Vehicle driving mode switching control method, device, and computer program product

Abstract

The present invention discloses a vehicle drive mode switching control method, device, and computer program product. The method includes: obtaining the initial drive mode and initial operating data of the target vehicle at the current driving moment; calculating the difference between the two wheel speeds on either side to obtain a first speed difference and a second speed difference; comparing the first speed difference with a preset threshold, and comparing the second speed difference with a preset threshold to obtain a first comparison result, wherein the first comparison result is used to determine the road condition on which the target vehicle is traveling; determining the target drive mode of the target vehicle based on at least the first comparison result; and controlling the target vehicle to switch from the initial drive mode to the target drive mode. The present invention solves the technical problems that the vehicle drive mode switching method provided by the prior art has poor adaptability to different road conditions and is difficult to take into account the safety, power, and fuel economy requirements of the entire vehicle.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle drive mode switching control method, device, and computer program product. Background Art

[0002] Vehicles using a through-axle part-time drive system can connect and disconnect the power train through the shift actuators on the center and rear axles. When both the center and rear axle shift actuators are disconnected, the vehicle's drive mode is a 6×2 drive mode. In this 6×2 drive mode, the vehicle's fuel economy is good, but its overall power and safety are poor. When both the center and rear axle shift actuators are engaged, the vehicle's drive mode is a 6×4 drive mode. In this 6×4 drive mode, the vehicle's overall power performance is good, but its fuel consumption is high. Currently, existing technologies do not determine which drive mode to use based on the different road conditions the vehicle is traveling on. This results in poor adaptability of the vehicle's drive mode to different road conditions, making it difficult to balance the vehicle's power, safety, and fuel economy requirements under different road conditions.

[0003] From the above analysis, it can be seen that there is currently no effective solution to the problem that the vehicle drive mode switching method provided by the above-mentioned existing technology has poor adaptability to different road conditions and is difficult to take into account the safety, power and fuel economy requirements of the entire vehicle. Summary of the Invention

[0004] Embodiments of the present invention provide a vehicle drive mode switching control method, device, and computer program product to at least address the technical problems of the vehicle drive mode switching method provided by the prior art, such as poor adaptability to different road conditions and difficulty in balancing the safety, power, and fuel economy requirements of the vehicle.

[0005] According to one aspect of an embodiment of the present invention, a vehicle driving mode switching control method is provided, comprising:

[0006] Obtaining an initial driving mode and initial operating data of the target vehicle at the current driving moment, wherein the initial operating data includes at least a plurality of wheel speeds, with different wheels located on different sides of the target vehicle or different wheels driven by drive axles at different positions on the target vehicle; calculating the difference between the speeds of two wheels on either side to obtain a first speed difference and a second speed difference, wherein the first speed difference is the speed difference between the two wheels located on one side of the target vehicle, and the second speed difference is the speed difference between the two wheels located on the other side of the target vehicle; comparing the first speed difference with a preset threshold, and comparing the second speed difference with the preset threshold to obtain a first comparison result, wherein the first comparison result is used to determine the road condition on which the target vehicle is traveling; determining a target driving mode of the target vehicle at least based on the first comparison result; and controlling the target vehicle to switch from the initial driving mode to the target driving mode.

[0007] Optionally, the multiple wheel speeds include a first speed, a second speed, a third speed and a fourth speed, wherein the first speed is the wheel speed located on one side of the target vehicle and driven by the center axle, the second speed is the wheel speed located on one side of the target vehicle and driven by the rear axle, the third speed is the wheel speed located on the other side of the target vehicle and driven by the center axle, and the fourth speed is the wheel speed located on the other side of the target vehicle and driven by the rear axle.

[0008] Optionally, calculating the difference between the two wheel speeds on either side to obtain a first speed difference and a second speed difference includes: calculating the difference between the first speed and the second speed to obtain a first speed difference; and calculating the difference between the third speed and the fourth speed to obtain a second speed difference.

[0009] Optionally, the preset threshold includes a first threshold, and the above-mentioned vehicle driving mode switching control method also includes: in response to satisfying the first condition, controlling the target vehicle to maintain the first driving mode, wherein the first condition includes: the first comparison result determines that the first speed difference and the second speed difference are both less than or equal to the first threshold, and the initial driving mode is the first driving mode.

[0010] Optionally, the preset threshold also includes a second threshold, and the second threshold is greater than the first threshold. The above-mentioned vehicle drive mode switching control method also includes: in response to satisfying the second condition, controlling the mid-bridge shift actuator of the target vehicle to engage, and comparing the first speed difference with the second threshold, and comparing the second speed difference with the second threshold to obtain a second comparison result, wherein the second condition includes: the first comparison result determines that any one of the speed differences is greater than the first threshold and the initial drive mode is the first drive mode; in response to determining based on the second comparison result that at least one speed difference is greater than or equal to the second threshold, determining that the road condition is a low adhesion road condition.

[0011] Optionally, determining the target driving mode of the target vehicle at least based on the first comparison result includes: in response to the road condition being a low adhesion road condition, determining the target driving mode to be a second driving mode, wherein the number of driving wheels of the target vehicle in the second driving mode is greater than the number of driving wheels of the target vehicle in the first driving mode.

[0012] Optionally, the operating data also includes engine torque, and controlling the target vehicle to switch from the initial driving mode to the target driving mode includes: controlling the engine of the target vehicle to reduce the torque; in response to the engine torque being adjusted to the target value, controlling the rear axle shift actuator of the target vehicle to engage to switch the target vehicle from the first driving mode to the second driving mode.

