WO2018214715A1

WO2018214715A1 - Vehicle and coupling lock control method and system for vehicle

Info

Publication number: WO2018214715A1
Application number: PCT/CN2018/085509
Authority: WO
Inventors: 廉玉波; 凌和平; 孟繁亮; 石明川; 黄长安
Original assignee: 比亚迪股份有限公司
Priority date: 2017-05-25
Filing date: 2018-05-03
Publication date: 2018-11-29
Also published as: CN108944898B; CN108944898A

Abstract

Provided is a coupling lock control system for a vehicle. The vehicle has a plurality of wheels, the plurality of wheels are configured as at least one set of wheel pairs, and each set of wheel pairs comprises a first wheel (11a) and a second wheel (11b) connected to the same coupling lock (10). After a locking instruction for the coupling lock (10) is obtained, the wheel speeds of the first wheel (11a) and the second wheel (11b) connected to the same coupling lock (10) are obtained. Based on the difference between the wheel speeds of the first wheel (11a) and the second wheel (11b), the difference between the wheel speeds of the two wheels is obtained; based on the ratio of the greater value to the lower value of the wheel speeds of the first wheel (11a) and the second wheel (11b), the ratio of the wheel speeds of the two wheels is obtained; and the locking control of the coupling lock (10) is performed based on the difference between and the ratio of the wheel speeds of the two wheels, thereby enabling the coupling lock to lock quickly and safely, and preventing gear collisions and excessive wear. Further provided is a coupling lock control method for a vehicle.

Description

车辆以及车辆的联轴锁控制方法和***Coupling lock control method and system for vehicle and vehicle

相关申请的交叉引用Cross-reference to related applications

本申请基于申请号为201710380480.2，申请日为2017年5月25日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。The present application is based on a Chinese patent application filed on May 25, 2017, the entire disclosure of which is hereby incorporated by reference.

技术领域Technical field

本申请涉及车辆技术领域，特别涉及一种车辆的联轴锁控制方法、一种车辆的联轴锁控制***以及一种具有该***的车辆。The present application relates to the field of vehicle technology, and in particular, to a coupling lock control method for a vehicle, a coupling lock control system for a vehicle, and a vehicle having the same.

背景技术Background technique

相关技术公开了一种差速锁控制方法及***，该***包括差速锁开关、中央控制器和差速锁电磁气阀；中央控制器用于根据差速锁开关的状态以及车速的状态向差速锁电磁气阀输出控制信号；差速锁电磁气阀用于根据中央控制器输出的控制信号驱动或禁止差速锁工作，从而，可以实现对差速锁的自动控制，避免人为因素造成的差速锁打齿的问题。The related art discloses a differential lock control method and system, which comprises a differential lock switch, a central controller and a differential lock electromagnetic gas valve; the central controller is used for the state difference according to the state of the differential lock switch and the state of the vehicle speed The speed lock solenoid valve outputs a control signal; the differential lock solenoid valve is used to drive or prohibit the differential lock according to the control signal outputted by the central controller, thereby enabling automatic control of the differential lock and avoiding human factors. The problem of differential lock teething.

但是，其存在的问题是，四轮轮速无法主动控制，是消极的控制方法，无法在避免打齿的情况下快速满足驾驶员锁止差速锁的需求。However, the problem is that the four-wheel speed cannot be actively controlled, and it is a negative control method, and it is impossible to quickly satisfy the driver's need to lock the differential lock without avoiding toothing.

发明内容Summary of the invention

本申请旨在至少在一定程度上解决相关技术中的技术问题之一。The present application aims to solve at least one of the technical problems in the related art to some extent.

为达到上述目的，本申请第一方面实施例提出了一种车辆的联轴锁控制方法，所述车辆具有多个车轮，所述多个车轮构造成至少一组车轮对，每组车轮对包括连接于同一联轴锁的第一车轮和第二车轮，所述方法包括以下步骤：在获取到联轴锁锁止指令后，获取连接于同一联轴锁的第一车轮和第二车轮的轮速；根据所述第一车轮的轮速与所述第二车轮的轮速之间的差值获取两轮轮速差；根据所述第一车轮的轮速与所述第二车轮的轮速中较大值与较小值之比获取两轮轮速比；根据所述两轮轮速差和两轮轮速比对所述联轴锁进行锁止控制。In order to achieve the above object, a first aspect embodiment of the present application provides a coupling lock control method for a vehicle, the vehicle having a plurality of wheels configured as at least one set of wheel pairs, each set of wheel pairs being included Connecting to the first wheel and the second wheel of the same coupling lock, the method comprising the steps of: acquiring the wheel of the first wheel and the second wheel connected to the same coupling lock after acquiring the coupling lock locking command Speed; obtaining a two-wheel speed difference according to a difference between a wheel speed of the first wheel and a wheel speed of the second wheel; according to the wheel speed of the first wheel and the wheel speed of the second wheel The ratio of the larger value to the smaller value obtains the two wheel ratio; the lock is locked according to the two wheel speed difference and the two wheel speed ratio.

根据本申请实施例提出的车辆的联轴锁控制方法，在获取到联轴锁锁止指令后，获取连接于同一联轴锁的第一车轮和第二车轮的轮速，然后根据第一车轮的轮速与第二车轮的轮速之间的差值获取两轮轮速差，并根据第一车轮的轮速与第二车轮的轮速中较大值与较小值之比获取两轮轮速比，以及根据两轮轮速差和两轮轮速比对联轴锁进行锁止控制，从而能够使联轴锁快速、安全的锁止，避免打齿、过度滑磨等。According to the coupling lock control method of the vehicle according to the embodiment of the present application, after the coupling lock lock command is acquired, the wheel speeds of the first wheel and the second wheel connected to the same coupling lock are acquired, and then according to the first wheel The difference between the wheel speed and the wheel speed of the second wheel acquires the difference between the two wheels, and obtains two rounds according to the ratio of the larger value of the wheel speed of the first wheel to the smaller value of the wheel speed of the second wheel. The wheel speed ratio and the lock control of the coupling lock according to the two-wheel speed difference and the two-wheel speed ratio enable the coupling lock to be quickly and safely locked, avoiding toothing, excessive slipping, and the like.

为到达上述目的，本申请第二方面实施例还提出了一种车辆的联轴锁控制***，所述车辆具有多个车轮，所述多个车轮构造成至少一组车轮对，每组车轮对包括连接于同一联轴锁的第一车轮和第二车轮，所述***包括：至少一个联轴锁控制模块，至少一个联轴锁控制模块中的每个联轴锁控制模块用于驱动每组车轮对对应的联轴锁锁止或解锁；整车控制器，所述整车控制器与所述至少一个联轴锁控制模块进行通信，所述整车控制器用于在获取到联轴锁的锁止指令后，获取连接于同一联轴锁的第一车轮和第二车轮的轮速，并根据所述第一车轮的轮速与所述第二车轮的轮速之间的差值获取两轮轮速差，并根据所述第一车轮的轮速与所述第二车轮的轮速中较大值与较小值之比获取两轮轮速比，以及根据所述两轮轮速差和两轮轮速比通过相应的联轴锁控制模块对所述联轴锁进行锁止控制。In order to achieve the above object, the second aspect of the present application further provides a coupling lock control system for a vehicle, the vehicle having a plurality of wheels, the plurality of wheels being configured as at least one set of wheel pairs, each set of wheel pairs The first wheel and the second wheel connected to the same coupling lock, the system comprising: at least one coupling lock control module, each of the at least one coupling lock control module for driving each group The wheel locks or unlocks the corresponding coupling lock; the vehicle controller communicates with the at least one coupling lock control module, and the vehicle controller is used to obtain the coupling lock After the locking command, acquiring the wheel speeds of the first wheel and the second wheel connected to the same coupling lock, and obtaining two according to the difference between the wheel speed of the first wheel and the wheel speed of the second wheel a wheel speed difference, and obtaining a two-wheel speed ratio according to a ratio of a larger value of the wheel speed of the first wheel to a smaller value of the wheel speed of the second wheel, and according to the speed difference of the two wheels And the two-wheel speed ratio is controlled by the corresponding coupling lock Controlling the lockup coupling lock.

根据本申请实施例提出的车辆的联轴锁控制***，整车控制器在获取到联轴锁锁止指令后，获取连接于同一联轴锁的第一车轮和第二车轮的轮速，然后根据第一车轮的轮速与第二车轮的轮速之间的差值获取两轮轮速差，并根据第一车轮的轮速与第二车轮的轮速中较大值与较小值之比获取两轮轮速比，以及根据两轮轮速差和两轮轮速比通过相应的联轴锁控制模块对联轴锁进行锁止控制，从而能够使联轴锁快速、安全的锁止，避免打齿、过度滑磨等。According to the coupling lock control system of the vehicle according to the embodiment of the present application, after obtaining the coupling lock lock command, the vehicle controller acquires the wheel speeds of the first wheel and the second wheel connected to the same coupling lock, and then Obtaining a two-wheel speed difference according to a difference between a wheel speed of the first wheel and a wheel speed of the second wheel, and according to a larger value and a smaller value of the wheel speed of the first wheel and the wheel speed of the second wheel Compared with the acquisition of the two-wheel ratio, and the locking control of the coupling lock by the corresponding coupling lock control module according to the two-wheel speed difference and the two-wheel speed ratio, the coupling lock can be quickly and safely locked. Avoid toothing, excessive slipping, etc.

为到达上述目的，本申请第三方面实施例还提出了一种车辆，包括所述车辆的联轴锁控制***。In order to achieve the above object, the third aspect of the present application also proposes a vehicle including a coupling lock control system of the vehicle.

根据本申请实施例提出的车辆，能够使联轴锁快速、安全的锁止，避免打齿、过度滑磨等。According to the vehicle proposed in the embodiment of the present application, the coupling lock can be quickly and safely locked, avoiding toothing, excessive sliding, and the like.

为到达上述目的，本申请第四方面实施例提出了一种计算机可读存储介质，其上存储有车辆的联轴锁控制程序，该程序被处理器执行时实现如本申请第一方面实施例所述的车辆的联轴锁控制方法。In order to achieve the above object, a fourth aspect of the present application provides a computer readable storage medium storing a coupling lock control program of a vehicle, which is executed by the processor to implement an embodiment of the first aspect of the present application. The coupling lock control method of the vehicle.

附图说明DRAWINGS

图1是根据本申请实施例的车辆的联轴锁控制方法的流程图；1 is a flow chart of a method of controlling a coupling lock of a vehicle according to an embodiment of the present application;

图2是根据本申请一个具体实施例的车辆的联轴锁控制方法的流程图；2 is a flow chart of a method of controlling a coupling lock of a vehicle according to an embodiment of the present application;

图3是根据本申请另一个具体实施例的车辆的联轴锁控制方法的流程图；3 is a flow chart of a method of controlling a coupling lock of a vehicle according to another embodiment of the present application;

图4是根据本申请实施例的车辆的联轴锁控制***的方框示意图；4 is a block schematic diagram of a coupling lock control system of a vehicle according to an embodiment of the present application;

图5是根据本申请一个实施例的车辆的联轴锁控制***的方框示意图；5 is a block schematic diagram of a coupling lock control system for a vehicle according to an embodiment of the present application;

图6是根据本申请一个具体实施例的车辆的联轴锁控制***的结构示意图；以及6 is a schematic structural view of a coupling lock control system of a vehicle according to an embodiment of the present application;

图7是根据本申请另一个实施例的车辆的联轴锁控制***的方框示意图。7 is a block schematic diagram of a coupling lock control system for a vehicle in accordance with another embodiment of the present application.

具体实施方式detailed description

下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本申请，而不能理解为对本申请的限制。The embodiments of the present application are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals are used to refer to the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are intended to be illustrative, and are not to be construed as limiting.

下面参考附图来描述本申请实施例提出的车辆的联轴锁控制方法、车辆的联轴锁控制***以及具有该***的车辆。A coupling lock control method for a vehicle, a coupling lock control system for a vehicle, and a vehicle having the same according to embodiments of the present application are described below with reference to the accompanying drawings.

根据本申请的一些实施例，如图5所示，车辆具有多个车轮，多个车轮构造成至少一组车轮对，每组车轮对包括连接于同一联轴锁10的第一车轮11a和第二车11b，且第一车轮11a和第二车轮11b同轴。According to some embodiments of the present application, as shown in FIG. 5, the vehicle has a plurality of wheels configured as at least one set of wheel pairs, each set of wheel pairs including a first wheel 11a and a first link connected to the same coupling lock 10 The second car 11b has a first wheel 11a and a second wheel 11b coaxial.

进一步地，车辆还包括多个变速器和多个电机，其中，多个变速器与多个车轮对应连接，多个变速器中的每个变速器驱动相应的车轮；多个电机与多个变速器对应连接，多个电机中的每个电机用于通过相应的变速器驱动相应的车轮。也就是说，多个车轮由多个独立的电机分别控制。Further, the vehicle further includes a plurality of transmissions and a plurality of electric machines, wherein the plurality of transmissions are correspondingly coupled to the plurality of wheels, each of the plurality of transmissions driving the corresponding wheel; the plurality of electric machines are correspondingly coupled to the plurality of transmissions, Each of the motors is used to drive a respective wheel through a respective transmission. That is to say, a plurality of wheels are separately controlled by a plurality of independent motors.

应当理解的是，与车轮相对应，如图5所示，多个变速器可构造成至少一组变速器对，每组变速器对包括连接于第一车轮11a的第一变速器12a和连接于第二车轮11b的第二变速器12b，其中，第一变速器12a可通过第一传动半轴13a与第一车轮11a相连接，第二变速器12b可通过第二传动半轴13b与第二车轮11b相连接。每组变速器对间布置有联轴锁10，也即本申请实施例可采用联轴锁实现左右半轴间锁止。It should be understood that, corresponding to the wheel, as shown in FIG. 5, the plurality of transmissions may be configured as at least one set of transmissions, each set of transmissions including a first transmission 12a coupled to the first wheel 11a and a second wheel coupled thereto The second transmission 12b of 11b, wherein the first transmission 12a is connectable to the first wheel 11a via the first transmission half shaft 13a, and the second transmission 12b is connectable to the second wheel 11b via the second transmission half shaft 13b. A coupling lock 10 is disposed between each pair of transmissions, that is, the interlocking lock can be used to realize the locking between the left and right axles.

并且，多个电机可构造成至少一组电机对，每组电机对包括连接于第一变速器12a的第一电机14a和连接于第二变速器12b的第二电机14b，其中，第一电机14a通过第一变速器12a驱动第一传动半轴13a带动第一车轮11a，第二电机14b通过第二变速器12b驱动第二传动半轴13b带动第二车轮11b。And, the plurality of motors may be configured as at least one set of motor pairs, each set of motor pairs including a first motor 14a coupled to the first transmission 12a and a second motor 14b coupled to the second transmission 12b, wherein the first motor 14a passes The first transmission 12a drives the first transmission half shaft 13a to drive the first wheel 11a, and the second motor 14b drives the second transmission half shaft 13b through the second transmission 12b to drive the second wheel 11b.

由此，在联轴锁10锁止时，可以通过单轮驱动电机主动调节轮速，避免联轴锁发生打齿。Therefore, when the coupling lock 10 is locked, the wheel speed can be actively adjusted by the single-wheel drive motor to avoid toothing of the coupling lock.

更进一步地，车辆还包括多个电机控制器，多个电机控制器与多个电机对应连接，多个电机控制器中的每个电机控制器用于控制相应的电机运转。具体而言，与车轮相对应，如图5所示，多个电机控制器也构造成至少一组电机控制器，每组电机控制器包括与第一电机14a相连的第一电机控制器15a和与第二电机14b相连的第二电机控制器15b，其中，第一电机控制器15a用于驱动第一电机14a，第二电机控制器15b用于驱动第二电机14b。Further, the vehicle further includes a plurality of motor controllers, and the plurality of motor controllers are correspondingly connected to the plurality of motors, and each of the plurality of motor controllers is configured to control the corresponding motor operation. Specifically, corresponding to the wheel, as shown in FIG. 5, the plurality of motor controllers are also configured as at least one set of motor controllers, each set of motor controllers including a first motor controller 15a connected to the first motor 14a and A second motor controller 15b connected to the second motor 14b, wherein the first motor controller 15a is for driving the first motor 14a, and the second motor controller 15b is for driving the second motor 14b.

