CN112937579A

CN112937579A - Vehicle, and control method and control device thereof

Info

Publication number: CN112937579A
Application number: CN201911159281.4A
Authority: CN
Inventors: 郭庆悌
Original assignee: Beijing Treasure Car Co Ltd
Current assignee: Beijing Treasure Car Co Ltd
Priority date: 2019-11-22
Filing date: 2019-11-22
Publication date: 2021-06-11

Abstract

The application discloses vehicle and control method, controlling means thereof, wherein, the control method includes: after the vehicle is started, a traction control system TCS, an electronic limited slip differential eLSD and a four-wheel drive AWD are started, the TCS performs starting drive torque control and starting brake control on the vehicle, the eLSD performs starting transmission torque control on the vehicle, and the AWD performs front-rear axle torque transmission control on the vehicle according to the difference of the rotating speed of a front-rear transmission half axle and a rotating speed of a rear-rear transmission half axle being 0. The method enables TCS brake control, AWD torque control, eLSD torque control and TCS drive torque control to be mutually decoupled, each subsystem is independent in control, can exert efficiency independently and is effectively matched with each other, the drive performance and the energy-saving performance are enhanced, each subsystem can be developed independently on the basis of following the control target range design principle, after being verified on a certain vehicle type respectively, each system is directly integrated, extra parameter adjustment is not needed in the integration process, and the method is simple and easy to implement.

Description

Vehicle, and control method and control device thereof

Technical Field

The present disclosure relates to the field of automotive technologies, and in particular, to a control method of a vehicle, a control device of a vehicle, and a vehicle.

Background

In a vehicle, a tcs (traction Control system), which is a traction Control system, functions to enable the vehicle to obtain an optimal traction force under any operating condition. AWD (All Wheel Drive) is a torque transmission device that controls in real time the Drive torque transmitted to the front and rear axles by the engine four-Drive or single motor four-Drive. An eLSD (electronic Limited Slip Differential) is used to control the maximum torque transfer between the Differential housing and the eLSD half-shafts, and to control the drive (or brake) transfer between the eLSD half-shafts and the Differential housing.

In the related technology, for a four-wheel drive vehicle type with four-wheel drive AWD and a rear axle mounted electronic limited slip differential eLSD, the control effects of all systems on the AWD, eLSD and TCS integrated four-wheel drive vehicle are coupled, and the control effect is not ideal and unreasonable. For example, when the low-side wheel speed is excessive, the TCS braking torque of the wheel increases, the axle eLSD (if present) transfer torque increases, the TCS drive torque request decreases, and the AWD torque transfer decreases, all of which can result in a decrease in wheel speed. If no intervention principle exists, the TCS driving torque or the AWD transmission torque reduction is too fast, the vehicle driving performance is reduced, and even the torque increasing and reducing interference is caused, so that the control effect is vibrated; or it may happen that the eLSD performance is replaced by TCS braking, affecting energy savings.

Disclosure of Invention

The present application is directed to solving, at least to some extent, the technical problems in the above-described technology. Therefore, a first objective of the present application is to provide a control method for a vehicle, which enables a traction control system to perform braking control and four-wheel drive torque distribution control, and the torque control of an electronic limited slip differential and the torque control of the traction control system to be decoupled from each other, and each subsystem is controlled independently, and the traction control system, the four-wheel drive system and the electronic limited slip differential can exert their respective effects and cooperate with each other effectively, thereby enhancing the drive performance and the energy saving performance. Any torque control comprises three controls of torque increasing, torque maintaining and torque reducing.

A second object of the present application is to provide a control device of a vehicle.

A third object of the present application is to propose a vehicle.

In order to achieve the above object, an embodiment of a first aspect of the present application proposes a control method of a vehicle, including: after the vehicle is started, starting a traction control system TCS, an electronic limited slip differential eLSD and a four-wheel drive AWD; the traction control system performs starting traction control system driving torque control on the vehicle according to a first control target speed, and the traction control system quits performing starting traction control system driving torque control on the vehicle until the vehicle reaches a quit target speed; the traction control system performs starting traction control system braking control on the vehicle according to a second control target speed, and the traction control system quits performing starting traction control system braking control on the vehicle after the vehicle reaches the quit target speed; the second target control target speed is greater than the first target control target speed; the electronic limited slip differential performs starting electronic limited slip differential transmission torque control on the vehicle according to a third control target speed until the electronic limited slip differential quits to perform starting electronic limited slip differential transmission torque control on the vehicle after the vehicle reaches the quit target speed; the third control target speeds are respectively smaller than the second control target speeds, and the third control target speeds are respectively larger than the first control target speeds; and the four-wheel drive performs front-rear axle drive torque distribution control on the vehicle according to the rotation speed difference of the front-rear drive half axle being 0 until the torque transmission of the four-wheel drive reaches a preset first transmission capacity, and the four-wheel drive keeps the current torque transmission value. Any torque control comprises three controls of torque increasing, torque maintaining and torque reducing.

According to the control method of the vehicle, the traction control system can be subjected to brake control, four-wheel drive torque control, electronic limited slip differential torque control and traction control system drive torque control are decoupled mutually, all subsystems are controlled independently, the traction control system, the four-wheel drive system and the electronic limited slip differential system can respectively exert the effects and are effectively matched mutually, the drive performance and the energy-saving performance are enhanced, in addition, all subsystems can be independently developed on the basis of following the control target range design principle, after respective verification is carried out on a certain vehicle type, all systems are directly integrated, the integration process does not need additional parameter adjustment, and joint adjustment is easy, simple and easy to implement.

In addition, the control device for a vehicle according to the above embodiment of the present application may further have the following additional technical features:

according to one embodiment of the application, after the traction control system exits the launch traction control system drive torque control of the vehicle, the method further comprises: judging whether the smaller driving slip ratio of the two wheels of the front axle enters a preset driving slip ratio regulation range of a traction control system; if yes, starting a traction control system to drive torque control; judging whether a driving torque request value in driving torque control of the traction control system exceeds a driver torque request value; if the driving slip ratio exceeds the preset driving slip ratio, returning to the step of judging whether the smaller driving slip ratio of the two wheels of the front axle enters a preset driving slip ratio regulation range of the traction control system; and if not, returning to the step of controlling the driving torque of the starting traction control system.

