Vehicle four-wheel drive control method and device, vehicle and storage medium

Abstract

This application provides a vehicle four-wheel drive control method, device, vehicle, and storage medium. The method includes: acquiring visual road surface information of the road surface where each of the vehicle's four tires is located, and determining the road surface type of each tire based on the visual information; identifying whether the vehicle is on a uniform road surface based on the road surface type of each tire, obtaining an identification result; determining the adhesion coefficient corresponding to the road surface type based on the correspondence between the road surface type and the road adhesion coefficient; and determining the vehicle's drive torque distribution strategy based on the identification result and the adhesion coefficient. The vehicle can more rationally utilize road surface adhesion capabilities during both starting and driving conditions, thereby improving vehicle power performance.

Description

Technical Field

[0001] This application relates to the field of vehicle drive distribution technology, and in particular to a vehicle four-wheel drive control method, device, vehicle, and storage medium. Background Technology

[0002] As energy conservation and environmental protection become important technological directions in the automotive industry, electric four-wheel drive vehicles are becoming increasingly popular. These include axle-end drive systems with one drive motor on each axle, and wheel-side drive systems where each wheel has its own independent drive motor. By rationally distributing the drive torque, the overall vehicle economy and power can be effectively improved.

[0003] Existing drive torque distribution schemes sometimes prioritize economy and fail to make efficient use of road surface adhesion, thus failing to achieve optimal vehicle power performance. Summary of the Invention

[0004] This application provides a vehicle four-wheel drive control method, device, vehicle, and storage medium, which makes more rational use of road surface adhesion to achieve optimal vehicle power performance. The technical solution of this application is as follows:

[0005] In a first aspect, embodiments of this application provide a vehicle four-wheel drive control method, including:

[0006] Obtain visual information of the road surface where each of the vehicle's four tires is located, and determine the road surface type of each of the four tires based on the visual information of the road surface.

[0007] Based on the road surface type of each of the four tires, the system identifies whether the vehicle is on a uniform road surface and obtains the identification result.

[0008] Based on the correspondence between road surface type and road surface adhesion coefficient, the adhesion coefficient corresponding to each of the aforementioned road surface types is determined;

[0009] Based on the identification results and the adhesion coefficient, a drive torque distribution strategy for the vehicle is determined.

[0010] Secondly, embodiments of this application provide a vehicle four-wheel drive control device, including:

[0011] The road surface type recognition module is used to acquire visual information of the road surface where each of the four tires of the vehicle is located, and to determine the road surface type of each of the four tires based on the visual information of the road surface.

[0012] The road surface uniformity identification module identifies whether the vehicle is on a uniform road surface based on the road surface type of each of the four tires, and obtains the identification result.

[0013] The adhesion coefficient determination module is used to determine the adhesion coefficient corresponding to the road surface type based on the correspondence between road surface type and road surface adhesion coefficient.

[0014] A drive distribution control module is used to determine the drive torque distribution strategy of the vehicle based on the identification result and the adhesion coefficient.

[0015] Thirdly, embodiments of this application provide a vehicle including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the first aspect of this application.

[0016] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in the first aspect of this application.

[0017] Fifthly, embodiments of this application provide a computer program product, including computer instructions that, when executed by a processor, implement the steps of the method described in the first aspect of this application.

[0018] The technical solution provided in this application has at least the following beneficial effects:

[0019] Road surface perception technology determines the road surface type of each of the four tires; it then identifies whether the vehicle is on a uniform road surface; based on the road surface type, it determines the coefficient of friction; and based on whether the vehicle is on a uniform road surface and the coefficient of friction, it determines the vehicle's drive torque distribution strategy. This feedforward control method allows the vehicle to utilize road surface adhesion more effectively during both start-up and driving conditions, thereby improving vehicle power performance.

[0020] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0021] Figure 1 This is a flowchart illustrating a vehicle four-wheel drive control method according to an exemplary embodiment.

[0022] Figure 2 This is a flowchart illustrating a vehicle four-wheel drive control method according to another exemplary embodiment.