更进一步地，如图5所示，车辆还包括至少一个联轴锁控制模块16，至少一个联轴锁控制模块16中的每个联轴锁控制模块16用于驱动每组车轮对对应的联轴锁10锁止或解锁。也就是说，至少一组车轮对对应具有至少一个联轴锁10，每个联轴锁10均可由相应地联轴锁控制模块16控制。Further, as shown in FIG. 5, the vehicle further includes at least one coupling lock control module 16, and each of the at least one coupling lock control module 16 is configured to drive a corresponding joint of each set of wheel pairs. The shaft lock 10 is locked or unlocked. That is, at least one set of wheel pairs correspondingly has at least one coupling lock 10, each of which can be controlled by a respective joint lock control module 16.

更进一步地，如图5所示，车辆还包括动力电池17、DC-DC变换器18和整车控制器19。Further, as shown in FIG. 5, the vehicle further includes a power battery 17, a DC-DC converter 18, and a vehicle controller 19.

其中，动力电池17与多个电机控制器分别相连，以为多个电机控制器供电；DC-DC变换器18的输入端与动力电池17相连，DC-DC变换器18的输出端与整车控制器19相连，DC-DC变换器18用于将动力电池17提供的第一电压变换为第二电压以为整车控制器19供电，DC-DC变换器18的输出端还与至少一个联轴锁控制模块16相连以为至少一个联轴锁控制模块16供电，其中第一电压大于第二电压。也就是说，动力电池17可给电机控制器提供高压电，电机控制器可通过控制该高压电实现对相应的电机的控制，同时动力电池17通过DC-DC变换器18将高压电变换为低压电并为联轴锁控制模块16供电，联轴锁控制模块16通过控制该低压电，实现对联轴锁10的锁止和解锁控制。Wherein, the power battery 17 is connected to the plurality of motor controllers respectively to supply power to the plurality of motor controllers; the input end of the DC-DC converter 18 is connected to the power battery 17, and the output of the DC-DC converter 18 is controlled by the whole vehicle. The controller 19 is connected, and the DC-DC converter 18 is configured to convert the first voltage provided by the power battery 17 into a second voltage to supply power to the vehicle controller 19. The output of the DC-DC converter 18 is also coupled to at least one of the coupling locks. The control module 16 is coupled to power at least one of the coupling lock control modules 16 wherein the first voltage is greater than the second voltage. That is to say, the power battery 17 can supply high voltage power to the motor controller, and the motor controller can control the corresponding motor by controlling the high voltage power, while the power battery 17 passes the high voltage power through the DC-DC converter 18. The power is changed to low voltage and the power is supplied to the coupling lock control module 16. The interlock lock control module 16 controls the low voltage power to realize the locking and unlocking control of the coupling lock 10.

整车控制器19是整车的控制核心，例如，整车控制器19可与至少一个联轴锁控制模块16、多个电机控制器、DC-DC变换器18、动力电池17以及各个传感器(包括图5中的方向盘转角传感器21、偏航率传感器22、车轮转速传感器23)进行通信例如进行CAN通信，整车控制器19可接收至少一个联轴锁控制模块16、多个电机控制器、DC-DC变换器18、动力电池17以及各个传感器的信号，并对前述各类信号进行分析处理。整车控制器19在分析完各类信号包含的信息之后，可发送控制信号给多个电机控制器以控制多个电机，还可发送控制信号给至少一个联轴锁控制模块16以对应控制至少一个联轴锁10。The vehicle controller 19 is the control core of the entire vehicle. For example, the vehicle controller 19 can be combined with at least one coupling lock control module 16, a plurality of motor controllers, a DC-DC converter 18, a power battery 17, and various sensors ( The steering wheel angle sensor 21, the yaw rate sensor 22, and the wheel speed sensor 23 are included in FIG. 5 for communication, for example, for CAN communication, and the vehicle controller 19 can receive at least one coupling lock control module 16, a plurality of motor controllers, The DC-DC converter 18, the power battery 17, and the signals of the respective sensors analyze and process the various types of signals described above. After analyzing the information contained in each type of signal, the vehicle controller 19 may send a control signal to the plurality of motor controllers to control the plurality of motors, and may also send a control signal to the at least one coupling lock control module 16 to correspondingly control at least A coupling lock 10.

下面结合图6以四轮独立驱动车辆为例对本申请实施例的车辆的结构进行详细描述。The structure of the vehicle according to the embodiment of the present application will be described in detail below with reference to FIG. 6 taking a four-wheel independent driving vehicle as an example.

根据图6的实施例，车辆可包括四个车轮，四个车轮可由四个独立的电机驱动，即每个电机通过相应的变速器驱动相应的传动半轴带动相应的车轮。According to the embodiment of Fig. 6, the vehicle may comprise four wheels, which may be driven by four separate motors, i.e. each motor drives a respective drive axle through a respective transmission to drive the respective wheel.

四个车轮可构造为两组车轮对，例如第一组车轮对包括左前轮和右前轮，第二组车轮对包括左后轮和右后轮。左前轮和右前轮可第一组变速器对中的第一变速器12a和第二变速器12b分别驱动，左后轮和右后轮可第二组变速器对中的第一变速器12a和第二变速器12b分别驱动。The four wheels may be configured as two sets of wheel pairs, for example the first set of wheel pairs includes a left front wheel and a right front wheel, and the second set of wheel pairs includes a left rear wheel and a right rear wheel. The left front wheel and the right front wheel may be respectively driven by the first transmission 12a and the second transmission 12b of the first group of transmissions, and the left and right rear wheels may be the first transmission 12a and the second transmission of the second group of transmission pairs 12b is driven separately.

同轴的变速器间布置有联轴锁，即第一组变速器对中的第一变速器12a和第二变速器12b间布置有前轴联轴锁10a，第二组变速器对中的第一变速器12a和第二变速器12b间布置有后轴联轴锁10b。A coaxial lock is disposed between the coaxial transmissions, that is, a front axle coupling lock 10a is disposed between the first transmission 12a and the second transmission 12b of the first transmission pair, and the first transmission 12a of the second transmission pair is A rear axle coupling lock 10b is disposed between the second transmissions 12b.

前轴联轴锁10a可由前轴联轴锁控制模块16a控制，后轴联轴锁10b可由后轴联轴锁控制模块16b控制。前轴联轴锁控制模块16a和后轴联轴锁控制模块16b分别由整车控制器19交互信号控制。整车控制器19是整个四轮独立驱动车辆的控制核心，其接收电机控制器、前轴联轴锁控制模块16a、后轴联轴锁控制模块16b、DC-DC变换器18、动力电池17、方向盘转角传感器21、偏航率传感器22(包括横摆角速度传感器和纵向/侧向加速度传感器)、车轮转速传感器23的信号，对各类信号进行分析处理。整车控制器19分析完各类信号包含的信息后，发送控制信号给四个车轮的电机控制器以分别对应控制四个车轮的电机，并发送控制信号给前轴联轴锁控制模块16a以控制前轴联轴锁10a，发送控制信号给后轴联轴锁控制模块16以控制后轴联轴锁10b。The front axle coupling lock 10a can be controlled by the front axle coupling lock control module 16a, and the rear axle coupling lock 10b can be controlled by the rear axle coupling lock control module 16b. The front axle coupling lock control module 16a and the rear axle coupling lock control module 16b are respectively controlled by the vehicle controller 19 interactively. The vehicle controller 19 is the control core of the entire four-wheel independent driving vehicle, and receives the motor controller, the front axle coupling lock control module 16a, the rear axle coupling lock control module 16b, the DC-DC converter 18, and the power battery 17 The signals of the steering wheel angle sensor 21, the yaw rate sensor 22 (including the yaw rate sensor and the longitudinal/lateral acceleration sensor), and the wheel speed sensor 23 analyze and process various types of signals. After analyzing the information contained in each type of signal, the vehicle controller 19 sends a control signal to the motor controllers of the four wheels to respectively control the motors of the four wheels, and sends a control signal to the front axle coupling lock control module 16a. The front axle coupling lock 10a is controlled to send a control signal to the rear axle coupling lock control module 16 to control the rear axle coupling lock 10b.

另外，根据本申请的一个实施例，联轴锁10具体型式不做限定，只要是能实现主动控制的均可，例如可为可控牙嵌式或摩擦片式等；联轴锁控制模块的控制方法也不限定，只要能由整车控制器采用信号直接或间接控制即可，例如可为电磁制动器类或液压式等。In addition, according to an embodiment of the present application, the specific type of the coupling lock 10 is not limited, as long as it can achieve active control, for example, it can be a controllable jaw or a friction plate; the coupling lock control module The control method is not limited as long as it can be directly or indirectly controlled by the vehicle controller, and may be, for example, an electromagnetic brake or a hydraulic type.

具体地，以电磁制动器类为例，联轴锁控制模块16可包括联轴锁电磁制动器和联轴锁控制器，联轴锁控制器可通过继电器控制联轴锁电磁制动器进行制动或停止制动以控制联轴锁10锁止或解锁。也就是说，如图7所示，前轴联轴锁控制模块16a可包括前轴联轴锁电磁制动器161a和前轴联轴锁控制器162a，动力电池17连接前轴联轴锁控制器162a以为前轴联轴锁控制器162a的继电器供电，前轴联轴锁控制器162a通过控制继电器通电以使前轴联轴锁电磁制动器 161a产生制动力，进而控制前轴联轴锁10a锁止，并通过控制继电器断电以控制前轴联轴锁10a解锁；类似地，后轴联轴锁控制模块16b可包括后轴联轴锁电磁制动器161b和后轴联轴锁控制器162b，动力电池17连接后轴联轴锁控制器162b以为后轴联轴锁控制器162b的继电器供电，后轴联轴锁控制器162b通过控制继电器通电以使后轴联轴锁电磁制动器161b产生制动力，进而控制后轴联轴锁10b锁止，并通过控制继电器断电以控制后轴联轴锁10b解锁。Specifically, taking the electromagnetic brake as an example, the coupling lock control module 16 may include a coupling lock electromagnetic brake and a coupling lock controller, and the coupling lock controller may brake or stop by the relay control coupling lock electromagnetic brake. Move to control the lock 10 to lock or unlock. That is, as shown in FIG. 7, the front axle coupling lock control module 16a may include a front axle coupling lock electromagnetic brake 161a and a front axle coupling lock controller 162a, and the power battery 17 is connected to the front axle coupling lock controller 162a. The front axle coupling lock controller 162a is powered by the relay of the front axle coupling lock controller 162a, and the front axle coupling lock controller 162a is energized by the control relay to generate the braking force of the front axle coupling lock electromagnetic brake 161a, thereby controlling the locking of the front axle coupling lock 10a. And controlling the front axle coupling lock 10a to be unlocked by controlling the power failure of the relay; similarly, the rear axle coupling lock control module 16b may include a rear axle coupling lock electromagnetic brake 161b and a rear axle coupling lock controller 162b, the power battery 17 The rear axle coupling lock controller 162b is connected to supply power to the relay of the rear axle coupling lock controller 162b, and the rear axle coupling lock controller 162b is energized by the control relay to cause the rear axle coupling lock electromagnetic brake 161b to generate braking force, thereby controlling The rear axle coupling lock 10b is locked and the rear axle coupling lock 10b is unlocked by controlling the relay to be powered off.

基于上述实施例所述的车辆，本申请实施例提出了一种车辆的联轴锁控制方法。Based on the vehicle described in the above embodiments, the embodiment of the present application proposes a coupling lock control method for a vehicle.

图1是根据本申请实施例的车辆的联轴锁控制方法的流程图。车辆具有多个车轮，多个车轮构造成至少一组车轮对，每组车轮对包括连接于同一联轴锁的第一车轮和第二车轮。如图1所示，车辆的联轴锁控制方法包括以下步骤：1 is a flow chart of a method of controlling a coupling lock of a vehicle according to an embodiment of the present application. The vehicle has a plurality of wheels configured to be at least one set of wheel pairs, each set of wheel pairs including a first wheel and a second wheel coupled to the same coupling lock. As shown in FIG. 1, the vehicle interlock control method includes the following steps:

S1：在获取到联轴锁锁止指令后，获取连接于同一联轴锁的第一车轮和第二车轮的轮速；S1: acquiring the wheel speeds of the first wheel and the second wheel connected to the same coupling lock after acquiring the coupling lock locking command;

根据本申请的一个具体实施例，获取联轴锁对应的第一车轮和第二车轮的轮速，包括：获取第一车轮的转速和第二车轮的转速，并根据第一车轮的转速和第一车轮的滚动半径获取第一车轮的轮速，以及根据第二车轮的转速和第二车轮的滚动半径获取第二车轮的轮速；或者，获取第一车轮对应的第一电机的转速和第一变速器的传动比以及第二车轮对应的第二电机的转速和第二变速器的传动比，并根据第一电机的转速和第一变速器的传动比获取第一车轮的轮速，以及根据第二电机的转速和第二变速器的传动比获取第二车轮的轮速。According to a specific embodiment of the present application, acquiring the wheel speeds of the first wheel and the second wheel corresponding to the coupling lock includes: acquiring the rotation speed of the first wheel and the rotation speed of the second wheel, and according to the rotation speed of the first wheel and the Obtaining a wheel speed of the first wheel, and acquiring a wheel speed of the second wheel according to the rotation speed of the second wheel and the rolling radius of the second wheel; or acquiring the rotation speed of the first motor corresponding to the first wheel a gear ratio of a transmission and a speed of the second motor corresponding to the second wheel and a gear ratio of the second transmission, and obtaining a wheel speed of the first wheel according to a speed of the first motor and a gear ratio of the first transmission, and according to the second The rotational speed of the motor and the gear ratio of the second transmission acquire the wheel speed of the second wheel.

也就是说，可通过以下两种方式获取同轴的第一车轮和第二车轮的轮速：That is to say, the wheel speeds of the first and second wheels of the coaxial can be obtained in two ways:

第一种方式是，通过转速传感器获取第一车轮的转速和第二车轮的轮速。具体地，车辆包括对应设置于多个车轮的多个转速传感器，多个转速传感器中的每个转速传感器用于检测对应车轮的转速，在通过相应的转速传感器检测第一车轮的转速和第二车轮的转速之后，可根据第一车轮的转速和滚动半径计算第一车轮的轮速，并可根据第二车轮的转速和滚动半径计算第二车轮的轮速，具体计算公式如下：In the first way, the rotational speed of the first wheel and the rotational speed of the second wheel are obtained by the rotational speed sensor. Specifically, the vehicle includes a plurality of rotational speed sensors corresponding to the plurality of wheels, each of the plurality of rotational speed sensors is configured to detect the rotational speed of the corresponding wheel, and detect the rotational speed of the first wheel and the second through the corresponding rotational speed sensor. After the rotation speed of the wheel, the wheel speed of the first wheel can be calculated according to the rotation speed and the rolling radius of the first wheel, and the wheel speed of the second wheel can be calculated according to the rotation speed and the rolling radius of the second wheel. The specific calculation formula is as follows:

V1＝0.377*r*N1，V2＝0.377*r*N2，V1=0.377*r*N1, V2=0.377*r*N2,

其中，V1、V2分别为第一车轮和第二车轮的轮速，N1、N2分别为第一车轮和第二车轮的转速，r为第一车轮和第二车轮的滚动半径(第一车轮和第二车轮的滚动半径基本一致)。Wherein, V1 and V2 are the wheel speeds of the first wheel and the second wheel, respectively, N1 and N2 are the rotational speeds of the first wheel and the second wheel, respectively, and r is the rolling radius of the first wheel and the second wheel (the first wheel and The rolling radius of the second wheel is substantially the same).

