A method, system and vehicle for dynamic display and control of energy flow in vector four-wheel drive

Abstract

This invention relates to the field of vehicle control technology, providing a vector four-wheel drive energy flow dynamic display control method, system, and vehicle. The method includes: acquiring the vehicle's power status, gear position, and transmission output torque; acquiring the left rear wheel torque and right rear wheel torque when the vehicle's power status is in engine running state, the gear is in reverse or forward gear, and the transmission output torque is greater than a set value; calculating the rear axle torque ratio based on the left and right rear wheel torques, and then calculating the left rear wheel energy flow, right rear wheel energy flow, left front wheel energy flow, and right front wheel energy flow using a ratio method, and displaying these values. This method not only has the advantages of simple calculation and fewer signals involved, but also intuitively displays the ratio of torque between each wheel, allowing customers to more clearly perceive the torque changes between the axles and wheels in the vector four-wheel drive system.

Description

Technical Field

[0001] This invention belongs to the field of vehicle control technology, and in particular relates to a vector four-wheel drive energy flow dynamic display control method, system and vehicle. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] As people's living standards continue to improve, more and more people enjoy self-driving tours or off-road experiences. Sales of four-wheel drive vehicles are also rising sharply. Especially with the development of the Internet of Things, convenient human-machine interaction displays have become an important factor for users when choosing a car.

[0004] A vector four-wheel drive (VWD) system in a car typically functions primarily to distribute torque between the front axle and the left and right rear wheels. As the car moves, the torque distribution ratio of the VWD system changes in real time due to variations in throttle opening, wheel slip ratio, steering wheel angle, and lateral acceleration.

[0005] However, the current torque output display of the HMI (Human Machine Interface) only reflects the torque between the axles and cannot accurately display the torque difference between the two rear wheels, which has limitations. More importantly, the display of the torque between the axles requires the host to read signals from different controllers of the whole vehicle and perform complex calculations, which increases the network load and affects the computing power of the controller, and the calculation is distorted. Summary of the Invention

[0006] To address the technical problems mentioned above, this invention provides a vector four-wheel drive energy flow dynamic display control method, system, and vehicle. This method not only has the advantages of simple calculation and fewer signals involved, but also intuitively displays the ratio of torque between each wheel, allowing customers to more clearly perceive the torque changes between the axles and wheels in the vector four-wheel drive system. This enables customers to directly experience the intervention of the four-wheel drive system and enjoy the handling, safety, and off-road capability brought by the vector four-wheel drive configuration.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] The first aspect of the present invention provides a dynamic display and control method for vector four-wheel drive energy flow, comprising:

[0009] Obtain the vehicle's power status, gear position, and transmission output torque;

[0010] When the vehicle's power supply is in the engine running state, the gear is in reverse or forward gear, and the transmission output torque is greater than the set value, obtain the left rear wheel torque, right rear wheel torque, and single-sided front wheel torque;

[0011] Based on the left and right rear wheel torques, the rear axle torque ratio is calculated. Then, combining the left and right rear wheel torques and the torque of a single front wheel, the energy flow of the left rear wheel, right rear wheel, left front wheel, and right front wheel is calculated and displayed using a ratio method.

[0012] Furthermore, if the vehicle power supply is not in the engine running state, then the energy flow of the left rear wheel, the energy flow of the right rear wheel, the energy flow of the left front wheel, and the energy flow of the right front wheel are all 0.

[0013] Alternatively, if the gear is in park or neutral, the energy flow to the left rear wheel, right rear wheel, left front wheel, and right front wheel are all 0.

[0014] Alternatively, if the output torque of the gearbox is less than or equal to a set value, then the energy flow of the rear wheel, the energy flow of the right rear wheel, the energy flow of the left front wheel, and the energy flow of the right front wheel are all 0.

[0015] Furthermore, the energy flow of the left rear wheel, the right rear wheel, the left front wheel, and the right front wheel are all displayed as progress bars.

[0016] Furthermore, if the rear axle torque ratio is less than a threshold, then the left rear wheel energy flow is the ratio of the left rear wheel torque to the total torque, and the right rear wheel energy flow is the ratio of the right rear wheel torque to the total torque.

[0017] Furthermore, if the rear axle torque ratio is greater than the threshold, then the energy flow of the left rear wheel is the ratio of the left rear wheel torque to the sum of the left rear wheel torque and the right rear wheel torque.

[0018] Alternatively, if the rear axle torque ratio is greater than a threshold, then the right rear wheel energy flow is the ratio of the right rear wheel torque to the sum of the left and right rear wheel torques.

