. Therefore, a differential lock for an automobile has been developed, which can connect two wheels together when necessary, and the power can be transmitted to at least the other wheel, so that the vehicle can obtain the driving power, thereby getting rid of the trouble. However, the existing differential lock is still relatively single and coarse in control, the functions of opening and closing the differential lock of the vehicle can not be timely and accurately realized due to the fact that the differential lock cannot be automatically and efficiently controlled, and the safety performance of the vehicle is not well improved.
Disclosure of Invention
In order to solve the technical problems, the invention mainly aims to provide an automatic control method of an automobile differential lock.
In order to achieve the above object, the present invention adopts the following technical solutions.
An automatic control method of a differential lock of an automobile comprises the following steps: the automatic unlocking method of the automobile differential lock specifically comprises the following steps:
step 1, a VCU controller detects whether a differential lock switch is pressed down, and if the differential lock switch is pressed down, step 2 is executed; otherwise, quitting;
step 2, the VCU controller receives the ABS front axle speed, and the TCU is used for calculating to obtain the theoretical speed; the VCU controller judges whether the ABS front axle vehicle speed is accurate or not and determines the vehicle speed to be selected by the VCU controller; if the ABS front axle vehicle speed is judged to be accurate, the selected vehicle speed is the ABS front axle vehicle speed, otherwise, the selected vehicle speed is the theoretical vehicle speed;
step 3, the VCU controller judges whether the selected vehicle speed is less than a first speed threshold value; if the selected vehicle speed is less than the first speed threshold value, executing the step 4, otherwise, exiting;
and 4, controlling the enabling signal of the electromagnetic valve of the differential lock to be 1 by the VCU controller, detecting that the return detection signal of the differential lock is 0 by the VCU controller, finishing unlocking the automobile differential lock, and transmitting the unlocking state of the differential lock to an instrument and displaying by the VCU controller in a message form.
Further, in step 1, the differential lock switch includes an inter-axle differential lock switch and a wheel-side differential lock switch, and at least one of the inter-axle differential lock switch and the wheel-side differential lock switch is pressed, then step 2 is executed.
Further, in step 2, the specific method for judging whether the vehicle speed of the front axle of the ABS is accurate is as follows: and subtracting the theoretical speed from the ABS front axle speed, if the difference is less than 3km/h, judging that the ABS front axle speed is accurate, and otherwise, judging that the ABS front axle speed is inaccurate.
Further, in step 3, the first speed threshold is 5km/h.
Further, in step 4, the differential lock electromagnetic valve comprises an inter-axle differential lock electromagnetic valve and a wheel-side differential lock electromagnetic valve, and the differential lock return detection signal comprises an inter-axle differential lock return detection signal, a 3-axle wheel-side differential lock return detection signal and a 4-axle wheel-side differential lock signal;
when enabling signals of the inter-axle differential lock electromagnetic valve and the wheel-side differential lock electromagnetic valve are simultaneously 1, and the inter-axle differential lock return detection signal, the 3-axle wheel-side differential lock return detection signal and the 4-axle wheel-side differential lock signal are simultaneously 0, the opening of the automobile differential lock is completed.
Further, the method also comprises an automatic closing method of the automobile differential lock, which specifically comprises the following steps:
step 5, the VCU controller judges the differential lock return detection signals, if the differential lock return detection signals are all 0, the step 6 is executed, otherwise, the operation is quitted;
step 6, the VCU controller judges whether the differential lock switches are all reset, if at least one of the differential lock switches is not reset, the step 7 is executed; if all reset, otherwise, exit;
step 7, the VCU receives the ABS front axle speed, and the TCU is used for calculating to obtain a theoretical speed; the VCU controller judges whether the ABS front axle speed is accurate or not and determines the speed to be selected by the VCU controller; if the ABS front axle vehicle speed is judged to be accurate, the selected vehicle speed is the ABS front axle vehicle speed, otherwise, the selected vehicle speed is the theoretical vehicle speed;
step 8, the VCU controller judges whether the selected vehicle speed is greater than a second speed threshold value, if the selected vehicle speed is greater than the second speed threshold value, step 9 is executed, otherwise, the operation is exited;
and 9, controlling the enabling signals of the electromagnetic valves of the differential lock to be 0 by the VCU controller, detecting that the return detection signals of the differential lock are 1 by the VCU controller, finishing closing the automobile differential lock, and sending the closing state of the differential lock to an instrument and displaying by the VCU controller in a message form.