[0023] Figure 3 This is a flowchart illustrating a vehicle four-wheel drive control method according to yet another exemplary embodiment.

[0024] Figure 4 This is a block diagram illustrating a vehicle four-wheel drive control device according to an exemplary embodiment.

[0025] Figure 5 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Detailed Implementation

[0026] To better understand the above-mentioned objectives, features, and advantages of this application, the solution of this application will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0027] Many specific details are set forth in the following description in order to provide a full understanding of this application, but this application may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of this application, and not all embodiments.

[0028] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0029] Figure 1 This is a flowchart of a vehicle four-wheel drive control method according to an embodiment of this application. It should be noted that the vehicle four-wheel drive control method of this application embodiment can be applied to the vehicle four-wheel drive control device of this application embodiment. This vehicle four-wheel drive control device can be configured on electronic devices such as vehicle controllers. Figure 1 As shown, the vehicle four-wheel drive control method may include the following steps.

[0030] In step S101, visual information of the road surface where each of the vehicle's four tires is located is obtained, and the road surface type of each of the four tires is determined based on the visual information of the road surface.

[0031] This embodiment determines the road surface type using visual perception technology. Four surround-view cameras, each mounted on the vehicle chassis next to one of the four tires, can collect visual information about the road surface where each tire is located. This visual information can be either video or image data.

[0032] Optionally, the road surface type of the four tires can be identified from the road surface visual information using algorithms such as neural networks and deep learning. Alternatively, the road surface type can be identified based on its texture features. The method for determining the road surface type based on visual information is not limited here.

[0033] As one possible implementation, road surface visual information is road surface image information. Color and texture features are extracted from the road surface image information based on neural networks, and the road surface type is classified according to these color and texture features.

[0034] As an example, road surface types may include, but are not limited to: paved roads, compacted snow surfaces, smooth ice surfaces, wet and slippery roads (roads that have been rained on), snow roads (deep snow), mud / rutted roads, sandy roads (deserts), wading roads, gravel roads (dirt roads), rock roads, etc.

[0035] In step S102, based on the road surface type of each of the four tires, it is determined whether the vehicle is on a uniform road surface, and the identification result is obtained.

[0036] This embodiment identifies whether the vehicle is on a uniform road surface based on the road surface type of each of the four tires. If the road surface type of each of the four tires is the same, the identification result is that the vehicle is on a uniform road surface; if the road surface type of each of the four tires is not all the same, the identification result is that the vehicle is on a uniform road surface. As an example 1, the two front tires of the vehicle are on an asphalt road surface, while the two rear tires are on an icy or snowy road surface.

[0037] In step S103, the adhesion coefficient corresponding to the road surface type is determined based on the correspondence between road surface type and road surface adhesion coefficient.

[0038] If the identification result indicates that the road surface is non-uniform, it means that the adhesion coefficients of the four tires are different. If the identification result indicates that the road surface is uniform, it means that the entire vehicle is on a uniform road surface. Solving for the adhesion coefficient corresponding to the road surface type is the adhesion coefficient of the road surface where the vehicle is located.

[0039] As one possible approach, the ground adhesion coefficient can be estimated using an approximate method. For example, assuming the adhesion coefficient of compacted snow is μ = 0.3 and the adhesion coefficient of normal paved road surface is μ = 0.8, then for Example 1 above, it can be identified that the front axle or front wheels are on paved road surface (μ = 0.8), and the rear axle or rear wheels are on icy / snowy road surface (μ = 0.3).

[0040] In step S104, the driving torque distribution strategy of the vehicle is determined based on the identification results and the adhesion coefficient.

[0041] In this embodiment, different drive torque allocation strategies are selected based on different identification results and adhesion coefficients. For example, different drive torque allocation strategies may include allocation methods based on drive performance, allocation based on vehicle economy, etc. Specifically, drive performance allocation is based on the vehicle's dynamic axle load, while vehicle economy allocation is based on the vehicle's system efficiency.