[0019] Furthermore, the rear axle torque ratio is the sum of the left rear wheel torque and the right rear wheel torque, and the ratio to the total torque.

[0020] A second aspect of the present invention provides a vector four-wheel drive energy flow dynamic display control system, comprising:

[0021] The data acquisition module is configured to acquire the vehicle's power status, gear position, and transmission output torque.

[0022] The condition judgment module is configured to: when the vehicle power is in the engine running state, the gear is in reverse or forward gear, and the transmission output torque is greater than a set value, obtain the left rear wheel torque, right rear wheel torque, and single-sided front wheel torque.

[0023] The display module is configured to: calculate the rear axle torque ratio based on the left rear wheel torque and the right rear wheel torque, and then, in combination with the left rear wheel torque, the right rear wheel torque and the torque of the single front wheel, calculate the energy flow of the left rear wheel, the energy flow of the right rear wheel, the energy flow of the left front wheel and the energy flow of the right front wheel using a ratio method, and display the energy flow.

[0024] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vector four-wheel drive energy flow dynamic display control method described above.

[0025] A fourth aspect of the present invention provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the vector four-wheel drive energy flow dynamic display control method described above.

[0026] A fifth aspect of the present invention provides a vehicle utilizing a vector four-wheel drive energy flow dynamic display control method as described in the first aspect; or, including a vector four-wheel drive energy flow dynamic display control system as described in the second aspect; or, including a computer-readable storage medium as described in the third aspect; or, including a computer device as described in the fourth aspect.

[0027] Compared with the prior art, the beneficial effects of the present invention are:

[0028] This invention optimizes the signal by using the left rear wheel torque, right rear wheel torque, and single-sided front wheel torque directly output by the four-wheel drive torque manager, which has the advantages of simple calculation and fewer signals involved.

[0029] This invention directly acquires the torque signals of each wheel from the vector four-wheel drive torque manager on the CAN bus via a host or large screen. Using a ratio method, it obtains the energy flow of the left rear wheel, right rear wheel, left front wheel, and right front wheel. It can intuitively display the ratio of torque between each wheel and show it through an energy bar, directly and clearly feeding back the working status of the vector four-wheel drive to the user. This allows customers to more clearly feel the torque changes between the axles and wheels of the vector four-wheel drive, intuitively feel the intervention of the four-wheel drive, and experience the handling, safety, and off-road capability brought by the vector four-wheel drive configuration. Attached Figure Description

[0030] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0031] Figure 1This is a flowchart of a vector four-wheel drive energy flow dynamic display and control method according to Embodiment 1 of the present invention;

[0032] Figure 2 This is a schematic diagram of the stepless display of torque for each wheel in Embodiment 1 of the present invention. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0034] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0035] Example 1

[0036] This embodiment provides a dynamic display and control method for vector four-wheel drive energy flow.

[0037] The four-wheel drive system dynamically distributes torque to the left and right rear wheels in real time according to different working conditions. The torque output ratio is displayed in real time through the HMI interface, allowing customers to intuitively feel the working status of the four-wheel drive and experience the traction and handling capabilities brought by the four-wheel drive. Through the display of the torque energy flow of the vector four-wheel drive, users can intuitively feel the working status of the vector four-wheel drive and experience the superior handling, safety and off-road capability brought by the vector four-wheel drive configuration, which significantly improves the customer's perception experience.

[0038] This embodiment provides a dynamic display and control method for vector four-wheel drive energy flow. It directly acquires the torque signals of each wheel from the vector four-wheel drive torque manager on the CAN bus via a host or large screen. Using a ratio method, it obtains the energy flow of the left rear wheel, right rear wheel, left front wheel, and right front wheel, intuitively displaying the ratio of torque between each wheel and showing it through an energy bar. The signal optimization utilizes the left rear wheel torque, right rear wheel torque, and single-sided front wheel torque directly output by the four-wheel drive torque manager, offering advantages such as simple calculation and fewer involved signals. Furthermore, it directly and clearly feeds back the vector four-wheel drive operating status to the user, allowing customers to more clearly perceive the torque changes between the axles and wheels of the vector four-wheel drive, intuitively experiencing the intervention of the four-wheel drive and enjoying the handling, safety, and off-road capability brought by the vector four-wheel drive configuration.

[0039] This embodiment provides a dynamic display and control method for vector four-wheel drive energy flow, such as... Figure 1 As shown, it includes the following steps:

[0040] Step 1: The instrument panel or main unit screen obtains the torque signals of each wheel of the vector four-wheel drive torque manager from the CAN bus in real time (including the torque of the left rear wheel EstimatedCouplingTorqLef, the torque of the right rear wheel EstimatedCouplingTorqRight, and the torque of the single front wheel EstimatedTorqFrntAxle).

