Automobile drive axle control system and control method

Abstract

The present invention belongs to the technical field of drive axle control, and specifically discloses a vehicle drive axle control system and a control method, the system comprising: a user collection and identification module, a vehicle safety monitoring module, a vehicle safety confirmation module, a vehicle road monitoring module, a vehicle power confirmation module, a vehicle route monitoring module, a vehicle speed confirmation module, a database and a vehicle driving control terminal; the present invention ensures the user's personalized use experience by confirming the anti-collision safety control information and anti-deviation safety control information of the vehicle according to the user's historical driving information, thereby improving the user's driving safety and improving the energy utilization efficiency. At the same time, by confirming the speed distribution information of the vehicle drive axle according to the steering information when the vehicle travels to the turning area, the turning performance of the vehicle is improved, thereby reducing the wear of the tire, and then ensuring the lateral stability of the vehicle when turning.

Description

Technical Field

[0001] The invention belongs to the technical field of drive axle control and relates to an automobile drive axle control system and a control method. Background Art

[0002] The automobile drive axle is an important component of automobile transmission, mainly composed of the main reducer, differential, half shaft and bridge housing. It has the functions of reducing speed, increasing torque, distributing torque and transmitting power to wheels. In order to optimize power transmission, improve vehicle driving performance and enhance safety, the automobile drive axle needs to be controlled.

[0003] For example, the Chinese invention patent with publication number CN110884363B discloses a driving anti-skid control method applied to an automobile electric drive axle, which aims to solve the shortcomings of poor road adaptability, single control algorithm, excessive dependence on vehicle parameters, and poor control robustness in the prior art, and belongs to an automobile control system. This method determines whether the automobile is on a split road or a uniform low adhesion coefficient road according to the difference between the real-time slip rate of the wheels and the real-time slip rate of the wheels on both sides. The braking force logic threshold control is used to perform braking intervention on the slipping wheel on the split road. The initial braking method is used to further determine the road type of the slipping wheel on the uniform low adhesion coefficient road, and the sliding mode variable structure control is used to adjust the driving torque of the slipping wheel. The advantages of the present invention are that it can distinguish the road type in real time based on standard road data, use different control algorithms to control the wheel slip rate near the optimal value, increase the road adaptability of the driving anti-skid control system, and improve the vehicle's power, lateral stability and starting acceleration ability.

[0004] For example, the Chinese invention patent with publication number CN112959896A discloses a four-wheel drive control method for a pure electric vehicle with a dual-drive electric bridge architecture. The present invention relates to a pure electric vehicle control method, specifically a four-wheel drive control method for a pure electric vehicle with a dual-drive electric bridge architecture. The problem of unreasonable output torque configuration of the existing four-wheel drive control method for a pure electric vehicle with a dual-drive electric bridge architecture is solved. The control method reasonably configures the working state and output torque of the front and rear drive systems, realizes a more flexible and refined four-wheel drive mode, and ensures low power consumption of the electric vehicle. The limited slip judgment is made according to the speed difference between the front and rear wheels: when the speed difference between the front and rear wheels is greater than or equal to 2.5km / h, the front wheel limited slip state is entered. In the front wheel limited slip state, the torque of the front and rear motors is redistributed by linear interpolation. The vehicle driving modes are divided into three modes: ECO, NORMAL, and SPORT. The three modes have their own accelerator pedal MAP and their own brake pedal MAP. The driving mode state of the previous cycle needs to be saved after powering on again.

[0005] The above existing technologies have the following deficiencies: 1. The current control of automobile drive axles mainly focuses on control analysis from the parameters of the automobile itself, that is, insufficient attention is paid to user behavior and the user's personalized experience cannot be guaranteed, resulting in insufficient safety of user car driving and limited energy utilization efficiency.

[0006] 2. Currently, the drive axle control is mainly performed by considering the anti-skid performance of the car, that is, insufficient attention is paid to the drive axle control of the car turning, resulting in limited turning performance of the car, which leads to increased tire wear, and then leads to poor lateral stability of the car turning, while reducing the user's driving comfort and increasing the safety risks of car turning. Summary of the invention

[0007] In view of this, in order to solve the problems raised in the above background technology, a vehicle drive axle control system and control method are now proposed.