[0042] The vehicle four-wheel drive control method in this embodiment determines the road surface type of each of the four tires using road surface perception technology; then identifies whether the vehicle is on a uniform road surface; determines the coefficient of friction based on the road surface type; and determines the vehicle's drive torque distribution strategy based on whether the vehicle is on a uniform road surface and the coefficient of friction. This feedforward control method ensures that the four wheels have optimal road surface adhesion during both starting and driving conditions, thereby improving vehicle power performance, especially under low-to-medium friction conditions. Based on road surface adhesion characteristics, it automatically selects a suitable four-wheel drive torque distribution strategy for the user to better meet the needs of different users.

[0043] Based on the above embodiments, Figure 2 This is a flowchart of a vehicle four-wheel drive control method according to another embodiment of this application. Figure 2 As shown, the vehicle four-wheel drive control method may include the following steps.

[0044] In step S201, visual information of the road surface where each of the vehicle's four tires is located is obtained, and the road surface type of each of the four tires is determined based on the visual information of the road surface.

[0045] It should be noted that, in the embodiments of this application, the implementation process of step S201 can be referred to the description of the implementation process of step S101 above, and will not be repeated here.

[0046] In step S202, the vehicle's satellite positioning information and weather information are obtained, and the road surface type of each of the four tires is corrected based on the satellite positioning information, weather information and preset rules.

[0047] Optionally, in this embodiment, the satellite positioning information comes from the vehicle-mounted positioning module, which is responsible for vehicle positioning and confirms the vehicle's geographical location information by combining it with a map. For example, the vehicle may be located in a high-altitude or desert region.

[0048] Optionally, in this embodiment, the weather information comes from a V2X (vehicle to X) vehicle-to-everything (V2X) network module. Through V2X technology, the vehicle obtains weather information, such as the season, date, ambient temperature, and weather forecast corresponding to the vehicle's geographical location.

[0049] It should be noted that the road surface type verification is mainly for some special road surfaces, such as icy and snowy roads, smooth ice surfaces, etc.

[0050] One possible approach is to set rules to verify the rationality of the road surface type where each of the four tires is located, based on satellite positioning information, weather information, and preset rules. These rules primarily verify specific road surfaces, such as icy or snowy roads, and smooth ice surfaces. The existence of icy or snowy roads is considered in relation to regional characteristics and seasonal weather patterns. For example, even if the weather and season are winter, if the satellite positioning is in Guangzhou, icy or snowy roads are unlikely.

[0051] This can be understood as a situation where, in some cases, the road type identified based on visual road information differs significantly from the actual road type, resulting in misclassification. For example, when there is water on the road surface and good lighting creates glare, the road type might be misclassified as icy or snowy. However, based on seasonal information, if it is summer, icy or snowy roads are unlikely, indicating an incorrect classification. In this case, it is necessary to correct the misclassified road type based on the road types encountered by other tires or common sense. Alternatively, based on location information, if the location is south of the Yangtze River, icy or snowy roads are unlikely, again indicating an incorrect classification.

[0052] When the verification result shows an obvious error, the road surface type is corrected according to some correction rules. For example, if only one road surface is identified as an icy or snowy road surface, while the others are paved roads, then the icy or snowy road surface is corrected to a paved road surface.

[0053] In this embodiment, the road surface type perceived by vision is verified by using information such as satellite positioning and weather information, and the road surface type of the four tires is finally confirmed.

[0054] This embodiment uses a fusion perception scheme based on visual perception, satellite positioning, and V2X to accurately identify the road surface type where the four wheels of the vehicle are located. This allows for precise determination of the adhesion coefficient of the road surface where the wheels are located, and then the most reasonable four-wheel drive torque distribution can be calculated to maximize the use of road surface adhesion and improve the vehicle's power performance.

[0055] In step S203, based on the road surface type of each of the four tires, it is determined whether the vehicle is on a uniform road surface, and the identification result is obtained.

[0056] It should be noted that "uniform road surface" means that all four tires are on the same type of road surface. "Non-uniform road surface" means that all four tires are on at least two, possibly three, or four, types of road surface. Example 1: The two tires on the front axle are on a paved road, and the two tires on the rear axle are on an icy or snowy road. Example 2: The tire on the left side of the front axle is on smooth ice, while the tires on the right side of the front axle and the tires on the rear axle are on paved roads.

