Method and device for determining four-wheel drive control torque of vehicle

Abstract

The present application is applicable to the field of vehicle control technology, and provides a method and device for determining the four-wheel drive control torque of a vehicle. The method includes: determining the control direction of the four-wheel drive control torque of the vehicle to be determined according to the current vehicle speed of the vehicle to be determined, where the control direction includes the longitudinal direction of the vehicle body and / or the lateral direction of the vehicle body; determining the slip deviation torque in the control direction according to the slip deviation of the vehicle to be determined in the control direction; and determining the four-wheel drive control torque according to the slip deviation torque. By using the method provided in the present application, the control direction of the four-wheel drive control torque is determined according to the vehicle speed, and the four-wheel drive control torque is determined according to the slip deviation torque in the control direction, which can avoid frequent switching of the control direction of the four-wheel drive control torque between the longitudinal direction of the vehicle body and the lateral direction of the vehicle body, accurately and efficiently control the vehicle, and improve the four-wheel drive performance of the vehicle.

Description

Technical Field

[0001] This application belongs to the technical field of vehicle control, and particularly relates to a method and device for determining the four-wheel drive control torque of a vehicle. Background Art

[0002] Electric vehicle technology has become an important direction for the development of the world's automotive industry and has long been highly regarded by automobile manufacturers. Different from the four-wheel drive system of fuel vehicles, the four-wheel drive scheme of electric vehicles generally has a motor configured at the front and rear respectively, which can achieve a more flexible torque distribution ratio. However, in the traditional torque control method, generally starting from the dimension of motor efficiency, a fixed torque distribution method is adopted, that is, the torque distribution of the front and rear axles is controlled at a fixed ratio. However, during the vehicle driving process, the vehicle may slip due to insufficient ground adhesion. At this time, if the traditional fixed torque distribution method is still used to control the vehicle, it will surely affect the driving stability and the vehicle's passability. Summary of the Invention

[0003] The embodiments of this application provide a method and device for determining the four-wheel drive control torque of a vehicle, which can solve the problem that the traditional fixed torque distribution method leads to poor vehicle stability and passability.

[0004] In a first aspect, the embodiments of this application provide a method for determining the four-wheel drive control torque of a vehicle, including:

[0005] Determining the control direction of the four-wheel drive control torque of the vehicle to be determined according to the current vehicle speed of the vehicle to be determined, where the control direction includes the longitudinal direction of the vehicle body and / or the transverse direction of the vehicle body;

[0006] Determining the slip deviation torque in the control direction according to the slip deviation of the vehicle to be determined in the control direction;

[0007] Determining the four-wheel drive control torque according to the slip deviation torque.

[0008] In a second aspect, the embodiments of this application provide a device for determining the four-wheel drive control torque of a vehicle, including:

[0009] A torque control direction determination module, configured to determine the control direction of the four-wheel drive control torque of the vehicle to be determined according to the current vehicle speed of the vehicle to be determined, where the control direction includes the longitudinal direction of the vehicle body and / or the transverse direction of the vehicle body;

[0010] A slip deviation torque determination module, configured to determine the slip deviation torque in the control direction according to the slip deviation of the vehicle to be determined in the control direction;

[0011] A four-wheel drive control torque determination module, configured to determine the four-wheel drive control torque according to the slip deviation torque.

[0012] In a third aspect, an embodiment of the present application provides a terminal device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, where when the processor executes the computer program, the above-described method is implemented.

[0013] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program, where when the computer program is executed by a processor, the above-described method is implemented.

[0014] Advantages of the present application:

[0015] The present application provides a method, device, terminal device, and storage medium for determining the four-wheel drive control torque of a vehicle, including: determining the control direction of the four-wheel drive control torque of the vehicle to be determined according to the current vehicle speed of the vehicle to be determined; determining the slip deviation torque in the control direction according to the slip deviation of the vehicle to be determined in the control direction; and determining the four-wheel drive control torque according to the slip deviation torque.