[0013] Optionally, the vehicle driving mode switching control method further includes: in response to the engine torque not reaching the target value, controlling the target vehicle to maintain the first driving mode.

[0014] Optionally, the preset threshold also includes a third threshold, and the third threshold is smaller than the first threshold. The vehicle drive mode switching control method also includes: in response to satisfying the third condition, comparing the first speed difference with the third threshold, and comparing the second speed difference with the third threshold to obtain a third comparison result, wherein the third condition includes: the second comparison result determines that the first speed difference and the second speed difference are both smaller than the second threshold, and the initial drive mode is the first drive mode.

[0015] Optionally, the vehicle driving mode switching control method further includes: in response to determining as a result of the third comparison that both speed differences are less than or equal to a third threshold, controlling the intermediate bridge shift actuator to be disconnected so that the target vehicle maintains the first driving mode.

[0016] Optionally, the above-mentioned vehicle driving mode switching control method also includes: in response to the third comparison result, determining that any speed difference is greater than a third threshold, collecting the driving mode and operating data of the target vehicle at the next driving moment, so as to control the target vehicle to switch the driving mode according to the driving mode and operating data.

[0017] According to another aspect of an embodiment of the present invention, a vehicle driving mode switching control device is provided, comprising:

[0018] An acquisition module is used to obtain the initial driving mode and initial operating data of the target vehicle at the current driving moment, wherein the initial operating data includes at least multiple wheel speeds, different wheels are located on different sides of the target vehicle or different wheels are driven by drive axles at different positions on the target vehicle; a calculation module is used to calculate the difference between the speeds of two wheels on any one side to obtain a first speed difference and a second speed difference, wherein the first speed difference is the speed difference between the two wheels located on one side of the target vehicle, and the second speed difference is the speed difference between the two wheels located on the other side of the target vehicle; a first comparison module is used to compare the first speed difference with a preset threshold, and to compare the second speed difference with the preset threshold to obtain a first comparison result, wherein the first comparison result is used to determine the road condition on which the target vehicle is traveling; a first determination module is used to determine the target driving mode of the target vehicle based on at least the first comparison result; and a first control module is used to control the target vehicle to switch from the initial driving mode to the target driving mode.

[0019] Optionally, the above-mentioned vehicle drive mode switching control device is also used for: multiple wheel speeds include a first speed, a second speed, a third speed and a fourth speed, wherein the first speed is the wheel speed located on one side of the target vehicle and driven by the middle axle, the second speed is the wheel speed located on one side of the target vehicle and driven by the rear axle, the third speed is the wheel speed located on the other side of the target vehicle and driven by the middle axle, and the fourth speed is the wheel speed located on the other side of the target vehicle and driven by the rear axle.

[0020] Optionally, the calculation module is further configured to: calculate the difference between the first speed and the second speed to obtain a first speed difference; and calculate the difference between the third speed and the fourth speed to obtain a second speed difference.

[0021] Optionally, the preset threshold includes a first threshold, and the above-mentioned first determination module is also used to: control the target vehicle to maintain the first driving mode in response to satisfying the first condition, wherein the first condition includes: the first comparison result determines that the first speed difference and the second speed difference are both less than or equal to the first threshold, and the initial driving mode is the first driving mode.

[0022] Optionally, the preset threshold also includes a second threshold, and the second threshold is greater than the first threshold. The above-mentioned vehicle drive mode switching control device also includes: a second determination module, which is used to control the mid-bridge shift actuator of the target vehicle to engage in response to satisfying the second condition, and compare the first speed difference with the second threshold, and compare the second speed difference with the second threshold to obtain a second comparison result, wherein the second condition includes: the first comparison result determines that any one of the speed differences is greater than the first threshold and the initial drive mode is the first drive mode; in response to determining that at least one speed difference is greater than or equal to the second threshold based on the second comparison result, the road condition is determined to be a low adhesion road condition.

[0023] Optionally, the above-mentioned first determination module is also used to: in response to the road condition being a low-adhesion road condition, determine that the target driving mode is a second driving mode, wherein the number of driving wheels of the target vehicle in the second driving mode is greater than the number of driving wheels of the target vehicle in the first driving mode.

[0024] Optionally, the operating data also includes the engine, and the above-mentioned first control module is also used to: control the engine of the target vehicle to reduce the torque; in response to the engine torque being adjusted to the target value, control the rear axle shift actuator of the target vehicle to engage to switch the target vehicle from the first driving mode to the second driving mode.

[0025] Optionally, the vehicle driving mode switching control device further includes: a second control module, configured to control the target vehicle to maintain the first driving mode in response to the engine torque failing to reach the target value.

[0026] Optionally, the preset threshold also includes a third threshold, the third threshold is less than the first threshold, and the vehicle drive mode switching control device also includes: a second comparison module, used to compare the first speed difference with the third threshold in response to satisfying the third condition, and compare the second speed difference with the third threshold to obtain a third comparison result, wherein the third condition includes: the second comparison result determines that the first speed difference and the second speed difference are both less than the second threshold, and the initial drive mode is the first drive mode.

[0027] Optionally, the above-mentioned vehicle driving mode switching control device also includes: a third control module, which is used to control the mid-bridge shift actuator to disconnect in response to the third comparison result to determine that the two speed differences are both less than or equal to a third threshold, so that the target vehicle maintains the first driving mode.