Further, in step 5, the differential lock return detection signal includes an inter-axle differential lock return detection signal, a 3-axle wheel-side differential lock return detection signal, and a 4-axle wheel-side differential lock signal;
and (6) when the inter-axle differential lock return detection signal, the 3-axle wheel-side differential lock return detection signal and the 4-axle wheel-side differential lock signal are simultaneously 0, executing the step, and otherwise, exiting.
Further, in step 6, the differential lock switch includes an inter-axle differential lock switch and a wheel-side differential lock switch, and if at least one of the inter-axle differential lock switch and the wheel-side differential lock switch is not reset, step 7 is executed; if all the differential locks are reset, the electromagnetic valve of the differential lock is controlled to be enabled to be 0, and the differential lock exits.
Further, in step 8, the second speed threshold is 30km/h.
Further, in step 9, the differential lock solenoid valve includes an inter-axle differential lock solenoid valve and a wheel-side differential lock solenoid valve, and the differential lock return detection signal includes an inter-axle differential lock return detection signal, a 3-axle wheel-side differential lock return detection signal and a 4-axle wheel-side differential lock signal;
when enabling signals of the inter-axle differential lock electromagnetic valve and the wheel-side differential lock electromagnetic valve are simultaneously 0, and the inter-axle differential lock return detection signal, the 3-axle wheel-side differential lock return detection signal and the 4-axle wheel-side differential lock signal are simultaneously 1, closing of the automobile differential lock is completed.
The automatic control method of the automobile differential lock realizes the automatic opening and closing functions of the automobile differential lock through the control of the VCU controller, so that the vehicle can open and close the differential lock function accurately in time, the vehicle can run normally and safely, and the driving safety and the performance of the vehicle are ensured. The method compares the speed of the ABS system with the speed calculated by the TCU controller, and performs complementary substitution, so that the speed used in the differential lock control is more accurate and closer to the speed of the real vehicle, the control precision of the differential lock is higher, the safety performance is better, the automatic opening and closing functions of the differential lock can be accurate and accurate, and the driving safety of the vehicle is ensured.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a pin definition diagram of a portion of a VCU controller;
FIG. 2 is another pin definition diagram of the VCU controller
FIG. 3 is a flow chart of the method of the present invention for unlocking the differential lock of the vehicle;
FIG. 4 is a flow chart of the method of the present invention for closing the vehicle's differential lock;
in the above figures:
b73 pin is an inter-axle differential lock switch signal;
b74 pin is a wheel differential lock switch signal;
a pin B51 is an inter-axle differential lock return check signal (normally closed);
a pin B52 is a 3-axle wheel differential lock return detection signal (normally closed);
a pin B54 is a 4-bridge differential lock return detection signal (normally closed);
b90 pin is an inter-axle differential lock electromagnetic valve enabling signal;
the pin B91 is an enabling signal of the electromagnetic valve of the hub differential lock.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanying figures are described in detail below.
In the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The invention can be implemented in a number of ways different from those described herein and similar generalizations can be made by those skilled in the art without departing from the spirit of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.
Referring to fig. 1, fig. 1 is a diagram of pin definitions of a portion of the VCU controller, where a pin B73 is an inter-axle differential lock switch signal, a pin B74 is a wheel-side differential lock switch signal, a pin B51 is an inter-axle differential lock return check signal (normally closed), a pin B52 is a 3-axle wheel-side differential lock return check signal (normally closed), and a pin B54 is a 4-axle differential lock return check signal (normally closed);
FIG. 2 is another pin definition diagram of the VCU controller, in which pin B90 is the inter-axle differential lock solenoid enable signal and pin B91 is the wheel differential lock solenoid enable signal.