According to one embodiment of the application, after the traction control system exits the starting traction control system braking control of the vehicle, the method further comprises the following steps: judging whether the driving slip rates of the front wheels and the rear wheels enter a preset slip rate regulation and control range corresponding to the braking of a traction control system, wherein the lower limit value of the slip rate regulation and control range corresponding to the braking of the traction control system is higher than the upper limit value of the driving slip rate regulation and control range of the traction control system; if so, starting the traction control system brake control on the wheel of which the driving slip rate enters the slip rate regulation and control range corresponding to the traction control system brake; judging whether a driving slip ratio control value in the braking control of the traction control system is lower than a lower limit threshold of a slip ratio regulation and control range corresponding to the braking of the traction control system; if the driving slip ratio is lower than the preset slip ratio, returning to the step of judging whether the driving slip ratios of the front wheels and the rear wheels enter the preset slip ratio regulation and control range corresponding to the traction control system braking; and if not, returning to the step of controlling the braking of the wheel starting traction control system when the driving slip ratio enters the slip ratio regulation and control range corresponding to the braking of the traction control system.

According to an embodiment of the application, after the electronic limited slip differential exits the starting electronic limited slip differential transmission torque control of the vehicle, the method further comprises the following steps: judging whether the larger driving slip ratio of the two wheels corresponding to the electronic limited slip differential mounting shaft enters the slip ratio regulating and controlling range of the electronic limited slip differential, wherein the upper limit value of the slip ratio regulating and controlling range of the electronic limited slip differential is lower than the lower limit value of the slip ratio regulating and controlling range corresponding to the braking of the traction control system; if yes, starting the control of the transmission torque of the electronic limited slip differential; judging whether the larger one of the driving slip ratios of the two wheels corresponding to the mounting shaft of the electronic limited slip differential is lower than the lower limit threshold of the preset driving slip ratio regulation range of the electronic limited slip differential; if the slip ratio is lower than the set slip ratio, returning to the step of judging whether the larger drive slip ratio of the two wheels corresponding to the mounting shaft of the electronic limited slip differential enters the slip ratio regulation range of the electronic limited slip differential; if the torque transmission of the electronic limited slip differential is not lower than the preset second transmission capacity, judging whether the torque transmission of the electronic limited slip differential reaches the preset second transmission capacity or whether a driving slip ratio control value in the control of the electronic limited slip differential is not lower than an upper limit threshold value of a driving slip ratio regulation range of the electronic limited slip differential; if not, returning to the step of starting the electronic limited slip differential to drive torque transmission control; if so, the step of judging whether the driving slip rates of the front wheel and the rear wheel enter a preset slip rate regulation and control range corresponding to the braking of a traction control system is carried out, and the step of judging whether the larger driving slip rate of the two wheels corresponding to the mounting shaft of the electronic limited slip differential enters the slip rate regulation and control range of the electronic limited slip differential is carried out.

According to an embodiment of the present application, the first control target speed, the second control target speed and the third control target speed are a wheel target speed and a wheel target acceleration, respectively.

In order to achieve the above object, an embodiment of a second aspect of the present application proposes a control device of a vehicle, including: the first control module is used for controlling the traction control system TCS, the electronic limited slip differential eLSD and the four-wheel drive AWD to start after the vehicle is started; the second control module is used for controlling the traction control system to carry out starting traction control system driving torque control on the vehicle according to the first control target speed, and the traction control system quits carrying out starting traction control system driving torque control on the vehicle until the vehicle reaches the quit target speed; the third control module is used for controlling the traction control system to perform starting traction control system brake control on the vehicle according to a second control target speed, until the vehicle reaches the quit target speed, the traction control system quits performing starting traction control system brake control on the vehicle, and the second target speed is greater than the first target speed; the fourth control module is used for controlling the electronic limited slip differential to carry out starting electronic limited slip differential transmission torque control on the vehicle according to a third control target speed until the electronic limited slip differential quits to carry out starting electronic limited slip differential transmission torque control on the vehicle after the vehicle reaches the quit target speed; the third control target speed is less than the second control target speed and greater than the first control target speed; and the fifth control module is used for controlling the four-wheel drive to perform front and rear axle drive torque distribution control on the vehicle according to the rotation speed difference of the front and rear drive half axles being 0 until the torque transmission of the four-wheel drive reaches a preset first transmission capacity, and controlling the four-wheel drive to keep a current torque transmission value.

According to the control device of the vehicle, the traction control system can be subjected to brake control and four-wheel drive torque control, the electronic limited slip differential torque control and the traction control system drive torque control are decoupled mutually, the control of each subsystem is independent, the traction control system, the four-wheel drive system and the electronic limited slip differential system can respectively exert the efficiency and are effectively matched mutually, the drive performance and the energy-saving performance are enhanced, in addition, each subsystem can be independently developed on the basis of following the control target range design principle, after being respectively verified on a certain vehicle type, each system is directly integrated, the integration process does not need additional parameter adjustment, and the joint adjustment is easy, simple and easy to implement.

according to an embodiment of the application, the second control module is further configured to: after the TDCS is controlled to exit from the traction control system driving torque control for starting the vehicle, judging whether the smaller driving slip ratio of the two wheels of the front axle enters a preset traction control system driving slip ratio regulation range or not; if yes, starting a traction control system to drive torque control; judging whether a driving torque request value in driving torque control of the traction control system exceeds a driver torque request value; if the driving slip ratio exceeds the preset driving slip ratio, returning to the step of judging whether the smaller driving slip ratio of the two wheels of the front axle enters a preset driving slip ratio regulation range of the traction control system; and if not, returning to the step of controlling the driving torque of the starting traction control system.