[0057] In step S204, when the identification result indicates that the road surface is non-uniform, the adhesion coefficient corresponding to the road surface type of each of the four tires is determined based on the correspondence between road surface type and road surface adhesion coefficient.

[0058] It should be noted that, in the embodiments of this application, the implementation process of the above steps S203-S204 can be referred to the description of the implementation process of the above steps S102-S103, and will not be repeated here.

[0059] In step S205, the driving torque of the vehicle is distributed based on the adhesion coefficients of the four tires.

[0060] Optionally, the method for allocating the driving torque of the vehicle includes: estimating the dynamic axle loads of the front and rear axles of the vehicle based on the vehicle's acceleration; wherein the acceleration is the acceleration collected by the on-board acceleration sensor; obtaining the longitudinal driving force corresponding to each of the four tires based on the dynamic axle loads of the front and rear axles and the adhesion coefficients corresponding to each of the four tires; and allocating the driving torque of the vehicle according to the ratio of the longitudinal driving forces corresponding to each of the four tires.

[0061] For axle-end drive system with one drive motor on each axle, the vehicle's longitudinal acceleration (ax) is measured using an onboard longitudinal acceleration sensor (this value includes both acceleration and gravitational acceleration components, reflecting axle load transfer caused by acceleration and gradient factors). This allows for the estimation of the dynamic axle loads on the front and rear axles. The product of the vehicle's dynamic axle load and the road surface adhesion coefficient is the available longitudinal driving force for the front and rear axles. By distributing the torque between the front and rear axles according to the ratio of their available longitudinal driving forces, the utilization of ground adhesion can be maximized, resulting in optimal power performance.

[0062] It should be noted that the slope information can be determined based on the acceleration component of the longitudinal acceleration, the gravitational acceleration component, and the longitudinal vehicle speed. When estimating dynamic axle load, considering the influence of both longitudinal acceleration and slope information simultaneously results in a more accurate axle load estimate.

[0063] If the vehicle has an independent drive motor for each wheel, using a wheel-side drive system, the optimal driving force can be precisely distributed to all four wheels by combining longitudinal and lateral acceleration. Based on the aforementioned front and rear axle torque distribution method, the driving force distribution ratio of the left and right motors on the front and rear axles can be obtained using lateral acceleration, front axle wheel spacing, and rear axle wheel spacing.

[0064] The vehicle four-wheel drive control method in this embodiment, based on the above embodiments, adopts a road surface type recognition method based on perception fusion. This method can accurately identify the road surface type where the four tires are located, thereby accurately obtaining the corresponding adhesion force. When the four wheels of the vehicle are on a non-uniform road surface, the driving torque of the vehicle is distributed based on the adhesion coefficient of each of the four tires, which can ensure that the four wheels have the most reasonable adhesion to the road surface, thereby improving the vehicle's power performance.

[0065] Based on the above embodiments, for cases where the identification result indicates a uniform road surface, Figure 3 This is a flowchart of a vehicle four-wheel drive control method according to yet another embodiment of this application. Figure 3 As shown, the vehicle four-wheel drive control method may include the following steps.

[0066] In step S301, visual information of the road surface where each of the vehicle's four tires is located is obtained, and the road surface type of each of the four tires is determined based on the visual information of the road surface.

[0067] In step S302, the vehicle's satellite positioning information and weather information are obtained, and the road surface type of each of the four tires is corrected based on the satellite positioning information, weather information and preset rules.

[0068] In step S303, based on the road surface type of each of the four tires, it is determined whether the vehicle is on a uniform road surface, and the identification result is obtained.

[0069] In step S304, if the identification result indicates that the road surface is uniform, the adhesion coefficient corresponding to the road surface type where the vehicle is located is determined based on the correspondence between the road surface type and the road surface adhesion coefficient.

[0070] It should be noted that, in the embodiments of this application, the implementation process of the above steps S301-S304 can be referred to the description of the implementation process of the above steps S201-S204, and will not be repeated here.

