Vehicle four-wheel drive mode control method, device, computer equipment and storage medium

Abstract

The present invention discloses a method, device, computer equipment, and storage medium for controlling a vehicle's four-wheel drive mode. The method includes: if it is determined that the vehicle meets the four-wheel drive mode steering driving conditions, obtaining the steering wheel angle and the vehicle's wheel speeds; calculating a standard front and rear wheel speed difference based on the steering wheel angle and wheel speeds; and calculating an actual front and rear wheel speed difference based on the wheel speeds. If it is determined that the vehicle meets the four-wheel drive mode high-adhesion road steering driving conditions based on the standard front and rear wheel speed difference and the actual front and rear wheel speed difference, a warning is issued to the driver. The technical solution of the present invention can accurately identify the operating conditions of a four-wheel drive vehicle steering on high-adhesion roads, thereby improving vehicle driving safety.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a control method, device, computer equipment and storage medium for a four-wheel drive mode of a vehicle. Background Art

[0002] When a four-wheel drive vehicle is turning on a high-adhesion road, since the front and rear axles of the vehicle both have driving torque and different speeds, a large impact will be generated between the front and rear axles, which can easily cause damage to the powertrain and thus affect the safety of the vehicle.

[0003] Existing methods for maintaining four-wheel drive (AWD) mode include: first, obtaining vehicle speed and steering angle to limit steering wheel angle based on speed; second, determining friction plate temperature based on wheel speed and torque signals to determine the operating status of the friction plates; and third, identifying terrain using image recognition technology to select a suitable driving mode based on the terrain.

[0004] However, the first four-wheel drive mode protection method overprotects the vehicle on low-adhesion roads and directly interferes with the driver's driving behavior, affecting the driver's driving experience. The second method results in large errors in friction plate temperature. The third method is costly and has the problem of misidentification. Summary of the Invention

[0005] The present invention provides a control method, device, computer equipment and storage medium for a four-wheel drive mode of a vehicle, so as to accurately identify the working condition of a four-wheel drive vehicle turning on a high-adhesion road surface, thereby improving the safety of vehicle driving.

[0006] In a first aspect, an embodiment of the present invention provides a method for controlling a four-wheel drive mode of a vehicle, the method comprising:

[0007] If it is determined that the vehicle meets the four-wheel drive mode steering driving conditions, the steering wheel angle and the vehicle's wheel speed are obtained;

[0008] According to the steering wheel angle and wheel speed, the standard front and rear wheel speed difference is calculated;

[0009] According to the wheel speed, the actual front and rear wheel speed difference is calculated;

[0010] If the vehicle is determined to meet the high-adhesion road steering conditions in four-wheel drive mode based on the standard front and rear wheel speed difference and the actual front and rear wheel speed difference, a warning prompt will be given to the driver.

[0011] In a second aspect, an embodiment of the present invention further provides a control device for a vehicle four-wheel drive mode, the device comprising:

[0012] a data acquisition module, configured to acquire a steering wheel angle and a wheel speed of the vehicle if it is determined that the vehicle meets the four-wheel drive mode steering driving conditions;

[0013] A standard front and rear wheel speed difference determination module is used to calculate the standard front and rear wheel speed difference based on the steering wheel angle and the wheel speed;

[0014] The actual front and rear wheel speed difference determination module is used to calculate the actual front and rear wheel speed difference based on the wheel speed;

[0015] The four-wheel drive mode high-adhesion road steering driving judgment module is used to issue a warning to the driver if it is determined that the vehicle meets the four-wheel drive mode high-adhesion road steering driving conditions based on the standard front and rear wheel speed difference and the actual front and rear wheel speed difference.

[0016] In a third aspect, an embodiment of the present invention further provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a method for controlling the four-wheel drive mode of a vehicle as described in any one of the embodiments of the present invention is implemented.

[0017] In a fourth aspect, an embodiment of the present invention further provides a storage medium storing computer-executable instructions, which, when executed by a computer processor, are used to execute a vehicle four-wheel drive mode control method as described in any one of the embodiments of the present invention.