第二种方式是，通过电机转速和电机的变速器的传动比获取第一车轮的转速和第二车轮的转速。具体地，可获取驱动第一车轮的第一电机的转速和第一电机的第一变速器的传动比，并可获取驱动第一车轮的第一电机的转速和第一电机的第一变速器的传动比，然后根据第一电机的转速和第一变速器的传动比获取第一车轮的轮速，并根据第二电机的转速和第二变速器的传动比获取第二车轮的轮速，具体计算公式如下：The second way is to obtain the rotational speed of the first wheel and the rotational speed of the second wheel by the motor speed and the transmission ratio of the transmission of the motor. Specifically, the rotational speed of the first motor that drives the first wheel and the transmission ratio of the first transmission of the first motor may be obtained, and the rotational speed of the first motor that drives the first wheel and the transmission of the first transmission of the first motor may be acquired. Comparing, then obtaining the wheel speed of the first wheel according to the rotation speed of the first motor and the transmission ratio of the first transmission, and acquiring the wheel speed of the second wheel according to the rotation speed of the second motor and the transmission ratio of the second transmission, and the specific calculation formula is as follows :

V1＝0.377*r*n1/i1，V2＝0.377*r*n2/i2，V1=0.377*r*n1/i1, V2=0.377*r*n2/i2,

其中，V1、V2分别为第一车轮和第二车轮的轮速，n1、n2分别为第一电机和第二电机的转速，i1、i2分别为第一变速器和第二变速器的传动比，r为第一车轮和第二车轮的滚动半径(第一车轮和第二车轮的滚动半径基本一致)。Wherein, V1 and V2 are the wheel speeds of the first wheel and the second wheel, respectively, n1 and n2 are the rotational speeds of the first motor and the second motor, respectively, and i1 and i2 are the gear ratios of the first transmission and the second transmission, respectively. The rolling radius of the first wheel and the second wheel (the rolling radii of the first wheel and the second wheel are substantially the same).

根据本申请的一个实施例，在获取连接于同一联轴锁的第一车轮和第二车轮的轮速之前，还包括：According to an embodiment of the present application, before acquiring the wheel speeds of the first wheel and the second wheel connected to the same coupling lock, the method further includes:

判断所述车辆的车速是否大于第二预设车速；Determining whether the vehicle speed of the vehicle is greater than a second preset vehicle speed;

如果所述车辆的车速大于所述第二预设车速，则控制联轴锁停止锁止，并发出提示信息。If the vehicle speed of the vehicle is greater than the second preset vehicle speed, the control coupling lock stops locking and sends a prompt message.

也就是说，整车控制器在接收到联轴锁锁止指令之后，可进入联轴锁锁止判断程序，并在进入联轴锁锁止判断程序之后，先判断车辆的车速是否大于第二预设车速，如果车速大于第二预设车速，整车控制器则发出超速警报，提示驾驶员联轴锁无法锁止，请驾驶员降低车速；如果车速小于或等于第二预设车速，整车控制器则获取连接于同一联轴锁的第一车轮和第二车轮的轮速，以进行下一步判断。That is to say, after receiving the coupling lock lock command, the vehicle controller can enter the coupling lock lock determination program, and after entering the joint lock lock determination program, first determine whether the vehicle speed is greater than the second. Preset speed, if the vehicle speed is greater than the second preset speed, the vehicle controller will issue an overspeed warning, indicating that the driver's coupling lock cannot be locked, please reduce the vehicle speed; if the vehicle speed is less than or equal to the second preset speed, The vehicle controller acquires the wheel speeds of the first wheel and the second wheel connected to the same coupling lock for the next determination.

S2：根据第一车轮的轮速与第二车轮的轮速之间的差值获取两轮轮速差；S2: obtaining a two-wheel speed difference according to a difference between a wheel speed of the first wheel and a wheel speed of the second wheel;

S3：根据第一车轮的轮速与第二车轮的轮速中较大值与较小值之比获取两轮轮速比；S3: obtaining a two-wheel speed ratio according to a ratio of a larger value of the first wheel and a smaller value of the wheel speed of the second wheel;

具体地，整车控制器可通过计算出的第一车轮的轮速和第二车轮的轮速计算两轮轮速差E和两轮转速比K，具体计算公式如下：Specifically, the vehicle controller can calculate the two-wheel speed difference E and the two-wheel speed ratio K by calculating the wheel speed of the first wheel and the wheel speed of the second wheel, and the specific calculation formula is as follows:

E＝|V1-V2|，K＝|max(V1、V2)/min(V1、V2)|E=|V1-V2|, K=|max(V1, V2)/min(V1, V2)|

其中，V1、V2分别为第一车轮和第二车轮的轮速，max(V1、V2)为V1、V2中的较大值，min(V1、V2)为V1、V2中的较小值，即如果V1>V2，则max(V1、V2)＝V1，min(V1、V2)＝V2，如果V1<V2，则max(V1、V2)＝V2，min(V1、V2)＝V1。Wherein, V1 and V2 are the wheel speeds of the first wheel and the second wheel, respectively, max(V1, V2) is a larger value among V1 and V2, and min(V1, V2) is a smaller value among V1 and V2. That is, if V1>V2, max(V1, V2)=V1, min(V1, V2)=V2, and if V1<V2, then max(V1, V2)=V2, and min(V1, V2)=V1.

S4：根据两轮轮速差和两轮轮速比对联轴锁进行锁止控制。S4: The lock control is locked according to the two-wheel speed difference and the two-wheel speed ratio.

也就是说，整车控制器在进入联轴锁锁止判断程序之后，可先判断车辆的车速是否大于第二预设车速，如果车速小于或等于第二预设车速，则获取连接于再根据两轮轮速差和两轮轮速比判断是否对联轴锁进行锁止控制。That is to say, after entering the coupling lock lock determination program, the vehicle controller may first determine whether the vehicle speed is greater than the second preset vehicle speed, and if the vehicle speed is less than or equal to the second preset vehicle speed, obtain the connection and then according to The two-wheel speed difference and the two-wheel speed ratio determine whether the lock control is locked.

由此，能够使联轴锁快速、安全的锁止，避免打齿、过度滑磨等。Thereby, the coupling lock can be quickly and safely locked, avoiding toothing, excessive sliding, and the like.

根据本申请的一个实施例，车辆的联轴锁控制方法，还包括：通过车辆的锁止/解锁按键接收解锁指令和锁止指令。According to an embodiment of the present application, a coupling lock control method for a vehicle further includes receiving an unlocking command and a locking command by a lock/unlock button of the vehicle.

也就是说，驾驶员可通过车辆的锁止/解锁按键(即按钮)选择联轴锁的锁止和解锁，整车控制器可与锁止/解锁按键进行通信以接收解锁指令和锁止指令，整车控制器根据相应的指令并通过控制逻辑分析后发送对应的控制信号给联轴锁控制器，联轴锁控制器对内部的继电器进行通电和断电控制，以实现对联轴锁的控制。That is, the driver can select the lock and unlock of the coupling lock through the lock/unlock button (ie, the button) of the vehicle, and the vehicle controller can communicate with the lock/unlock button to receive the unlock command and the lock command. The vehicle controller sends the corresponding control signal to the coupling lock controller according to the corresponding instruction and through the control logic analysis, and the coupling lock controller controls the internal relay to be energized and de-energized to realize the control of the coupling lock. .

具体而言，驾驶员通过控制锁止/解锁按键选择需求的联轴锁状态，其中，当需要联轴锁解锁时，整车控制器接收到解锁指令后将发送解锁控制信号给联轴锁控制器，联轴锁控制器断开继电器连接，实现联轴锁的解锁；当需要联轴锁锁止时，整车控制器接收到锁止指令后进入联轴锁锁止判断程序，以判断是否对联轴锁进行锁止控制，并在判断对联轴锁进行锁止控制时，发送锁止控制信号给联轴锁控制器，联轴锁控制器接通继电器连接，以将对应的电流输出给联轴锁，控制联轴锁的电磁制动器产生制动力，将联轴锁锁止。Specifically, the driver selects the required interlock lock state by controlling the lock/unlock button, wherein when the interlock lock is required to be unlocked, the vehicle controller sends an unlock control signal to the lock lock control after receiving the unlock command. The coupling lock controller disconnects the relay to realize the unlocking of the coupling lock; when the coupling lock is required, the vehicle controller enters the coupling lock lock determination program after receiving the lock command to determine whether Locking control of the coupling lock, and when determining the locking control of the coupling lock, sending a lock control signal to the coupling lock controller, and the coupling lock controller turns on the relay connection to output the corresponding current The shaft lock controls the electromagnetic brake of the coupling lock to generate a braking force to lock the coupling lock.

另外，根据本申请的一个实施例，车辆的联轴锁控制方法，还包括：在车辆上电后，判断联轴锁是否正常，如果正常，则接收联轴锁锁止指令和解锁指令，即进入步骤S1，如果不正常，则控制车辆发出对应的联轴锁故障报警。In addition, according to an embodiment of the present application, the coupling lock control method of the vehicle further includes: determining whether the coupling lock is normal after the vehicle is powered on, and if normal, receiving the coupling lock lock command and the unlock command, ie, Proceeding to step S1, if not, the vehicle is controlled to issue a corresponding coupling lock failure alarm.

也就是说，在车辆上电后，联轴锁控制器可检测联轴锁是否正常，如果正常，则根据驾驶员操作获取锁止指令和解锁指令；如果不正常，联轴锁控制器向整车控制器发生对应的故障信号，整车控制器控制车辆发出对应的联轴锁故障报警。That is to say, after the vehicle is powered on, the coupling lock controller can detect whether the coupling lock is normal. If it is normal, the lock command and the unlock command are obtained according to the driver's operation; if not, the lock controller is adjusted to the whole. The vehicle controller generates a corresponding fault signal, and the vehicle controller controls the vehicle to issue a corresponding interlock lock fault alarm.

进一步地，在本申请的一些实施例中，在获取两轮轮速差和两轮轮速比之后，进行逻辑判断以根据不同的情况采取不同的控制方式，根据两轮轮速差和两轮轮速比对联轴锁进行锁止控制的具体判断逻辑如下：Further, in some embodiments of the present application, after acquiring the two wheel speed difference and the two wheel speed ratio, logical judgment is made to adopt different control modes according to different situations, according to the two wheel speed difference and two wheels The specific judgment logic of the wheel speed ratio lock control of the coupling lock is as follows:

当两轮轮速差等于零，或者两轮轮速差大于零同时两轮轮速比大于零且小于等于第一阈值时，控制联轴锁进行锁止。When the two wheel speed difference is equal to zero, or the two wheel speed difference is greater than zero and the two wheel speed ratio is greater than zero and less than or equal to the first threshold, the control coupling lock is locked.

当两轮轮速差大于第一阈值且小于等于第二阈值时，控制第一车轮与第二车轮中轮速较大的车轮对应的电机的输出扭矩降低，直至两轮轮速差等于零，或者两轮轮速差大于零同时两轮轮速比大于零且小于等于第一阈值。When the two-wheel speed difference is greater than the first threshold and less than or equal to the second threshold, controlling the output torque of the motor corresponding to the wheel with the larger wheel speed of the first wheel and the second wheel is reduced until the two-wheel speed difference is equal to zero, or The two wheel speed difference is greater than zero while the two wheel speed ratio is greater than zero and less than or equal to the first threshold.

当两轮轮速差大于第二阈值时，控制第一车轮与第二车轮中轮速较大的车轮对应的电机进行能量回馈以使车轮减速，直至两轮轮速差等于零，或者两轮轮速差大于零且两轮轮速比大于零同时小于等于第一阈值，从而在使车轮的轮速快速降低的同时，实现能量回收。When the speed difference between the two wheels is greater than the second threshold, the motor corresponding to the wheel with the larger wheel speed in the second wheel is controlled to perform energy feedback to decelerate the wheel until the speed difference between the two wheels is equal to zero, or two wheels The speed difference is greater than zero and the two wheel speed ratio is greater than zero and less than or equal to the first threshold, thereby achieving energy recovery while rapidly reducing the wheel speed of the wheel.

也就是说，在获取两轮轮速差E和两轮轮速比K之后，可将两轮轮速差E与零进行比较，并将两轮轮速比K与第一阈值a1和第二阈值a2进行比较，其中，1<a1<a2。具体判断逻辑如下：That is to say, after acquiring the two wheel speed difference E and the two wheel speed ratio K, the two wheel speed difference E can be compared with zero, and the two wheel speed ratio K is compared with the first threshold a1 and the second. The threshold a2 is compared, where 1 < a1 < a2. The specific judgment logic is as follows:

1)当E＝0时，第一车轮的轮速V1和第二车轮的轮速V2相等，整车控制器发锁止控制信号给联轴锁控制器，联轴锁控制器控制电流以使继电器接通，联轴锁电磁制动器产生制动力，进而控制联轴锁开始锁止。1) When E=0, the wheel speed V1 of the first wheel and the wheel speed V2 of the second wheel are equal, the vehicle controller sends a lock control signal to the coupling lock controller, and the coupling lock controller controls the current so that When the relay is turned on, the coupling lock electromagnetic brake generates a braking force, which in turn controls the coupling lock to start locking.

2)当E1＞0，且0<K≤a1时，第一车轮的轮速V1和第二车轮的轮速V2的轮速差较小，锁止可避免打齿。整车控制器发锁止控制信号给联轴锁控制器，联轴锁控制器控制电流以使继电器接通，联轴锁电磁制动器产生制动力，进而控制联轴锁开始锁止。2) When E1>0 and 0<K≤a1, the wheel speed difference between the wheel speed V1 of the first wheel and the wheel speed V2 of the second wheel is small, and the locking can avoid toothing. The vehicle controller sends a lock control signal to the coupling lock controller, and the coupling lock controller controls the current to turn on the relay, and the coupling lock electromagnetic brake generates a braking force, thereby controlling the coupling lock to start locking.

3)当E>0，且a1<K≤a2时，第一车轮的轮速V1和第二车轮的轮速V2的轮速差较大，电机进行降扭控制转速，即整车控制器向转速较高的电机对应的电机控制器发送第一降扭信号，该电机控制器控制相应电机的输出扭矩降低，以使轮速较高的车轮的轮速以第一速度降低，直到满足前述条件(1)与条件(2)。3) When E>0, and a1<K≤a2, the wheel speed difference between the wheel speed V1 of the first wheel and the wheel speed V2 of the second wheel is large, and the motor performs the torque reduction control speed, that is, the vehicle controller direction The motor controller corresponding to the motor with higher rotation speed sends a first torsion signal, and the motor controller controls the output torque of the corresponding motor to decrease, so that the wheel speed of the wheel with higher wheel speed decreases at the first speed until the foregoing conditions are met. (1) and condition (2).

4)当E>0，且K>a2时，第一车轮的轮速V1和第二车轮的轮速V2的轮速差过大，电机进行能量回馈以快速控制转速，即整车控制器向转速较高的电机对应的电机控制器发送第二降扭信号，控制器控制电机进行能量回馈，以使轮速较高的车轮的轮速以第二速度快速降低，直到满足前述条件(1)与条件(2)，其中，第二速度大于第一速度。4) When E>0 and K>a2, the wheel speed difference between the wheel speed V1 of the first wheel and the wheel speed V2 of the second wheel is too large, and the motor performs energy feedback to quickly control the speed, that is, the vehicle controller The motor controller corresponding to the motor with higher speed sends a second down-twist signal, and the controller controls the motor to perform energy feedback, so that the wheel speed of the wheel with higher wheel speed is rapidly decreased at the second speed until the foregoing condition is satisfied (1) And condition (2), wherein the second speed is greater than the first speed.

进一步地，根据本申请的一个实施例中，在控制联轴锁进行锁止的过程中，还判断第一车轮的轮速与第二车轮的轮速是否不为零且第一车轮的轮速与第二车轮的轮速是否相等，如果第一车轮的轮速与第二车轮的轮速均不为零且第一车轮的轮速与第二车轮的轮速相等，则判断联轴锁处于锁止状态。Further, according to an embodiment of the present application, in the process of controlling the lock of the coupling lock, it is further determined whether the wheel speed of the first wheel and the wheel speed of the second wheel are not zero and the wheel speed of the first wheel Whether the wheel speed of the second wheel is equal to the wheel speed of the second wheel, if the wheel speed of the first wheel and the wheel speed of the second wheel are not zero and the wheel speed of the first wheel is equal to the wheel speed of the second wheel, it is determined that the axle lock is at Locked state.