[0041] All signals (including the left rear wheel torque EstimatedCouplingTorqLef, the right rear wheel torque EstimatedCouplingTorqRight, and the single-sided front wheel torque EstimatedTorqFrntAxle) are output by the torque manager.

[0042] Among them, the left rear wheel torque of EstimatedCouplingTorqLef and the right rear wheel torque of EstimatedCouplingTorqRight are obtained by querying the Map based on the clutch speed difference, temperature, and position.

[0043] Step 2: Determine the vehicle's power status. If the vehicle's power status is ACC (power supply to some electrical appliances in the vehicle), ON (power supply to all electrical appliances in the vehicle), or Crank (engine ignition status), then the percentage of the left rear wheel (energy flow to the left rear wheel) and the percentage of the right rear wheel (energy flow to the right rear wheel) are both 0%, and the percentage of the left front wheel (energy flow to the left front wheel) and the percentage of the right front wheel (energy flow to the right front wheel) are both 0%. If the vehicle's power status is Running (engine running status), proceed to Step 3.

[0044] That is, the prerequisite is that the vehicle power supply is in ACC, ON, or Crank; the trigger condition is NA (none); the drive output is executed with the percentage of the left rear / right rear wheels both at 0% and the percentage of the left front / right front wheels both at 0%.

[0045] Step 3: Determine the gear position. If the gear is in P (Park) or N (Neutral), the percentage of energy flow to the left rear wheel and the right rear wheel are both 0%, and the percentage of energy flow to the left front wheel and the right front wheel are both 0%. If the gear is in R (Reverse) or D (Drive), proceed to step 4.

[0046] That is, the prerequisite is that the vehicle's power status is Running, in P or N gear; the trigger condition is NA; the drive output is executed as follows: a. the percentage of the left rear / right rear wheels is 0%, and the percentage of the left front / right front wheels is 0%.

[0047] Step 4: Determine if the transmission output torque (DCTTqOut) is greater than the set value of 0. If yes, proceed to step 5; otherwise, the percentage of the left rear wheel (energy flow of the left rear wheel) and the percentage of the right rear wheel (energy flow of the right rear wheel) are both 0%, and the percentage of the left front wheel (energy flow of the left front wheel) and the percentage of the right front wheel (energy flow of the right front wheel) are both 0%.

[0048] That is, the prerequisite is that the vehicle's power status is Running, in R or D gear; the trigger condition is that DCTTqOut <= 0; the drive output is executed when the percentage of the left rear / right rear wheels is 0% and the percentage of the left front / right front wheels is 0%.

[0049] Step 5: Based on the left rear wheel torque EstimatedCouplingTorqLef and the right rear wheel torque EstimatedCouplingTorqRight, calculate the rear axle torque percentage. Determine if the rear axle torque percentage is greater than the threshold (50%). If yes, proceed to Step 6; otherwise, execute Definition 2: the left rear wheel percentage is EstimatedCouplingTorqLef / DCTTqOut, the right rear wheel percentage is EstimatedCouplingTorqRight / DCTTqOut, and the percentages of the left front / right front wheels (i.e., single-sided front wheels) are both EstimatedTorqFrntAxle = (DCTTqOut - EstimatedCouplingTorqLef - EstimatedCouplingTorqRight) * 50% / DCTTqOut. That is, subtract the left and right rear wheel torques from the total torque to obtain the front axle torque, then multiply by 50% to obtain the single-sided front wheel torque, and then divide by the total torque to obtain the single-sided front wheel torque.

[0050] Wherein, the rear axle torque ratio = (EstimatedCouplingTorqLef + EstimatedCouplingTorqRight) / DCTTqOut.

[0051] That is, prerequisites: the vehicle's power supply is in Running, R gear or D gear; trigger conditions: DCTTqOut>0, 0<=(EstimatedCouplingTorqLef+EstimatedCouplingTorqRight) / DCTTqOut<=50%; execute drive output:

[0052] The percentage of the left rear wheel is Estimated CouplingTorqLef / DCTTqOut;

[0053] The percentage of the right rear wheel is Estimated CouplingTorqRight / DCTTqOut;

[0054] The percentage of the left front / right front wheel (i.e., one front wheel) is EstimatedTorqFrntAxle = (DCTTqOut - EstimatedCouplingTorqLef - EstimatedCouplingTorqRight) * 50% / DCTTqOut.