[0018] The technical solution of the embodiment of the present invention obtains the steering wheel angle and wheel speed when the vehicle is turning in four-wheel drive mode, calculates the standard front and rear wheel speed difference based on the steering wheel angle and wheel speed, calculates the actual front and rear wheel speed difference based on the actual wheel speeds of the front and rear wheels, and determines whether the vehicle meets the high-adhesion road turning conditions in four-wheel drive mode based on the standard front and rear wheel speed difference and the actual front and rear wheel speed difference. When the vehicle meets the high-adhesion road turning conditions in four-wheel drive mode, an alarm is issued to the driver. This solves the problems of the existing four-wheel drive mode protection method for vehicles, which is excessive protection on low-adhesion roads, affecting the driver's driving experience, as well as large errors and high costs. It achieves accurate identification of the working conditions of four-wheel drive vehicles turning on high-adhesion roads, improving vehicle driving safety.

[0019] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 This is a flow chart of a method for controlling a four-wheel drive mode of a vehicle provided in the first embodiment of the present invention;

[0022] Figure 2 This is a flow chart of a method for controlling a four-wheel drive mode of a vehicle provided in a second embodiment of the present invention;

[0023] Figure 3 This is a schematic structural diagram of a vehicle four-wheel drive mode control device provided by a third embodiment of the present invention;

[0024] Figure 4 This is a structural diagram of a computer device provided in Example 4 of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Example 1

[0028] Figure 1A flowchart of a method for controlling a vehicle's four-wheel drive mode is provided for the first embodiment of the present invention. This embodiment is applicable to situations where the vehicle's power system is safely protected when the vehicle is in four-wheel drive mode and turning on a high-adhesion road surface. The method can be executed by a control device for the vehicle's four-wheel drive mode. The control device for the vehicle's four-wheel drive mode can be implemented in the form of hardware and / or software. The control device for the vehicle's four-wheel drive mode can be configured in the vehicle and used in conjunction with the vehicle bus.

[0029] like Figure 1 As shown, the method includes:

[0030] S110: If it is determined that the vehicle meets the four-wheel drive mode steering driving conditions, obtain the steering wheel angle and the wheel speed of the vehicle.

[0031] A vehicle's drive mode can be categorized as two-wheel drive or four-wheel drive, based on the number of drive wheels. Four-wheel drive refers to a vehicle with both front and rear wheels powered. Four-wheel drive primarily includes Torsen mechanical differentials and multi-plate clutch differentials. Mechanical differentials have differential locks, creating a rigid connection between the front and rear axles, while multi-plate clutch differentials rely on a high preload to achieve power transmission. High-adhesion surfaces are those with a high adhesion coefficient. When turning on high-adhesion surfaces, the front and rear axles both experience drive torque at different speeds, creating a significant impact between the front and rear axles, damaging the drivetrain and impacting vehicle safety.

[0032] A vehicle meeting the four-wheel drive steering conditions refers to the vehicle entering four-wheel drive mode and then steering. Low-adhesion surfaces refer to surfaces with a low adhesion coefficient. When driving on low-adhesion surfaces such as snow and sand, the wheels will slip to avoid impacts caused by the difference in front and rear axle speeds. Therefore, safety warnings are not required for driving on low-adhesion surfaces. Therefore, after determining that the vehicle meets the four-wheel drive steering conditions, this application further determines whether the vehicle is driving on a high-adhesion surface, specifically, whether the impact between the front and rear axle speeds would cause damage to the vehicle.

[0033] The steering wheel angle refers to the rotation angle of the steering wheel and can be detected by a steering wheel angle sensor. The wheel speed refers to the speed of the vehicle's four wheels and can be obtained by wheel speed sensors. The steering wheel angle sensor and wheel speed sensor are connected to the vehicle bus, so the steering wheel angle and wheel speed can be obtained through the vehicle bus.

[0034] In an embodiment of the present invention, after the vehicle enters the four-wheel drive mode, if it is determined based on the steering wheel angle signal that the vehicle is turning, it is further determined based on the steering wheel angle and the wheel speed whether the vehicle is turning on a high-adhesion road in the four-wheel drive mode.