也就是说，在联轴锁开始锁止后，到完全锁止的过程中，整车控制器发出提示信息以提示驾驶员联轴锁正在锁止，并进行联轴锁是否锁止的判断。在进行联轴锁锁止判断时，如果|V1|和|V2|均大于0且V1＝V2，则判断联轴锁锁止，整车控制器发出提示信息，以提示驾驶员联轴锁完成锁止；如果|V1|为0、或|V2|为0或V1≠V2，则判断联轴锁未锁止，继续进行判断。That is to say, after the coupling lock starts to lock, during the complete locking process, the vehicle controller issues a prompt message to prompt the driver that the coupling lock is being locked, and determines whether the coupling lock is locked. When the coupling lock lock judgment is made, if |V1| and |V2| are both greater than 0 and V1=V2, it is judged that the coupling lock is locked, and the vehicle controller issues a prompt message to prompt the driver to complete the coupling lock. Locking; if |V1| is 0, or |V2| is 0 or V1≠V2, it is judged that the coupling lock is not locked, and the judgment is continued.

由此，本申请实施例能够主动快速控制车轮转速，快速降低过大轮速差，避免打齿、过度滑磨等，使联轴锁快速安全的锁止。在联轴锁锁止时，可通过单轮驱动电机主动调节轮速，避免联轴锁发生打齿。并且，可避免联轴锁误锁止，影响车辆正常行驶。Therefore, the embodiment of the present application can actively and quickly control the wheel speed, quickly reduce the excessive wheel speed difference, avoid toothing, excessive sliding, etc., so that the coupling lock can be quickly and safely locked. When the coupling lock is locked, the wheel speed can be actively adjusted by the single-wheel drive motor to avoid toothing of the coupling lock. Moreover, the misalignment of the coupling lock can be avoided, which affects the normal running of the vehicle.

下面以四轮独立驱动车轮为例对联轴锁的锁止控制进行详细描述。The lock control of the coupling lock will be described in detail below by taking the four-wheel independent drive wheel as an example.

首先，车辆上电后，前轴联轴锁控制器检测前轴联轴锁是否正常，且后轴联轴锁控制器检测后轴联轴锁是否正常，如果前后轴联轴锁均正常，则根据驾驶员操作进行联轴锁控制；如果前轴联轴锁不正常，则前轴联轴锁控制器向整车控制器发生对应的故障信号，整车控制器发出前轴联轴锁故障报警；如果后轴联轴锁不正常，则后轴联轴锁控制器向整车控制器发生对应的故障信号，整车控制器发出后轴联轴锁故障报警。First, after the vehicle is powered on, the front axle coupling lock controller detects whether the front axle coupling lock is normal, and the rear axle coupling lock controller detects whether the rear axle coupling lock is normal. If the front and rear axle coupling locks are normal, then According to the driver's operation, the coupling lock control; if the front axle coupling lock is not normal, the front axle coupling lock controller generates a corresponding fault signal to the vehicle controller, and the vehicle controller issues a front axle coupling lock fault alarm. If the rear axle coupling lock is not normal, the rear axle coupling lock controller will generate a corresponding fault signal to the vehicle controller, and the vehicle controller will issue a rear axle coupling lock fault alarm.

在判断前后轴联轴锁均正常之后，驾驶员可通过锁止/解锁按键选择前后轴联轴锁的锁止和解锁，进而可根据驾驶员的需求控制联轴锁状态，其中，当选择前轴联轴锁解锁时，整车控制器接收到前轴解锁指令后发生前轴解锁控制信号给前轴联轴锁控制器，前轴联轴锁控制器内部的继电器断开连接，实现前轴联轴锁的解锁；当选择后轴联轴锁解锁时，其过程与前轴联轴锁解锁过程类似，不再赘述；当选择前轴联轴锁锁止和后轴联轴锁锁止时，整车控制器接收到锁止指令后，进入如下的联轴锁锁止判断程序。After judging that the front and rear axle locks are normal, the driver can select the lock and unlock of the front and rear axle locks by the lock/unlock button, and then the lock lock state can be controlled according to the driver's needs. When the axle coupling lock is unlocked, the vehicle axle controller receives the front axle unlocking command and generates the front axle unlocking control signal to the front axle coupling lock controller. The relay inside the front axle coupling lock controller is disconnected to realize the front axle. The unlocking of the coupling lock; when the rear axle coupling lock is selected to be unlocked, the process is similar to that of the front axle coupling lock unlocking process, and will not be described again; when the front axle coupling lock is locked and the rear axle coupling lock is locked. After receiving the lock command, the vehicle controller enters the following lock lock lock determination procedure.

第一步，判断车辆的车速是否大于第二预设车速，如果车速大于第二预设车速，整车控制器则发出超速警报，提示驾驶员联轴锁无法锁止，请驾驶员降低车速；如果车速小于或等于第二预设车速，整车控制器则进行第二步判断。The first step is to determine whether the vehicle speed is greater than the second preset speed. If the vehicle speed is greater than the second preset speed, the vehicle controller issues an overspeed warning, indicating that the driver's coupling lock cannot be locked, and the driver is requested to reduce the vehicle speed; If the vehicle speed is less than or equal to the second preset speed, the vehicle controller performs the second step of judgment.

第二步，整车控制器采集四个车轮的转速，包括左前轮的转速N3、右前轮的转速N4、左后轮的转速N5、右后轮的转速N6，并根据滚动半径r计算四个车轮的轮速，包括左前轮的轮速V3、右前轮的轮速V4、左后轮的轮速V5、右后轮轮速V6，计算公式为：V3＝0.377*r*N3，V4＝0.377*r*N4，V5＝0.377*r*N5，V6＝0.377*r*N6b。In the second step, the vehicle controller collects the rotational speeds of the four wheels, including the rotational speed N3 of the left front wheel, the rotational speed N4 of the right front wheel, the rotational speed N5 of the left rear wheel, and the rotational speed N6 of the right rear wheel, and is calculated according to the rolling radius r. The wheel speed of the four wheels, including the wheel speed V3 of the left front wheel, the wheel speed V4 of the right front wheel, the wheel speed V5 of the left rear wheel, and the right rear wheel speed V6, are calculated as: V3=0.377*r*N3 , V4 = 0.377 * r * N4, V5 = 0.377 * r * N5, V6 = 0.377 * r * N6b.

或者，也可以通过四个车轮的电机转速包括左前轮电机转速n3、右前轮电机转速n4、左后轮电机转速n5、右后轮电机转速n6，并通过每个电机对应的变速器的速递计算四个车轮的轮速，计算公式为：V3＝0.377*r*n3/i3，V4＝0.377*r*n4/i4，V5＝0.377*r*n5/i5，V6＝0.377*r*n6/i6。Alternatively, the motor speed through the four wheels may include the left front wheel motor speed n3, the right front wheel motor speed n4, the left rear wheel motor speed n5, the right rear wheel motor speed n6, and the transmission of the transmission corresponding to each motor. Calculate the wheel speed of four wheels, the formula is: V3=0.377*r*n3/i3, V4=0.377*r*n4/i4, V5=0.377*r*n5/i5, V6=0.377*r*n6/ I6.

然后，整车控制器通过计算得到的四个车轮的轮速V3～V6计算左前轮与右前轮之间的轮速差E1和左后轮与右后轮之间的轮速差E2，并计算左前轮与右前轮之间的轮速差K1和左后轮与右后轮之间的轮速差K2,计算方法如下：Then, the vehicle controller calculates the wheel speed difference E1 between the left front wheel and the right front wheel and the wheel speed difference E2 between the left rear wheel and the right rear wheel through the calculated wheel speeds V3 to V6 of the four wheels, And calculate the wheel speed difference K1 between the left front wheel and the right front wheel and the wheel speed difference K2 between the left rear wheel and the right rear wheel, and the calculation method is as follows:

E1＝|V3-V4|E1=|V3-V4|

E2＝|V5-V6|E2=|V5-V6|

K1＝|max(V3、V4)/min(V3、V4)|K1=|max(V3, V4)/min(V3, V4)|

K2＝|max(V5、V6)/min(V5、V6)|K2=|max(V5, V6)/min(V5, V6)|

整车控制器计算得到E1、E2、K1、K2后，将进行如下逻辑判断：After the vehicle controller calculates E1, E2, K1, and K2, the following logical judgments are made:

E1＝0时，此时左前轮的轮速V3和右前轮的轮速V4相等，整车控制器发送锁止信号给前轴联轴锁控制器，前轴联轴锁控制器控制电流，使继电器接通，前轴联轴锁电磁制动器产生制动力，控制前轴联轴锁开始锁止，进入第三步。When E1=0, the wheel speed V3 of the left front wheel and the wheel speed V4 of the right front wheel are equal. The vehicle controller sends a lock signal to the front axle coupling lock controller, and the front axle coupling lock controller controls the current. , the relay is turned on, the front axle coupling lock electromagnetic brake generates braking force, and the front axle coupling lock is controlled to start locking, and the third step is entered.

E1>0，且0<K1≤a1时，此时左前轮的轮速V3和右前轮轮速V4的轮速差较小，锁止可避免打齿。整车控制器发送锁止信号给前轴联轴锁控制器，前轴联轴锁控制器控制电流，使继电器接通，前轴联轴锁电磁制动器产生制动力，控制前轴联轴锁开始锁止，进入第三步。When E1>0 and 0<K1≤a1, the wheel speed difference between the wheel speed V3 of the left front wheel and the right front wheel speed V4 is small at this time, and the locking can avoid toothing. The vehicle controller sends a lock signal to the front axle coupling lock controller, the front axle coupling lock controller controls the current, the relay is turned on, the front axle coupling lock electromagnetic brake generates braking force, and the front axle coupling lock is controlled to start. Lock and go to the third step.

E1>0，且a1<K1≤a2，此时左前轮的轮速V3和右前轮的轮速V4的轮速差较大，电机进行降扭控制转速。如果V3＞V4，整车控制器则向左前轮电机的电机控制器发送降扭信号，以控制左前轮电机降扭输出，使左前轮的轮速以第一速度降低，直到满足E1＝0或者E1>0且0<K1≤a1；如果V4＞V3，整车控制器则向右前轮电机的电机控制器发送降扭信号，以控制右前轮电机降扭输出，使右前轮的轮速以第一速度降低，直到满足E1＝0或者E1>0且0<K1≤a1，进入第三步。E1>0, and a1<K1≤a2, at this time, the wheel speed difference between the wheel speed V3 of the left front wheel and the wheel speed V4 of the right front wheel is large, and the motor performs the torque reduction control speed. If V3>V4, the vehicle controller sends a torque reduction signal to the motor controller of the left front wheel motor to control the left front wheel motor to reduce the torque output, so that the wheel speed of the left front wheel is reduced at the first speed until the E1 is satisfied. =0 or E1>0 and 0<K1≤a1; if V4>V3, the vehicle controller sends a torque reduction signal to the motor controller of the right front wheel motor to control the right front wheel motor to reduce the torque output, so that the right front The wheel speed of the wheel is lowered at the first speed until E1=0 or E1>0 and 0<K1≤a1 is satisfied, and the third step is entered.

E1>0，且K1>a2，此时左前轮轮速V3和右前轮轮速V4的轮速差过大，电机进行能量回馈以快速控制转速。如果V3＞V4，整车控制器则向左前轮电机的电机控制器发送降扭信号，以控制左前轮电机进行能量回馈，使左前轮的轮速以第二速度快速降低，直到满足E1＝0或者E1>0且0<K1≤a1；如果V4＞V3，整车控制器则向右前轮电机的电机控制器发送降扭信号，以控制右前轮电机进行能量回馈，使右前轮的轮速以第二速度快速降低，直到满足E1＝0或者E1>0且0<K1≤a1，进入第三步。E1>0, and K1>a2, at this time, the wheel speed difference between the left front wheel speed V3 and the right front wheel speed V4 is too large, and the motor performs energy feedback to quickly control the rotation speed. If V3>V4, the vehicle controller sends a torque reduction signal to the motor controller of the left front wheel motor to control the left front wheel motor for energy feedback, so that the wheel speed of the left front wheel is rapidly reduced at the second speed until it is satisfied. E1=0 or E1>0 and 0<K1≤a1; if V4>V3, the vehicle controller sends a torque reduction signal to the motor controller of the right front wheel motor to control the right front wheel motor for energy feedback, so that right The wheel speed of the front wheel is rapidly lowered at the second speed until E1=0 or E1>0 and 0<K1≤a1 is satisfied, and the third step is entered.

后轴联轴锁的锁止判断逻辑与前轴基本相同，两者可采用不同的第一阈值和第二阈值，例如在本实施例中第一阈值为a3，第二阈值为a4，具体如下：The lock determination logic of the rear axle lock is substantially the same as the front axle, and the first threshold and the second threshold may be used. For example, in this embodiment, the first threshold is a3, and the second threshold is a4, as follows. :

E2＝0时，此时左后轮的轮速V5和右后轮的轮速V6相等，整车控制器发送锁止信号给后轴联轴锁控制器，后轴联轴锁控制器控制电流，使继电器接通，后轴联轴锁电磁制动器产生制动力，控制后轴联轴锁开始锁止，进入第三步。When E2=0, at this time, the wheel speed V5 of the left rear wheel and the wheel speed V6 of the right rear wheel are equal, the vehicle controller sends a lock signal to the rear axle coupling lock controller, and the rear axle coupling lock controller controls the current. When the relay is turned on, the rear axle coupling lock electromagnetic brake generates braking force, and the rear axle coupling lock is controlled to start locking, and the third step is entered.

E2>0，且0<K2≤a3时，此时左后轮的轮速V5和右后轮轮速V6的轮速差较小，锁止可避免打齿。整车控制器发送锁止信号给后轴联轴锁控制器，后轴联轴锁控制器控制电流，使继电器接通，后轴联轴锁电磁制动器产生制动力，控制后轴联轴锁开始锁止，进入第三步。When E2>0, and 0<K2≤a3, the wheel speed difference between the wheel speed V5 of the left rear wheel and the right rear wheel speed V6 is small at this time, and the locking can avoid toothing. The vehicle controller sends a lock signal to the rear axle coupling lock controller, the rear axle coupling lock controller controls the current, so that the relay is turned on, the rear axle coupling lock electromagnetic brake generates braking force, and the rear axle coupling lock is controlled to start. Lock and go to the third step.

E2>0，且a3<K2≤a4，此时左后轮的轮速V5和右后轮的轮速V6的轮速差较大，电机进行降扭控制转速。如果V5＞V6，整车控制器则向左后轮电机的电机控制器发送降扭信号，以控制左后轮电机降扭输出，使左后轮的轮速以第一速度降低，直到满足E2＝0或者E2>0且0<K2≤a3；如果V6＞V5，整车控制器则向右后轮电机的电机控制器发送降扭信号，以控制右后轮电机降扭输出，使右后轮的轮速以第一速度降低，直到满足E2＝0或者E2>0且0<K2≤a3，进入第三步。E2>0, and a3<K2≤a4, at this time, the wheel speed difference between the wheel speed V5 of the left rear wheel and the wheel speed V6 of the right rear wheel is large, and the motor performs the torque reduction control speed. If V5>V6, the vehicle controller sends a torque reduction signal to the motor controller of the left rear wheel motor to control the left rear wheel motor to reduce the torque output, so that the wheel speed of the left rear wheel decreases at the first speed until E2 is satisfied. =0 or E2>0 and 0<K2≤a3; if V6>V5, the vehicle controller sends a torque reduction signal to the motor controller of the right rear wheel motor to control the right rear wheel motor to reduce the torque output, so that the right rear The wheel speed of the wheel is reduced at the first speed until E2=0 or E2>0 and 0<K2≤a3 are satisfied, and the third step is entered.

E2>0，且K2>a4，此时左后轮轮速V5和右后轮轮速V6的轮速差过大，电机进行能量回馈以快速控制转速。如果V5＞V6，整车控制器则向左后轮电机的电机控制器发送降扭信号，以控制左后轮电机进行能量回馈，使左后轮的轮速以第二速度快速降低，直到满足E2＝0或者E2>0且0<K2≤a3；如果V6＞V5，整车控制器则向右后轮电机的电机控制器发送降扭信号，以控制右后轮电机进行能量回馈，使右后轮的轮速以第二速度快速降低，直到满足E2＝0或者E2>0且0<K2≤a3，进入第三步。E2>0, and K2>a4, at this time, the wheel speed difference between the left rear wheel speed V5 and the right rear wheel speed V6 is too large, and the motor performs energy feedback to quickly control the rotation speed. If V5>V6, the vehicle controller sends a down-twist signal to the motor controller of the left rear-wheel motor to control the left rear-wheel motor for energy feedback, so that the wheel speed of the left rear wheel is rapidly reduced at the second speed until it is satisfied. E2=0 or E2>0 and 0<K2≤a3; if V6>V5, the vehicle controller sends a torque reduction signal to the motor controller of the right rear wheel motor to control the right rear wheel motor for energy feedback, so that right The wheel speed of the rear wheel is rapidly lowered at the second speed until E2=0 or E2>0 and 0<K2≤a3 are satisfied, and the third step is entered.