According to an embodiment of the application, the third control module is further configured to: after controlling the traction control system to quit the braking control of the starting traction control system of the vehicle, judging whether the driving slip rates of the front wheels and the rear wheels enter a preset slip rate regulation and control range corresponding to the braking of the traction control system, wherein the lower limit value of the slip rate regulation and control range corresponding to the braking of the traction control system is higher than the upper limit value of the driving slip rate regulation and control range of the traction control system; if so, starting the traction control system brake control on the wheel of which the driving slip rate enters the slip rate regulation and control range corresponding to the traction control system brake; judging whether a driving slip ratio control value in the braking control of the traction control system is lower than a lower limit threshold of a slip ratio regulation and control range corresponding to the braking of the traction control system; if the driving slip ratio is lower than the preset slip ratio, returning to the step of judging whether the driving slip ratios of the front wheels and the rear wheels enter the preset slip ratio regulation and control range corresponding to the traction control system braking; and if not, returning to the step of controlling the braking of the wheel starting traction control system when the driving slip ratio enters the slip ratio regulation and control range corresponding to the braking of the traction control system.

According to an embodiment of the present application, the fourth control module is further configured to: after the electronic limited slip differential is controlled to quit starting electronic limited slip differential transmission torque control on the vehicle, judging whether the larger driving slip ratio of two wheels corresponding to an electronic limited slip differential installation shaft enters the slip ratio regulation range of the electronic limited slip differential or not, wherein the upper limit value of the slip ratio regulation range of the electronic limited slip differential is lower than the lower limit value of the slip ratio regulation range corresponding to the braking of the traction control system; if yes, starting the control of the transmission torque of the electronic limited slip differential; judging whether the larger one of the driving slip ratios of the two wheels corresponding to the mounting shaft of the electronic limited slip differential is lower than the lower limit threshold of the preset driving slip ratio regulation range of the electronic limited slip differential; if the slip ratio is lower than the set slip ratio, returning to the step of judging whether the larger drive slip ratio of the two wheels corresponding to the mounting shaft of the electronic limited slip differential enters the slip ratio regulation range of the electronic limited slip differential; if the torque transmission of the electronic limited slip differential is not lower than the preset second transmission capacity, judging whether the torque transmission of the electronic limited slip differential reaches the preset second transmission capacity or whether a driving slip ratio control value in the control of the electronic limited slip differential is not lower than an upper limit threshold value of a driving slip ratio regulation range of the electronic limited slip differential; if not, returning to the step of starting the electronic limited slip differential to drive torque transmission control; if so, the step of judging whether the driving slip rates of the front wheel and the rear wheel enter a preset slip rate regulation and control range corresponding to the braking of a traction control system is carried out, and the step of judging whether the larger driving slip rate of the two wheels corresponding to the mounting shaft of the electronic limited slip differential enters the slip rate regulation and control range of the electronic limited slip differential is carried out.

In order to achieve the above object, an embodiment of a third aspect of the present application proposes a vehicle including a control apparatus of the vehicle described in the embodiment of the second aspect of the present application.

The vehicle of the embodiment of the application can enable the traction control system to perform brake control and four-wheel drive torque distribution control through the control device of the vehicle, the electronic limited slip differential torque control and the traction control system drive torque control are decoupled mutually, the control of each subsystem is independent, the traction control system, the four-wheel drive system and the electronic limited slip differential system can respectively exert the efficiency and are effectively matched with each other, the drive performance and the energy-saving performance are enhanced, in addition, each subsystem can be independently developed on the basis of following the control target range design principle, after being respectively verified on a certain vehicle type, each system is directly integrated, the integration process does not need additional parameter adjustment, the joint adjustment is easy, and the vehicle is simple and easy to implement.

Drawings

FIG. 1 is a flow chart of a control method of a vehicle according to one embodiment of the present application;

FIG. 2 is a flow chart of a control method of a vehicle according to another embodiment of the present application;

fig. 3 is a block schematic diagram of a control apparatus of a vehicle according to one embodiment of the invention.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

A control method of a vehicle, a control device of a vehicle, and a vehicle of the embodiments of the present application are described below with reference to the drawings.

Since the wheel slip ratio is very unstable at low speed, the wheel slip ratio cannot be used immediately at the time of starting as a control target. Therefore, in the present application, the vehicle pre-start control and the vehicle post-start control are designed separately. The control flow and logic diagram of the traction control system TCS before vehicle starting, the four-wheel drive AWD and the electronic limited slip differential eLSD are shown in figure 1, and the control flow and logic diagram of the traction control system TCS after vehicle starting, the four-wheel drive AWD and the electronic limited slip differential eLSD are shown in figure 2.

Fig. 1 is a flowchart of a control method of a vehicle according to one embodiment of the present application. As shown in fig. 1, the control method includes the steps of:

s1, after the vehicle is started, the traction control system TCS, the electronic limited slip differential eLSD and the four-wheel drive AWD are started.

And S2, the traction control system performs starting traction control system driving torque control on the vehicle according to the first control target speed, and the traction control system quits performing starting traction control system driving torque control on the vehicle after the vehicle reaches the quit target speed.

And S3, the traction control system performs starting traction control system brake control on the vehicle according to the second control target speed, and the traction control system quits performing starting traction control system brake control on the vehicle after the vehicle reaches the quit target speed. Wherein the second control target speed is greater than the first control target speed.

And S4, the electronic limited slip differential controls the transmission torque of the electronic limited slip differential for starting the vehicle according to the third control target speed until the electronic limited slip differential quits to control the transmission torque of the electronic limited slip differential for starting the vehicle after the vehicle reaches the quit target speed. Wherein the third control target speed is less than the second control target speed and greater than the first control target speed.

Wherein, in an embodiment of the present application, the first control target speed, the second control target speed, and the third control target speed include: and the wheel speed and the wheel acceleration are respectively preset according to actual conditions. The exit target vehicle speed includes a vehicle body vehicle speed, and is preset according to actual conditions, and may be 10km/h, for example.

The wheel speed and the wheel acceleration can be respectively obtained through a wheel speed sensor and a wheel speed acceleration sensor. The speed of the vehicle can be indirectly obtained through calculation.