[0028] Optionally, the above-mentioned vehicle driving mode switching control device also includes: a loop module, which is used to determine that any speed difference is greater than a third threshold in response to the third comparison result, and collect the driving mode and operating data of the target vehicle at the next driving moment to control the target vehicle to switch the driving mode according to the driving mode and operating data.

[0029] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the computer program implements any one of the aforementioned vehicle driving mode switching control methods.

[0030] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is also provided, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute any one of the aforementioned vehicle drive mode switching control methods.

[0031] According to another aspect of an embodiment of the present invention, a vehicle is also provided, comprising an on-board memory and an on-board processor, wherein a computer program is stored in the on-board memory, and the on-board processor is configured to run the computer program to execute any one of the aforementioned vehicle drive mode switching control methods.

[0032] In an embodiment of the present invention, the initial driving mode and initial operating data of the target vehicle at the current driving moment are first obtained, wherein the initial operating data includes at least a plurality of wheel speeds, different wheels are located on different sides of the target vehicle or different wheels are driven by drive axles at different positions on the target vehicle, then, the difference between the two wheel speeds on any one side is calculated to obtain a first speed difference and a second speed difference, wherein the first speed difference is the speed difference between the two wheels located on one side of the target vehicle, and the first speed difference is the speed difference between the two wheels located on the other side of the target vehicle, further, the first speed difference is compared with a preset threshold, and the second speed difference is compared with the preset threshold to obtain a first comparison result, wherein the first comparison result is used to determine the road condition on which the target vehicle is traveling, and then the target driving mode of the target vehicle is determined at least based on the first comparison result, and finally the target vehicle is controlled to switch from the initial driving mode to the target driving mode.

[0033] It is easy to understand that the above-mentioned embodiment of the present invention judges the road condition of the target vehicle according to the difference in the speed of the driving wheels of different driving axles on the same side of the target vehicle, so as to switch the driving mode of the target vehicle under different road conditions, thereby achieving the purpose of improving the adaptability of the driving mode switching control method to different road conditions (especially low-adhesion road conditions such as ice and snow), thereby achieving the technical effect of improving the comprehensive driving performance of the target vehicle under different road conditions, and further solving the technical problems that the vehicle driving mode switching method provided by the prior art has poor adaptability to different road conditions and is difficult to take into account the safety, power and fuel economy requirements of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0035] Figure 1 is a hardware structure block diagram of a vehicle terminal for an optional vehicle driving mode switching control method according to an embodiment of the present invention;

[0036] Figure 2 is a flow chart of a vehicle driving mode switching control method according to an embodiment of the present invention;

[0037] Figure 3is a schematic diagram of a vehicle driving mode switching control process according to an embodiment of the present invention;

[0038] Figure 4 4 is a structural block diagram of a vehicle driving mode switching control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0040] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0041] According to an embodiment of the present invention, a method embodiment of a vehicle drive mode switching control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0042] Figure 1 is a hardware structure block diagram of a vehicle terminal for an optional vehicle driving mode switching control method according to an embodiment of the present invention, such as Figure 1As shown, the vehicle terminal 10 (or mobile device 10) may include one or more processors 102 (the processor 102 may include but is not limited to a processing device such as a microcontroller unit (MCU) or a programmable logic device (Field Programmable Gate Array, FPGA)), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may also include: a display device 110, an input / output device 108 (i.e., an I / O device), a universal serial bus (USB) port (which may be included as one of the ports of a computer bus, not shown in the figure), a network interface (not shown in the figure), a power supply (not shown in the figure) and / or a camera (not shown in the figure). It will be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the vehicle terminal 10. For example, the vehicle terminal 10 may also include Figure 1 More or fewer components than shown, or with Figure 1 Different configurations shown.

[0043] It should be noted that the one or more processors 102 and / or other data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuit may be a single independent processing module, or may be fully or partially integrated into any of the other components in the vehicle terminal 10 (or mobile device).

[0044] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the vehicle drive mode switching control method in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, implementing the above-mentioned vehicle drive mode switching control method. The memory 104 may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely located relative to the processor 102, and these remote memories may be connected to the vehicle terminal 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0045] The transmission device 106 is used to receive or transmit data via a network. A specific example of the aforementioned network may include a wireless network provided by the communications provider of the vehicle terminal 10. In one embodiment, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0046] Under the above operating environment, the embodiment of the present invention provides the following Figure 2 The vehicle driving mode switching control method shown, Figure 2 FIG. 1 is a flow chart of a vehicle driving mode switching control method according to an embodiment of the present invention. Figure 2 As shown, the method includes the following implementation steps:

[0047] Step S201, obtaining an initial driving mode and initial operating data of a target vehicle at a current driving moment, wherein the initial operating data includes at least a plurality of wheel speeds, where different wheels are located on different sides of the target vehicle or are driven by drive axles at different locations on the target vehicle;

[0048] Step S202, calculating the difference between the speeds of the two wheels on either side to obtain a first speed difference and a second speed difference, wherein the first speed difference is the speed difference between the two wheels on one side of the target vehicle, and the second speed difference is the speed difference between the two wheels on the other side of the target vehicle;

[0049] Step S203, comparing the first speed difference with a preset threshold, and comparing the second speed difference with a preset threshold, to obtain a first comparison result, wherein the first comparison result is used to determine the road condition on which the target vehicle is traveling;

[0050] Step S204, determining a target driving mode of the target vehicle based at least on the first comparison result;

[0051] Step S205 , controlling the target vehicle to switch from the initial driving mode to the target driving mode.