第三步，在联轴锁开始锁止后，到完全锁止的过程中，整车控制器发出提示信息以提示驾驶员联轴锁正在锁止，并进行联轴锁是否锁止的判断。在进行前轴联轴锁锁止判断时，当|V3|和|V4|都大于0且V3＝V4时，判定前轴联轴锁锁止，整车控制器发出提示信息，以提示驾驶员前轴联轴锁完成锁止，否则，判断联轴锁未锁止，继续保持判定。后轴联轴锁锁止判断与前轴基本一致，后轴联轴锁锁止判断条件变更为|V5|和|V6|都大于0且V5＝V6时，判定后轴联轴锁锁止，整车控制器发出提示信息，以提示驾驶员后轴联轴锁完成锁止。In the third step, after the coupling lock starts to lock, during the complete locking process, the vehicle controller issues a prompt message to prompt the driver that the coupling lock is being locked, and determines whether the coupling lock is locked. When the front axle coupling lock lock judgment is made, when |V3| and |V4| are both greater than 0 and V3=V4, it is determined that the front axle coupling lock is locked, and the vehicle controller issues a prompt message to prompt the driver. The front axle coupling lock is locked. Otherwise, it is judged that the coupling lock is not locked and the determination is continued. The rear axle coupling lock lock judgment is basically the same as the front axle, and the rear axle coupling lock lock determination condition is changed to |V5| and |V6| are both greater than 0 and V5=V6, and the rear axle coupling lock is determined to be locked. The vehicle controller issues a message to inform the driver that the rear axle lock is locked.

具体地，如图2所示，本申请实施例的联轴锁锁止控制包括以下步骤：Specifically, as shown in FIG. 2, the interlock lock lock control of the embodiment of the present application includes the following steps:

S101：车辆上电。S101: The vehicle is powered on.

S102：判断前轴联轴锁是否正常，并判断后轴联轴锁是否正常。S102: Determine whether the front axle coupling lock is normal, and determine whether the rear axle coupling lock is normal.

如果前轴联轴锁正常，则执行步骤S105；如果前轴联轴锁不正常，则执行步骤S103；如果后轴联轴锁正常，则执行步骤S105；如果后轴联轴锁不正常，则执行步骤S104。If the front axle coupling lock is normal, step S105 is performed; if the front axle coupling lock is not normal, step S103 is performed; if the rear axle coupling lock is normal, step S105 is performed; if the rear axle coupling lock is not normal, Step S104 is performed.

S103：控制车辆发出前轴联轴锁故障警报。S103: Control the vehicle to issue a front axle lock failure alarm.

S104：控制车辆发出后轴联轴锁故障警报。S104: Control the vehicle to issue a rear axle lock failure alarm.

S105：通过车辆的锁止/解锁按键接收解锁指令和锁止指令。S105: Receive an unlocking command and a locking command by using a lock/unlock button of the vehicle.

S106：对接收到的指令进行判断。S106: Determine the received command.

如果接收到前轴联轴锁解锁指令，则执行步骤S107；如果接收到后轴联轴锁解锁指令，则执行步骤S109；如果接收到前轴联轴锁锁止指令，则执行步骤S111；如果接收到后轴联轴锁锁止指令，则执行步骤S113。If the front axle coupling unlock command is received, step S107 is performed; if the rear axle lock unlock command is received, step S109 is performed; if the front axle coupling lockup command is received, step S111 is performed; When the rear axle coupling lock lock command is received, step S113 is performed.

S107：接收到前轴联轴锁解锁指令。S107: Received the front axle coupling lock unlocking command.

S108：整车控制器发解锁信号给前轴联轴锁控制器，联轴锁控制器控制继电器断开，以解锁前轴联轴锁。S108: The vehicle controller sends an unlock signal to the front axle coupling lock controller, and the coupling lock controller controls the relay to open to unlock the front axle coupling lock.

S109：接收到后轴联轴锁解锁指令。S109: Receive a rear axle coupling unlock command.

S110：整车控制器发解锁信号给后轴联轴锁控制器，联轴锁控制器控制继电器断开，以解锁后轴联轴锁。S110: The vehicle controller sends an unlock signal to the rear axle coupling lock controller, and the coupling lock controller controls the relay to open to unlock the rear axle coupling lock.

S111：接收到前轴联轴锁锁止指令。S111: Received the front axle coupling lock lock command.

S112：判断车辆的车速是否大于第二预设车速S2。S112: Determine whether the vehicle speed of the vehicle is greater than the second preset vehicle speed S2.

如果是，则执行步骤S115；如果否，则执行步骤S116。If yes, step S115 is performed; if no, step S116 is performed.

S113：接收到后轴联轴锁锁止指令。S113: Receive a rear axle coupling lock lock command.

S114：判断车辆的车速是否大于第二预设车速S2。S114: Determine whether the vehicle speed of the vehicle is greater than the second preset vehicle speed S2.

S115：整车控制器发出超速警报，提示驾驶员联轴锁无法锁止，请驾驶员降低车速。S115: The vehicle controller issues an overspeed warning, indicating that the driver's coupling lock cannot be locked, and the driver is requested to reduce the speed.

S116：获取四个车轮的轮速V3～V6，计算左前轮与右前轮之间的轮速差E1和左后轮与右后轮之间的轮速差E2，并计算左前轮与右前轮之间的轮速差K1和左后轮与右后轮之间的轮速差K2，执行步骤S117和步骤S129。S116: acquiring the wheel speeds V3 to V6 of the four wheels, calculating the wheel speed difference E1 between the left front wheel and the right front wheel, and the wheel speed difference E2 between the left rear wheel and the right rear wheel, and calculating the left front wheel and Step S117 and step S129 are performed with the wheel speed difference K1 between the right front wheels and the wheel speed difference K2 between the left rear wheel and the right rear wheel.

S117：对前轴联轴锁进行控制。S117: Control the front axle coupling lock.

如果E1＝0，则执行步骤S118；如果E1>0，且0<K1≤a1，则执行步骤S120；如果E1>0，且a1<K1≤a2，则执行步骤S122；如果E1>0，且K1>a2，则执行步骤S124。If E1=0, step S118 is performed; if E1>0, and 0<K1≤a1, step S120 is performed; if E1>0, and a1<K1≤a2, step S122 is performed; if E1>0, and K1>a2, then step S124 is performed.

S118：E1＝0。S118: E1=0.

S119：整车控制器发送锁止信号给前轴联轴锁控制器，前轴联轴锁控制器控制电流，使继电器接通，前轴联轴锁电磁制动器产生制动力，控制前轴联轴锁开始锁止，执行步骤S126。S119: The vehicle controller sends a lock signal to the front axle coupling lock controller, the front axle coupling lock controller controls the current, the relay is turned on, the front axle coupling lock electromagnetic brake generates braking force, and the front axle coupling is controlled. The lock starts to lock, and step S126 is performed.

S120：E1>0，且0<K1≤a1。S120: E1>0, and 0<K1≤a1.

S121：整车控制器发送锁止信号给前轴联轴锁控制器，前轴联轴锁控制器控制电流，使继电器接通，前轴联轴锁电磁制动器产生制动力，控制前轴联轴锁开始锁止，执行步骤S126。S121: The vehicle controller sends a lock signal to the front axle coupling lock controller, the front axle coupling lock controller controls the current, the relay is turned on, the front axle coupling lock electromagnetic brake generates braking force, and the front axle coupling is controlled. The lock starts to lock, and step S126 is performed.

S122：E1>0，且a1<K1≤a2。S122: E1>0, and a1<K1≤a2.

S123：整车控制器向转速较高的电机的电机控制器发送降扭信号，以控制电机降扭，使轮速降低，返回步骤S116。S123: The vehicle controller sends a torque reduction signal to the motor controller of the motor with a higher rotation speed to control the motor to reduce the torque, so that the wheel speed is reduced, and returns to step S116.

S124：E1>0，且K1>a2。S124: E1>0, and K1>a2.

S125：整车控制器向转速较高的电机的电机控制器发送降扭信号，以控制电机进行能量回馈，使轮速快速降低，返回步骤S116。S125: The vehicle controller sends a torque reduction signal to the motor controller of the motor with a higher rotation speed to control the motor to perform energy feedback, so that the wheel speed is rapidly decreased, and the process returns to step S116.

S126：锁止的过程中，整车控制器发出提示信息以提示驾驶员联轴锁正在锁止。S126: During the locking process, the vehicle controller sends a prompt message to prompt the driver that the coupling lock is being locked.

S127：对联轴锁的锁止进行判断。S127: Judging the lock of the coupling lock.

S128：判断是否满足|V3|和|V4|都大于0且V3＝V4。S128: It is judged whether or not |V3| and |V4| are both greater than 0 and V3=V4.

如果是，则执行步骤S141；如果否，则返回步骤S126。If yes, go to step S141; if no, go back to step S126.

S129：对后轴联轴锁进行控制。S129: Control the rear axle coupling lock.

如果E1＝0，则执行步骤S130；如果E1>0，且0<K1≤a3，则执行步骤S132；如果E1>0，且a3<K1≤a4，则执行步骤S134；如果E1>0，且K1>a2，则执行步骤S136。If E1=0, step S130 is performed; if E1>0, and 0<K1≤a3, step S132 is performed; if E1>0, and a3<K1≤a4, step S134 is performed; if E1>0, and K1>a2, then step S136 is performed.

S130：E1＝0。S130: E1=0.

S131：整车控制器发送锁止信号给后轴联轴锁控制器，后轴联轴锁控制器控制电流，使继电器接通，后轴联轴锁电磁制动器产生制动力，控制后轴联轴锁开始锁止，执行步骤S138。S131: The vehicle controller sends a lock signal to the rear axle coupling lock controller, the rear axle coupling lock controller controls the current, so that the relay is turned on, the rear axle coupling lock electromagnetic brake generates braking force, and the rear axle coupling is controlled. The lock starts to lock, and step S138 is performed.

S132：E1>0，且0<K1≤a3。S132: E1>0, and 0<K1≤a3.

S133：整车控制器发送锁止信号给后轴联轴锁控制器，后轴联轴锁控制器控制电流，使继电器接通，后轴联轴锁电磁制动器产生制动力，控制后轴联轴锁开始锁止，执行步骤S138。S133: The vehicle controller sends a lock signal to the rear axle coupling lock controller, the rear axle coupling lock controller controls the current, so that the relay is turned on, the rear axle coupling lock electromagnetic brake generates braking force, and the rear axle coupling is controlled. The lock starts to lock, and step S138 is performed.

S134：E1>0，且a3<K1≤a4。S134: E1>0, and a3<K1≤a4.

S135：整车控制器向转速较高的电机的电机控制器发送降扭信号，以控制电机降扭，使轮速降低，返回步骤S116。S135: The vehicle controller sends a torque reduction signal to the motor controller of the motor with a higher rotation speed to control the motor to reduce the torque and reduce the wheel speed, and returns to step S116.

S136：E1>0，且K1>a4。S136: E1>0, and K1>a4.

S137：整车控制器向转速较高的电机的电机控制器发送降扭信号，以控制电机进行能量回馈，使轮速快速降低，返回步骤S116。S137: The vehicle controller sends a torque reduction signal to the motor controller of the motor with higher speed to control the motor to perform energy feedback, so that the wheel speed is rapidly decreased, and returns to step S116.

S138：锁止的过程中，整车控制器发出提示信息以提示驾驶员联轴锁正在锁止。S138: During the locking process, the vehicle controller sends a prompt message to prompt the driver that the coupling lock is being locked.

S139：对联轴锁的锁止进行判断。S139: Judging the lock of the coupling lock.

S140：判断是否满足|V5|和|V6|都大于0且V5＝V6。S140: Determine whether it is satisfied that both |V5| and |V6| are greater than 0 and V5=V6.

如果是，则执行步骤S141；如果否，则返回步骤S138。If yes, go to step S141; if no, go back to step S138.

S141：判断前后轴联轴锁锁止完成，整车控制器发出提示信息，以提示驾驶员联轴锁锁止完成。S141: It is judged that the front and rear axle locks are locked, and the vehicle controller issues a prompt message to prompt the driver to lock the lock.

根据本申请的一个实施例，在联轴锁处于锁止状态时，还判断车辆的运行状态是否满足解锁条件，并在车辆的运行状态满足解锁条件时生成解锁指令，并根据解锁指令控制联轴锁解锁。According to an embodiment of the present application, when the coupling lock is in the locked state, it is further determined whether the running state of the vehicle satisfies the unlocking condition, and an unlocking instruction is generated when the running state of the vehicle meets the unlocking condition, and the coupling is controlled according to the unlocking instruction. The lock is unlocked.

具体地，车辆的运行状态包括车辆的车速、车身稳定***的状态和方向盘转角，其中，当车辆的车速大于预设车速、车身稳定***被触发和方向盘转角大于预设转角中的至少一个满足时判断车辆的运行状态满足解锁条件。Specifically, the operating state of the vehicle includes a vehicle speed of the vehicle, a state of the vehicle body stabilization system, and a steering wheel angle, wherein when at least one of the vehicle speed of the vehicle is greater than the preset vehicle speed, the vehicle body stability system is triggered, and the steering wheel angle is greater than the preset angle It is judged that the running state of the vehicle satisfies the unlocking condition.

其中，需要说明的是，车身稳定***通过采集各个传感器例如方向盘转角传感器、偏航率传感器(包括横摆角速度传感器和纵向/侧向加速度传感器)、车轮转速传感器等的信号以获取车身状态的数据，并对车身状态的数据进行计算以计算出车身状态，并将计算出的车身状态与预设数值进行比对，当计算出的车身状态超出预设数值时，判断车身临近失控或者已经失控，此时触发车身稳定***，通过开启车身稳定***可保证车身行驶状态能够尽量满足驾驶员的意图。也就是说，在整车控制器判断联轴锁锁止后，可判断是否接收到驾驶员通过锁止/解锁按键输入的解锁指令，如果接收到通过锁止/解锁按键输入的解锁指令，则控制联轴锁解锁；如果未接收到通过锁止/解锁按键输入的解锁指令，整车控制器则监测车辆的运行状态，并在满足以下三种条件之一时自动解锁联轴锁：Among them, it should be noted that the vehicle body stability system acquires data of the vehicle body state by collecting signals of various sensors such as a steering wheel angle sensor, a yaw rate sensor (including a yaw rate sensor and a longitudinal/lateral acceleration sensor), a wheel speed sensor, and the like. And calculating the body state data to calculate the body state, and comparing the calculated body state with the preset value. When the calculated body state exceeds the preset value, it is determined that the vehicle body is out of control or has lost control. At this point, the vehicle stability system is triggered, and by turning on the vehicle stability system, the body driving state can be ensured to satisfy the driver's intention as much as possible. That is to say, after the vehicle controller determines that the coupling lock is locked, it can be determined whether the unlocking command input by the driver through the lock/unlock button is received, and if the unlocking command input through the lock/unlock button is received, The control coupling lock is unlocked; if the unlock command input through the lock/unlock button is not received, the vehicle controller monitors the running state of the vehicle and automatically unlocks the coupling lock when one of the following three conditions is met:

1)车速大于第一预设车速；1) the vehicle speed is greater than the first preset speed;

2)车身稳定***被触发，即车身稳定***启动；2) The vehicle stability system is triggered, that is, the vehicle stability system is activated;

3)方向盘转角大于预设转角；3) The steering wheel angle is greater than the preset rotation angle;

当满足以上三种条件之一时，整车控制器发解锁信号给联轴锁控制器，联轴锁控制器断开控制电流，以使继电器断开，实现联轴锁解锁。When one of the above three conditions is met, the vehicle controller sends an unlock signal to the coupling lock controller, and the coupling lock controller disconnects the control current to disconnect the relay and unlock the coupling lock.

当以上三种条件均未满足时，整车控制器发信号给联轴锁控制器，联轴锁控制器控制电流，以使继电器保持当前状态。When none of the above three conditions are met, the vehicle controller sends a signal to the coupling lock controller, and the coupling lock controller controls the current to keep the relay in the current state.