That is, the first control target speed includes a first control target wheel speed and a first control target wheel acceleration, the second control target speed includes a second control target wheel speed and a second control target wheel acceleration, and the third control target speed includes a third control target wheel speed and a third control target wheel acceleration. In the invention, it is required to ensure that the first control target speed is less than the third control target speed and less than the second control target speed, namely that: the first control target wheel speed < the third control target wheel speed < the second control target wheel speed, and the first control target wheel acceleration < the third control target wheel acceleration < the second control target wheel acceleration.

And S5, the four-wheel drive performs front and rear axle drive torque distribution control on the vehicle according to the rotation speed difference of the front and rear drive half shafts being 0 until the torque transmission of the four-wheel drive reaches a preset first transmission capacity, and the four-wheel drive keeps the current torque transmission value.

Wherein the first transmission capacity is a maximum transmission value of torque transmission for four-wheel drive.

Specifically, after the vehicle is started and before the vehicle starts, the TCS driving torque control and the TCS braking control are decoupled, the decoupling mode is to set control target speeds respectively, the control targets comprise wheel speeds and wheel accelerations, but it is required to ensure that the control target speeds set by the driving torque control of the traction control system are respectively smaller than the control target speeds of the braking control, that is, the second control target speeds are respectively greater than the first control target speeds. That is to say, before the vehicle starts, the TCS first performs the brake control of the high-speed end or the TCS torque control of the low-speed end, and the sequence is not required to be designed, until the TCS respectively reaches the start point at which the driving torque and the braking torque are controlled according to the slip rate, the start point at which the driving torque and the braking torque are controlled according to the slip rate is the exit target vehicle speed. Once the vehicle reaches the exit target vehicle speed, namely the vehicle body speed reaches a certain speed, the vehicle is started to finish, the TCS exits the control of the driving torque and the braking torque according to the wheel speed and the wheel acceleration, namely the traction control system exits the control of the driving torque of the traction control system and the braking of the traction control system for starting the vehicle, and the control of the driving torque and the braking torque is carried out according to the slip rate. Any torque control comprises three controls of torque increasing, torque maintaining and torque reducing.

Because the braking effect of torque transmission between the half shaft of the electronic limited slip differential eLSD and the differential intermediate housing can completely or partially cancel the braking control of the low-side traction control system of the shaft, thereby saving energy, the application limits that the control target speed of torque control of the electronic limited slip differential eLSD is less than the control target speed of TCS braking control of the traction control system (the third control target speed is less than the second control target speed respectively, and the third control target speed is greater than the first control target speed respectively), i.e. decoupling of the eLSD and TCS braking effects takes the first electronic limited slip differential braking and the second TCS braking as principles, thereby achieving the purpose of saving energy and improving energy-saving performance. After the vehicle reaches the exit target speed, namely the vehicle body speed reaches a certain speed, the vehicle is started, the eLSD exits the control of transmitting torque according to the wheel speed and the wheel acceleration, namely the eLSD exits the control of transmitting torque of the electronic limited slip differential for starting the vehicle, and the control of driving torque and braking torque is carried out according to the slip rate. Any torque control comprises three controls of torque increasing, torque maintaining and torque reducing.

The four-wheel drive AWD is designed to perform torque transmission control according to the axle difference between the front and rear drive axles, and the four-wheel drive control is not affected when the speed of a rear wheel is too high. The AWD controls the vehicle according to the condition that the rotation speed difference of the front and rear transmission half shafts is 0, namely the four-wheel drive takes the differential sun gear rotation speed difference 0 of the front and rear driving shafts as a control target, and in the control process, if the torque transmission of the AWD reaches the maximum transmission value (the preset first transmission capacity) of the torque transmission, the AWD keeps the current torque transmission value.

The control method of the vehicle enables the traction control system to perform brake control, the four-wheel drive torque control, the electronic limited slip differential torque control and the traction control system to perform drive torque control in a decoupling mode, each subsystem is independent in control, the traction control system, the four-wheel drive system and the electronic limited slip differential system can exert the effects respectively and are effectively matched with each other, the drive performance and the energy-saving performance are enhanced, each subsystem can be independently developed on the basis of following the control target range design principle, after being verified on a certain vehicle type respectively, each system is directly integrated, additional parameter adjustment is not needed in the integration process, joint adjustment is easy, and the method is simple and easy to implement. Any torque control comprises three controls of torque increasing, torque maintaining and torque reducing.

In the above description of the control method before the vehicle starts after the vehicle starts, the control method after the vehicle starts will be described with reference to the specific embodiments.

According to an embodiment of the present application, as shown in fig. 2, after the traction control system exits the launch traction control system drive torque control of the vehicle, the method may further include:

and S21, judging whether the smaller driving slip ratio of the two wheels of the front axle enters a preset driving slip ratio regulation range of the traction control system. If yes, go to step S22; if not, the step is stopped and the judgment is continued.

And S22, starting the traction control system to drive the torque control. The control includes three controls of torque increasing, torque maintaining and torque reducing.

Wherein the traction control system drive torque control may be controlled using a state machine, the states including: increasing torque, maintaining and reducing torque. The traction control system torque control includes: the engine torque control and the driving motor control are carried out, and the engine torque control mode comprises the following steps: control of the spark advance angle (fastest engine torque control method), control of the throttle opening degree, and control of the fuel injection amount.

S23, it is determined whether the requested drive torque value in the drive torque control of the traction control system exceeds the requested driver torque value. If yes, returning to the step S21 (judging whether the smaller driving slip ratio of the two wheels on the front axle enters the preset driving slip ratio regulation range of the traction control system); if not, return is made to step S22 (initiate traction control system drive torque control).

According to an embodiment of the present application, as shown in fig. 2, after the traction control system exits the starting traction control system braking control for the vehicle, the method may further include:

and S31, judging whether the driving slip ratio of the front wheel and the rear wheel enters a preset slip ratio regulation range corresponding to the braking of the traction control system. If yes, go to step S32. If not, staying in the step and continuing to judge.