Referring to fig. 3, fig. 3 is a functional flowchart of unlocking the differential lock of the vehicle, and the automatic unlocking method of the differential lock of the vehicle specifically includes:
step 1, the VCU controller judges switch signals of a B73 pin and a B74 pin, namely a switch signal from an inter-axle differential lock and a switch signal from a wheel-side differential lock, and if at least one of the inter-axle differential lock switch and the wheel-side differential lock switch is pressed, namely at least one of the B73 signal or the B74 signal is 1, the step 2 is executed; otherwise, quitting;
step 2, the VCU controller receives the ABS front axle speed, and the TCU is used for calculating to obtain the theoretical speed; the ABS front axle speed is the speed of the automobile when the automobile is subjected to anti-lock braking; the TCU is an automatic gearbox control unit, and the theoretical vehicle speed is the vehicle speed calculated by the TCU. The VCU controller judges whether the ABS front axle vehicle speed is accurate or not and determines the vehicle speed to be selected by the VCU controller; the specific judgment method comprises the following steps: subtracting the theoretical speed from the ABS front axle speed, and if the difference is less than 3km/h, judging that the ABS front axle speed is accurate, and selecting the speed as the ABS front axle speed; and if the difference is more than or equal to 3km/h, judging that the ABS front axle vehicle speed is inaccurate, and selecting the vehicle speed as the theoretical vehicle speed.
Step 3, the VCU controller judges whether the selected vehicle speed is less than a first speed threshold value of 5km/h; if the selected vehicle speed is less than the first speed threshold value by 5km/h, executing the step 4, and if the selected vehicle speed is more than or equal to 5km/h, quitting;
and 4, controlling the enabling signal of the B91 inter-axle differential lock electromagnetic valve and the enabling signal of the B92 wheel-side differential lock electromagnetic valve to be 1 by the VCU controller, detecting that the B51 pin inter-axle differential lock return detection signal, the B52 pin 3 axle wheel-side differential lock return detection signal and the B53 pin 4 axle wheel-side differential lock signal are 0 by the VCU controller, completing the opening of the automobile differential lock, and sending the opening state of the differential lock to the instrument and displaying by the VCU controller in a message form.
Referring to fig. 4, fig. 4 is a functional flow chart of closing the differential lock of the vehicle, and the method for automatically closing the differential lock of the vehicle specifically includes:
step 5, the VCU controller judges that the B51 pin inter-axle differential lock return detection signal, the B52 pin 3 axle wheel side differential lock return detection signal and the B53 pin 4 axle wheel side differential lock signal are all 0, then step 6 is executed, otherwise, the operation is exited;
step 6, the VCU controller judges switch signals of a B73 pin and a B74 pin, namely a switch signal from an inter-axle differential lock and a switch signal from a wheel-side differential lock, if at least one of the inter-axle differential lock switch and the wheel-side differential lock switch is not reset, namely at least one of the B73 signal and the B74 signal is 0, the step 7 is executed; otherwise, quitting;
step 7, the VCU receives the ABS front axle speed, and the TCU is used for calculating to obtain the theoretical speed;
the VCU controller judges whether the ABS front axle speed is accurate or not and determines the speed to be selected by the VCU controller; the specific judgment method comprises the following steps: subtracting the theoretical speed from the ABS front axle speed, and if the difference is less than 3km/h, judging that the ABS front axle speed is accurate, and selecting the speed as the ABS front axle speed; if the difference is more than or equal to 3km/h, judging that the ABS front axle vehicle speed is inaccurate, and selecting the vehicle speed as the theoretical vehicle speed.
Step 8, the VCU controller judges whether the selected vehicle speed is greater than a second speed threshold value of 30km/h, if the selected vehicle speed is greater than the second speed threshold value of 30km/h, step 9 is executed, otherwise, the operation is quitted;
and 9, controlling the enabling signals of the B91 inter-axle differential lock electromagnetic valve and the B92 wheel differential lock electromagnetic valve to be 0 by the VCU controller, detecting that the B51 pin inter-axle differential lock return detection signal, the B52 pin 3 axle wheel side differential lock return detection signal and the B53 pin 4 axle wheel side differential lock signal are 1 by the VCU controller, finishing closing the automobile differential lock, and sending the closing state of the differential lock to the instrument and displaying by the VCU controller in a message form.