[0016] By using the method provided by the present application, the control direction of the four-wheel drive control torque is determined according to the vehicle speed, and the four-wheel drive control torque is determined according to the slip deviation torque in the control direction, which can avoid frequent switching of the control direction of the four-wheel drive control torque between the longitudinal direction and the lateral direction of the vehicle body, accurately and efficiently control the vehicle, and improve the four-wheel drive performance of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0018] Figure 1 is a flowchart showing the method for determining the four-wheel drive control torque provided by an embodiment of the present application;

[0019] Figure 2 is a flowchart showing the determination process of the current torque control direction provided by an embodiment of the present application;

[0020] Figure 3 is a logical diagram showing the process of determining the longitudinal slip deviation torque of the vehicle body provided by an embodiment of the present application;

[0021] Figure 4 is a logical diagram showing the process of determining the lateral slip deviation torque of the vehicle body provided by an embodiment of the present application;

[0022] Figure 5 It is a logical schematic diagram of the four-wheel drive control torque determination process provided by an embodiment of the present application;

[0023] Figure 6 It is a structural schematic diagram of the four-wheel drive control torque determination device provided by an embodiment of the present application;

[0024] Figure 7 It is a structural schematic diagram of the terminal device provided by an embodiment of the present application. Detailed implementation manners

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will further describe the specific technical solutions of the present application in detail with reference to the accompanying drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application but are not intended to limit the scope of the present application.

[0026] In the following description, specific details such as specific system architectures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0027] It should be understood that when used in the specification and appended claims of the present application, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0028] It should also be understood that the term "and / or" as used in the specification and appended claims of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0029] As used in the specification and appended claims of the present application, the term "if" can be interpreted as "when", "once", "in response to determining", or "in response to detecting" depending on the context. Similarly, the phrase "if determined" or "if [the described condition or event] is detected" can be interpreted as meaning "once determined", "in response to determining", "once [the described condition or event] is detected", or "in response to detecting [the described condition or event]" depending on the context.

[0030] In addition, in the description of the specification and appended claims of the present application, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0031] Reference to "one embodiment" or "some embodiments" etc. described in the specification of the present application means that in one or more embodiments of the present application, specific features, structures or characteristics described in connection with that embodiment are included. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments" etc. that appear at different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0032] Electric vehicle technology has become an important direction for the development of the world's automotive industry and has long been highly regarded by automobile manufacturers. Different from the four-wheel drive system of fuel vehicles, the four-wheel drive solution of electric vehicles generally has one motor configured at the front and one at the rear, enabling more flexible torque distribution ratios.

[0033] In traditional implementation methods, generally starting from the dimension of motor efficiency, a fixed torque distribution method is adopted, that is, the torque distribution of the front and rear axles is controlled at a fixed ratio.

[0034] However, during vehicle driving, the vehicle may slip due to insufficient ground adhesion. At this time, if the vehicle is still controlled by the traditional fixed torque distribution method, it will surely affect the driving stability and the vehicle's passability.

[0035] Therefore, the present application provides a method, device, terminal device and storage medium for determining the four-wheel drive control torque of a vehicle, which includes: determining the control direction of the four-wheel drive control torque of the vehicle to be determined according to the current vehicle speed of the vehicle to be determined; determining the slip deviation torque in the control direction according to the slip deviation of the vehicle to be determined in the control direction; and determining the four-wheel drive control torque according to the slip deviation torque.

[0036] Using the method provided by the present application, determining the control direction of the four-wheel drive control torque according to the vehicle speed and determining the four-wheel drive control torque according to the slip deviation torque in the control direction can avoid the frequent switching of the control direction of the four-wheel drive control torque between the longitudinal direction and the lateral direction of the vehicle body, precisely and efficiently control the vehicle, and improve the four-wheel drive performance of the vehicle.

[0037] In order to illustrate the technical solution of the present application, the following will be described through specific embodiments.