The lower limit value of the slip ratio regulation range corresponding to the traction control system braking is higher than the upper limit value of the traction control system driving slip ratio regulation range, namely the slip ratio regulation range corresponding to the traction control system braking is higher than the traction control system driving slip ratio regulation range.

And S32, starting the braking control of the traction control system for the wheel with the driving slip ratio entering the slip ratio regulating and controlling range corresponding to the braking of the traction control system. The brake control comprises three controls of torque increasing, torque maintaining and torque reducing.

Wherein state machine control may be used, the states including: increase torque, maintain, and decrease torque.

The braking torque control method comprises the following steps: hydraulic braking and motor braking.

And S33, judging whether the driving slip ratio control value in the braking control of the traction control system is lower than the lower limit threshold of the slip ratio regulation and control range corresponding to the braking of the traction control system. If yes, returning to the step S31 (judging whether the driving slip ratio of the front wheel and the rear wheel enters a preset slip ratio regulation range corresponding to the traction control system braking); if not, the process returns to step S32 (traction control system braking control is started for the wheel whose driving slip ratio enters the slip ratio control range corresponding to the traction control system braking).

Specifically, after starting, the traction control system is designed to decouple driving torque control and braking control, the decoupling mode is to set a regulation object and a regulation range respectively, the regulation object of the driving torque control is the smaller driving slip ratio of two wheels of a front shaft, the regulation object of the braking control is the driving slip ratio of the front wheel and the rear wheel, but the slip ratio regulation range corresponding to the braking of the traction control system is required to be higher than the slip ratio regulation range corresponding to the driving of the traction control system.

According to an embodiment of the application, as shown in fig. 2, after the electronic limited slip differential exits the electronic limited slip differential transmission torque control for starting the vehicle, the method may further include:

and S41, judging whether the larger driving slip ratio of the two wheels corresponding to the mounting shaft of the electronic limited slip differential enters the slip ratio regulating and controlling range of the electronic limited slip differential. If so, step S42 is performed. And the upper limit value of the slip ratio regulating range of the electronic limited slip differential is lower than the lower limit value of the slip ratio regulating range corresponding to the braking of the traction control system.

And S42, starting the control of the transmission torque of the electronic limited slip differential. The control includes three controls of torque increasing, torque maintaining and torque reducing.

And S43, judging whether the larger one of the driving slip ratios of the two wheels corresponding to the mounting shaft of the electronic limited slip differential is lower than the lower limit threshold of the preset driving slip ratio regulating and controlling range of the electronic limited slip differential. If yes, returning to the step S41 (judging whether the larger drive slip ratio of the two wheels corresponding to the mounting shaft of the electronic limited slip differential enters the slip ratio regulation and control range of the electronic limited slip differential); if not, step S44 is performed.

And S44, judging whether the torque transmission of the electronic limited slip differential reaches a preset second transmission capacity or not, or whether a driving slip ratio control value in the electronic limited slip differential control is not lower than an upper limit threshold value of a driving slip ratio control range of the electronic limited slip differential or not. If not, returning to step S42; if so, the flow proceeds to step S31 and step S41.

Wherein the second drive capacity is a maximum value of torque transfer of the electronic limited slip differential.

Specifically, after starting, the brake control of the traction control system and the torque control of the electronic limited slip differential are decoupled (separated), the decoupling mode is that different regulation and control ranges are set, and the regulation and control range of the brake control of the traction control system on the wheel slip rate is higher than the regulation and control range of the torque transmission control of the electronic limited slip differential on the wheel slip rate. When the torque transmission of the electronic limited slip differential reaches the maximum capacity, the electronic limited slip differential cannot continuously increase the driving torque difference of two tires on the rear axle, and at the moment, if the control of the torque transmission control of the electronic limited slip differential on the wheel slip rate exceeds the regulation and control range set by the electronic limited slip differential, the control range of the pressure control of the traction control system on the wheel slip rate is reached, and then the braking control of the traction control system is triggered. The mode that the braking demand of the electronic limited slip differential is converted into the driving torque transmission improves the consumption of driving energy of the pure wheel braking mode of the traditional traction control system, and is green and energy-saving.

The control effect of the method is reasonable and effective through simulation experiment verification, and the method is suitable for various existing pavements after parameter adjustment. The method is simple and easy to implement on a real vehicle, and the requirements on the sensors and the control execution mode are mature technologies on the existing vehicle.

According to the control method of the vehicle, before or after the vehicle starts, the traction control system brake control, the four-wheel drive torque distribution control, the electronic limited slip differential transmission torque control and the traction control system drive torque control are decoupled mutually, the control of each subsystem is independent, the traction control system, the four-wheel drive and the electronic limited slip differential system can exert the effects respectively and are effectively matched with each other, and the drive performance and the energy-saving performance are enhanced. The drive axle may be degraded to traction control system braking control at any time after a four wheel drive failure. After the four-wheel drive is failed, if the target drive torque is transmitted to the rear axle, the front axle can be degraded to the front drive at any time; if the target driving torque is transmitted to the front axle, the driving can be degraded to the rear driving at any time. In addition, each subsystem can be independently developed on the basis of following the design principle of a control target (such as slip rate, vehicle speed, wheel speed and acceleration) range, and then after being respectively verified on a certain vehicle type, each system is directly integrated, additional parameter adjustment is not needed in the integration process, and joint adjustment is easy, simple and easy to implement.

Corresponding to the control method of the vehicle, the application also provides a control device of the vehicle. Since the device embodiment of the present application corresponds to the method embodiment described above, for details that are not disclosed in the device embodiment, please refer to the method embodiment described above, which is not described in detail in the present application.

Fig. 3 is a block schematic diagram of a control apparatus of a vehicle according to one embodiment of the invention. As shown in fig. 3, the control device includes: a first control module 1, a second control module 2, a third control module 3, a fourth control module, and a fifth control module 5.

The first control module 1 is used for controlling the traction control system TCS, the electronic limited slip differential eLSD and the four-wheel drive AWD to start after the vehicle is started.