[0055] Where DCTTqOut is the output torque of the gearbox.

[0056] Step 6 (Definition 3): The percentage of the left front / right front wheel (i.e., one front wheel) is EstimatedTorqFrntAxle = 25%; the percentage of the left rear wheel is EstimatedCouplingTorqLef / (EstimatedCouplingTorqLef+EstimatedCouplingTorqRight)*50%; and the percentage of the right rear wheel is EstimatedCouplingTorqRight / (EstimatedCouplingTorqLef+EstimatedCouplingTorqRight)*50%.

[0057] That is, prerequisites: the vehicle's power supply is in Running, R or D gear; triggering conditions: DCTTqOut>0, (EstimatedCouplingTorqLef+EstimatedCouplingTorqRight) / DCTTqOut>50%; execution drive output:

[0058] The percentage of the left front wheel / right front wheel (i.e., one front wheel) is EstimatedTorqFrntAxle = 25%;

[0059] The percentage of the left rear wheel is EstimatedCouplingTorqLef / (EstimatedCouplingTorqLef+EstimatedCouplingTorqRight)*50%;

[0060] The percentage of the right rear wheel is EstimatedCouplingTorqRight / (EstimatedCouplingTorqLef+EstimatedCouplingTorqRight)*50%.

[0061] Step 7: Display the calculated percentages of the left front wheel, right front wheel, left rear wheel, and right rear wheel as progress bars on the instrument panel or main unit screen.

[0062] This embodiment provides a dynamic display and control method for vector four-wheel drive energy flow. The instrument panel or main unit screen obtains the real-time inter-wheel torque from the vector four-wheel drive torque manager on the CAN bus. Based on the single-side front wheel torque of EstimatedTorqFrntAxle, the energy flow of the left / right front wheels is displayed; based on the left / right rear wheel torque of EstimatedCouplingTorqLef and EstimatedCouplingTorqRight, the energy flow of the left / right rear wheels is displayed. All signals are calculated and output by the torque manager, where the left / right rear wheel torque of EstimatedCouplingTorqLef and the right / right rear wheel torque of EstimatedCouplingTorqRight are obtained from the clutch speed difference, temperature, and position query map.

[0063] For example, the total torque is 2000 Nm, the left rear wheel torque is 600 Nm, and the right rear wheel torque is 400 Nm. However, this does not mean that the torque manager of this invention can only send signals of different values ​​for the inter-wheel torque according to the needs of the whole vehicle, and the torque is dynamically displayed.

[0064] The calculation formula is as follows:

[0065] Torque ratio of a single front wheel: (2000Nm-600Nm-400Nm) / 2000Nm=25%;

[0066] Left rear wheel torque ratio: 600Nm / 2000Nm = 30%;

[0067] Right rear wheel torque ratio: 400Nm / 2000Nm = 20%.

[0068] like Figure 2 As shown, the instrument panel or main unit screen receives real-time inter-wheel torque signal values ​​from the four-wheel drive torque manager. After simple calculation, the torque ratio of the four wheels is displayed as a progress bar with infinitely adjustable length, without showing a specific percentage. This solves the problem that the calculated values ​​may sum to more than 100%.

[0069] Example 2

[0070] This embodiment provides a vector four-wheel drive energy flow dynamic display control system, which specifically includes:

[0071] The data acquisition module is configured to acquire the vehicle's power status, gear position, and transmission output torque.

[0072] The condition judgment module is configured to: when the vehicle power is in the engine running state, the gear is in reverse or forward gear, and the transmission output torque is greater than a set value, obtain the left rear wheel torque, right rear wheel torque, and single-sided front wheel torque.

[0073] The display module is configured to: calculate the rear axle torque ratio based on the left rear wheel torque and the right rear wheel torque, and then, in combination with the left rear wheel torque, the right rear wheel torque and the torque of the single front wheel, calculate the energy flow of the left rear wheel, the energy flow of the right rear wheel, the energy flow of the left front wheel and the energy flow of the right front wheel using a ratio method, and display the energy flow.

[0074] It should be noted that each module in this embodiment corresponds one-to-one with each step in Embodiment 1, and their specific implementation processes are the same, so they will not be repeated here.

[0075] Example 3

[0076] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of a vector four-wheel drive energy flow dynamic display control method as described in Embodiment 1 above.

[0077] Example 4

[0078] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps in the vector four-wheel drive energy flow dynamic display control method described in Embodiment 1 above.