[0008] The purpose of the present invention can be achieved through the following technical solutions: The present invention provides a vehicle drive axle control system, which includes: a user acquisition and identification module, which is used to acquire a face recognition image of the target user when the target user starts the car, and then identify the identity information of the target user.

[0009] The vehicle safety monitoring module is used to monitor the safety information of the vehicle during driving, including the distance between the vehicle and its adjacent vehicles and the deviation angle of the vehicle direction.

[0010] The vehicle safety confirmation module is used to confirm the safety allocation information of the vehicle drive axle based on the identity information of the target user and the safety information of the vehicle driving process.

[0011] The automobile road monitoring module is used to monitor the road condition information during the automobile driving process, including road surface flatness, road surface slope, road surface smoothness and road surface humidity.

[0012] The vehicle power confirmation module is used to confirm the power distribution information of the vehicle drive axle according to the road condition information during the vehicle driving process.

[0013] The vehicle route monitoring module is used to generate the vehicle driving path when the target user inputs the destination, and monitor the turning information when the vehicle drives to the turning area, including the curvature radius of the road curve and the vehicle speed.

[0014] The vehicle speed confirmation module is used to confirm the speed distribution information of the vehicle drive axle according to the steering information when the vehicle travels to the turning area.

[0015] The database is used to store the historical driving information of each user, the vehicle power control information corresponding to each vehicle power distribution level, and the road surface slope interval corresponding to each road surface slope qualification index.

[0016] The vehicle driving control terminal is used to send the safety distribution information, power distribution information and vehicle driving speed distribution information of the target vehicle drive axle to the vehicle drive axle control cloud platform to perform corresponding control.

[0017] The present invention also provides a vehicle drive axle control method, the method has the following specific steps: S1, user collection and identification: when a target user starts the car, a face recognition image of the target user is collected, and then the identity information of the target user is identified.

[0018] S2. Vehicle safety monitoring: monitors the safety information of the vehicle during driving, including the distance between the vehicle and its adjacent vehicles and the deviation angle of the vehicle direction.

[0019] S3. Vehicle safety confirmation: Confirm the safety allocation information of the vehicle drive axle based on the identity information of the target user and the safety information of the vehicle driving process.

[0020] S4. Automobile road monitoring: monitor the road condition information during the vehicle driving process, including road flatness, road slope, road smoothness and road humidity.

[0021] S5. Vehicle power confirmation: confirm the power distribution information of the vehicle drive axle according to the road condition information during the vehicle's driving process.

[0022] S6. Vehicle route monitoring: When the target user inputs the destination, the vehicle driving path is generated, and the turning information when the vehicle drives to the turning area is monitored, including the curvature radius of the road curve and the vehicle speed.

[0023] S7, vehicle speed confirmation: confirm the speed distribution information of the vehicle drive axle according to the steering information when the vehicle drives to the turning area.

[0024] S8, vehicle driving control: the safety distribution information, power distribution information and vehicle driving speed distribution information of the target vehicle drive axle are sent to the vehicle drive axle control cloud platform to perform corresponding control.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The present invention avoids the current lack of attention to user behavior by confirming the car's anti-collision safety control information and anti-deviation safety control information based on the user's historical driving information, ensures the user's personalized usage experience, thereby improving the user's car driving safety and improving energy utilization efficiency.

[0026] (2) The present invention confirms the speed distribution information of the vehicle drive axle according to the steering information when the vehicle travels to the turning area, thereby breaking the current problem of insufficient attention to the control of the drive axle when the vehicle turns, improving the turning performance of the vehicle, thereby reducing tire wear, and further ensuring the lateral stability of the vehicle when turning, while improving the user's driving comfort and reducing the safety hazards of the vehicle turning.

[0027] (3) The present invention calculates the power qualification index of the vehicle according to the road surface flatness, road surface slope, road surface smoothness and road surface humidity during the vehicle driving process, and comprehensively calculates the power qualification index based on multiple road conditions, thereby avoiding the limitation of a single road condition, improving the accuracy of the evaluation of the vehicle driving dynamic performance, and thus improving the pertinence of the evaluation of the vehicle driving dynamic performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0029] Figure 1 It is a schematic diagram of the connection of each module of the system of the present invention.

[0030] Figure 2 This is a connection diagram of the secure allocation information confirmation step of the present invention.