[0038] Refer to Figure 1 The flow of an embodiment of a method for determining the four-wheel drive control torque of a vehicle shown, by way of example and not limitation, includes the following steps:

[0039] Step S1: Determine the control direction of the four-wheel drive control torque of the vehicle to be determined according to the current vehicle speed of the vehicle to be determined, where the control direction includes the longitudinal direction of the vehicle body and / or the lateral direction of the vehicle body;

[0040] Step S2: Determine the slip deviation torque in the control direction according to the slip deviation of the vehicle to be determined in the control direction;

[0041] Step S3: Determine the four-wheel drive control torque according to the slip deviation torque.

[0042] To better understand the present invention, first, a brief introduction to the vehicle coordinate system is given. The vehicle coordinate system is a special moving coordinate system used to describe the movement of an automobile, with its origin coinciding with the center of mass. When the vehicle is stationary on a horizontal road surface, the X-axis is parallel to the ground and points forward of the vehicle, the Z-axis passes through the center of mass of the vehicle and points upward, and the Y-axis points to the left of the driver. In the embodiments of the present application, the longitudinal direction of the vehicle body is the above-mentioned X-axis direction, and the lateral direction of the vehicle body is the above-mentioned Y-axis direction.

[0043] It should be noted that the longitudinal direction of the vehicle body mainly controls the longitudinal distribution of the torques of the front and rear wheels of a four-wheel drive vehicle, improving the problems of reduced starting, acceleration, and climbing performance caused by wheel slip; the lateral direction of the vehicle body mainly controls the lateral distribution of the torques of the front and rear wheels of a four-wheel drive vehicle, improving the problems of understeering or oversteering.

[0044] When determining the four-wheel drive control torque by the above method, first determine the control direction of the four-wheel drive control torque according to the vehicle speed, and then determine the four-wheel drive control torque according to the slip deviation torque in the control direction. Using the above method for determining the four-wheel drive control torque can avoid frequent switching of the control direction of the four-wheel drive control torque between the longitudinal direction and the lateral direction of the vehicle body, precisely and efficiently control the vehicle, and improve the four-wheel drive performance of the vehicle.

[0045] Refer to Figure 2 , in a possible implementation manner of the present application, determining the control direction of the current torque according to the current vehicle speed, where the control direction includes the longitudinal direction of the vehicle body and the lateral direction of the vehicle body, includes:

[0046] Step S11: If the current vehicle speed is less than the first preset vehicle speed, determine that the control direction includes the longitudinal direction of the vehicle body;

[0047] Step S12: If the current vehicle speed is greater than the second preset vehicle speed, determine that the control direction of the current torque includes the lateral direction of the vehicle body; the first preset vehicle speed is less than the second preset vehicle speed;

[0048] Step S13: If the current vehicle speed is not less than the first preset vehicle speed and not greater than the second preset vehicle speed, determine that the control direction of the current torque includes the longitudinal direction and the lateral direction of the vehicle body.

[0049] It should be noted that if the current vehicle speed is less than the first preset vehicle speed, the risk of the vehicle body slipping longitudinally is relatively high. Therefore, at this time, the torque in the longitudinal direction of the vehicle body is mainly controlled. If the current vehicle speed is greater than the second preset vehicle speed, the risk of the vehicle body slipping laterally is relatively high. Therefore, at this time, the torque in the lateral direction of the vehicle body is mainly controlled. If the current vehicle speed is not less than the first preset vehicle speed and not greater than the second preset vehicle speed, the vehicle body may slip both longitudinally and laterally. Therefore, at this time, the control direction of the torque includes the longitudinal direction and the lateral direction of the vehicle body.

[0050] In this embodiment, according to different vehicle speeds, the control direction of the current torque is determined. The advantage of this setting is that it can avoid the frequent switching of the four-wheel drive control torque in the longitudinal direction and the lateral direction of the vehicle body, resulting in misoperation and a decrease in the four-wheel drive performance.

[0051] In a possible implementation manner of the present application, if it is determined that the control direction of the current torque includes the lateral direction of the vehicle body, the slip deviation torque of each control direction is determined according to the slip deviation of the currently determined control direction, including:

[0052] Step S201: Determine the slip deviation in the longitudinal direction of the vehicle body according to the actual longitudinal slip amount and the expected longitudinal slip amount of the vehicle body to be determined;

[0053] Step S202: Obtain the slip deviation torque in the longitudinal direction of the vehicle body according to the slip deviation in the longitudinal direction of the vehicle body.