[0035] S120: Calculate a standard front and rear wheel speed difference based on the steering wheel angle and the wheel speeds.

[0036] The standard front-to-rear wheel speed differential refers to the average front-to-rear wheel speed difference per unit front wheel turning angle in two-wheel drive mode. The standard front-to-rear wheel speed differential represents the average front-to-rear wheel speed difference per unit front wheel turning angle for a two-wheel drive vehicle under ideal conditions. If the average front-to-rear wheel speed differential per unit front wheel turning angle differs significantly from the standard front-to-rear wheel speed differential during actual driving, it indicates a significant difference in front-to-rear axle speeds, resulting in significant impact forces between the front and rear axles, which could potentially damage the vehicle's powertrain. In this case, the vehicle is deemed to be traveling on a high-adhesion road surface, and the driver should be alerted to the dangerous situation.

[0037] The front wheel angle refers to the steering angle of the front wheels, which can be calculated based on the steering wheel angle. The ratio between the steering wheel angle and the front wheel angle can be determined in advance based on the vehicle model, etc., and this embodiment does not limit this.

[0038] Based on the front wheel angle and rear wheel speed, the front wheel speed of the vehicle in a two-wheel drive state can be calculated. The standard front and rear wheel speed difference can then be calculated based on the calculated front wheel speed, rear wheel speed, and front wheel angle. Specifically, the relationship between the front wheel speed, rear wheel speed, and front wheel angle can be determined using an ideal two-degree-of-freedom vehicle model. The ideal two-degree-of-freedom vehicle model is an important model for studying vehicle motion on a simplified basis and can reflect the most basic characteristics of a vehicle's curved motion. Alternatively, the relationship between the front wheel speed, rear wheel speed, and front wheel angle can be predetermined based on the vehicle model. This embodiment does not limit the method for calculating the front wheel speed based on the front wheel angle and rear wheel speed.

[0039] S130: Calculate the actual front and rear wheel speed difference based on the wheel speeds.

[0040] The actual front and rear wheel speed difference refers to the average front and rear wheel speed difference per unit front wheel turning angle under the current actual driving state.

[0041] In an embodiment of the present invention, the front wheel angle is calculated based on the steering wheel angle, the average front wheel speed is calculated based on the wheel speeds of the two front wheels, and the average rear wheel speed is calculated based on the wheel speeds of the two rear wheels. The difference between the average front wheel speed and the average rear wheel speed is divided by the front wheel angle to obtain the actual front and rear wheel speed difference.

[0042] S140: If it is determined based on the standard front and rear wheel speed difference and the actual front and rear wheel speed difference that the vehicle meets the high-adhesion road turning driving conditions in the four-wheel drive mode, a warning prompt is given to the driver.

[0043] If the actual front and rear wheel speed difference deviates significantly from the standard front and rear wheel speed difference, it can be determined that the four-wheel drive vehicle is traveling on a high-adhesion road surface and is currently in a high-adhesion steering condition, which requires a prompt to the driver.

[0044] For example, the driver can be prompted to a dangerous state through instrument prompts, voice prompts, steering wheel vibration prompts, etc., so that the driver can stop steering or switch the vehicle driving mode in time.

[0045] By determining the steering conditions on high-adhesion roads in four-wheel drive mode, the system can eliminate the possibility of the vehicle being driven on low-adhesion roads, thus avoiding excessive vehicle protection. At the same time, it provides warnings to the driver, providing a timely alert of dangerous situations and enabling the driver to take timely safety measures, thus minimizing damage to the vehicle and satisfying the driver's driving intentions.

[0046] At the same time, the technical solution of this embodiment only needs to obtain various vehicle signals from the vehicle bus, without the need to deploy temperature sensors, thermodynamic models, and visual sensors, thereby reducing equipment costs.