[0052] In the present invention, the target vehicle can be a truck with 6 wheels, and its driving mode can include a 6×2 driving mode and a 6×4 driving mode. When the driving mode of the target vehicle is the 6×2 driving mode, two of its rear wheels are driving wheels, and when the driving mode of the target vehicle is the 6×4 driving mode, all four of its rear wheels are driving wheels.

[0053] By judging the speed difference between the center axle drive wheels and the rear axle drive wheels on either side of the target vehicle, the current road condition of the target vehicle can be accurately identified, especially whether the target vehicle is in a low-adhesion road condition such as an icy or snowy road. Furthermore, based on the determined road condition and the initial driving mode of the target vehicle, the target vehicle is switched to a suitable target driving mode so that the driving mode of the target vehicle can adapt to different road conditions, thereby meeting the requirements of vehicle power, safety and fuel economy when the target vehicle is in different road conditions.

[0054] In an embodiment of the present invention, the initial driving mode and initial operating data of the target vehicle at the current driving moment are first obtained, wherein the initial operating data includes at least a plurality of wheel speeds, different wheels are located on different sides of the target vehicle or different wheels are driven by drive axles at different positions on the target vehicle, then, the difference between the two wheel speeds on any one side is calculated to obtain a first speed difference and a second speed difference, wherein the first speed difference is the speed difference between the two wheels located on one side of the target vehicle, and the first speed difference is the speed difference between the two wheels located on the other side of the target vehicle, further, the first speed difference is compared with a preset threshold, and the second speed difference is compared with the preset threshold to obtain a first comparison result, wherein the first comparison result is used to determine the road condition on which the target vehicle is traveling, and then the target driving mode of the target vehicle is determined at least based on the first comparison result, and finally the target vehicle is controlled to switch from the initial driving mode to the target driving mode.

[0055] It is easy to understand that the above-mentioned embodiment of the present invention judges the road condition of the target vehicle according to the difference in the speed of the driving wheels of different driving axles on the same side of the target vehicle, so as to switch the driving mode of the target vehicle under different road conditions, thereby achieving the purpose of improving the adaptability of the driving mode switching control method to different road conditions (especially low-adhesion road conditions such as ice and snow), thereby achieving the technical effect of improving the comprehensive driving performance of the target vehicle under different road conditions, and further solving the technical problems that the vehicle driving mode switching method provided by the prior art has poor adaptability to different road conditions and is difficult to take into account the safety, power and fuel economy requirements of the vehicle.

[0056] The above method of the embodiment of the present invention is further introduced below.

[0057] In an optional embodiment, the multiple wheel speeds include a first speed, a second speed, a third speed, and a fourth speed, wherein the first speed is the wheel speed located on one side of the target vehicle and driven by the center axle, the second speed is the wheel speed located on one side of the target vehicle and driven by the rear axle, the third speed is the wheel speed located on the other side of the target vehicle and driven by the center axle, and the fourth speed is the wheel speed located on the other side of the target vehicle and driven by the rear axle.

[0058] In the present invention, the controller of the through-bridge time-sharing drive system can first obtain the current multiple wheel speeds of the target vehicle, and the multiple wheel speeds can include: the speed of the wheel located on the left side of the target vehicle and driven by the middle bridge of the through-bridge (first speed), the speed of the wheel located on the left side of the target vehicle and driven by the rear axle of the through-bridge (second speed), the speed of the wheel located on the right side of the target vehicle and driven by the middle bridge of the through-bridge (third speed), and the speed of the wheel located on the right side of the target vehicle and driven by the rear axle of the through-bridge (fourth speed).

[0059] In an optional embodiment, in step S202, calculating the difference between the speeds of two wheels on either side to obtain the first speed difference and the second speed difference includes:

[0060] Step S221, calculating the difference between the first speed and the second speed to obtain a first speed difference;

[0061] Step S222: Calculate the difference between the third speed and the fourth speed to obtain a second speed difference.

[0062] After the controller of the through-bridge time-sharing drive system obtains the speeds of multiple wheels, it calculates the difference between the speeds of the middle axle drive wheels and the speeds of the rear axle drive wheels on each side of the target vehicle to obtain a first speed difference (the speed difference of the left wheel of the target vehicle) and a second speed difference (the speed difference of the right wheel of the target vehicle).

[0063] In an optional embodiment, the preset threshold includes a first threshold, and the vehicle driving mode switching control method further includes:

[0064] Step S206 , in response to satisfying a first condition, controlling the target vehicle to maintain the first driving mode, wherein the first condition includes: a first comparison result determines that the first speed difference and the second speed difference are both less than or equal to a first threshold, and the initial driving mode is the first driving mode.

[0065] The following combination Figure 3 The above method is further explained.

[0066] like Figure 3 As shown, as an optional embodiment, the preset thresholds of the wheel speed may include 60rpm (first threshold), 120rpm (second threshold) and 30rpm (third threshold). After the controller calculates the first speed difference and the second speed difference, the two speed differences are first compared with the first threshold respectively. When the controller determines that the first speed difference and the second speed difference are both less than or equal to the first threshold, and when the initial driving mode of the target vehicle obtained by the controller is the 6×2 driving mode, the target vehicle is kept in the 6×2 driving mode.