[0054] In a possible implementation manner of the present application, if it is determined that the control direction of the current torque includes the longitudinal direction of the vehicle body, the slip deviation torque of each control direction is determined according to the slip deviation of the currently determined control direction, including:

[0055] Step S211: Determine the slip deviation in the lateral direction of the vehicle body according to the target yaw rate and the actual yaw rate of the vehicle body to be determined;

[0056] Step S212: Obtain the slip deviation torque in the lateral direction of the vehicle body according to the slip deviation in the lateral direction of the vehicle body.

[0057] In a possible implementation manner of the present application, determining the slip deviation in the longitudinal direction of the vehicle body according to the actual longitudinal slip amount and the expected longitudinal slip amount of the vehicle body to be determined includes:

[0058] Step S221: Determine the actual longitudinal slip amount of the vehicle body according to the average rotational speed of the main drive shaft, the average rotational speed of the auxiliary drive shaft, and the steering correction angle of the vehicle body to be determined;

[0059] Step S222: Determine the expected slip amount in the longitudinal direction of the vehicle body based on the torque slip amount to be allocated and the tire size to correct the slip amount.

[0060] Step S223: Subtract the actual slip amount in the longitudinal direction of the vehicle body from the expected slip amount to obtain the slip deviation in the longitudinal direction of the vehicle body.

[0061] In a possible implementation manner of the present application, obtaining the slip deviation torque in the longitudinal direction of the vehicle body based on the slip deviation in the longitudinal direction of the vehicle body includes:

[0062] Perform proportional integral derivative (PID) control on the slip deviation in the longitudinal direction of the vehicle body according to the slip deviation in the longitudinal direction of the vehicle body to obtain the slip deviation torque in the longitudinal direction of the vehicle body.

[0063] In a possible implementation manner of the present application, determining the slip deviation in the lateral direction of the vehicle body according to the target yaw rate and the actual yaw rate of the vehicle to be determined includes:

[0064] Determine the slip deviation in the lateral direction of the vehicle body according to the difference between the target yaw rate and the actual yaw rate.

[0065] It should be noted that both the target yaw rate and the actual yaw rate can be obtained by the chassis vehicle stability system. In addition, the target yaw rate can also be estimated according to signals such as the steering wheel angle and the lateral acceleration.

[0066] In a possible implementation manner of the present application, obtaining the slip deviation torque in the lateral direction of the vehicle body based on the slip deviation in the lateral direction of the vehicle body includes:

[0067] Perform PID control on the slip deviation in the lateral direction of the vehicle body according to the slip deviation in the lateral direction of the vehicle body to obtain the slip deviation torque in the lateral direction of the vehicle body.

[0068] In a possible implementation manner of the present application, determining the slip deviation torque in each control direction according to the slip deviation in the currently determined control direction includes:

[0069] If the control direction of the current torque only includes the longitudinal direction of the vehicle body, determine the slip deviation torque in the longitudinal direction of the vehicle body as the four-wheel drive control torque;

[0070] If the control direction of the current torque only includes the lateral direction of the vehicle body, determine the slip deviation torque in the lateral direction of the vehicle body as the four-wheel drive control torque;

[0071] If the control directions of the current torque include the vehicle body's lateral direction and the vehicle body's longitudinal direction, then determine the four-wheel drive control torque based on the first preset vehicle speed, the second preset vehicle speed, the slip deviation torque in the vehicle body's longitudinal direction, the slip deviation torque in the vehicle body's lateral direction, and the current vehicle speed.