由此，在整车运行过程中，当驾驶员在非需要时遗漏解锁联轴锁时，自动控制联轴锁解锁，避免联轴锁保持锁止对车辆安全运行造成的不利影响，避免影响驾驶员正常驾驶。Therefore, during the operation of the whole vehicle, when the driver misses the unlocking of the coupling lock when it is not needed, the automatic control of the coupling lock is unlocked, thereby avoiding the adverse effect of the interlocking lock and locking on the safe operation of the vehicle and avoiding the driving effect. The driver is driving normally.

另外，在本申请的一些实施例中，第一预设速度、第二预设速度、前轴锁止判断中的第一阈值a1和第二阈值a2、后轴锁止判断中的第一阈值a3、第二阈值a4以及预设转角可以是固定值，可以是动态值。其中，第一预设速度、第二预设速度、前轴锁止判断中的第一阈值a1和第二阈值a2、后轴锁止判断中的第一阈值a3、第二阈值a4可根据不同的联轴锁型式选择不同的值；预设转角可以是与车速、纵向加速度、横向加速度等关联变化的值；第一预设速度、第二预设速度、前轴锁止判断中的第一阈值a1和第二阈值a2、后轴锁止判断中的第一阈值a3、第二阈值a4以及预设转角可以根据车辆行驶状态环境、驾驶模式等做动态修正，例如雪地行驶环境或模式时，选取相交沥青路面不同的第一预设速度。In addition, in some embodiments of the present application, the first preset speed, the second preset speed, the first threshold a1 and the second threshold a2 in the front axle lock determination, and the first threshold in the rear axle lock determination A3. The second threshold a4 and the preset rotation angle may be fixed values, and may be dynamic values. The first preset speed, the second preset speed, the first threshold a1 and the second threshold a2 in the front axle lock determination, the first threshold a3 and the second threshold a4 in the rear axle lock determination may be different according to different The coupling lock type selects different values; the preset rotation angle may be a value associated with the vehicle speed, the longitudinal acceleration, the lateral acceleration, etc.; the first preset speed, the second preset speed, and the first of the front axle lock determination The threshold a1 and the second threshold a2, the first threshold a3 in the rear axle lock determination, the second threshold a4, and the preset rotation angle may be dynamically corrected according to the driving state environment, the driving mode, and the like of the vehicle, such as a snow driving environment or mode. , select the first preset speed of the intersecting asphalt pavement.

具体地，如图3所示，本申请实施例的联轴锁解锁控制包括以下步骤：Specifically, as shown in FIG. 3, the interlocking lock unlocking control of the embodiment of the present application includes the following steps:

S201：在整车控制器判断联轴锁锁止且未接收到通过锁止/解锁按键输入的解锁指令时进入自动解锁判定。S201: The automatic unlocking determination is entered when the vehicle controller determines that the coupling lock is locked and does not receive the unlocking command input through the lock/unlock button.

S202：整车控制器监测车速、车身稳定***的状态以及方向盘转角，执行步骤S203、步骤S205和步骤S206。S202: The vehicle controller monitors the vehicle speed, the state of the vehicle body stability system, and the steering wheel angle, and performs step S203, step S205, and step S206.

S203：判断车速是否大于第一预设车速S1。S203: Determine whether the vehicle speed is greater than the first preset vehicle speed S1.

如果是，则执行步骤S208；如果否，则执行步骤S204。If yes, step S208 is performed; if no, step S204 is performed.

S204：整车控制器发信号给联轴锁控制器，联轴锁控制器控制电流，以使继电器保持当前状态，返回步骤S203。S204: The vehicle controller sends a signal to the coupling lock controller, and the coupling lock controller controls the current to keep the relay in the current state, and returns to step S203.

S205：判断车身稳定***是否被触发。S205: Determine whether the vehicle stability system is triggered.

如果是，则执行步骤S208；如果否，则返回步骤S205。If yes, go to step S208; if no, go back to step S205.

S206：判断方向盘转角δ是否大于预设转角δ1。S206: Determine whether the steering wheel angle δ is greater than a preset rotation angle δ1.

如果是，则执行步骤S208；如果否，则执行步骤S207。If yes, go to step S208; if no, go to step S207.

S207：整车控制器发信号给联轴锁控制器，联轴锁控制器控制电流，以使继电器保持当前状态，返回步骤S206。S207: The vehicle controller sends a signal to the coupling lock controller, and the coupling lock controller controls the current to keep the relay in the current state, and returns to step S206.

S208：整车控制器发解锁信号给联轴锁控制器，联轴锁控制器断开控制电流，以使继电器断开，实现联轴锁解锁。S208: The vehicle controller sends an unlocking signal to the coupling lock controller, and the coupling lock controller disconnects the control current to disconnect the relay and unlock the coupling lock.

S209：控制车辆提示联轴锁解锁。S209: Control the vehicle to indicate that the coupling lock is unlocked.

为执行上述实施例的方法，本申请还提出了一种车辆的联轴锁控制***。To implement the method of the above embodiment, the present application also proposes a coupling lock control system for a vehicle.

图4是根据本申请实施例的车辆的联轴锁控制***的方框示意图。如图4所示，车辆具有多个车轮，多个车轮构造成至少一组车轮对，每组车轮对包括连接于同一联轴锁的第一车轮和第二车轮，***包括至少一个联轴锁控制模块16和整车控制器19。4 is a block schematic diagram of a coupling lock control system for a vehicle in accordance with an embodiment of the present application. As shown in FIG. 4, the vehicle has a plurality of wheels configured as at least one set of wheel pairs, each set of wheel sets including a first wheel and a second wheel coupled to the same coupling lock, the system including at least one coupling lock Control module 16 and vehicle controller 19.

其中，至少一个联轴锁控制模块16中的每个联轴锁控制模块16用于驱动每组车轮对对应的联轴锁10锁止或解锁；整车控制器19与至少一个联轴锁控制模块16进行通信，整车控制器19用于在获取到联轴锁10的锁止指令后，获取连接于同一联轴锁的第一车轮和第二车轮的轮速，并根据第一车轮的轮速与第二车轮的轮速之间的差值获取两轮轮速差，并根据第一车轮的轮速与第二车轮的轮速中较大值与较小值之比获取两轮轮速比，以及根据两轮轮速差和两轮轮速比通过相应的联轴锁控制模块对联轴锁10进行锁止控制。Wherein each of the at least one coupling lock control module 16 is configured to drive each set of wheels to lock or unlock the corresponding coupling lock 10; the vehicle controller 19 and the at least one coupling lock control The module 16 performs communication, and the vehicle controller 19 is configured to acquire the wheel speeds of the first wheel and the second wheel connected to the same coupling lock after acquiring the locking command of the coupling lock 10, and according to the first wheel Obtaining a difference between the wheel speed and the wheel speed of the second wheel to obtain a two-wheel speed difference, and obtaining a two-wheel wheel according to a ratio of a larger value to a smaller value of the wheel speed of the first wheel and the wheel speed of the second wheel The speed ratio and the lock control of the coupling lock 10 are performed by the corresponding coupling lock control module according to the two wheel speed difference and the two wheel speed ratio.

根据本申请的一个实施例，在获取连接于同一联轴锁10的第一车轮和第二车轮的轮速之前，整车控制器19还用于，判断车辆的车速是否大于第二预设车速，并在车辆的车速大于第二预设车速，控制联轴锁10停止锁止，并控制车辆发出提示信息。According to an embodiment of the present application, before acquiring the wheel speeds of the first wheel and the second wheel connected to the same coupling lock 10, the vehicle controller 19 is further configured to determine whether the vehicle speed of the vehicle is greater than the second preset speed And when the vehicle speed is greater than the second preset speed, the control coupling lock 10 stops locking and controls the vehicle to issue a prompt message.

也就是说，整车控制器19在接收到联轴锁锁止指令之后，可在进入联轴锁锁止判断程序，在进入联轴锁锁止判断程序之后，先判断车辆的车速是否大于第二预设车速，如果车速大于第二预设车速，整车控制器19则发出超速警报，提示驾驶员联轴锁无法锁止，请驾驶员降低车速；如果车速小于或等于第二预设车速，整车控制器19则获取连接于同一联轴锁的第一车轮和第二车轮的轮速，以进行下一步判断。That is to say, after receiving the coupling lock lock command, the vehicle controller 19 can enter the joint lock lock determination program, and after entering the joint lock lock determination program, first determine whether the vehicle speed is greater than the first Second preset speed, if the vehicle speed is greater than the second preset speed, the vehicle controller 19 issues an overspeed warning, prompting the driver that the coupling lock cannot be locked, and asking the driver to reduce the vehicle speed; if the vehicle speed is less than or equal to the second preset speed The vehicle controller 19 obtains the wheel speeds of the first wheel and the second wheel connected to the same coupling lock for the next determination.

也就是说，整车控制器19在进入联轴锁锁止判断程序之后，可先判断车辆的车速是否大于第二预设车速，如果车速小于或等于第二预设车速，则获取连接于再根据两轮轮速差和两轮轮速比判断是否对联轴锁进行锁止控制。That is to say, after entering the coupling lock lock determination program, the vehicle controller 19 may first determine whether the vehicle speed of the vehicle is greater than the second preset vehicle speed, and if the vehicle speed is less than or equal to the second preset vehicle speed, obtain the connection and then Whether to lock the coupling lock according to the two-wheel speed difference and the two-wheel speed ratio.

根据本申请的一个实施例，如图6所示，车辆的联轴锁控制***还包括：锁止/解锁按键24，锁止/解锁按键24与整车控制器19通信，整车控制器19通过锁止/解锁按键24接收解锁指令和锁止指令。According to an embodiment of the present application, as shown in FIG. 6, the axle lock control system of the vehicle further includes: a lock/unlock button 24, and the lock/unlock button 24 communicates with the vehicle controller 19, and the vehicle controller 19 The unlocking command and the locking command are received by the lock/unlock button 24.

也就是说，驾驶员可通过车辆的锁止/解锁按键24(即按钮)选择联轴锁的锁止和解锁，整车控制器19可与锁止/解锁按键24进行通信以接收解锁指令和锁止指令，整车控制器19根据相应的指令并通过控制逻辑分析后发送对应的控制信号给联轴锁控制器，联轴锁控制器对内部的继电器进行通电和断电控制，以实现对联轴锁的控制。That is, the driver can select the lock and unlock of the coupling lock through the lock/unlock button 24 (ie, the button) of the vehicle, and the vehicle controller 19 can communicate with the lock/unlock button 24 to receive the unlock command and The lock command, the vehicle controller 19 sends a corresponding control signal to the coupling lock controller according to the corresponding command and through the control logic analysis, and the joint lock controller energizes and de-energizes the internal relay to realize the couplet. Control of the axis lock.

具体而言，驾驶员通过控制锁止/解锁按键24选择需求的联轴锁状态，其中，当需要联轴锁解锁时，整车控制器19接收到解锁指令后将发送解锁控制信号给联轴锁控制器，联轴锁控制器断开继电器连接，实现联轴锁10的解锁；当需要联轴锁锁止时，整车控制器19接收到锁止指令后进入联轴锁锁止判断程序，以判断是否对联轴锁10进行锁止控制，并在判断对联轴锁10进行锁止控制时，发送锁止控制信号给联轴锁控制器，联轴锁控制器接通继电器连接，以将对应的电流输出给联轴锁10，控制联轴锁10的电磁制动器产生制动力，将联轴锁10锁止。Specifically, the driver selects the required interlock lock state by controlling the lock/unlock button 24, wherein when the interlock lock is required to be unlocked, the vehicle controller 19 will send an unlock control signal to the coupling after receiving the unlock command. The lock controller, the coupling lock controller disconnects the relay to realize the unlocking of the coupling lock 10; when the coupling lock is required, the vehicle controller 19 enters the coupling lock lock determination program after receiving the lock command To determine whether to lock the coupling lock 10, and when determining the lock control of the coupling lock 10, send a lock control signal to the coupling lock controller, and the coupling lock controller turns on the relay connection to The corresponding current is output to the coupling lock 10, and the electromagnetic brake of the control coupling lock 10 generates a braking force to lock the coupling lock 10.

另外，根据本申请的一个实施例，整车控制器19还用于，在车辆上电后，判断联轴锁是否正常，如果正常，则接收联轴锁锁止指令和解锁指令，如果不正常，则控制车辆发出对应的联轴锁故障报警。In addition, according to an embodiment of the present application, the vehicle controller 19 is further configured to: after the vehicle is powered on, determine whether the coupling lock is normal, and if normal, receive the coupling lock lock command and the unlock command, if not, Then, the vehicle is controlled to issue a corresponding interlock lock failure alarm.

也就是说，在车辆上电后，联轴锁控制器可检测联轴锁是否正常，如果正常，则根据驾驶员操作获取锁止指令和解锁指令；如果不正常，联轴锁控制器向整车控制器19发生对应的故障信号，整车控制器19控制车辆发出对应的联轴锁故障报警。That is to say, after the vehicle is powered on, the coupling lock controller can detect whether the coupling lock is normal. If it is normal, the lock command and the unlock command are obtained according to the driver's operation; if not, the lock controller is adjusted to the whole. The vehicle controller 19 generates a corresponding fault signal, and the vehicle controller 19 controls the vehicle to issue a corresponding joint lock failure alarm.

进一步地，根据本申请的一个实施例，整车控制器19用于，在两轮轮速差等于零，或者两轮轮速差大于零同时两轮轮速比大于零且小于等于第一阈值时，通过相应的联轴锁控制模块16控制联轴锁10进行锁止。Further, according to an embodiment of the present application, the vehicle controller 19 is configured to: when the two wheel speed difference is equal to zero, or the two wheel speed difference is greater than zero while the two wheel speed ratio is greater than zero and less than or equal to the first threshold The coupling lock 10 is controlled to lock by the corresponding coupling lock control module 16.

根据本申请的一个实施例，整车控制器19用于，在两轮轮速差大于第一阈值且小于等于第二阈值时，控制第一车轮与第二车轮中轮速较大的车轮对应的电机的输出扭矩降低，直至两轮轮速差等于零，或者两轮轮速差大于零同时两轮轮速比大于零且小于等于第一阈值。According to an embodiment of the present application, the vehicle controller 19 is configured to control the wheels of the first wheel and the second wheel with a larger wheel speed when the two wheel speed difference is greater than the first threshold and less than or equal to the second threshold. The output torque of the motor is reduced until the two wheel speed difference is equal to zero, or the two wheel speed difference is greater than zero while the two wheel speed ratio is greater than zero and less than or equal to the first threshold.

根据本申请的一个实施例，整车控制器19用于，在两轮轮速差大于第二阈值时，控制第一车轮与第二车轮中轮速较大的车轮对应的电机进行能量回馈，直至两轮轮速差等于零，或者两轮轮速差大于零同时两轮轮速比大于零且小于等于第一阈值。According to an embodiment of the present application, the vehicle controller 19 is configured to control the motor corresponding to the wheel with the larger wheel speed of the first wheel and the second wheel to perform energy feedback when the two wheel speed difference is greater than the second threshold. Until the two wheel speed difference is equal to zero, or the two wheel speed difference is greater than zero while the two wheel speed ratio is greater than zero and less than or equal to the first threshold.

根据本申请的一个实施例，在控制联轴锁进行锁止的过程中，整车控制器19还用于，判断第一车轮的轮速与第二车轮的轮速是否不为零且第一车轮的轮速与第二车轮的轮速是否相等，如果第一车轮的轮速与第二车轮的轮速均不为零且第一车轮的轮速与第二车轮的轮速相等，则判断联轴锁10处于锁止状态。According to an embodiment of the present application, in controlling the locking of the coupling lock, the vehicle controller 19 is further configured to determine whether the wheel speed of the first wheel and the wheel speed of the second wheel are not zero and first Whether the wheel speed of the wheel is equal to the wheel speed of the second wheel, if the wheel speed of the first wheel and the wheel speed of the second wheel are not zero and the wheel speed of the first wheel is equal to the wheel speed of the second wheel, then judging The coupling lock 10 is in a locked state.