Although the present invention has been described in detail in this specification with reference to specific embodiments and illustrative embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made thereto based on the present invention. Accordingly, such modifications and improvements do not depart from the scope of the invention as set forth in the claims below.
Claims (9)
1. An automatic control method of a vehicle differential lock is characterized by comprising the following steps: the automatic unlocking method of the automobile differential lock specifically comprises the following steps:
step 1, a VCU controller detects whether a differential lock switch is pressed down, and if the differential lock switch is pressed down, step 2 is executed; otherwise, quitting;
step 2, the VCU controller receives the ABS front axle speed, and the TCU is used for calculating to obtain the theoretical speed; the VCU controller judges whether the ABS front axle vehicle speed is accurate or not and determines the vehicle speed to be selected by the VCU controller; if the ABS front axle vehicle speed is judged to be accurate, the selected vehicle speed is the ABS front axle vehicle speed, otherwise, the selected vehicle speed is the theoretical vehicle speed;
step 3, the VCU controller judges whether the selected vehicle speed is less than a first speed threshold value; if the selected vehicle speed is less than the first speed threshold value, executing the step 4, otherwise, exiting;
step 4, controlling the enabling signal of the electromagnetic valve of the differential lock to be 1 by the VCU controller, detecting the returning detection signal of the differential lock to be 0 by the VCU controller, finishing the opening of the automobile differential lock, and sending the opening state of the differential lock to an instrument and displaying by the VCU controller in a message form;
the automatic closing method of the automobile differential lock is as follows:
step 5, the VCU controller judges the differential lock return detection signals, if the differential lock return detection signals are all 0, the step 6 is executed, otherwise, the operation is quitted;
step 6, the VCU controller judges whether the differential lock switches are all reset, if at least one of the differential lock switches is not reset, the step 7 is executed, and if not, the operation is quitted;
step 7, the VCU receives the ABS front axle speed, and the TCU is used for calculating to obtain a theoretical speed; the VCU controller judges whether the ABS front axle speed is accurate or not and determines the speed to be selected by the VCU controller; if the ABS front axle vehicle speed is judged to be accurate, the selected vehicle speed is the ABS front axle vehicle speed, otherwise, the selected vehicle speed is the theoretical vehicle speed;
step 8, the VCU controller judges whether the selected vehicle speed is greater than a second speed threshold value, if the selected vehicle speed is greater than the second speed threshold value, step 9 is executed, otherwise, the operation is exited;
and 9, controlling the enabling signals of the electromagnetic valves of the differential lock to be 0 by the VCU controller, detecting that the return detection signals of the differential lock are 1 by the VCU controller, finishing closing the automobile differential lock, and sending the closing state of the differential lock to an instrument and displaying by the VCU controller in a message form.
2. The automatic control method of a differential lock for a vehicle according to claim 1, wherein in step 1, the differential lock switch includes an inter-axle differential lock switch and a wheel-side differential lock switch, and when at least one of the inter-axle differential lock switch and the wheel-side differential lock switch is pressed, step 2 is performed.
3. The automatic control method of an automobile differential lock according to claim 1, wherein in the step 2, the specific method for judging whether the vehicle speed of the front axle of the ABS is accurate is as follows: and subtracting the theoretical speed from the ABS front axle speed, if the difference is less than 3km/h, judging that the ABS front axle speed is accurate, and otherwise, judging that the ABS front axle speed is inaccurate.
4. The automatic control method of a differential lock for a vehicle according to claim 1, wherein the first speed threshold value in step 3 is 5km/h.
5. The automatic control method for a vehicle differential lock according to claim 1, wherein in step 4, the differential lock solenoid valves comprise an inter-axle differential lock solenoid valve and a wheel-side differential lock solenoid valve, and the differential lock return detection signals comprise an inter-axle differential lock return detection signal, a 3-axle wheel-side differential lock return detection signal and a 4-axle wheel-side differential lock signal;
when enabling signals of the inter-axle differential lock electromagnetic valve and the wheel-side differential lock electromagnetic valve are simultaneously 1, and the inter-axle differential lock return detection signal, the 3-axle wheel-side differential lock return detection signal and the 4-axle wheel-side differential lock signal are simultaneously 0, the opening of the automobile differential lock is completed.