[0067] In an optional embodiment, the preset threshold further includes a second threshold, and the second threshold is greater than the first threshold. The vehicle driving mode switching control method further includes:

[0068] Step S271: In response to the second condition being met, controlling the mid-axle shift actuator of the target vehicle to engage, and comparing the first speed difference with the second threshold, and comparing the second speed difference with the second threshold, to obtain a second comparison result, wherein the second condition includes: the first comparison result determines that any one of the speed differences is greater than the first threshold, and the initial driving mode is the first driving mode;

[0069] Step S272 , in response to determining based on the second comparison result that at least one speed difference is greater than or equal to a second threshold, determining that the road condition is a low-adhesion road condition.

[0070] Still Figure 3 As shown, when the controller determines that at least one of the first speed difference and the second speed difference is greater than the first threshold value, and determines that the initial driving mode of the target vehicle is the 6×2 driving mode, the mid-bridge solenoid valve of the target vehicle is controlled to be engaged to realize the engagement of the mid-bridge shift actuator. Furthermore, the controller compares the two speed differences with the second threshold value respectively. When the comparison determines that at least one speed difference is greater than or equal to the second threshold value, it can be determined that the target vehicle is currently in a low-adhesion road condition such as an icy or snowy road surface.

[0071] In an optional embodiment, in step S204, determining the target driving mode of the target vehicle at least according to the first comparison result includes:

[0072] Step S241 , in response to the road condition being a low-adhesion road condition, determining that the target driving mode is a second driving mode, wherein the number of driving wheels of the target vehicle in the second driving mode is greater than the number of driving wheels of the target vehicle in the first driving mode.

[0073] Furthermore, in step S204, the operating data further includes engine torque, and controlling the target vehicle to switch from the initial driving mode to the target driving mode includes:

[0074] Step S242, controlling the engine of the target vehicle to reduce torque;

[0075] Step S243 , in response to the engine torque being adjusted to the target value, controlling the rear axle shift actuator of the target vehicle to engage, so as to switch the target vehicle from the first driving mode to the second driving mode.

[0076] Still Figure 3As shown, when the controller determines that the target vehicle is on a low-adhesion road, it requests the target vehicle's engine to reduce torque in preparation for a drive mode switch. During this process, the vehicle's instrument panel can notify the user of the target vehicle's current drive mode switch and display the target vehicle's engine's reduced torque state, enabling visual human-machine interaction. Furthermore, when the controller detects that the engine's torque has dropped to 0 (the target value), it controls the target vehicle's rear axle solenoid valve to engage, thereby engaging the rear axle shift actuator. With both the mid-axle shift actuator and the rear axle shift actuator engaged, the target vehicle completes the switch from 6×2 drive mode to 6×4 drive mode. The vehicle's instrument panel can indicate the target vehicle's drive mode switch was successful, allowing the user to continue driving normally.

[0077] In an optional embodiment, the vehicle driving mode switching control method further includes:

[0078] In step S208 , in response to the engine torque not reaching the target value, the target vehicle is controlled to maintain the first driving mode.

[0079] Still Figure 3 As shown, when the controller determines that the target vehicle is in a low-adhesion road condition and the engine torque has not been reduced to 0, the target vehicle is controlled to maintain the 6×2 driving mode.

[0080] In an optional embodiment, the preset threshold further includes a third threshold, and the third threshold is smaller than the first threshold. The vehicle driving mode switching control method further includes:

[0081] Step S209, in response to satisfying the third condition, the first speed difference is compared with the third threshold, and the second speed difference is compared with the third threshold to obtain a third comparison result, wherein the third condition includes: the second comparison result determines that the first speed difference and the second speed difference are both less than the second threshold, and the initial driving mode is the first driving mode.

[0082] Furthermore, the vehicle driving mode switching control method further includes:

[0083] Step S210 : In response to the third comparison result determining that both speed differences are less than or equal to a third threshold, the intermediate bridge shift actuator is controlled to be disconnected so that the target vehicle maintains the first driving mode.

[0084] Still Figure 3 As shown, after the controller controls the middle bridge shift actuator to engage, when the real-time calculation shows that the two speed differences are less than or equal to 30 rpm, the middle bridge solenoid valve is controlled to separate again to disconnect the middle bridge shift actuator, so that the target vehicle still maintains the 6×2 driving mode.

[0085] In an optional embodiment, the vehicle driving mode switching control method further includes:

[0086] Step S211 , in response to the third comparison result determining that any speed difference is greater than a third threshold, collecting the driving mode and operating data of the target vehicle at the next driving moment to control the target vehicle to switch the driving mode according to the driving mode and operating data.

[0087] Still Figure 3 As shown, after the controller controls the mid-bridge shift actuator to engage, if the real-time calculation shows that the first speed difference is greater than 30 rpm or the second speed difference is greater than 30 rpm, the target vehicle maintains the current driving mode unchanged, and the controller determines the road condition of the target vehicle at the next moment based on the operating data of the target vehicle obtained at the next moment, and adaptively switches the driving mode according to the road condition.

[0088] In an embodiment of the present invention, the initial driving mode and initial operating data of the target vehicle at the current driving moment are first obtained, wherein the initial operating data includes at least a plurality of wheel speeds, different wheels are located on different sides of the target vehicle or different wheels are driven by drive axles at different positions on the target vehicle, then, the difference between the two wheel speeds on any one side is calculated to obtain a first speed difference and a second speed difference, wherein the first speed difference is the speed difference between the two wheels located on one side of the target vehicle, and the first speed difference is the speed difference between the two wheels located on the other side of the target vehicle, further, the first speed difference is compared with a preset threshold, and the second speed difference is compared with the preset threshold to obtain a first comparison result, wherein the first comparison result is used to determine the road condition on which the target vehicle is traveling, and then the target driving mode of the target vehicle is determined at least based on the first comparison result, and finally the target vehicle is controlled to switch from the initial driving mode to the target driving mode.