[0031] Figure 3 It is a schematic diagram of the connection of each step of the method of the present invention. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments 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 creative work are within the scope of protection of the present invention.

[0033] See also Figure 1 As shown, the present invention provides a vehicle drive axle control system and control method, the system includes: a user collection and identification module, a vehicle safety monitoring module, a vehicle safety confirmation module, a vehicle road monitoring module, a vehicle power confirmation module, a vehicle route monitoring module, a vehicle speed confirmation module, a database and a vehicle driving control terminal.

[0034] In the above, the vehicle safety confirmation module is respectively connected to the user collection and identification module, the vehicle safety monitoring module, the database and the vehicle driving control terminal, the vehicle power confirmation module is respectively connected to the vehicle road monitoring module, the database and the vehicle driving control terminal, and the vehicle speed confirmation module is also respectively connected to the vehicle route monitoring module and the vehicle driving control terminal.

[0035] The user collection and identification module is used to collect the face recognition image of the target user when the target user starts the car, and then identify the identity information of the target user.

[0036] It should be added that the identification process of identifying user identity information is as follows: the stored facial images of each user in the car are extracted from the car drive axle control cloud platform, and the facial recognition image of the target user is matched and compared with the stored facial images of each user in the car through AI technology. When the facial recognition image of the target user is consistent with the stored facial image of a user in the car, the identity information of the user is extracted from the car drive axle control cloud platform as the identity information of the target user.

[0037] The automobile safety monitoring module is used to monitor safety information during the driving process of the automobile, including the distance between the automobile and its adjacent automobiles and the deviation angle of the automobile direction.

[0038] It should be added that the distance between a car and its adjacent car refers to: selecting the minimum value from the distance between the car and the car in front and the distance between the car and the car behind as the distance between the car and its adjacent car.

[0039] It should be added that the distance between a car and its adjacent cars is obtained by placing a radar in the front grille or inside the bumper of the car, emitting electromagnetic waves through the radar, and receiving the signal reflected by the car in front. (s) and the speed at which electromagnetic waves propagate in air (m / s), and then calculate the distance between the front vehicle and the radar (m), and as the distance between the car and the car in front, the calculation formula is At the same time, through the radar installed in the rear bumper of the car, the distance between the car and the car behind it is obtained in the same way as the distance between the car and the car in front of it, and then the minimum value is selected as the distance between the car and its adjacent car.

[0040] It should be added that the method of obtaining the vehicle's direction deviation angle is as follows: a camera is placed in the upper center of the inner side of the vehicle's front windshield. When the vehicle is driving, the camera continuously captures road images at a certain frame rate, and pre-processes the captured images. Then, the center line of the road in the image is identified using algorithms such as the Hough transform. For example, on a straight road, the Hough transform can detect road markings that are approximately straight, thereby determining the pixel position of the road center line. At the same time, the center line of the vehicle is determined by analyzing the vehicle's own image features. For example, the corresponding center line position is found in the image based on the symmetry of the vehicle's front face, hood and other parts.

[0041] According to the intrinsic and extrinsic parameters of the camera, the pixel coordinates of the road centerline and the car centerline in the image are converted into actual spatial coordinates. The intrinsic parameters include parameters such as focal length and optical center, and the extrinsic parameters include information such as the installation position and posture of the camera. Through coordinate conversion, the direction vectors of the road centerline and the car centerline in the vehicle coordinate system are obtained. Finally, the angle between the two is calculated according to the dot product formula of the vector, that is, the angular deviation between the center line of the road where the car is traveling and the center line of the car, and it is used as the direction deviation angle during the car's driving process.

[0042] The automobile safety confirmation module is used to confirm the safety allocation information of the automobile drive axle according to the identity information of the target user and the safety information of the automobile driving process.

[0043] See also Figure 2 As shown, exemplarily, the confirming of the safety allocation information of the automobile drive axle includes: A1, extracting the user identity information corresponding to the historical driving information of each user from the database.

[0044] A2. Match and compare the target user's identity information with the user identity information corresponding to each user's historical driving information to obtain the target user's historical driving information.

[0045] A3. Extract the number of sudden accelerations, the number of sudden brakes, and the driving duration of each driving time of the target user from the historical driving information of the target user, and then confirm the anti-collision safety control information of the car.