The second control module 2 is used for controlling the traction control system to carry out starting traction control system driving torque control on the vehicle according to the first control target speed, the control comprises three types of control of torque increasing, torque maintaining and torque reducing, and the traction control system is controlled to quit carrying out starting traction control system driving torque control on the vehicle until the vehicle reaches the quit target speed.

And the third control module 3 is used for controlling the traction control system to perform starting traction control system brake control on the vehicle according to the second control target speed, and controlling the traction control system to quit performing starting traction control system brake control on the vehicle until the vehicle reaches the quit target speed. The second control target speed is greater than the first control target speed.

And the fourth control module 4 is used for controlling the electronic limited slip differential to perform starting electronic limited slip differential transmission torque control on the vehicle according to the third control target speed, the control comprises three controls of torque increasing, torque maintaining and torque decreasing, and the electronic limited slip differential is controlled to quit to perform starting electronic limited slip differential transmission torque control on the vehicle until the vehicle reaches the quit target speed. The third control target speed is less than the second control target speed and is greater than the first control target speed

The fifth control module 5 is used for controlling the four-wheel drive to perform front and rear axle drive torque distribution control on the vehicle according to the condition that the rotational speed difference of the front and rear transmission half shafts is 0, wherein the control comprises three controls of torque increasing, torque maintaining and torque reducing on any axle drive torque until the torque transmission of the four-wheel drive reaches a preset first transmission capacity, and the four-wheel drive is controlled to maintain the current four-wheel drive torque transmission value.

Specifically, after the vehicle is started and before the vehicle starts, the traction control system is designed to be decoupled (separated) in the mode that control target speeds are set respectively, the control target speeds are the wheel speeds of the control target wheels and the acceleration of the control target wheels, but the control target speed set by the drive torque control is required to be smaller than the control target speed of the brake control, namely the second control target speed is required to be larger than the first control target speed. That is, before the vehicle starts, the traction control system firstly performs braking control on a high-speed end or performs torque control on the traction control system firstly according to a low-speed end, the sequence is not required to be designed, until the traction control system respectively reaches a starting point at which driving torque and braking torque are controlled according to a slip rate, and the starting point at which the driving torque and the braking torque are controlled according to the slip rate is the exit target vehicle speed. Once the vehicle reaches the exit target vehicle speed, namely the vehicle body speed reaches a certain speed, the vehicle is started to finish, the traction control system is controlled to exit the control of the driving torque and the braking torque according to the wheel speed and the wheel acceleration, namely the traction control system exits the control of the driving torque of the traction control system for starting and the braking control of the traction control system for starting the vehicle, and the control of the driving torque and the braking torque according to the slip ratio is started. Any torque control comprises three controls of torque increasing, torque maintaining and torque reducing.

Because the braking effect of torque transmission between the half shaft of the electronic limited slip differential and the differential intermediate shell can completely or partially cancel the braking control of the low-side traction control system of the shaft, thereby saving energy, the control target of torque control of the electronic limited slip differential is limited to be smaller than the control target of braking control of the traction control system (the third control target speed is smaller than the second control target speed), namely the decoupling of the braking effects of the electronic limited slip differential and the traction control system takes the braking of the electronic limited slip differential first and the braking of the rear traction control system as a principle, thereby achieving the purpose of saving energy and improving the energy-saving performance. The third control target speed is greater than the first control target speed. After the vehicle reaches the exit target speed, namely the vehicle body speed reaches a certain speed, the vehicle is started to finish, the electronic limited slip differential is controlled to exit the control of transmitting torque according to the wheel speed and the wheel acceleration, namely the electronic limited slip differential exits the control of transmitting torque of the electronic limited slip differential for starting the vehicle, and the control of driving torque and braking torque is carried out according to the slip rate.

After the target exit speed is reached, namely the train speed reaches the target exit speed, the second control module 2 controls the traction control system to exit to perform starting traction control system driving torque control on the vehicle, the third control module 3 controls the traction control system to exit to perform starting traction control system braking control on the vehicle, and the fourth control module 4 controls the electronic limited slip differential to exit to perform starting electronic limited slip differential transmission torque control on the vehicle.

The four-wheel drive is designed to control the torque transmission according to the axle difference of the front and rear driving axles, and the control of the four-wheel drive is not influenced when the speed of a certain wheel of the rear wheel is too high. The fifth control module 5 controls the four-wheel drive to control the vehicle according to the difference of the rotational speeds of the front and rear transmission half shafts of the front shaft or the rear shaft being 0, that is, controls the four-wheel drive to set the difference of the rotational speeds of the sun gear of the differential of the front and rear two drive shafts being 0 as a control target, and in the control process, if the torque transmission of the four-wheel drive reaches the maximum transmission value (the preset first transmission capacity) of the torque transmission, the fifth control module 5 controls the four-wheel drive to maintain the current torque transmission value of the four-wheel drive.

According to an embodiment of the application, the second control module is further configured to: after the traction control system is controlled to quit the traction control system driving torque control for starting the vehicle, judging whether the smaller driving slip ratio of the two wheels of the front axle enters a preset traction control system driving slip ratio regulation range or not; if yes, starting a traction control system to drive torque control; judging whether a driving torque request value in driving torque control of a traction control system exceeds a driver torque request value; if the driving slip ratio exceeds the preset driving slip ratio, returning to the step of judging whether the smaller driving slip ratio of the two wheels of the front axle enters the preset driving slip ratio regulation range of the traction control system; and if not, returning to the step of starting the traction control system to drive the torque control. The torque control comprises three controls of torque increasing, torque maintaining and torque reducing.

According to an embodiment of the invention, the third control module 3 is further configured to: after the traction control system is controlled to quit the braking control of the starting traction control system for the vehicle, judging whether the driving slip rates of the front wheels and the rear wheels enter a preset slip rate regulation range corresponding to the braking of the traction control system, wherein the lower limit value of the slip rate regulation range corresponding to the braking of the traction control system is higher than the upper limit value of the driving slip rate regulation range of the traction control system; if so, starting the traction control system brake control on the wheel driving the slip ratio to enter the slip ratio regulation and control range corresponding to the traction control system brake; judging whether a driving slip ratio control value in the braking control of the traction control system is lower than a preset lower limit threshold of a slip ratio regulation and control range corresponding to the braking of the traction control system; if the driving slip ratio is lower than the preset slip ratio, returning to the step of judging whether the driving slip ratios of the front wheels and the rear wheels enter the slip ratio regulation and control range corresponding to the braking of the traction control system; and if not, returning to the step of controlling the braking of the wheel starting traction control system for driving the slip ratio to enter the slip ratio regulation and control range corresponding to the braking of the traction control system. The control includes three controls of torque increasing, torque maintaining and torque reducing.