[0089] It is easy to understand that the above-mentioned embodiment of the present invention judges the road condition of the target vehicle according to the difference in the speed of the driving wheels of different driving axles on the same side of the target vehicle, so as to switch the driving mode of the target vehicle under different road conditions, thereby achieving the purpose of improving the adaptability of the driving mode switching control method to different road conditions (especially low-adhesion road conditions such as ice and snow), thereby achieving the technical effect of improving the comprehensive driving performance of the target vehicle under different road conditions, and further solving the technical problems that the vehicle driving mode switching method provided by the prior art has poor adaptability to different road conditions and is difficult to take into account the safety, power and fuel economy requirements of the vehicle.

[0090] In this embodiment, a vehicle drive mode switching control device is also provided. This device is used to implement the above-mentioned embodiments and preferred embodiments. Details already described will not be repeated here. As used below, a "module" refers to a combination of software and / or hardware that can implement a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0091] Figure 4 is a structural block diagram of a vehicle driving mode switching control device according to an embodiment of the present invention. Figure 4 As shown, the device includes:

[0092] an acquisition module 401 for acquiring an initial driving mode and initial operating data of a target vehicle at a current driving moment, wherein the initial operating data includes at least a plurality of wheel speeds, where different wheels are located on different sides of the target vehicle or are driven by drive axles at different locations on the target vehicle;

[0093] a calculation module 402 for calculating the difference between the rotational speeds of two wheels on either side to obtain a first rotational speed difference and a second rotational speed difference, wherein the first rotational speed difference is the rotational speed difference between the two wheels on one side of the target vehicle, and the second rotational speed difference is the rotational speed difference between the two wheels on the other side of the target vehicle;

[0094] a first comparison module 403 for comparing the first speed difference with a preset threshold value, and comparing the second speed difference with a preset threshold value, to obtain a first comparison result, wherein the first comparison result is used to determine the road condition on which the target vehicle is traveling;

[0095] A first determining module 404 is configured to determine a target driving mode of the target vehicle based at least on the first comparison result;

[0096] The first control module 405 is configured to control the target vehicle to switch from an initial driving mode to a target driving mode.

[0097] Optionally, the above-mentioned vehicle drive mode switching control device is also used for: multiple wheel speeds include a first speed, a second speed, a third speed and a fourth speed, wherein the first speed is the wheel speed located on one side of the target vehicle and driven by the middle axle, the second speed is the wheel speed located on one side of the target vehicle and driven by the rear axle, the third speed is the wheel speed located on the other side of the target vehicle and driven by the middle axle, and the fourth speed is the wheel speed located on the other side of the target vehicle and driven by the rear axle.

[0098] Optionally, the calculation module 402 is further configured to: calculate the difference between the first speed and the second speed to obtain a first speed difference; and calculate the difference between the third speed and the fourth speed to obtain a second speed difference.

[0099] Optionally, the preset threshold includes a first threshold, and the above-mentioned first determination module 404 is also used to: control the target vehicle to maintain the first driving mode in response to satisfying the first condition, wherein the first condition includes: the first comparison result determines that the first speed difference and the second speed difference are both less than or equal to the first threshold, and the initial driving mode is the first driving mode.

[0100] Optionally, the preset threshold also includes a second threshold, and the second threshold is greater than the first threshold. The above-mentioned vehicle drive mode switching control device also includes: a second determination module 406 (not shown in the figure), which is used to control the mid-bridge shift actuator of the target vehicle to engage in response to the second condition being met, and compare the first speed difference with the second threshold, and compare the second speed difference with the second threshold to obtain a second comparison result, wherein the second condition includes: the first comparison result determines that any one of the speed differences is greater than the first threshold and the initial drive mode is the first drive mode; in response to determining that at least one speed difference is greater than or equal to the second threshold based on the second comparison result, the road condition is determined to be a low adhesion road condition.

[0101] Optionally, the first determination module 404 is further used to: in response to a road condition being a low-adhesion road condition, determine that the target driving mode is a second driving mode, wherein the number of driving wheels of the target vehicle in the second driving mode is greater than the number of driving wheels of the target vehicle in the first driving mode.

[0102] Optionally, the operating data also includes the engine, and the above-mentioned first control module 405 is also used to: control the engine of the target vehicle to reduce the torque; in response to the engine torque being adjusted to the target value, control the rear axle shift actuator of the target vehicle to engage to switch the target vehicle from the first driving mode to the second driving mode.

[0103] Optionally, the vehicle driving mode switching control device further includes: a second control module 407 (not shown in the figure), configured to control the target vehicle to maintain the first driving mode in response to the engine torque failing to reach the target value.

[0104] Optionally, the preset threshold also includes a third threshold, and the third threshold is smaller than the first threshold. The vehicle drive mode switching control device also includes: a second comparison module 408 (not shown in the figure), which is used to compare the first speed difference with the third threshold and the second speed difference with the third threshold in response to satisfying the third condition, to obtain a third comparison result, wherein the third condition includes: the second comparison result determines that the first speed difference and the second speed difference are both smaller than the second threshold, and the initial drive mode is the first drive mode.