[0046] Furthermore, the confirmation of the anti-collision safety control information of the automobile includes: A3-1, taking the ratio of the number of sudden acceleration times of the target user in each driving history to the driving time as the sudden acceleration frequency of the target user in each driving history, recorded as , Number the driving order. .

[0047] A3-2. According to The frequency of sudden deceleration in each driving history of the target user is obtained by the same analysis method and recorded as .

[0048] A3-3. Calculate the collision safety index of the target user's historical driving , , and are the weights of the set rapid acceleration frequency and rapid deceleration frequency, , .

[0049] It should be added that emergency braking is often an emergency avoidance measure taken by users when encountering sudden dangerous situations, such as obstacles, cars or pedestrians suddenly appearing in front. At this time, the distance between the car and the car in front or surrounding objects is already relatively close. If the emergency braking operation is slightly improper, it is very easy to cause a collision accident. Therefore, there is a more direct and close connection between emergency braking behavior and collision risk. Although sudden acceleration may also bring certain risks, such as the danger caused by the car losing control or the large speed difference with surrounding cars during the acceleration process, compared with emergency braking, its directness and possibility of causing a collision are relatively low. Sudden acceleration affects the car's driving speed and the speed of change of the distance to the car in front. Under normal driving conditions, users have relatively more time and space to adjust subsequent operations to avoid collisions, so setting , in order to facilitate analysis, The specific value can be 0.4. The specific value can be 0.6.

[0050] In a specific embodiment, a certain driving history of the target user is as follows: driving time is 1.2 hours, the number of sudden accelerations is 10 times, and the number of sudden brakes is 12 times.

[0051] The rapid acceleration frequency is times / hour, the frequency of rapid deceleration is times / hour.

[0052] When the weights of the rapid acceleration frequency and the rapid deceleration frequency are 0.4 and 0.6 respectively, the collision safety index of the target user's driving history is .

[0053] A3-4. The mean value is calculated and the result is used as the collision safety index of the target user's historical driving.

[0054] A3-5. Import the collision safety index of the target user's historical driving into the anti-collision safety control analysis model to obtain the anti-collision safety control information of the car.

[0055] It should be added that the analysis process of the anti-collision safety control analysis model is as follows: the collision safety index of the target user's historical driving is matched and compared with the collision safety index corresponding to the reference distance between each set car and its adjacent cars to obtain the reference distance between the car and its adjacent cars.

[0056] If the distance between a car and its adjacent car is less than the reference distance between the car and its adjacent car, a car safety distance warning will be issued as the car's anti-collision safety control information. Otherwise, normal driving will continue as the car's anti-collision safety control information.

[0057] A4. Extract the total number of direction deviations and the direction deviation angles of each direction deviation from the historical driving information of the target user, and then confirm the anti-deviation safety control information of the car.

[0058] Furthermore, the confirmation of the anti-deviation safety control information of the automobile includes: A4-1, recording the total number of direction deviations of the target user's historical driving as , and the average deviation angle of each direction deviation of the target user's historical driving is calculated to obtain the average deviation angle of the target user's historical driving, which is recorded as .

[0059] A4-2. Filter out the maximum direction deviation angle from the direction deviation angles of each historical driving of the target user and record it as .

[0060] A4-3. Calculate the target user's historical driving direction deviation angle safety index , , and They are respectively the set number of permitted direction deviations and the permitted direction deviation angle of the car.

[0061] It should be added that and All are extracted from the automotive drive axle control technical specification table.

[0062] A4-4. If the direction deviation angle safety index of the target user's historical driving is greater than or equal to the set permitted direction deviation angle safety index, the maximum direction deviation angle of the target user's historical driving will be used as the reference direction deviation angle of the target user's car. Otherwise, the direction deviation angle corresponding to the set permitted direction deviation angle safety index will be used as the reference direction deviation angle of the target user's car.

[0063] A4-5. If the vehicle's direction deviation angle is greater than or equal to the target user's vehicle reference direction deviation angle, the vehicle's deviation direction is extracted from the vehicle's direction deviation angle, and then the direction deviation angle is adjusted in the opposite direction of the vehicle's deviation direction as the vehicle's anti-deviation safety control information; otherwise, normal driving will continue as the vehicle's anti-deviation safety control information.