[0047] The technical solution of the embodiment of the present invention obtains the steering wheel angle and wheel speed when the vehicle is turning in four-wheel drive mode, calculates the standard front and rear wheel speed difference based on the steering wheel angle and wheel speed, calculates the actual front and rear wheel speed difference based on the actual wheel speeds of the front and rear wheels, and determines whether the vehicle meets the high-adhesion road turning conditions in four-wheel drive mode based on the standard front and rear wheel speed difference and the actual front and rear wheel speed difference. When the vehicle meets the high-adhesion road turning conditions in four-wheel drive mode, an alarm is issued to the driver. This solves the problems of the existing four-wheel drive mode protection method for vehicles, which is excessive protection on low-adhesion roads, affecting the driver's driving experience, as well as large errors and high costs. It achieves accurate identification of the working conditions of four-wheel drive vehicles turning on high-adhesion roads, improving vehicle driving safety.

[0048] Example 2

[0049] Figure 2 This is a flow chart of a method for controlling the four-wheel drive mode of a vehicle provided in the second embodiment of the present invention. Based on the above embodiments, this embodiment of the present invention further specifies the process of determining whether the vehicle meets the four-wheel drive mode steering driving conditions, the process of calculating the standard front and rear wheel speed difference, and the process of determining whether the vehicle meets the four-wheel drive mode high-adhesion road steering driving conditions, and adds a step of switching the drive mode after issuing a warning prompt to the driver.

[0050] like Figure 2 As shown, the method includes:

[0051] S210: Determine whether a vehicle four-wheel drive mode signal and a steering wheel angle signal are detected. If so, execute S220; otherwise, return to execute S210.

[0052] When the vehicle is switched to the four-wheel drive mode, the vehicle four-wheel drive mode control device can obtain the vehicle four-wheel drive mode signal through the vehicle bus. Similarly, when the driver turns the steering wheel, the steering wheel angle sensor sends a steering wheel angle signal to the vehicle bus, and the vehicle four-wheel drive mode control device can obtain the steering wheel angle signal through the vehicle bus.

[0053] When it is determined that the vehicle four-wheel drive mode signal and the steering wheel angle signal exist, it indicates that the vehicle is steering in the four-wheel drive mode.

[0054] S220: Determine whether the current vehicle speed is greater than or equal to a preset vehicle speed threshold. If so, execute S230; otherwise, return to execute S210.

[0055] The current vehicle speed can be obtained via the vehicle bus. In this embodiment of the present invention, when the current vehicle speed is greater than or equal to a preset speed threshold, the vehicle speed is relatively high. If the vehicle meets the high-adhesion road turning conditions in four-wheel drive mode, the difference in front and rear axle speeds will be large, resulting in greater impact between the front and rear axles and greater damage to the vehicle. When the vehicle speed is relatively slow, the difference in front and rear axle speeds is relatively small, and damage to the vehicle's powertrain is also relatively small. In this case, no safety warning is required.

[0056] S230: Obtain a steering wheel angle and a wheel speed of the vehicle.

[0057] Likewise, the control device for the four-wheel drive mode of the vehicle may obtain the steering wheel angle and the wheel speeds of the four wheels of the vehicle via the vehicle bus.

[0058] S240: Determine, according to the steering wheel angle, a front wheel angle that matches the steering wheel angle.

[0059] The front wheel angle can be calculated based on the steering wheel angle. The above embodiment has described this process, so this embodiment will not repeat it here.

[0060] S250: Determine a standard front wheel speed based on the front wheel steering angle and the rear wheel speed.

[0061] Accordingly, S250 may include:

[0062] S251. Determine a mapping relationship between the front wheel speed, the rear wheel speed, and the front wheel steering angle based on a preset ideal two-degree-of-freedom vehicle model.

[0063] The ideal two-degree-of-freedom vehicle model provides a mapping relationship between the front wheel speed, the rear wheel speed, and the front wheel steering angle, but this embodiment does not limit the method for determining the mapping relationship between the front wheel speed, the rear wheel speed, and the front wheel steering angle.

[0064] S252: Determine a standard front wheel speed based on the front wheel steering angle and the rear wheel speed, and the mapping relationship among the front wheel speed, the rear wheel speed, and the front wheel steering angle.