According to an embodiment of the invention, the fourth control module 4 may be further configured to: after the electronic limited slip differential is controlled to quit starting the electronic limited slip differential to control the transmission torque of the vehicle, judging whether the larger driving slip ratio of the two wheels corresponding to the mounting shaft of the electronic limited slip differential enters the slip ratio regulating and controlling range of the electronic limited slip differential, wherein the upper limit value of the slip ratio regulating and controlling range of the electronic limited slip differential is lower than the lower limit value of the slip ratio regulating and controlling range corresponding to the braking of the traction control system; if yes, starting the control of the transmission torque of the electronic limited slip differential; judging whether the larger one of the driving slip rates of the two wheels corresponding to the mounting shaft of the electronic limited slip differential is lower than the lower limit threshold of the preset driving slip rate regulation range of the electronic limited slip differential; if the slip ratio is lower than the set slip ratio, returning to the step of judging whether the larger driving slip ratio of the two wheels corresponding to the mounting shaft of the electronic limited slip differential enters the slip ratio regulation range of the electronic limited slip differential; if the torque transmission of the electronic limited slip differential is not lower than the preset second transmission capacity, judging whether the torque transmission of the electronic limited slip differential reaches the preset second transmission capacity or whether a driving slip rate control value in the control of the electronic limited slip differential is not lower than an upper limit threshold value of a driving slip rate regulation range of the electronic limited slip differential; if not, returning to the step of starting the electronic limited slip differential to drive the torque transmission control; if so, judging whether the driving slip rates of the front wheel and the rear wheel enter a preset slip rate regulation and control range corresponding to the braking of the traction control system, and judging whether the larger driving slip rate of the two wheels corresponding to the mounting shaft of the electronic limited slip differential enters the slip rate regulation and control range of the electronic limited slip differential. The control includes three controls of torque increasing, torque maintaining and torque reducing.

According to the control device of the vehicle, the traction control system can be subjected to brake control and four-wheel drive torque distribution control, the electronic limited slip differential torque control and the traction control system drive torque control are decoupled with each other, the subsystems are controlled independently, the traction control system, the four-wheel drive system and the electronic limited slip differential system can respectively exert the effects and are effectively matched with each other, the drive performance and the energy-saving performance are enhanced, the subsystems can be independently developed on the basis of following the design principle of a control target speed (for starting control) or slip rate (for control after starting), after respective verification on a certain vehicle type, the systems are directly integrated, additional parameter adjustment is not needed in the integration process, the joint adjustment is easy, and the control device is simple and easy to implement.

In addition, the application also provides a vehicle, which comprises the control device of the vehicle in the embodiment.

According to the vehicle of the embodiment of the application, through the control device of the vehicle, the traction control system can be subjected to brake control and four-wheel drive torque distribution control, the electronic limited slip differential torque control and the traction control system drive torque control are decoupled from each other, the subsystems are controlled independently, the traction control system, the four-wheel drive system and the electronic limited slip differential system can respectively exert the effects and are effectively matched with each other, the drive performance and the energy-saving performance are enhanced, in addition, the subsystems can be independently developed on the basis of following the control target speed (for starting control) or slip rate (for after-starting control) range design principle, after respective verification is carried out on a certain vehicle type, the systems are directly integrated, additional parameter adjustment is not needed in the integration process, and the joint adjustment is easy, simple and easy to implement.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims

1. A control method of a vehicle, characterized by comprising:

after the vehicle is started, a traction control system, an electronic limited slip differential and a four-wheel drive are started;

the traction control system performs starting traction control system driving torque control on the vehicle according to a first control target speed, and the traction control system quits performing starting traction control system driving torque control on the vehicle until the vehicle reaches a quit target speed;

the traction control system performs starting traction control system braking control on the vehicle according to a second control target speed until the vehicle reaches the quit target speed, and quits the starting traction control system braking control on the vehicle, wherein the second target control speed is greater than the first target control speed;

the electronic limited slip differential performs starting electronic limited slip differential transmission torque control on the vehicle according to a third control target speed, and the electronic limited slip differential quits the starting electronic limited slip differential transmission torque control on the vehicle after the vehicle reaches the quitting target speed, wherein the third control target speed is less than the second control target speed, and the third control target speed is greater than the first control target speed;

and the four-wheel drive performs front-rear axle drive torque distribution control on the vehicle according to the rotation speed difference of the front-rear drive half axle being 0 until the torque transmission of the four-wheel drive reaches a preset first transmission capacity, and the four-wheel drive keeps the current torque transmission value.

2. The control method of claim 1, wherein after the traction control system exits launch traction control system drive torque control of the vehicle, further comprising:

judging whether the smaller driving slip ratio of the two wheels of the front axle enters a preset driving slip ratio regulation range of a traction control system;

if yes, starting a traction control system to drive torque control;

judging whether a driving torque request value in driving torque control of the traction control system exceeds a driver torque request value;

if the driving slip ratio exceeds the preset driving slip ratio, returning to the step of judging whether the smaller driving slip ratio of the two wheels of the front axle enters a preset driving slip ratio regulation range of the traction control system;

and if not, returning to the step of controlling the driving torque of the starting traction control system.