根据本申请的一个实施例，在联轴锁处于锁止状态时，整车控制器19还用于，判断车辆的运行状态是否满足解锁条件，并在车辆的运行状态满足解锁条件时生成解锁指令，并根据解锁指令通过相应的联轴锁控制模块16控制联轴锁10解锁。According to an embodiment of the present application, when the coupling lock is in the locked state, the vehicle controller 19 is further configured to determine whether the running state of the vehicle satisfies the unlocking condition, and generate an unlocking command when the running state of the vehicle meets the unlocking condition. And the interlock lock 10 is controlled to be unlocked by the corresponding coupling lock control module 16 according to the unlocking command.

根据本申请的一个实施例，车辆的运行状态包括车辆的车速、车身稳定***的状态和方向盘转角，其中，整车控制器19通过方向盘转角传感器21检测方向盘转角，整车控制器19还用于，在车辆的车速大于预设车速、车身稳定***被触发和方向盘转角大于预设转角中的一个满足时判断车辆的运行状态满足解锁条件。According to an embodiment of the present application, the operating state of the vehicle includes a vehicle speed of the vehicle, a state of the vehicle body stabilizing system, and a steering wheel angle, wherein the vehicle controller 19 detects the steering wheel angle by the steering wheel angle sensor 21, and the vehicle controller 19 is further used for When the vehicle speed is greater than the preset vehicle speed, the vehicle stability system is triggered, and the steering wheel angle is greater than one of the preset rotation angles, it is determined that the running state of the vehicle satisfies the unlocking condition.

也就是说，在整车控制器19判断联轴锁锁止后，可判断是否接收到驾驶员通过锁止/解锁按键24输入的解锁指令，如果接收到通过锁止/解锁按键输入的解锁指令，则控制联轴锁10解锁；如果未接收到通过锁止/解锁按键24输入的解锁指令，整车控制器19则监测车辆的运行状态，并在满足以下三种条件之一时自动解锁联轴锁10：That is, after the vehicle controller 19 determines that the coupling lock is locked, it can be determined whether the unlock command input by the driver through the lock/unlock button 24 is received, and if the unlock command input through the lock/unlock button is received. Then, the control coupling lock 10 is unlocked; if the unlocking command input through the lock/unlock button 24 is not received, the vehicle controller 19 monitors the running state of the vehicle and automatically unlocks the coupling when one of the following three conditions is met. Lock 10:

当满足以上三种条件之一时，整车控制器19发解锁信号给联轴锁控制器，联轴锁控制器断开控制电流，以使继电器断开，实现联轴锁解锁。When one of the above three conditions is met, the vehicle controller 19 issues an unlocking signal to the coupling lock controller, and the coupling lock controller disconnects the control current to disconnect the relay and unlock the coupling lock.

当以上三种条件均未满足时，整车控制器19发信号给联轴锁控制器，联轴锁控制器控制电流，以使继电器保持当前状态。When none of the above three conditions are met, the vehicle controller 19 sends a signal to the coupling lock controller, and the coupling lock controller controls the current to keep the relay in the current state.

根据本申请的一个实施例，如图6所示，车辆的联轴锁控制***还包括：对应设置于多个车轮的多个转速传感器23，多个转速传感器23中的每个转速传感器23用于检测对应车轮的转速；其中，多个转速传感器包括检测第一车轮的转速的第一转速传感器和检测第二车轮的转速的第二转速传感器，整车控制器19与第一转速传感器和第二转速传感器通信，以获取第一车轮的转速和第二车轮的转速，整车控制器还用于根据第一车轮的转速和第一车轮的滚动半径获取第一车轮的轮速，以及根据第二车轮的转速和第二车轮的滚动半径获取第二车轮的轮速。According to an embodiment of the present application, as shown in FIG. 6, the axle lock control system of the vehicle further includes: a plurality of rotational speed sensors 23 corresponding to the plurality of wheels, and each of the plurality of rotational speed sensors 23 Detecting the rotational speed of the corresponding wheel; wherein the plurality of rotational speed sensors include a first rotational speed sensor that detects the rotational speed of the first wheel and a second rotational speed sensor that detects the rotational speed of the second wheel, the vehicle controller 19 and the first rotational speed sensor and The second speed sensor communicates to obtain the rotation speed of the first wheel and the rotation speed of the second wheel, and the vehicle controller is further configured to acquire the wheel speed of the first wheel according to the rotation speed of the first wheel and the rolling radius of the first wheel, and according to the first The rotational speed of the two wheels and the rolling radius of the second wheel acquire the wheel speed of the second wheel.

也就是说，如图5和6所示，与车轮相对应，多个转速传感器23也可构造成至少一组转速传感器，每组转速传感器可包括检测第一车轮的转速的第一转速传感器和检测第二车轮的转速的第二转速传感器。That is, as shown in FIGS. 5 and 6, corresponding to the wheel, the plurality of rotational speed sensors 23 may also be configured as at least one set of rotational speed sensors, each set of rotational speed sensors may include a first rotational speed sensor that detects the rotational speed of the first wheel and A second rotational speed sensor that detects the rotational speed of the second wheel.

根据本申请的一个实施例，如图5和6所示，车辆的联轴锁控制***还包括：与多个车轮对应连接的多个变速器，多个变速器中的每个变速器驱动相应的车轮；与多个变速器对应连接的多个电机，多个电机中的每个电机用于通过相应的变速器驱动相应的车轮；与多个电机对应连接的多个电机控制器，多个电机控制器中的每个电机控制器用于控制相应的电机运转；其中，多个变速器包括第一变速器12a和第二变速器12b，多个电机包括第一电机14a和第二电机14b，多个电机控制器包括第一电机控制器15a和第二电机控制器15b，第一电机控制器15a通过对第一电机14a进行控制以使第一电机14a通过第一变速器12a驱动第一车轮11a，第二电机控制器15b通过对第二电机14b进行控制以使第二电机14b通过第二变速器12b驱动第二车轮11b，整车控制器19与第一电机控制器15a和第二电机控制器15b通信，以获取第一电机14a的转速和第二电机14b的转速，整车控制器19还用于获取第一变速器12a的传动比和第二变速器12b的传动比，并根据第一电机14a的转速和第一变速器12a的传动比获取第一车轮11a的轮速，以及根据第二电机14b的转速和第二变速器12b的传动比获取第二车轮11b的轮速。According to an embodiment of the present application, as shown in FIGS. 5 and 6, the axle lock control system of the vehicle further includes: a plurality of transmissions correspondingly connected to the plurality of wheels, each of the plurality of transmissions driving the corresponding wheel; a plurality of motors correspondingly connected to the plurality of transmissions, each of the plurality of motors for driving the respective wheels through the respective transmissions; a plurality of motor controllers correspondingly connected to the plurality of motors, among the plurality of motor controllers Each motor controller is for controlling a corresponding motor operation; wherein the plurality of transmissions includes a first transmission 12a and a second transmission 12b, the plurality of motors including a first motor 14a and a second motor 14b, the plurality of motor controllers including the first The motor controller 15a and the second motor controller 15b, the first motor controller 15a controls the first motor 14a to drive the first motor 14a to drive the first wheel 11a through the first transmission 12a, and the second motor controller 15b passes The second motor 14b is controlled to cause the second motor 14b to drive the second wheel 11b through the second transmission 12b, the vehicle controller 19 and the first motor controller 15a and the second motor The controller 15b communicates to obtain the rotational speed of the first motor 14a and the rotational speed of the second motor 14b, and the vehicle controller 19 is further configured to acquire the gear ratio of the first transmission 12a and the gear ratio of the second transmission 12b, and according to the first The rotational speed of the motor 14a and the gear ratio of the first transmission 12a acquire the wheel speed of the first wheel 11a, and the wheel speed of the second wheel 11b is acquired according to the rotational speed of the second electric motor 14b and the gear ratio of the second transmission 12b.

也就是说，与车轮相对应，如图5和6所示，多个变速器可构造成至少一组变速器对，每组变速器对包括连接于第一车轮11a的第一变速器12a和连接于第二车轮11b的第二变速器12b。并且，多个电机可构造成至少一组电机对，每组电机对包括连接于第一变速器12a的第一电机14a和连接于第二变速器12b 的第二电机14b。That is, corresponding to the wheel, as shown in Figures 5 and 6, the plurality of transmissions can be configured as at least one set of transmissions, each set of transmissions including a first transmission 12a coupled to the first wheel 11a and coupled to the second The second transmission 12b of the wheel 11b. Also, the plurality of motors may be configured as at least one set of motor pairs, each set of motor pairs including a first motor 14a coupled to the first transmission 12a and a second motor 14b coupled to the second transmission 12b.

综上，根据本申请实施例提出的车辆的联轴锁控制***，整车控制器在获取到联轴锁锁止指令后，获取连接于同一联轴锁的第一车轮和第二车轮的轮速，然后根据第一车轮的轮速与第二车轮的轮速之间的差值获取两轮轮速差，并根据第一车轮的轮速与第二车轮的轮速中较大值与较小值之比获取两轮轮速比，以及根据两轮轮速差和两轮轮速比通过相应的联轴锁控制模块对联轴锁进行锁止控制，从而能够使联轴锁快速、安全的锁止，避免打齿、过度滑磨等。In summary, according to the coupling lock control system of the vehicle proposed in the embodiment of the present application, after obtaining the coupling lock lock command, the vehicle controller acquires the wheels of the first wheel and the second wheel connected to the same coupling lock. Speed, then obtaining the difference between the wheel speed of the first wheel and the wheel speed of the second wheel, and according to the larger value of the wheel speed of the first wheel and the wheel speed of the second wheel The ratio of the small value obtains the ratio of the two-wheel ratio, and the lock control of the coupling lock is performed by the corresponding coupling lock control module according to the two-wheel speed difference and the two-wheel speed ratio, thereby enabling the coupling lock to be fast and safe. Lock, avoid teething, excessive slipping, etc.

本申请实施例还提出了一种车辆，包括所述的车辆的联轴锁控制***。The embodiment of the present application also proposes a vehicle including the axle lock control system of the vehicle.

本申请实施例还提出了一种计算机可读存储介质，其上存储有车辆的联轴锁控制程序，该程序被处理器执行时实现如本申请前述实施例的车辆的联轴锁控制方法。The embodiment of the present application further provides a computer readable storage medium having stored thereon a coupling lock control program of a vehicle, which is executed by the processor to implement a coupling lock control method of the vehicle according to the foregoing embodiment of the present application.

需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that, in this context, relational terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply such entities or operations. There is any such actual relationship or order between them. Furthermore, the term "comprises" or "comprises" or "comprises" or any other variations thereof is intended to encompass a non-exclusive inclusion, such that a process, method, article, or device that comprises a plurality of elements includes not only those elements but also Other elements, or elements that are inherent to such a process, method, item, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.

在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行***、装置或设备(如基于计算机的***、包括处理器的***或其他可以从指令执行***、装置或设备取指令并执行指令的***)使用，或结合这些指令执行***、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行***、装置或设备或结合这些指令执行***、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。The logic and/or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer readable medium, Used in conjunction with, or in conjunction with, an instruction execution system, apparatus, or device (eg, a computer-based system, a system including a processor, or other system that can fetch instructions and execute instructions from an instruction execution system, apparatus, or device) Or use with equipment. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM). In addition, the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.

应当理解，本发明的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行***执行的软件或固件来实现。例如，如果用硬件来实现，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。It should be understood that portions of the invention may be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。In the present application, the terms "installation", "connected", "connected", "fixed" and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless otherwise explicitly stated and defined. , or integrated; can be mechanical or electrical connection; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction of two elements, unless otherwise specified Limited. For those skilled in the art, the specific meanings of the above terms in the present application can be understood on a case-by-case basis.

在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、 “具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。In the description of the present specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means a specific feature described in connection with the embodiment or example. A structure, material or feature is included in at least one embodiment or example of the application. In the present specification, the schematic representation of the above terms is not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, various embodiments or examples described in the specification, as well as features of various embodiments or examples, may be combined and combined.

尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。While the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the present application. The embodiments are subject to variations, modifications, substitutions and variations.

Claims

一种车辆的联轴锁控制方法，其特征在于，所述车辆具有多个车轮，所述多个车轮构造成至少一组车轮对，每组车轮对包括连接于同一联轴锁的第一车轮和第二车轮，其特征在于，所述方法包括以下步骤：A coupling lock control method for a vehicle, characterized in that the vehicle has a plurality of wheels, the plurality of wheels being configured as at least one set of wheel pairs, each set of wheel pairs comprising a first wheel connected to the same coupling lock And a second wheel, characterized in that the method comprises the steps of:

在获取到联轴锁锁止指令后，获取连接于同一联轴锁的第一车轮和第二车轮的轮速；After acquiring the coupling lock locking command, acquiring the wheel speeds of the first wheel and the second wheel connected to the same coupling lock;

根据所述第一车轮的轮速与所述第二车轮的轮速之间的差值获取两轮轮速差；Obtaining a two-wheel speed difference according to a difference between a wheel speed of the first wheel and a wheel speed of the second wheel;

根据所述第一车轮的轮速与所述第二车轮的轮速中较大值与较小值之比获取两轮轮速比；Obtaining a two-wheel ratio according to a ratio of a larger value of the wheel speed of the first wheel to a smaller value of the wheel speed of the second wheel;

根据所述两轮轮速差和两轮轮速比对所述联轴锁进行锁止控制。The lock lock is locked according to the two wheel speed difference and the two wheel speed ratio.
根据权利要求1所述的车辆的联轴锁控制方法，其特征在于，A coupling lock control method for a vehicle according to claim 1, wherein

当所述两轮轮速差等于零，或者所述两轮轮速差大于零同时所述两轮轮速比大于零且小于等于第一阈值时，控制所述联轴锁进行锁止。When the two wheel speed difference is equal to zero, or the two wheel speed difference is greater than zero while the two wheel speed ratio is greater than zero and less than or equal to the first threshold, the coupling lock is controlled to be locked.
根据权利要求2所述的车辆的联轴锁控制方法，其特征在于，A coupling lock control method for a vehicle according to claim 2, wherein

当所述两轮轮速差大于所述第一阈值且小于等于第二阈值时，控制所述第一车轮与所述第二车轮中轮速较大的车轮对应的电机的输出扭矩降低，直至所述两轮轮速差等于零，或者所述两轮轮速差大于零同时所述两轮轮速比大于零且小于等于所述第一阈值。When the two wheel speed difference is greater than the first threshold and less than or equal to the second threshold, controlling an output torque of the motor corresponding to the wheel having a larger wheel speed in the first wheel and the second wheel is reduced until The two wheel speed difference is equal to zero, or the two wheel speed difference is greater than zero while the two wheel speed ratio is greater than zero and less than or equal to the first threshold.
根据权利要求3所述的车辆的联轴锁控制方法，其特征在于，A coupling lock control method for a vehicle according to claim 3, wherein

当所述两轮轮速差大于所述第二阈值时，控制所述第一车轮与所述第二车轮中轮速较大的车轮对应的电机进行能量回馈，直至所述两轮轮速差等于零，或者所述两轮轮速差大于零同时所述两轮轮速比大于零且小于等于所述第一阈值。Controlling, by the first wheel, a motor corresponding to a wheel having a larger wheel speed in the second wheel to perform energy feedback until the two wheel speed difference is greater than the second threshold value; Equal to zero, or the two wheel speed difference is greater than zero while the two wheel speed ratio is greater than zero and less than or equal to the first threshold.
根据权利要求1-4中任一项所述的车辆的联轴锁控制方法，其特征在于，在控制所述联轴锁进行锁止的过程中，还判断所述第一车轮的轮速与所述第二车轮的轮速是否不为零且所述第一车轮的轮速与所述第二车轮的轮速是否相等，如果所述第一车轮的轮速与所述第二车轮的轮速均不为零且所述第一车轮的轮速与所述第二车轮的轮速相等，则判断所述联轴锁处于锁止状态。The coupling lock control method for a vehicle according to any one of claims 1 to 4, wherein, in controlling the lock of the coupling lock, determining a wheel speed of the first wheel Whether the wheel speed of the second wheel is not zero and whether the wheel speed of the first wheel is equal to the wheel speed of the second wheel, if the wheel speed of the first wheel and the wheel of the second wheel If the speed is not zero and the wheel speed of the first wheel is equal to the wheel speed of the second wheel, it is determined that the coupling lock is in the locked state.
根据权利要求5所述的车辆的联轴锁控制方法，其特征在于，在所述联轴锁处于锁止状态时，还判断所述车辆的运行状态是否满足解锁条件，并在所述车辆的运行状态满足解锁条件时生成解锁指令，并根据所述解锁指令控制所述联轴锁解锁。The coupling lock control method for a vehicle according to claim 5, wherein when the coupling lock is in a locked state, it is further determined whether an operating state of the vehicle satisfies an unlocking condition and is in the vehicle An unlocking command is generated when the operating state satisfies the unlocking condition, and the interlocking lock is controlled to be unlocked according to the unlocking command.
根据权利要求6所述的车辆的联轴锁控制方法，其特征在于，所述车辆的运行状态包括所述车辆的车速、车身稳定***的状态和方向盘转角，其中，The coupling lock control method for a vehicle according to claim 6, wherein the operating state of the vehicle includes a vehicle speed of the vehicle, a state of the vehicle body stabilizing system, and a steering wheel angle, wherein