[0065] Based on the front wheel angle and rear wheel speed, as well as the mapping relationship between the front wheel speed, rear wheel speed and front wheel angle given by the ideal two-degree-of-freedom vehicle model, the front wheel speed of the vehicle in two-wheel drive mode can be calculated as the standard front wheel speed.

[0066] S260: Calculate a standard front and rear wheel speed difference based on the standard front wheel speed and the standard rear wheel speed.

[0067] Accordingly, S260 may include:

[0068] S261. Calculate an average standard front wheel speed based on the standard front wheel speeds of the two front wheels.

[0069] Since the vehicle includes two front wheels and two rear wheels, the standard front wheel speeds of the two front wheels are calculated based on the wheel speeds of the two rear wheels, and their average value is calculated.

[0070] S262. Calculate an average rear wheel speed based on the rear wheel speeds of the two rear wheels.

[0071] According to the rear wheel speeds of the two rear wheels in the actual state, the average value is also calculated.

[0072] S263: Divide the difference between the average standard front wheel speed and the average rear wheel speed by the value obtained by the front wheel turning angle to obtain the standard front and rear wheel speed difference per unit front wheel angle.

[0073] The average standard front wheel speed minus the average rear wheel speed divided by the front wheel turning angle gives the ideal front and rear wheel speed difference per unit front wheel turning angle for a two-wheel drive vehicle traveling on a high-adhesion road.

[0074] S270: Calculate the actual front and rear wheel speed difference based on the wheel speeds.

[0075] The above embodiment has described the process of calculating the actual front and rear wheel speed difference, which will not be repeated in this embodiment.

[0076] S280: Determine whether the difference between the actual front and rear wheel speed difference and the standard front and rear wheel speed difference is greater than or equal to a preset difference threshold. If so, execute S290; otherwise, return to execute S210.

[0077] The difference threshold may be pre-calibrated according to different vehicle types. This embodiment does not limit the specific size and determination method of the difference threshold.

[0078] S290: Issue a warning to the driver.

[0079] In an embodiment of the present invention, the method of warning prompts can also be determined based on the current vehicle speed. For example, when the current vehicle speed is greater than the first vehicle speed, a combination of steering wheel vibration and voice prompts is adopted; when the current vehicle speed is less than the second vehicle speed, an instrument panel prompt is adopted; when the current vehicle speed is greater than the second speed and less than the first speed, a voice prompt is adopted. This setting can distinguish the urgency of vehicle damage according to different vehicle speeds, thereby adopting different degrees of prompt measures according to different degrees of urgency, thereby improving the driver's user experience. This embodiment does not limit the setting method of the vehicle speed range, nor the warning prompt method adopted in different vehicle speed ranges.

[0080] S2100: Determine whether the time during which the vehicle meets the high-adhesion road turning driving conditions in the four-wheel drive mode exceeds a preset time period. If so, execute S2110; otherwise, return to execute S210.

[0081] After the driver is warned, if the vehicle meets the four-wheel drive mode high-adhesion road steering driving conditions for longer than the preset time period and the driver still does not take measures to switch the drive mode or stop steering to eliminate the emergency situation, in order to protect the vehicle from damage caused by the impact of the front and rear axles, the vehicle's drive mode can be directly switched to two-wheel drive or timely four-wheel drive.

[0082] S2110: Switch the vehicle driving mode to a two-wheel drive mode or a timely four-wheel drive mode.

[0083] Adaptive AWD automatically switches to two-wheel drive or four-wheel drive mode based on driving conditions. If the driver fails to promptly eliminate high-adhesion road conditions in AWD mode, the system switches to two-wheel drive or Adaptive AWD. This further protects the vehicle from damage caused by a driver's inaction.