[0072] In a possible implementation manner of the present application, if the control directions of the current torque include the vehicle body's lateral direction and the vehicle body's longitudinal direction, the first preset vehicle speed, the second preset vehicle speed, the slip deviation torque of the vehicle to be determined in the vehicle body's longitudinal direction, the slip deviation torque of the vehicle to be determined in the vehicle body's lateral direction, the current vehicle speed of the vehicle to be determined, and the four-wheel drive control torque satisfy the following relationship:

[0073]

[0074] Wherein, T represents the four-wheel drive control torque, Ty represents the slip deviation torque of the vehicle to be determined in the vehicle body's lateral direction, Tx represents the slip deviation torque of the vehicle to be determined in the vehicle body's longitudinal direction, v represents the current vehicle speed of the vehicle to be determined, v1 represents the first preset vehicle speed, and v2 represents the second preset vehicle speed.

[0075] The following uses a specific embodiment to illustrate the determination process of the slip deviation torque in the vehicle body's longitudinal direction. Refer to Figure 3 . First, determine the slip deviation in the vehicle body's longitudinal direction based on the expected slip and the actual slip in the vehicle body's longitudinal direction. Then, perform PID control on the slip deviation in the vehicle body's longitudinal direction to obtain the slip deviation torque in the vehicle body's longitudinal direction. Specifically, the expected slip in the vehicle body's longitudinal direction is equal to the sum of the torque distribution slip and the tire size correction slip. The actual slip in the vehicle body's longitudinal direction is equal to the difference between the average speed of the main drive shaft and the average speed of the auxiliary drive shaft minus the steering correction. The determination process of the slip deviation torque in the vehicle body's longitudinal direction includes: performing PID control on the slip deviation in the vehicle body's longitudinal direction to obtain the proportional term Tx_p, the integral term Tx_i, and the differential term Tx_d. Finally, sum Tx_p, Tx_i, and Tx_d to obtain the slip deviation torque in the vehicle body's longitudinal direction.

[0076] The following uses a specific embodiment to illustrate the determination process of the slip deviation torque in the vehicle body's lateral direction. Refer to Figure 4 . First, determine the slip deviation in the vehicle body's lateral direction based on the target yaw rate and the actual yaw rate in the vehicle body's lateral direction. Then, perform PID control on the slip deviation in the vehicle body's lateral direction to obtain the slip deviation torque in the vehicle body's lateral direction.

[0077] The following uses a specific embodiment to illustrate the decision-making process of the four-wheel drive control torque. Refer to Figure 5. First, obtain the current vehicle speed, compare the current vehicle speed v with v2. If the current vehicle speed v is greater than v2, it is determined that the control direction includes the lateral direction of the vehicle body, and the slip deviation torque in the lateral direction of the vehicle body is determined as the four-wheel drive control torque; otherwise, compare the current vehicle speed v with v1. If the current vehicle speed v is less than v1, it is determined that the control direction includes the longitudinal direction of the vehicle body, and the slip deviation torque in the longitudinal direction of the vehicle body is determined as the four-wheel drive control torque; if the current vehicle speed v is neither greater than v2 nor less than v1, it is determined that the control direction includes the lateral direction and the longitudinal direction of the vehicle body, and according to the current vehicle speed v, v1, v2, the slip deviation torque Tx in the longitudinal direction of the vehicle body, and the slip deviation torque Ty in the lateral direction of the vehicle body, determine the four-wheel drive control torque, that is, the four-wheel drive control torque T = (Ty - Tx) * (v - v1) / (v2 - v1) + Tx.

[0078] A device for determining the four-wheel drive control torque of a vehicle provided by an embodiment of the present application is referred to Figure 6 , including:

[0079] A torque control direction determination module 301 determines the control direction of the four-wheel drive control torque of the vehicle to be determined according to the current vehicle speed of the vehicle to be determined, and the control direction includes the longitudinal direction of the vehicle body and / or the lateral direction of the vehicle body;

[0080] A slip deviation torque determination module 302 determines the slip deviation torque in the control direction according to the slip deviation of the vehicle to be determined in the control direction;

[0081] A four-wheel drive control torque determination module 303 determines the four-wheel drive control torque according to the slip deviation torque.

[0082] By using the above three modules in combination, the control direction of the four-wheel drive control torque can be determined according to the vehicle speed, and the four-wheel drive control torque can be determined according to the slip deviation torque in the control direction. Using the above four-wheel drive control torque determination device can avoid the frequent switching of the control direction of the four-wheel drive control torque between the longitudinal direction and the lateral direction of the vehicle body, accurately and efficiently control the vehicle, and improve the four-wheel drive performance of the vehicle.