[0105] Optionally, the above-mentioned vehicle driving mode switching control device also includes: a third control module 409 (not shown in the figure), which is used to control the mid-bridge shift actuator to disconnect in response to the third comparison result to determine that the two speed differences are both less than or equal to the third threshold value, so that the target vehicle maintains the first driving mode.

[0106] Optionally, the above-mentioned vehicle driving mode switching control device also includes: a loop module 410 (not shown in the figure), which is used to determine in response to the third comparison result that any speed difference is greater than a third threshold, and collect the driving mode and operating data of the target vehicle at the next driving moment to control the target vehicle to switch the driving mode according to the driving mode and operating data.

[0107] It should be noted that the above modules can be implemented through software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0108] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the computer program implements any one of the aforementioned vehicle driving mode switching control methods.

[0109] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is also provided, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute any one of the aforementioned vehicle drive mode switching control methods.

[0110] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0111] Step S1, obtaining an initial driving mode and initial operating data of a target vehicle at a current driving moment, wherein the initial operating data includes at least a plurality of wheel speeds, where different wheels are located on different sides of the target vehicle or are driven by drive axles at different locations on the target vehicle;

[0112] Step S2, calculating the difference between the speeds of the two wheels on either side to obtain a first speed difference and a second speed difference, wherein the first speed difference is the speed difference between the two wheels on one side of the target vehicle, and the second speed difference is the speed difference between the two wheels on the other side of the target vehicle;

[0113] Step S3, comparing the first speed difference with a preset threshold, and comparing the second speed difference with a preset threshold, to obtain a first comparison result, wherein the first comparison result is used to determine the road condition on which the target vehicle is traveling;

[0114] Step S4, determining a target driving mode of the target vehicle based at least on the first comparison result;

[0115] Step S5: Control the target vehicle to switch from the initial driving mode to the target driving mode.

[0116] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0117] According to another aspect of an embodiment of the present invention, a vehicle is also provided, comprising an on-board memory and an on-board processor, wherein a computer program is stored in the on-board memory, and the on-board processor is configured to run the computer program to execute any one of the aforementioned vehicle drive mode switching control methods.

[0118] Optionally, in this embodiment, the vehicle-mounted processor may be configured to execute the following steps via a computer program:

[0119] Step S1, obtaining an initial driving mode and initial operating data of a target vehicle at a current driving moment, wherein the initial operating data includes at least a plurality of wheel speeds, where different wheels are located on different sides of the target vehicle or are driven by drive axles at different locations on the target vehicle;

[0120] Step S2, calculating the difference between the speeds of the two wheels on either side to obtain a first speed difference and a second speed difference, wherein the first speed difference is the speed difference between the two wheels on one side of the target vehicle, and the second speed difference is the speed difference between the two wheels on the other side of the target vehicle;

[0121] Step S3, comparing the first speed difference with a preset threshold, and comparing the second speed difference with a preset threshold, to obtain a first comparison result, wherein the first comparison result is used to determine the road condition on which the target vehicle is traveling;

[0122] Step S4, determining a target driving mode of the target vehicle based at least on the first comparison result;

[0123] Step S5: Control the target vehicle to switch from the initial driving mode to the target driving mode.

[0124] Optionally, specific examples in this embodiment may refer to the examples described in the above embodiment and its optional implementation manners, and this embodiment will not be described in detail here.

[0125] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0126] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0127] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, and can be electrical or other forms.

[0128] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0129] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0130] If the 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 this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, magnetic disk or optical disk, etc., various media that can store program code.

[0131] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A vehicle driving mode switching control method, characterized in that: include: Obtaining an initial driving mode and initial operating data of a target vehicle at a current driving moment, wherein the initial operating data includes at least a plurality of wheel speeds, where different wheels are located on different sides of the target vehicle or are driven by drive axles at different positions on the target vehicle, and the plurality of wheel speeds includes a first speed, a second speed, a third speed, and a fourth speed, wherein the first speed is the speed of a wheel located on one side of the target vehicle and driven by a middle axle, the second speed is the speed of a wheel located on one side of the target vehicle and driven by a rear axle, the third speed is the speed of a wheel located on the other side of the target vehicle and driven by the middle axle, and the fourth speed is the speed of a wheel located on the other side of the target vehicle and driven by the rear axle; Calculating the difference between the two wheel speeds on either side to obtain a first speed difference and a second speed difference, wherein the first speed difference is the speed difference between the two wheels on one side of the target vehicle, and the second speed difference is the speed difference between the two wheels on the other side of the target vehicle; The first speed difference is compared with a preset threshold, and the second speed difference is compared with the preset threshold to obtain a first comparison result, wherein the first comparison result is used to determine the road condition on which the target vehicle is traveling, wherein the preset threshold includes a first threshold and a second threshold, and the second threshold is greater than the first threshold. The method further includes: in response to a first condition being satisfied, controlling the target vehicle to maintain a first driving mode, wherein the first condition includes: the first comparison result determines that the first speed difference and the second speed difference are both less than or equal to the first threshold, and the initial driving mode is the first driving mode; in response to a second condition being satisfied, controlling a mid-axle shift actuator of the target vehicle to engage, and comparing the first speed difference with the second threshold, and comparing the second speed difference with the second threshold to obtain a second comparison result, wherein the second condition includes: the first comparison result determines that any one speed difference is greater than the first threshold, and the initial driving mode is the first driving mode; and in response to determining, based on the second comparison result, that at least one speed difference is greater than or equal to the second threshold, determining that the road condition is a low-adhesion road condition; determining a target driving mode of the target vehicle based at least on the first comparison result; The target vehicle is controlled to switch from the initial driving mode to the target driving mode.