[0084] Example 3

[0085] Figure 3 This is a schematic diagram of the structure of a vehicle four-wheel drive mode control device provided by the third embodiment of the present invention. Figure 3 As shown, the device includes: a data acquisition module 310, a standard front and rear wheel speed difference determination module 320, an actual front and rear wheel speed difference determination module 330, and a four-wheel drive mode high-adhesion road steering driving judgment module 340. Among them:

[0086] The data acquisition module 310 is configured to acquire the steering wheel angle and the wheel speed of the vehicle if it is determined that the vehicle meets the four-wheel drive mode steering driving conditions;

[0087] A standard front and rear wheel speed difference determination module 320 is configured to calculate a standard front and rear wheel speed difference based on the steering wheel angle and the wheel speed;

[0088] The actual front and rear wheel speed difference determination module 330 is used to calculate the actual front and rear wheel speed difference based on the wheel speeds;

[0089] The four-wheel drive mode high-adhesion road turning driving judgment module 340 is used to warn the driver if it is determined based on the standard front and rear wheel speed difference and the actual front and rear wheel speed difference that the vehicle meets the four-wheel drive mode high-adhesion road turning driving conditions.

[0090] The technical solution of the embodiment of the present invention obtains the steering wheel angle and wheel speed when the vehicle is turning in four-wheel drive mode, calculates the standard front and rear wheel speed difference based on the steering wheel angle and wheel speed, calculates the actual front and rear wheel speed difference based on the actual wheel speeds of the front and rear wheels, and determines whether the vehicle meets the high-adhesion road turning conditions in four-wheel drive mode based on the standard front and rear wheel speed difference and the actual front and rear wheel speed difference. When the vehicle meets the high-adhesion road turning conditions in four-wheel drive mode, an alarm is issued to the driver. This solves the problems of the existing four-wheel drive mode protection method for vehicles, which is excessive protection on low-adhesion roads, affecting the driver's driving experience, as well as large errors and high costs. It achieves accurate identification of the working conditions of four-wheel drive vehicles turning on high-adhesion roads, improving vehicle driving safety.

[0091] Based on the above embodiment, the data acquisition module 310 includes:

[0092] The four-wheel drive mode steering driving condition judgment unit is used to determine that the vehicle meets the four-wheel drive mode steering driving condition if the vehicle four-wheel drive mode signal and steering wheel angle signal are detected and the current vehicle speed is greater than or equal to a preset vehicle speed threshold.

[0093] Based on the above embodiment, the standard front and rear wheel speed difference determination module 320 includes:

[0094] a front wheel angle determination unit, configured to determine, based on a steering wheel angle, a front wheel angle that matches the steering wheel angle;

[0095] a standard front wheel speed determining unit, configured to determine a standard front wheel speed based on the front wheel steering angle and the rear wheel speed;

[0096] The standard front and rear wheel speed difference calculation unit is used to calculate the standard front and rear wheel speed difference based on the standard front wheel speed and the rear wheel speed.

[0097] Based on the above embodiment, the standard front wheel speed determination unit is specifically configured to:

[0098] Determine the mapping relationship between the front wheel speed, the rear wheel speed and the front wheel steering angle according to a preset ideal two-degree-of-freedom vehicle model;

[0099] The standard front wheel speed is determined based on the front wheel steering angle and the rear wheel speed, as well as the mapping relationship between the front wheel speed, the rear wheel speed and the front wheel steering angle.

[0100] Based on the above embodiment, the standard front and rear wheel speed difference calculation unit is specifically used to:

[0101] Calculate the average standard front wheel speed based on the standard front wheel speeds of the two front wheels;

[0102] Calculate the average rear wheel speed based on the rear wheel speeds of the two rear wheels;

[0103] The difference between the average standard front wheel speed and the average rear wheel speed is divided by the value obtained by the front wheel turning angle to be used as the standard front and rear wheel speed difference per unit front wheel angle.

[0104] Based on the above embodiment, the four-wheel drive mode high-adhesion road steering driving judgment module 340 includes:

[0105] The four-wheel drive mode high-adhesion road steering driving judgment unit is used to determine that the vehicle meets the four-wheel drive mode high-adhesion road steering driving conditions if the difference between the actual front and rear wheel speed difference and the standard front and rear wheel speed difference is greater than or equal to a preset difference threshold.