[0083] Figure 7 It is a schematic structural diagram of a terminal device provided by an embodiment of the present application. The terminal device 400 includes: at least one processor 401 ( Figure 7 only one is shown in the figure), a processor, a memory 402, and a computer program 403 stored in the memory 402 and executable on the at least one processor 401. When the processor 401 executes the computer program 403, the steps in the method embodiment for determining the four-wheel drive control torque described above are implemented.

[0084] The terminal device 400 may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The terminal device may include, but is not limited to, a processor 401 and a memory 402. Those skilled in the art can understand that Figure 7 merely examples of the terminal device 400, which do not constitute a limitation on the terminal device 400, may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0085] The so-called processor 401 may be a central processing unit (CPU), and the processor 401 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0086] The memory 402 may be an internal storage unit of the terminal device 400 in some embodiments, such as the hard disk or memory of the terminal device 400. The memory 402 may also be an external storage device of the terminal device 400 in other embodiments, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 400. Further, the memory 402 may also include both the internal storage unit and the external storage device of the terminal device 400. The memory 402 is used to store an operating system, application programs, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 402 may also be used to temporarily store data that has been output or will be output.

[0087] Those skilled in the art can clearly understand that, for the convenience and conciseness of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0088] An embodiment of this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in each of the foregoing method embodiments can be implemented.

[0089] An embodiment of this application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can be caused to execute the steps in each of the foregoing method embodiments.

[0090] If the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above method embodiments of this application, a computer program can be used to instruct relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps in each of the foregoing method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can at least include: any entity or device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium that can carry the computer program code to the photographing device / terminal device. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disc, etc.

[0091] In the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0092] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in connection with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of this application.

[0093] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network device and method can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For example, the division of the module or unit is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms.

[0094] The unit described as a separate component may or may not be physically separated. The component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0095] The above embodiments are only used to illustrate the technical solutions of this application, rather than to limit it; although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included in the protection scope of this application.

Claims

1. A method for determining the torque of a vehicle's four-wheel drive, characterized in that, Including: Determine the control direction of the four-wheel drive control torque of the vehicle to be determined according to the current vehicle speed of the vehicle to be determined, wherein, when the current vehicle speed is less than the first preset vehicle speed, the control direction includes the longitudinal direction of the vehicle body, and when the current vehicle speed is greater than the second preset vehicle speed, the control direction includes the lateral direction of the vehicle body. When the current vehicle speed is not less than the first preset vehicle speed and not greater than the second preset vehicle speed, the control direction includes the longitudinal direction and the lateral direction of the vehicle body, and the first preset vehicle speed is less than the second preset vehicle speed; Determine the slip deviation torque in the control direction according to the slip deviation of the vehicle to be determined in the control direction; Determine the four-wheel drive control torque according to the slip deviation torque; 2. The method according to claim 1, characterized in that, If it is determined that the control direction of the current torque includes the longitudinal direction of the vehicle body, then determining the slip deviation torque in the control direction according to the slip deviation of the vehicle to be determined in the control direction includes: Determine the slip deviation of the vehicle to be determined in the longitudinal direction of the vehicle body according to the actual slip amount and the expected slip amount of the vehicle to be determined in the longitudinal direction of the vehicle body; Determine the slip deviation torque of the vehicle to be determined in the longitudinal direction of the vehicle body according to the slip deviation of the vehicle to be determined in the longitudinal direction of the vehicle body; 3. The method according to claim 1, characterized in that, If it is determined that the control direction of the current torque includes the lateral direction of the vehicle body, then determining the slip deviation torque in the control direction according to the slip deviation of the vehicle to be determined in the control direction includes: Determine the slip deviation of the vehicle to be determined in the lateral direction of the vehicle body according to the target yaw rate and the actual yaw rate of the vehicle to be determined; Determine the slip deviation torque of the vehicle to be determined in the lateral direction of the vehicle body according to the slip deviation of the vehicle to be determined in the lateral direction of the vehicle body; 4. The method according to claim 2, characterized in that, The determining the slip deviation of the vehicle to be determined in the longitudinal direction of the vehicle body according to the actual slip amount and the expected slip amount of the vehicle to be determined in the longitudinal direction of the vehicle body includes: Determine the actual slip amount of the vehicle to be determined in the longitudinal direction of the vehicle body according to the average rotational speed of the main drive shaft, the average rotational speed of the auxiliary drive shaft, and the steering correction angle of the vehicle to be determined; Determine the expected slip amount of the vehicle to be determined in the longitudinal direction of the vehicle body according to the slip amount of the torque to be distributed and the slip amount corrected by the tire size; Take the difference between the actual slip amount and the expected slip amount in the longitudinal direction of the vehicle body as the slip deviation of the vehicle to be determined in the longitudinal direction of the vehicle body; 5. The method according to claim 2 or 4, characterized in that, The determining the slip deviation torque of the vehicle to be determined in the longitudinal direction of the vehicle body according to the slip deviation of the vehicle to be determined in the longitudinal direction of the vehicle body includes: Perform PID control on the slip deviation of the vehicle to be determined in the longitudinal direction of the vehicle body to obtain the slip deviation torque of the vehicle to be determined in the longitudinal direction of the vehicle body; 6. The method according to claim 3, characterized in that, The determining the slip deviation of the vehicle to be determined in the lateral direction of the vehicle body according to the target yaw rate and the actual yaw rate of the vehicle to be determined includes: Use the difference between the target yaw rate and the actual yaw rate as the slip deviation of the vehicle to be determined in the lateral direction of the vehicle body.