[0071] In step S305, the vehicle's acceleration is obtained, and the adhesion utilization rate is calculated based on the acceleration and the adhesion coefficient; wherein, the adhesion utilization rate is the ratio of acceleration to adhesion coefficient.

[0072] When a vehicle is on a uniform road surface, it means that all four tires of the vehicle are on the same type of road surface. The coefficient of adhesion corresponding to this type of road surface is the coefficient of adhesion of the entire road surface on which the vehicle is located.

[0073] This embodiment calculates the ratio of acceleration to adhesion coefficient as the adhesion utilization rate. The adhesion utilization rate is used to determine whether the road surface adhesion coefficient is used for driving force distribution.

[0074] In step S306, if the adhesion utilization rate is greater than the adhesion utilization rate threshold, the driving torque of the vehicle is allocated based on the driving performance.

[0075] Optionally, it can be determined whether the adhesion utilization rate is greater than the adhesion utilization rate threshold. This can be understood as dividing the driving force distribution method into two types based on the adhesion utilization rate threshold.

[0076] This can be understood as the vehicle's actual acceleration representing the user's driving needs. A larger value indicates that the user has a demand for power, and power factors should be given more importance while fuel economy factors should be reduced.

[0077] If the adhesion utilization rate is greater than the adhesion utilization rate threshold, optionally, the dynamic axle loads of the front and rear axles of the vehicle can be estimated based on the vehicle's acceleration; where the acceleration is the acceleration collected by the onboard acceleration sensor; and the driving torque of the vehicle is allocated based on the ratio of the dynamic axle load of the front axle to the dynamic axle load of the rear axle. Because the adhesion coefficient is the same, it is not necessary to calculate the product of the adhesion coefficient and the axle load, that is, it is not necessary to calculate the longitudinal driving force.

[0078] In step S307, if the adhesion utilization rate is less than or equal to the adhesion utilization rate threshold, the driving torque of the vehicle is allocated based on the economy of the whole vehicle.

[0079] The vehicle's actual acceleration represents the user's driving needs. A lower value indicates that the user has no demand for power, and in this case, economic factors take precedence. As an example, the vehicle's drive torque is allocated based on the principle of optimal system efficiency.

[0080] This can be understood as follows: while the ratio of torque demanded by the driver to the front and rear axle drive systems can be arbitrary, there is one and only one ratio that optimizes the vehicle's powertrain efficiency—the maximum efficiency achieved. This ratio can be determined through motor bench testing. This ratio varies under different vehicle driving parameters. The correspondence between different driving parameters and the optimal ratio can be obtained in advance, for example, by creating a data chart. During use, the optimal ratio is obtained by consulting the data chart based on the current vehicle driving parameters, and then the torque demanded by the driver is distributed to the front and rear axle drive systems accordingly.

[0081] The vehicle four-wheel drive control method in this embodiment, based on the above embodiments, calculates the ratio of vehicle acceleration to the ground adhesion coefficient, i.e., the adhesion utilization rate. Based on the adhesion utilization rate, it determines whether to adopt a torque distribution method that prioritizes driving performance or a torque distribution method that prioritizes overall vehicle economy. Taking into account the user's driving characteristics and environmental factors (road adhesion), it automatically selects a reasonable four-wheel drive torque distribution strategy for the user, maximizing the balance between the user's needs for economy and power, and achieving optimal performance under different driving needs and usage environments.

[0082] Figure 4 This is a block diagram illustrating a vehicle four-wheel drive control device according to an exemplary embodiment. (Refer to...) Figure 4 The vehicle's four-wheel drive control device may include: a road surface type recognition module 401, a road surface uniformity recognition module 402, an adhesion coefficient determination module 403, and a drive distribution control module 404.

[0083] Specifically, the road surface type recognition module 401 is used to acquire road surface visual information of the road surface where each of the four tires of the vehicle is located, and to determine the road surface type of the road surface where each of the four tires is located based on the road surface visual information.

[0084] The road surface uniformity recognition module 402 identifies whether the vehicle is on a uniform road surface based on the road surface type of each of the four tires and obtains the recognition result.