2. The vehicle driving mode switching control method according to claim 1, characterized in that: Calculating the difference between the two wheel speeds on either side to obtain the first speed difference and the second speed difference includes: Calculating a difference between the first speed and the second speed to obtain the first speed difference; A difference between the third speed and the fourth speed is calculated to obtain the second speed difference.

3. The vehicle driving mode switching control method according to claim 1, characterized in that: Determining the target driving mode of the target vehicle at least according to the first comparison result includes: In response to the road condition being the low-adhesion road condition, the target driving mode is determined to be a second driving mode, wherein the number of driving wheels of the target vehicle in the second driving mode is greater than the number of driving wheels of the target vehicle in the first driving mode.

4. The vehicle driving mode switching control method according to claim 3, characterized in that: The operating data further includes engine torque, and controlling the target vehicle to switch from the initial driving mode to the target driving mode includes: controlling the engine of the target vehicle to reduce torque; In response to the engine torque being adjusted to the target value, a rear axle shift actuator of the target vehicle is controlled to engage, so as to switch the target vehicle from the first driving mode to the second driving mode.

5. The vehicle driving mode switching control method according to claim 4, characterized in that: The vehicle driving mode switching control method further includes: In response to the engine torque not reaching the target value, the target vehicle is controlled to maintain the first driving mode.

6. The vehicle driving mode switching control method according to claim 1, characterized in that: The preset threshold value further includes a third threshold value, and the third threshold value is smaller than the first threshold value. The vehicle driving mode switching control method further includes: In response to satisfying the third condition, the first speed difference is compared with the third threshold, and the second speed difference is compared with the third threshold to obtain a third comparison result, wherein the third condition includes: the second comparison result determines that the first speed difference and the second speed difference are both less than the second threshold, and the initial driving mode is the first driving mode.

7. The vehicle driving mode switching control method according to claim 6, characterized in that: The vehicle driving mode switching control method further includes: In response to the third comparison result determining that the two speed differences are both less than or equal to the third threshold, the mid-bridge shift actuator is controlled to be disconnected so that the target vehicle maintains the first driving mode.

8. The vehicle driving mode switching control method according to claim 7, characterized in that: The vehicle driving mode switching control method further includes: In response to the third comparison result determining that any one speed difference is greater than the third threshold, the driving mode and operating data of the target vehicle at the next driving moment are collected to control the target vehicle to switch the driving mode according to the driving mode and the operating data.

9. A vehicle driving mode switching control device, characterized in that: include: an acquisition module, configured to acquire an initial driving mode and initial operating data of a target vehicle at a current driving moment, wherein the initial operating data comprises at least a plurality of wheel speeds, different wheels being located on different sides of the target vehicle or being driven by drive axles at different positions on the target vehicle, the plurality of wheel speeds comprising a first speed, a second speed, a third speed, and a fourth speed, wherein the first speed is the speed of a wheel located on one side of the target vehicle and driven by a middle axle, the second speed is the speed of a wheel located on one side of the target vehicle and driven by a rear axle, the third speed is the speed of a wheel located on the other side of the target vehicle and driven by the middle axle, and the fourth speed is the speed of a wheel located on the other side of the target vehicle and driven by the rear axle; a calculation module, configured to calculate a difference between the rotational speeds of two wheels on either side to obtain a first rotational speed difference and a second rotational speed difference, wherein the first rotational speed difference is a rotational speed difference between the two wheels on one side of the target vehicle, and the second rotational speed difference is a rotational speed difference between the two wheels on the other side of the target vehicle; a comparison module, configured to compare the first speed difference with a preset threshold, and to compare the second speed difference with the preset threshold, to obtain a first comparison result, wherein the first comparison result is used to determine a road condition on which the target vehicle is traveling, wherein the preset threshold includes a first threshold and a second threshold, and the second threshold is greater than the first threshold. The method further includes: in response to a first condition being satisfied, controlling the target vehicle to maintain a first driving mode, wherein the first condition includes: the first comparison result determines that the first speed difference and the second speed difference are both less than or equal to the first threshold, and the initial driving mode is the first driving mode; in response to a second condition being satisfied, controlling a mid-axle shift actuator of the target vehicle to engage, and comparing the first speed difference with the second threshold, and comparing the second speed difference with the second threshold, to obtain a second comparison result, wherein the second condition includes: the first comparison result determines that any one speed difference is greater than the first threshold, and the initial driving mode is the first driving mode; and in response to determining, based on the second comparison result, that at least one speed difference is greater than or equal to the second threshold, determining that the road condition is a low-adhesion road condition; a determination module, configured to determine a target driving mode of the target vehicle based at least on the first comparison result; A control module is used to control the target vehicle to switch from the initial driving mode to the target driving mode.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the vehicle driving mode switching control method according to any one of claims 1 to 8 is implemented.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the vehicle driving mode switching control method according to any one of claims 1 to 8.

12. A vehicle, characterized in that: The vehicle drive mode switching control method comprises an on-board memory and an on-board processor, wherein the on-board memory stores a computer program, and the on-board processor is configured to run the computer program to execute the vehicle drive mode switching control method according to any one of claims 1 to 8.

Images