3. The control method of claim 2, wherein after the traction control system exits launch traction control system braking control of the vehicle, further comprising:

judging whether the driving slip rates of the front wheels and the rear wheels enter a preset slip rate regulation and control range corresponding to the braking of a traction control system, wherein the lower limit threshold of the slip rate regulation and control range corresponding to the braking of the traction control system is higher than the upper limit threshold of the driving slip rate regulation and control range of the traction control system;

if so, starting the traction control system brake control on the wheel of which the driving slip rate enters the slip rate regulation and control range corresponding to the traction control system brake;

judging whether a driving slip ratio control value in the braking control of the traction control system is lower than a lower limit threshold of a slip ratio regulation and control range corresponding to the braking of the traction control system;

if the driving slip ratio is lower than the preset slip ratio, returning to the step of judging whether the driving slip ratios of the front wheels and the rear wheels enter the preset slip ratio regulation and control range corresponding to the traction control system braking;

and if not, returning to the step of controlling the braking of the wheel starting traction control system when the driving slip ratio enters the slip ratio regulation and control range corresponding to the braking of the traction control system.

4. The control method of claim 3, wherein after the electronic limited slip differential exits the off-going electronic limited slip differential transfer torque control of the vehicle, further comprising:

judging whether the larger driving slip ratio of the two wheels corresponding to the electronic limited slip differential mounting shaft enters the slip ratio regulating and controlling range of the electronic limited slip differential, wherein the upper limit value of the slip ratio regulating and controlling range of the electronic limited slip differential is lower than the lower limit value of the slip ratio regulating and controlling range corresponding to the braking of the traction control system;

if yes, starting the control of the transmission torque of the electronic limited slip differential;

judging whether the larger one of the driving slip rates of the two wheels corresponding to the mounting shaft of the electronic limited slip differential is lower than the lower limit threshold of the preset driving slip rate regulation range of the electronic limited slip differential;

if the slip ratio is lower than the set slip ratio, returning to the step of judging whether the larger driving slip ratio of the two wheels corresponding to the mounting shaft of the electronic limited slip differential enters the slip ratio regulation and control range of the electronic limited slip differential;

if the torque transmission of the electronic limited slip differential is not lower than the preset second transmission capacity, judging whether the torque transmission of the electronic limited slip differential reaches the preset second transmission capacity or whether a driving slip ratio control value in the control of the electronic limited slip differential is not lower than an upper limit threshold value of a driving slip ratio regulation range of the electronic limited slip differential;

if not, returning to the step of starting the electronic limited slip differential to drive torque transmission control;

if so, the step of judging whether the driving slip rates of the front wheel and the rear wheel enter a preset slip rate regulation and control range corresponding to the braking of a traction control system is carried out, and the step of judging whether the larger driving slip rate of the two wheels corresponding to the mounting shaft of the electronic limited slip differential enters the slip rate regulation and control range of the electronic limited slip differential is carried out.

5. The control method according to claim 1, wherein the first control target speed, the second control target speed, the third control target speed include: the wheel speed and the wheel acceleration,

the exit target vehicle speed includes: and the vehicle body speed.

6. A control apparatus of a vehicle, characterized by comprising:

the first control module is used for controlling the traction control system, the electronic limited slip differential and the four-wheel drive to start after the vehicle is started;

the second control module is used for controlling the traction control system to carry out starting traction control system driving torque control on the vehicle according to the first control target speed, and the traction control system quits carrying out starting traction control system driving torque control on the vehicle until the vehicle reaches the quit target speed;

the third control module is used for controlling the traction control system to perform starting traction control system brake control on the vehicle according to a second control target speed until the vehicle reaches the quit target speed, and the traction control system quits performing starting traction control system brake control on the vehicle, wherein the second target speed is greater than the first target speed;

the fourth control module is used for controlling the electronic limited slip differential to carry out starting electronic limited slip differential transmission torque control on the vehicle according to a third control target speed until the vehicle reaches the quitting target speed, and the electronic limited slip differential quits to carry out starting electronic limited slip differential transmission torque control on the vehicle, wherein the third control target speed is smaller than the second control target speed, and the third control target speed is larger than the first control target speed;

and the fifth control module is used for controlling the four-wheel drive to perform front and rear axle drive torque distribution control on the vehicle according to the rotation speed difference of the front and rear drive half axles being 0 until the torque transmission of the four-wheel drive reaches a preset first transmission capacity, and controlling the four-wheel drive to keep a current torque transmission value.

7. The control device of claim 6, wherein the second control module is further configured to:

after controlling the traction control system to quit the traction control system driving torque control for starting the vehicle, judging whether a smaller driving slip ratio of two wheels on a front axle enters a preset traction control system driving slip ratio regulation range or not;

if yes, starting a traction control system to drive torque control;

8. The control apparatus of claim 7, wherein the third control module is further configured to:

after the traction control system is controlled to quit the braking control of the starting traction control system of the vehicle, judging whether the driving slip rates of the front wheels and the rear wheels enter a preset slip rate regulation and control range corresponding to the braking of the traction control system, wherein the lower limit value of the slip rate regulation and control range corresponding to the braking of the traction control system is higher than the upper limit value of the driving slip rate regulation and control range of the traction control system;

9. The control device of claim 8, wherein the fourth control module is further configured to:

after the electronic limited slip differential is controlled to exit from the starting electronic limited slip differential torque transmission control of the vehicle, judging whether the larger driving slip ratio of two wheels corresponding to an electronic limited slip differential installation shaft enters the slip ratio regulation range of the electronic limited slip differential, wherein the upper limit value of the slip ratio regulation range of the electronic limited slip differential is lower than the lower limit value of the slip ratio regulation range corresponding to the braking of the traction control system, and the lower limit value of the slip ratio regulation range of the electronic limited slip differential is higher than the upper limit value of the slip ratio regulation range corresponding to the driving of the traction control system;

judging whether the larger one of the driving slip ratios of the two wheels corresponding to the mounting shaft of the electronic limited slip differential is lower than the lower limit threshold of the preset driving slip ratio regulation range of the electronic limited slip differential;

if the slip ratio is lower than the set slip ratio, returning to the step of judging whether the larger drive slip ratio of the two wheels corresponding to the mounting shaft of the electronic limited slip differential enters the slip ratio regulation range of the electronic limited slip differential;

10. A vehicle, characterized by comprising: the control device of the vehicle according to any one of claims 6 to 9.