[0085] The adhesion coefficient determination module 403 is used to determine the adhesion coefficient corresponding to a road surface type based on the correspondence between road surface type and road surface adhesion coefficient.

[0086] The drive distribution control module 404 is used to determine the drive torque distribution strategy of the vehicle based on the identification results and the adhesion coefficient.

[0087] In some embodiments of this application, when the identification result indicates a non-uniform road surface, the drive distribution control module 404, when determining the drive torque distribution strategy for the vehicle based on the identification result and the adhesion coefficient, is used to:

[0088] The vehicle's drive torque is distributed based on the respective coefficients of adhesion of each of the four tires.

[0089] In some embodiments of this application, when the drive distribution control module 404 distributes the vehicle's drive torque based on the respective adhesion coefficients of the four tires, it is used to:

[0090] Based on the vehicle's acceleration, the dynamic axle loads of the front and rear axles are estimated; where the acceleration is the acceleration collected by the onboard acceleration sensor.

[0091] Based on the dynamic axle loads of the front and rear axles and the adhesion coefficients of the four tires, the longitudinal driving force of each tire is obtained.

[0092] The vehicle's drive torque is distributed based on the ratio of the longitudinal drive force corresponding to each of the four tires.

[0093] In some embodiments of this application, when the identification result indicates a uniform road surface, the drive distribution control module 404, when determining the drive torque distribution strategy for the vehicle based on the identification result and the adhesion coefficient, is used to:

[0094] Obtain the vehicle's acceleration;

[0095] The adhesion utilization rate is calculated based on acceleration and adhesion coefficient; where the adhesion utilization rate is the ratio of acceleration to adhesion coefficient.

[0096] Determine whether the adhesion utilization rate is greater than the adhesion utilization rate threshold;

[0097] When the adhesion utilization rate is greater than the adhesion utilization rate threshold, the driving torque of the vehicle is allocated based on the driving performance.

[0098] When the adhesion utilization rate is less than or equal to the adhesion utilization rate threshold, the vehicle's drive torque is allocated based on the overall vehicle economy.

[0099] In some embodiments of this application, the drive distribution control module 404, when distributing the vehicle's drive torque based on drive performance, is used to:

[0100] Based on the vehicle's acceleration, the dynamic axle loads of the front and rear axles are estimated; where the acceleration is the acceleration collected by the onboard acceleration sensor.

[0101] The driving torque of the vehicle is distributed based on the ratio of the dynamic axle load of the front axle to the dynamic axle load of the rear axle.

[0102] In some embodiments of this application, the drive distribution control module 404, when distributing the vehicle's drive torque based on the overall vehicle economy, is used to:

[0103] The driving torque of the vehicle is allocated based on the principle of optimal system efficiency.

[0104] In some embodiments of this application, after determining the road surface type of each of the four tires based on road surface visual information, the road surface type recognition module 401 is further configured to:

[0105] Obtain the vehicle's satellite positioning information and weather information; based on the satellite positioning information, weather information, and preset rules, correct the road surface type of each of the four tires.

[0106] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0107] The vehicle four-wheel drive control device in this embodiment uses road perception technology to determine the road surface type of each of the four tires; it then identifies whether the vehicle is on a uniform road surface; based on the road surface type, it determines the coefficient of friction; and based on whether the vehicle is on a uniform road surface and the coefficient of friction, it determines the vehicle's drive torque distribution strategy. This feedforward control method ensures that the four wheels have optimal road surface adhesion during both starting and driving conditions, thereby improving vehicle power performance, especially under low-to-medium friction conditions. Based on road surface adhesion characteristics, it automatically selects a suitable four-wheel drive torque distribution strategy for the user to better meet the needs of different users.

[0108] According to embodiments of this application, this application also provides a vehicle and a readable storage medium. The vehicle includes electronic equipment for implementing a method for four-wheel drive control of the vehicle.

[0109] like Figure 5 The diagram shown is a block diagram of an electronic device for implementing a method for four-wheel drive control of a vehicle according to an embodiment of this application. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present application described and / or claimed herein.