[0106] Based on the above embodiment, the device further includes:

[0107] The driving mode switching module is used to switch the vehicle driving mode to the two-wheel drive mode or the timely four-wheel drive mode if it is determined that the time when the vehicle meets the four-wheel drive mode high-adhesion road turning driving conditions exceeds a preset time period.

[0108] The control device for the four-wheel drive mode of a vehicle provided in an embodiment of the present invention can execute the control method for the four-wheel drive mode of a vehicle provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0109] Example 4

[0110] Figure 4 A schematic diagram of the structure of a computer device provided in the fourth embodiment of the present invention is shown in FIG. Figure 4 As shown, the computer device includes a processor 70, a memory 71, an input device 72 and an output device 73; the number of processors 70 in the computer device can be one or more. Figure 4 In the figure, a processor 70 is used as an example; the processor 70, memory 71, input device 72 and output device 73 in the computer device can be connected by a bus or other means. Figure 4The bus connection is taken as an example.

[0111] The memory 71 is a computer-readable storage medium that can be used to store software programs, computer executable programs, and modules, such as the modules corresponding to the vehicle four-wheel drive mode control method in the embodiment of the present invention (for example, the data acquisition module 310, the standard front and rear wheel speed difference determination module 320, the actual front and rear wheel speed difference determination module 330, and the four-wheel drive mode high-adhesion road steering driving judgment module 340 in the vehicle four-wheel drive mode control device). The processor 70 executes the various functional applications and data processing of the computer device by running the software programs, instructions, and modules stored in the memory 71, that is, implementing the above-mentioned vehicle four-wheel drive mode control method. The method includes:

[0112] If it is determined that the vehicle meets the four-wheel drive mode steering driving conditions, the steering wheel angle and the vehicle's wheel speed are obtained;

[0113] According to the steering wheel angle and wheel speed, the standard front and rear wheel speed difference is calculated;

[0114] According to the wheel speed, the actual front and rear wheel speed difference is calculated;

[0115] If the vehicle is determined to meet the high-adhesion road steering conditions in four-wheel drive mode based on the standard front and rear wheel speed difference and the actual front and rear wheel speed difference, a warning prompt will be given to the driver.

[0116] The memory 71 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data generated based on the use of the terminal. Furthermore, the memory 71 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some instances, the memory 71 may further include memory remotely located relative to the processor 70, and such remote memory may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0117] The input device 72 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the computer device. The output device 73 may include a display device such as a display screen.

[0118] Example 5

[0119] A fifth embodiment of the present invention further provides a storage medium containing computer-executable instructions. When the computer-executable instructions are executed by a computer processor, the computer-executable instructions are used to execute a method for controlling a four-wheel drive mode of a vehicle. The method includes:

[0120] If it is determined that the vehicle meets the four-wheel drive mode steering driving conditions, the steering wheel angle and the vehicle's wheel speed are obtained;

[0121] According to the steering wheel angle and wheel speed, the standard front and rear wheel speed difference is calculated;

[0122] According to the wheel speed, the actual front and rear wheel speed difference is calculated;

[0123] If the vehicle is determined to meet the high-adhesion road steering conditions in four-wheel drive mode based on the standard front and rear wheel speed difference and the actual front and rear wheel speed difference, a warning prompt will be given to the driver.

[0124] Of course, the storage medium containing computer-executable instructions provided in an embodiment of the present invention is not limited to the method operations described above, and can also execute related operations in the vehicle four-wheel drive mode control method provided in any embodiment of the present invention.

[0125] Through the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented with the help of software and necessary general-purpose hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0126] It is worth noting that in the embodiment of the control device for the four-wheel drive mode of the above-mentioned vehicle, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the various functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0127] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for controlling a vehicle's four-wheel drive mode, characterized in that: include: If it is determined that the vehicle meets the four-wheel drive mode steering driving conditions, the steering wheel angle and the vehicle's wheel speed are obtained; determining, according to the steering wheel angle, a front wheel angle that matches the steering wheel angle; Determine the standard front wheel speed according to the front wheel turning angle and the rear wheel speed; Calculate the standard front and rear wheel speed difference based on the standard front wheel speed and rear wheel speed; wherein the standard front and rear wheel speed difference refers to the average front and rear wheel speed difference per unit front wheel turning angle of the vehicle in two-wheel drive mode; According to the wheel speed, the actual front and rear wheel speed difference is calculated; If the vehicle is determined to meet the high-adhesion road steering conditions in four-wheel drive mode based on the standard front and rear wheel speed difference and the actual front and rear wheel speed difference, a warning prompt will be given to the driver.