当所述车辆的车速大于第一预设车速、车身稳定***被触发和所述方向盘转角大于预设转角中的一个满足时判断所述车辆的运行状态满足解锁条件。When the vehicle speed of the vehicle is greater than the first preset vehicle speed, the vehicle body stability system is triggered, and the steering wheel angle is greater than one of the preset corners, it is determined that the running state of the vehicle satisfies the unlocking condition.
根据权利要求1-7中任一项所述的车辆的联轴锁控制方法，其特征在于，还包括：The coupling lock control method for a vehicle according to any one of claims 1 to 7, further comprising:

通过所述车辆的锁止/解锁按键接收所述解锁指令和所述锁止指令。The unlocking command and the locking command are received by a lock/unlock button of the vehicle.
根据权利要求1-8中任一项所述的车辆的联轴锁控制方法，其特征在于，所述获取所述联轴锁对应的第一车轮和第二车轮的轮速，包括：The coupling lock control method for a vehicle according to any one of claims 1 to 8, wherein the acquiring the wheel speeds of the first wheel and the second wheel corresponding to the coupling lock comprises:

获取所述第一车轮的转速和第二车轮的转速，并根据所述第一车轮的转速和所述第一车轮的滚动半径获取所述第一车轮的轮速，以及根据所述第二车轮的转速和所述第二车轮的滚动半径获取所述第二车轮的轮速；Obtaining a rotation speed of the first wheel and a rotation speed of the second wheel, and acquiring a wheel speed of the first wheel according to the rotation speed of the first wheel and a rolling radius of the first wheel, and according to the second wheel And a rolling radius of the second wheel acquires a wheel speed of the second wheel;

或者，获取所述第一车轮对应的第一电机的转速和第一变速器的传动比以及所述第二车轮对应的第二电机的转速和第二变速器的传动比，并根据第一电机的转速和第一变速器的传动比获取所述第一车轮的轮速，以及根据所述第二电机的转速和第二变速器的传动比获取所述第二车轮的轮速。Or acquiring the rotation speed of the first motor corresponding to the first wheel and the transmission ratio of the first transmission, the rotation speed of the second motor corresponding to the second wheel, and the transmission ratio of the second transmission, and according to the rotation speed of the first motor A gear ratio of the first wheel is obtained from a gear ratio of the first transmission, and a wheel speed of the second wheel is obtained according to a speed of the second motor and a gear ratio of the second transmission.
根据权利要求1-9中任一项所述的车辆的联轴锁控制方法，其特征在于，在获取连接于同一联轴锁的第一车轮和第二车轮的轮速之前，还包括：The coupling lock control method for a vehicle according to any one of claims 1 to 9, wherein before acquiring the wheel speeds of the first wheel and the second wheel connected to the same coupling lock, the method further comprises:

判断所述车辆的车速是否大于第二预设车速；Determining whether the vehicle speed of the vehicle is greater than a second preset vehicle speed;

如果所述车辆的车速大于所述第二预设车速，则控制所述联轴锁停止锁止，并发出提示信息。If the vehicle speed of the vehicle is greater than the second preset vehicle speed, the coupling lock is controlled to stop locking, and a prompt message is issued.
一种车辆的联轴锁控制***，所述车辆具有多个车轮，所述多个车轮构造成至少一组车轮对，每组车轮对包括连接于同一联轴锁的第一车轮和第二车轮，其特征在于，所述***包括：A axle lock control system for a vehicle, the vehicle having a plurality of wheels configured as at least one set of wheel pairs, each set of wheel pairs including a first wheel and a second wheel coupled to the same chain lock , characterized in that the system comprises:

至少一个联轴锁控制模块，至少一个联轴锁控制模块中的每个联轴锁控制模块用于驱动每组车轮对对应的联轴锁锁止或解锁；At least one coupling lock control module, each of the at least one coupling lock control module is configured to drive each set of wheel pairs to lock or unlock the corresponding joint lock;

整车控制器，所述整车控制器与所述至少一个联轴锁控制模块进行通信，所述整车控制器用于在获取到联轴锁的锁止指令后，获取连接于同一联轴锁的第一车轮和第二车轮的轮速，并根据所述第一车轮的轮速与所述第二车轮的轮速之间的差值获取两轮轮速差，并根据所述第一车轮的轮速与所述第二车轮的轮速中较大值与较小值之比获取两轮轮速比，以及根据所述两轮轮速差和两轮轮速比通过相应的联轴锁控制模块对所述联轴锁进行锁止控制。a vehicle controller, the vehicle controller is in communication with the at least one coupling lock control module, and the vehicle controller is configured to acquire a connection to the same coupling lock after acquiring a lock command of the coupling lock a wheel speed of the first wheel and the second wheel, and obtaining a difference between the wheel speed of the first wheel and a wheel speed of the second wheel, and according to the first wheel Obtaining a ratio of a larger value to a smaller value of the wheel speed of the second wheel and a smaller value, and passing the corresponding coupling lock according to the two wheel speed difference and the two wheel speed ratio The control module performs lock control on the coupling lock.
根据权利要求11所述的车辆的联轴锁控制***，其特征在于，所述整车控制器用于，在所述两轮轮速差等于零，或者所述两轮轮速差大于零同时所述两轮轮速比大于零且小于等于第一阈值时，通过相应的联轴锁控制模块控制所述联轴锁进行锁止。The axle lock control system for a vehicle according to claim 11, wherein said vehicle controller is configured to: when said two wheel speed difference is equal to zero, or said two wheel speed difference is greater than zero When the two-wheel speed ratio is greater than zero and less than or equal to the first threshold, the coupling lock is controlled to be locked by the corresponding coupling lock control module.
根据权利要求12所述的车辆的联轴锁控制***，其特征在于，A coupling lock control system for a vehicle according to claim 12, wherein

所述整车控制器用于，在所述两轮轮速差大于所述第一阈值且小于等于第二阈值时，控制所述第一车轮与所述第二车轮中轮速较大的车轮对应的电机的输出扭矩降低，直至所述两轮轮速差等于零，或者所述两轮轮速差大于零同时所述两轮轮速比大于零且小于等于所述第一阈值。The vehicle controller is configured to control, when the two wheel speed difference is greater than the first threshold and less than or equal to a second threshold, to control a wheel having a larger wheel speed in the first wheel and the second wheel The output torque of the motor is reduced until the two wheel speed difference is equal to zero, or the two wheel speed difference is greater than zero while the two wheel speed ratio is greater than zero and less than or equal to the first threshold.
根据权利要求13所述的车辆的联轴锁控制***，其特征在于，A coupling lock control system for a vehicle according to claim 13, wherein

所述整车控制器用于，在所述两轮轮速差大于所述第二阈值时，控制所述第一车轮与所述第二车轮中轮速较大的车轮对应的电机进行能量回馈，直至所述两轮轮速差等于零，或者所述两轮轮速差大于零同时所述两轮轮速比大于零且小于等于所述第一阈值。The vehicle controller is configured to control, when the two-wheel speed difference is greater than the second threshold, an energy feedback of a motor corresponding to a wheel having a larger wheel speed in the first wheel and the second wheel, Until the two wheel speed difference is equal to zero, or the two wheel speed difference is greater than zero while the two wheel speed ratio is greater than zero and less than or equal to the first threshold.
根据权利要求11-14中任一项所述的车辆的联轴锁控制***，其特征在于，在控制所述联轴锁进行锁止的过程中，所述整车控制器还用于，判断所述第一车轮的轮速与所述第二车轮的轮速是否不为零且所述第一车轮的轮速与所述第二车轮的轮速是否相等，如果所述第一车轮的轮速与所述第二车轮的轮速均不为零且所述第一车轮的轮速与所述第二车轮的轮速相等，则判断所述联轴锁处于锁止状态。A coupling lock control system for a vehicle according to any one of claims 11 to 14, wherein in the process of controlling the lock of the coupling lock, the vehicle controller is further used for judging Whether the wheel speed of the first wheel and the wheel speed of the second wheel are not zero and whether the wheel speed of the first wheel is equal to the wheel speed of the second wheel, if the wheel of the first wheel If the speed of the wheel and the second wheel are not zero and the wheel speed of the first wheel is equal to the wheel speed of the second wheel, it is determined that the coupling lock is in the locked state.
根据权利要求15所述的车辆的联轴锁控制***，其特征在于，在所述联轴锁处于锁止状态时，所述整车控制器还用于，判断所述车辆的运行状态是否满足解锁条件，并在所述车辆的运行状态满足解锁条件时生成解锁指令，并根据所述解锁指令通过相应的联轴锁控制模块控制所述联轴锁解锁。The axle lock control system for a vehicle according to claim 15, wherein the vehicle controller is further configured to determine whether an operating state of the vehicle is satisfied when the axle lock is in a locked state. And unlocking the condition, and generating an unlocking instruction when the operating state of the vehicle meets the unlocking condition, and controlling the coupling lock to be unlocked by the corresponding coupling lock control module according to the unlocking instruction.
根据权利要求16所述的车辆的联轴锁控制***，其特征在于，所述车辆的运行状态包括所述车辆的车速、车身稳定***的状态和方向盘转角，其中，The axle lock control system for a vehicle according to claim 16, wherein the operating state of the vehicle includes a vehicle speed of the vehicle, a state of the vehicle body stabilizing system, and a steering wheel angle, wherein

所述整车控制器还用于，在所述车辆的车速大于预设车速、车身稳定***被触发和所述方向盘转角大于预设转角中的一个满足时判断所述车辆的运行状态满足解锁条件。The vehicle controller is further configured to: when the vehicle speed of the vehicle is greater than a preset vehicle speed, the vehicle stability system is triggered, and the steering wheel angle is greater than a preset rotation angle, determining that the running state of the vehicle meets an unlocking condition .
根据权利要求11-17中任一项所述的车辆的联轴锁控制***，其特征在于，还包括：The coupling lock control system for a vehicle according to any one of claims 11-17, further comprising:

锁止/解锁按键，所述整车控制器通过所述锁止/解锁按键接收所述解锁指令和所述锁止指令。The lock/unlock button receives the unlock command and the lock command through the lock/unlock button.
根据权利要求11-18中任一项所述的车辆的联轴锁控制***，其特征在于，还包括：The coupling lock control system for a vehicle according to any one of claims 11 to 18, further comprising:

对应设置于所述多个车轮的多个转速传感器，所述多个转速传感器中的每个转速传感器用于检测对应车轮的转速；Corresponding to a plurality of rotational speed sensors disposed on the plurality of wheels, each of the plurality of rotational speed sensors is configured to detect a rotational speed of the corresponding wheel;

其中，所述多个转速传感器包括检测所述第一车轮的转速的第一转速传感器和检测所述第二车轮的转速的第二转速传感器，所述整车控制器与所述第一转速传感器和所述第二转速传感器通信，以获取所述第一车轮的转速和第二车轮的转速，所述整车控制器还用于根据所述第一车轮的转速和所述第一车轮的滚动半径获取所述第一车轮的轮速，以及根据所述第二车轮的转速和所述第二车轮的滚动半径获取所述第二车轮的轮速。Wherein the plurality of rotational speed sensors include a first rotational speed sensor that detects a rotational speed of the first wheel and a second rotational speed sensor that detects a rotational speed of the second wheel, the vehicle controller and the first rotational speed sensor Communicating with the second rotational speed sensor to obtain the rotational speed of the first wheel and the rotational speed of the second wheel, the vehicle controller further configured to: according to the rotational speed of the first wheel and the rolling of the first wheel A radius acquires a wheel speed of the first wheel, and a wheel speed of the second wheel is obtained according to a rotation speed of the second wheel and a rolling radius of the second wheel.
根据权利要求11-19中任一项所述的车辆的联轴锁控制***，其特征在于，还包括：The coupling lock control system for a vehicle according to any one of claims 11 to 19, further comprising:

与所述多个车轮对应连接的多个变速器，所述多个变速器中的每个变速器驱动相应的车轮；a plurality of transmissions correspondingly coupled to the plurality of wheels, each of the plurality of transmissions driving a respective wheel;

与所述多个变速器对应连接的多个电机，所述多个电机中的每个电机用于通过相应的变速器驱动相应的车轮；a plurality of motors correspondingly coupled to the plurality of transmissions, each of the plurality of motors for driving a respective wheel through a respective transmission;

与所述多个电机对应连接的多个电机控制器，所述多个电机控制器中的每个电机控制器用于控制相应的电机运转；a plurality of motor controllers correspondingly connected to the plurality of motors, each of the plurality of motor controllers for controlling a corresponding motor operation;

其中，所述多个变速器包括第一变速器和第二变速器，所述多个电机包括第一电机和第二电机，所述多个电机控制器包括第一电机控制器和第二电机控制器，所述第一电机控制器通过对所述第一电机进行控制以使所述第一电机通过第一变速器驱动所述第一车轮，所述第二电机控制器通过对所述第二电机进行控制以使所述第二电机通过第二变速器驱动所述第二车轮，所述整车控制器与所述第一电机控制器和所述第二电机控制器通信，以获取所述第一电机的转速和所述第二电机的转速，所述整车控制器还用于获取所述第一变速器的传动比和所述第二变速器的传动比，并根据所述第一电机的转速和所述第一变速器的传动比获取所述第一车轮的轮速，以及根据所述第二电机的转速和所述第二变速器的传动比获取所述第二车轮的轮速。Wherein the plurality of transmissions include a first transmission and a second transmission, the plurality of electric machines including a first electric machine and a second electric machine, the plurality of electric motor controllers including a first electric motor controller and a second electric motor controller, The first motor controller controls the first motor to drive the first motor to drive the first wheel through a first transmission, and the second motor controller controls the second motor Causing the second motor to drive the second wheel through a second transmission, the vehicle controller communicating with the first motor controller and the second motor controller to acquire the first motor a rotational speed and a rotational speed of the second motor, the vehicle controller further configured to acquire a gear ratio of the first transmission and a gear ratio of the second transmission, and according to the rotational speed of the first motor and the The gear ratio of the first transmission acquires the wheel speed of the first wheel, and the wheel speed of the second wheel is obtained according to the rotational speed of the second motor and the gear ratio of the second transmission.
根据权利要求11-20中任一项所述的车辆的联轴锁控制***，其特征在于，在获取连接于同一联轴锁的第一车轮和第二车轮的轮速之前，所述整车控制器还用于，判断所述车辆的车速是否大于第二预设车速，并在所述车辆的车速大于所述第二预设车速，控制所述联轴锁停止锁止，并控制所述车辆发出提示信息。A coupling lock control system for a vehicle according to any one of claims 11 to 20, wherein said vehicle is obtained before acquiring wheel speeds of first and second wheels connected to the same coupling lock The controller is further configured to: determine whether the vehicle speed of the vehicle is greater than a second preset vehicle speed, and control the coupling lock to stop locking when the vehicle speed of the vehicle is greater than the second preset vehicle speed, and control the The vehicle issues a message.
一种车辆，其特征在于，包括根据权利要求11-21中任一项所述的车辆的联轴锁控制***。A vehicle characterized by comprising a coupling lock control system for a vehicle according to any one of claims 11-21.
一种计算机可读存储介质，其上存储有车辆的联轴锁控制程序，该程序被处理器执行时实现如权利要求1-10中任一所述的车辆的联轴锁控制方法。A computer readable storage medium having stored thereon a coupling lock control program for a vehicle, the program being executed by a processor to implement a coupling lock control method for a vehicle according to any of claims 1-10.