6. The method for automatically controlling a vehicle differential lock according to claim 1, wherein in step 5, the differential lock return detection signal comprises an inter-axle differential lock return detection signal, a 3-axle wheel-side differential lock return detection signal and a 4-axle wheel-side differential lock signal;
and (6) when the inter-axle differential lock return detection signal, the 3-axle wheel-side differential lock return detection signal and the 4-axle wheel-side differential lock signal are simultaneously 0, executing the step, and otherwise, exiting.
7. The automatic control method of a differential lock for a vehicle according to claim 1, wherein in step 6, the differential lock switch includes an inter-axle differential lock switch and a wheel-side differential lock switch, and at least one of the inter-axle differential lock switch and the wheel-side differential lock switch is not reset, then step 7 is performed; if all the differential locks are reset, the electromagnetic valve of the differential lock is controlled to be enabled to be 0, and the differential lock exits.
8. The automatic control method of a differential lock for a vehicle according to claim 1, wherein the second speed threshold value is 30km/h in step 8.
9. The method for automatically controlling a vehicle differential lock according to claim 1, wherein in step 9, the differential lock solenoid valves comprise an inter-axle differential lock solenoid valve and a wheel-side differential lock solenoid valve, and the differential lock return-check signals comprise an inter-axle differential lock return-check signal, a 3-axle wheel-side differential lock return-check signal and a 4-axle wheel-side differential lock signal;
when enabling signals of the inter-axle differential lock electromagnetic valve and the wheel-side differential lock electromagnetic valve are simultaneously 0, and the inter-axle differential lock return detection signal, the 3-axle wheel-side differential lock return detection signal and the 4-axle wheel-side differential lock signal are simultaneously 1, closing of the automobile differential lock is completed.
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| CN202010052209.8A CN111267824B (en) | 2020-01-17 | 2020-01-17 | Automatic control method of automobile differential lock |
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| CN202010052209.8A CN111267824B (en) | 2020-01-17 | 2020-01-17 | Automatic control method of automobile differential lock |
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| CN111267824B true CN111267824B (en) | 2022-12-27 |
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Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0516686A (en) * | 1991-07-09 | 1993-01-26 | Mazda Motor Corp | Device for judging running condition of vehicle and controller for power transmission of vehicle |
| KR100341752B1 (en) * | 1999-07-08 | 2002-06-24 | 이계안 | Auto release device of differential lock |
| JP2001277896A (en) * | 2000-03-29 | 2001-10-10 | Komatsu Ltd | Interaxle differential device, and control method thereof |
| JP4193534B2 (en) * | 2003-03-19 | 2008-12-10 | 日産自動車株式会社 | Differential limit control device |
| EP1799484B1 (en) * | 2004-10-14 | 2012-02-22 | Continental Teves AG & Co. oHG | Method and device for controlling the locking degree of an electronically controllable differential lock |
| SE539607C2 (en) * | 2014-06-24 | 2017-10-17 | Dsensed Tech Ab | A method and system for controlling the stability and response of a vehicle |
| US9821780B2 (en) * | 2015-03-19 | 2017-11-21 | International Truck Intellectual Property Company, Llc | Automated differential lock |
| CN105539327B (en) * | 2015-12-25 | 2018-02-27 | 芜湖佳景科技有限公司 | A kind of intelligence control system for heavy truck differential lock |
| CN107031594A (en) * | 2016-10-21 | 2017-08-11 | 奇瑞汽车股份有限公司 | A kind of automotive electronics differential latch system and its method of work |
| CN207449626U (en) * | 2017-10-25 | 2018-06-05 | 上海汽车集团股份有限公司 | Electronic differential lock with controller |
| CN108674417B (en) * | 2018-03-30 | 2020-09-29 | 北京经纬恒润科技有限公司 | Vehicle speed determination method and device and pure electric vehicle |
| CN110271414A (en) * | 2019-05-29 | 2019-09-24 | 精诚工科汽车***有限公司 | Differential lock control method and device |
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