[0110] like Figure 5 As shown, the electronic device includes one or more processors 501, a memory 502, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components are interconnected via different buses and can be mounted on a common motherboard or otherwise as required. The processors can process instructions executed within the electronic device, including instructions stored in or on memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In other embodiments, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple electronic devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 5 Take a processor 501 as an example.

[0111] The memory 502 is the non-transitory computer-readable storage medium provided in this application. The memory stores instructions executable by at least one processor to cause the at least one processor to perform the vehicle four-wheel drive control method provided in this application. The non-transitory computer-readable storage medium of this application stores computer instructions for causing a computer to perform the vehicle four-wheel drive control method provided in this application.

[0112] Memory 502, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the vehicle four-wheel drive control method in the embodiments of this application (e.g., attached...). Figure 4 The diagram shows a road surface type identification module 401, a road surface uniformity identification module 402, an adhesion coefficient determination module 403, and a drive distribution control module 404. The processor 501 executes various server functions and data processing by running non-transient software programs, instructions, and modules stored in the memory 502, thereby implementing the vehicle four-wheel drive control method described in the above method embodiments.

[0113] Memory 502 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the vehicle's four-wheel drive control electronics. Furthermore, memory 502 may include high-speed random access memory and may also include non-transient memory, such as at least one disk storage device, flash memory device, or other non-transient solid-state storage device. In some embodiments, memory 502 may optionally include memory remotely located relative to processor 501, and these remote memories can be connected to the vehicle's four-wheel drive control electronics via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0114] The electronic equipment for the vehicle four-wheel drive control method may further include: an input device 503 and an output device 504. The processor 501, memory 502, input device 503, and output device 504 can be connected via a bus or other means. Figure 5 Taking the example of a connection between China and Israel via a bus.

[0115] Input device 503 can receive input digital or character information, as well as key signal input related to user settings and function control of electronic devices for vehicle four-wheel drive control, such as touch screens, keypads, mice, trackpads, touchpads, pointers, one or more mouse buttons, trackballs, joysticks, etc. Output device 504 may include display devices, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors). The display device may include, but is not limited to, liquid crystal displays (LCDs), light-emitting diode (LED) displays, and plasma displays. In some embodiments, the display device may be a touch screen.

[0116] Various implementations of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, application-specific integrated circuits (ASICs), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include: implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transferring data and instructions to the storage system, the at least one input device, and the at least one output device.

[0117] These computational programs (also referred to as programs, software, software applications, or code) include machine instructions for a programmable processor and can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. As used herein, the terms “machine-readable medium” and “computer-readable medium” refer to any computer program product, device, and / or apparatus (e.g., disk, optical disk, memory, programmable logic device (PLD)) used to provide machine instructions and / or data to a programmable processor, including machine-readable media that receive machine instructions as machine-readable signals. The term “machine-readable signal” refers to any signal used to provide machine instructions and / or data to a programmable processor.

[0118] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0119] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0120] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other.

[0121] In an exemplary embodiment, a computer program product is also provided, which, when executed by a processor of an electronic device, enables the electronic device to perform the above-described method.

[0122] It should also be noted that the exemplary embodiments mentioned in this invention describe methods or systems based on a series of steps or apparatus. However, this invention is not limited to the order of the steps described above; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0123] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only.

[0124] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for controlling four-wheel drive of a vehicle, characterized in that, include: Obtain visual information of the road surface where each of the vehicle's four tires is located, and determine the road surface type of each of the four tires based on the visual information of the road surface. Based on the road surface type of each of the four tires, the system identifies whether the vehicle is on a uniform road surface and obtains the identification result. Based on the correspondence between road surface type and road surface adhesion coefficient, the adhesion coefficient corresponding to each of the aforementioned road surface types is determined; Based on the identification results and the adhesion coefficient, a drive torque distribution strategy for the vehicle is determined. The identification result indicates that the road surface is uniform. The step of determining the vehicle's drive torque distribution strategy based on the identification result and the adhesion coefficient includes: Obtain the acceleration of the vehicle; Based on the acceleration and the adhesion coefficient, the adhesion utilization rate is calculated; wherein, the adhesion utilization rate is the ratio of the acceleration to the adhesion coefficient. Determine whether the adhesion utilization rate is greater than the adhesion utilization rate threshold; When the adhesion utilization rate is greater than the adhesion utilization rate threshold, the driving torque of the vehicle is allocated based on the driving performance; wherein, the driving performance allocation is based on the dynamic axle load of the vehicle to allocate the driving torque. When the adhesion utilization rate is less than or equal to the adhesion utilization rate threshold, the driving torque of the vehicle is allocated based on the overall vehicle economy; wherein, the overall vehicle economy allocation is based on the system efficiency of the vehicle to distribute the driving torque.