2. The method according to claim 1, characterized in that Determine whether the vehicle meets the four-wheel drive mode steering driving conditions, including: If it is determined that the vehicle four-wheel drive mode signal and the steering wheel angle signal are detected, and the current vehicle speed is greater than or equal to the preset vehicle speed threshold, it is determined that the vehicle meets the four-wheel drive mode steering driving conditions.

3. The method according to claim 1, characterized in that Determine the standard front wheel speed based on the front wheel angle and rear wheel speed, including: Determine the mapping relationship between the front wheel speed, the rear wheel speed and the front wheel steering angle according to a preset ideal two-degree-of-freedom vehicle model; The standard front wheel speed is determined based on the front wheel steering angle and the rear wheel speed, as well as the mapping relationship between the front wheel speed, the rear wheel speed and the front wheel steering angle.

4. The method according to claim 1, wherein Based on the standard front wheel speed and rear wheel speed, the standard front and rear wheel speed difference is calculated, including: Calculate the average standard front wheel speed based on the standard front wheel speeds of the two front wheels; Calculate the average rear wheel speed based on the rear wheel speeds of the two rear wheels; The difference between the average standard front wheel speed and the average rear wheel speed is divided by the value obtained by the front wheel turning angle to be used as the standard front and rear wheel speed difference per unit front wheel angle.

5. The method according to claim 1, wherein Determine whether the vehicle meets the high-adhesion road steering conditions in four-wheel drive mode based on the standard front and rear wheel speed difference and the actual front and rear wheel speed difference, including: If the difference between the actual front and rear wheel speed difference and the standard front and rear wheel speed difference is determined to be greater than or equal to the preset difference threshold, it is determined that the vehicle meets the four-wheel drive mode high-adhesion road steering driving conditions.

6. The method according to claim 1, characterized in that After the driver is warned, the following also applies: If it is determined that the time for the vehicle to meet the high-adhesion road turning driving conditions in the four-wheel drive mode exceeds a preset time period, the vehicle driving mode is switched to the two-wheel drive mode or the timely four-wheel drive mode.

7. A control device for a vehicle four-wheel drive mode, characterized in that: include: a data acquisition module, configured to acquire a steering wheel angle and a wheel speed of the vehicle if it is determined that the vehicle meets the four-wheel drive mode steering driving conditions; Standard front and rear wheel speed difference determination module, including: a front wheel angle determination unit, configured to determine, based on a steering wheel angle, a front wheel angle that matches the steering wheel angle; a standard front wheel speed determining unit, configured to determine a standard front wheel speed based on the front wheel steering angle and the rear wheel speed; a standard front and rear wheel speed difference calculation unit, configured to calculate a standard front and rear wheel speed difference based on the standard front wheel speed and the rear wheel speed; wherein the standard front and rear wheel speed difference refers to the average front and rear wheel speed difference per unit front wheel turning angle of the vehicle in two-wheel drive mode; The actual front and rear wheel speed difference determination module is used to calculate the actual front and rear wheel speed difference based on the wheel speed; The four-wheel drive mode high-adhesion road steering driving judgment module is used to issue a warning to the driver if it is determined that the vehicle meets the four-wheel drive mode high-adhesion road steering driving conditions based on the standard front and rear wheel speed difference and the actual front and rear wheel speed difference.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the vehicle four-wheel drive mode control method as described in any one of claims 1 to 6 is implemented.

9. A storage medium storing computer executable instructions, characterized in that: When the computer executable instructions are executed by a computer processor, they are used to execute the vehicle four-wheel drive mode control method according to any one of claims 1 to 6.

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