[0079] Example 5

[0080] This embodiment provides a vehicle that utilizes a vector four-wheel drive energy flow dynamic display control method as described in Embodiment 1 above; or, includes a vector four-wheel drive energy flow dynamic display control system as described in Embodiment 2 above; or, includes a computer-readable storage medium as described in Embodiment 3 above; or, includes a computer device as described in Embodiment 4 above.

[0081] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0082] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0083] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0084] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0085] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0086] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A dynamic display and control method for vector four-wheel drive energy flow, characterized in that, include: Obtain the vehicle's power status, gear position, and transmission output torque; When the vehicle's power supply is in the engine running state, the gear is in reverse or forward gear, and the transmission output torque is greater than the set value, obtain the left rear wheel torque, right rear wheel torque, and single-sided front wheel torque; Based on the left and right rear wheel torques, the rear axle torque ratio is calculated. Then, combining the left and right rear wheel torques and the torque of a single front wheel, the energy flow of the left rear wheel, right rear wheel, left front wheel, and right front wheel is calculated and displayed using a ratio method. If the rear axle torque ratio is less than the threshold, then the energy flow of the left rear wheel is the ratio of the left rear wheel torque to the total torque, and the energy flow of the right rear wheel is the ratio of the right rear wheel torque to the total torque. If the rear axle torque ratio is greater than the threshold, then the energy flow of the left rear wheel is the ratio of the left rear wheel torque to the sum of the left rear wheel torque and the right rear wheel torque; if the rear axle torque ratio is greater than the threshold, then the energy flow of the right rear wheel is the ratio of the right rear wheel torque to the sum of the left rear wheel torque and the right rear wheel torque. The rear axle torque ratio is the sum of the left and right rear wheel torques, and the ratio to the total torque.

2. The vector four-wheel drive energy flow dynamic display and control method as described in claim 1, characterized in that, If the vehicle's power supply is not in the engine running state, then the energy flow of the left rear wheel, right rear wheel, left front wheel, and right front wheel are all 0. Alternatively, if the gear is in park or neutral, the energy flow to the left rear wheel, right rear wheel, left front wheel, and right front wheel are all 0. Alternatively, if the output torque of the gearbox is less than or equal to a set value, then the energy flow of the rear wheel, the energy flow of the right rear wheel, the energy flow of the left front wheel, and the energy flow of the right front wheel are all 0.

3. The vector four-wheel drive energy flow dynamic display and control method as described in claim 1, characterized in that, The energy flow of the left rear wheel, right rear wheel, left front wheel, and right front wheel are all displayed as progress bars.

4. A vector four-wheel drive energy flow dynamic display control system, characterized in that, include: The data acquisition module is configured to acquire the vehicle's power status, gear position, and transmission output torque. The condition judgment module is configured to: when the vehicle power is in the engine running state, the gear is in reverse or forward gear, and the transmission output torque is greater than a set value, obtain the left rear wheel torque, right rear wheel torque, and single-sided front wheel torque. The display module is configured to: calculate the rear axle torque ratio based on the left rear wheel torque and the right rear wheel torque, and then, in combination with the left rear wheel torque, the right rear wheel torque and the torque of the single-sided front wheel, calculate the energy flow of the left rear wheel, the energy flow of the right rear wheel, the energy flow of the left front wheel and the energy flow of the right front wheel respectively using the ratio method, and display them; If the rear axle torque ratio is less than the threshold, then the energy flow of the left rear wheel is the ratio of the left rear wheel torque to the total torque, and the energy flow of the right rear wheel is the ratio of the right rear wheel torque to the total torque. If the rear axle torque ratio is greater than the threshold, then the energy flow of the left rear wheel is the ratio of the left rear wheel torque to the sum of the left rear wheel torque and the right rear wheel torque; if the rear axle torque ratio is greater than the threshold, then the energy flow of the right rear wheel is the ratio of the right rear wheel torque to the sum of the left rear wheel torque and the right rear wheel torque. The rear axle torque ratio is the sum of the left and right rear wheel torques, and the ratio to the total torque.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps in the vector four-wheel drive energy flow dynamic display control method as described in any one of claims 1-3.

6. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps in the vector four-wheel drive energy flow dynamic display control method as described in any one of claims 1-3.

7. A vehicle, characterized in that: The vector four-wheel drive energy flow dynamic display control method as described in any one of claims 1-3 is used.

8. A vehicle, characterized in that: The present invention includes a vector four-wheel drive energy flow dynamic display control system as described in claim 4.

9. A vehicle, characterized in that: Includes a computer-readable storage medium as described in claim 5.

10. A vehicle, characterized in that: Includes the computer device described in claim 6.

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