2. The method as described in claim 1, characterized in that, The identification result indicates that the road surface is non-uniform. The step of determining the drive torque distribution strategy for the vehicle based on the identification result and the adhesion coefficient includes: The driving torque of the vehicle is distributed based on the respective coefficients of adhesion of the four tires.

3. The method as described in claim 2, characterized in that, The method of distributing the vehicle's drive torque based on the respective coefficients of adhesion of the four tires includes: Based on the vehicle's acceleration, the dynamic axle loads of the front and rear axles of the vehicle are estimated; wherein the acceleration is the acceleration collected by the on-board acceleration sensor. Based on the dynamic axle loads of the front and rear axles and the adhesion coefficients of the four tires, the longitudinal driving force of each of the four tires is obtained. The driving torque of the vehicle is distributed according to the ratio of the longitudinal driving forces corresponding to the four tires.

4. The method as described in claim 1, characterized in that, The method of allocating the vehicle's drive torque based on drive performance includes: Based on the vehicle's acceleration, the dynamic axle loads of the front and rear axles of the vehicle are estimated; wherein the acceleration is the acceleration collected by the on-board acceleration sensor. The driving torque of the vehicle is distributed based on the ratio of the dynamic axle load of the front axle to the dynamic axle load of the rear axle.

5. The method as described in claim 1, characterized in that, The method of allocating the vehicle's drive torque based on the overall vehicle economy includes: The driving torque of the vehicle is allocated based on the principle of optimal system efficiency.

6. The method as described in claim 1, characterized in that, After determining the road surface type of each of the four tires based on the road surface visual information, the process further includes: Obtain the vehicle's satellite positioning information and weather information; Based on the satellite positioning information, weather information, and preset rules, the road surface type of each of the four tires is corrected.

7. A vehicle four-wheel drive control device, characterized in that, include: The road surface type recognition module is used to acquire visual information of the road surface where each of the four tires of the vehicle is located, and to determine the road surface type of each of the four tires based on the visual information of the road surface. The road surface uniformity identification module identifies whether the vehicle is on a uniform road surface based on the road surface type of each of the four tires, and obtains the identification result. The adhesion coefficient determination module is used to determine the adhesion coefficient corresponding to the road surface type based on the correspondence between road surface type and road surface adhesion coefficient. A drive distribution control module is used to determine the drive torque distribution strategy of the vehicle based on the identification result and the adhesion coefficient. The identification result indicates that the road surface is uniform. The step of determining the vehicle's drive torque distribution strategy based on the identification result and the adhesion coefficient includes: Obtain the acceleration of the vehicle; Based on the acceleration and the adhesion coefficient, the adhesion utilization rate is calculated; wherein, the adhesion utilization rate is the ratio of the acceleration to the adhesion coefficient. Determine whether the adhesion utilization rate is greater than the adhesion utilization rate threshold; When the adhesion utilization rate is greater than the adhesion utilization rate threshold, the driving torque of the vehicle is allocated based on the driving performance; wherein, the driving performance allocation is based on the dynamic axle load of the vehicle to allocate the driving torque. When the adhesion utilization rate is less than or equal to the adhesion utilization rate threshold, the driving torque of the vehicle is allocated based on the overall vehicle economy; wherein, the overall vehicle economy allocation is based on the system efficiency of the vehicle to distribute the driving torque.

8. A vehicle comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 6.

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