7. The method according to claim 3 or 6, characterized in that, Determining the slip deviation torque of the vehicle to be determined in the lateral direction of the vehicle body according to the slip deviation of the vehicle to be determined in the lateral direction of the vehicle body includes: Perform PID control on the slip deviation of the vehicle to be determined in the lateral direction of the vehicle body to obtain the slip deviation torque of the vehicle to be determined in the lateral direction of the vehicle body.

8. The method according to any one of claims 1 to 4, characterized in that, Determining the slip deviation torque in the control direction according to the slip deviation of the vehicle to be determined in the control direction includes: If the control direction of the four-wheel drive control torque only includes the longitudinal direction of the vehicle body, determine the slip deviation torque in the longitudinal direction of the vehicle body as the four-wheel drive control torque; If the control direction of the four-wheel drive control torque only includes the lateral direction of the vehicle body, determine the slip deviation torque in the lateral direction of the vehicle body as the four-wheel drive control torque; If the control direction of the four-wheel drive control torque includes the lateral direction and the longitudinal direction of the vehicle body, determine the four-wheel drive control torque according to the first preset vehicle speed, the second preset vehicle speed, the slip deviation torque of the vehicle to be determined in the longitudinal direction of the vehicle body, the slip deviation torque of the vehicle to be determined in the lateral direction of the vehicle body, and the current vehicle speed of the vehicle to be determined.

9. The method according to claim 8, characterized in that, If the control direction of the current torque includes the lateral direction and the longitudinal direction of the vehicle body, the first preset vehicle speed, the second preset vehicle speed, the slip deviation torque of the vehicle to be determined in the longitudinal direction of the vehicle body, the slip deviation torque of the vehicle to be determined in the lateral direction of the vehicle body, the current vehicle speed of the vehicle to be determined, and the four-wheel drive control torque satisfy the following relationship: T = (Ty - Tx) × (v - v1) / (v2 - v1) + Tx, where, T represents the four-wheel drive control torque, Ty represents the slip deviation torque of the vehicle to be determined in the lateral direction of the vehicle body, Tx represents the slip deviation torque of the vehicle to be determined in the longitudinal direction of the vehicle body, v represents the current vehicle speed of the vehicle to be determined, v1 represents the first preset vehicle speed, and v2 represents the second preset vehicle speed.

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