[0064] A5. Use the anti-collision safety control information and anti-deviation safety control information of the automobile as the safety distribution information of the automobile drive axle.

[0065] The embodiments of the present invention confirm the anti-collision safety control information and anti-deviation safety control information of the car based on the user's historical driving information, thereby avoiding the current lack of attention to user behavior and ensuring the user's personalized usage experience, thereby improving the safety of the user's car driving and improving the energy utilization efficiency.

[0066] The automobile road monitoring module is used to monitor the road condition information during the automobile driving process, including the road surface flatness, road surface slope, road surface smoothness and road surface humidity.

[0067] It should be added that the method of obtaining the road surface roughness during the driving process of the car is: a laser sensor installed at the bottom of the car emits a laser beam to the road surface and receives the reflected light. The distance from the sensor to the road surface is calculated by measuring the round-trip time of the laser, and then the height difference of the road surface is calculated by comparing the distance changes between adjacent measuring points. Based on the height difference data within a certain length of road section, the calculation method of the National Roughness Index (IRI) is used to obtain the road surface roughness.

[0068] It should be added that the calculation method of the National Roughness Index (IRI) is: collect road elevation data points, divide the road sections with elevation data into sub-segments according to the standard length of 0.0254 meters, calculate the ratio of the elevation difference between the two end points of each sub-segment and the sub-segment length as the slope, and then use a moving average filter to process the slope data to reduce interference. Finally, sum the absolute values ​​of the filtered slopes, divide them by the length of the road section and multiply them by 1000 (conversion coefficient) to get the IRI value. The IRI value can quantify the road surface roughness. The smaller the value, the smoother the road surface and the more comfortable the vehicle driving.

[0069] It should be added that the road slope is obtained during the driving process of the car: through a gravity slope sensor placed at the bottom of the car. There is a pendulum or liquid inside the gravity slope sensor. When the car is in a tilted state, the position of the pendulum or liquid will change. The sensor converts this position change into an electrical signal and derives the road slope based on the linear relationship between the electrical signal of the gravity slope sensor and the slope.

[0070] It should be added that the smoothness of the road surface is obtained during the driving process of a car: the friction force or friction coefficient between the tire and the road surface is directly measured by a tire friction coefficient sensor placed inside the tire or near the rim, thereby evaluating the smoothness of the road surface. Generally speaking, the larger the friction coefficient, the rougher the road surface and the lower the smoothness; the smaller the friction coefficient, the smoother the road surface.

[0071] It should be added that the road humidity is obtained during the driving process of the car by placing a capacitive humidity sensor at the bottom of the car close to the road surface. The capacitive humidity sensor measures humidity by using the property that the dielectric constant of the humidity-sensitive material changes after absorbing water, thereby causing the capacitance value to change. When the road humidity increases, the water vapor content in the air around the sensor increases, causing the capacitance value of the sensor to change accordingly. By detecting the change in capacitance value, it is converted into a corresponding humidity value output, and then the road humidity is obtained.

[0072] The vehicle power confirmation module is used to confirm the power distribution information of the vehicle drive axle according to the road condition information during the vehicle driving process.

[0073] Exemplarily, the confirmation of the power distribution information of the vehicle drive axle includes: G1, according to the road surface flatness, road surface slope, road surface smoothness and road surface humidity during the vehicle driving process, calculating the power qualification index of the vehicle driving; .

[0074] Furthermore, the statistical power qualification index of the vehicle driving includes: G1-1, recording the road surface flatness during the vehicle driving process as .

[0075] G1-2. Statistical road surface smoothness qualification index during vehicle driving , , To set the reference road surface smoothness.

[0076] It should be added that It is extracted from the automotive drive axle control technical specification table.

[0077] G1-3, the road surface smoothness during the car driving process is recorded as .

[0078] G1-4. Statistical evaluation of the road surface smoothness index during vehicle driving , , and To set the reference road surface smoothness and road surface smoothness difference.

[0079] It should be added that and All are extracted from the automotive drive axle control technical specification table.

[0080] G1-5. According to the road slope during the driving process of the car, calculate the road slope qualification index during the driving process of the car .

[0081] Furthermore, the statistical method of calculating the qualified index of road surface slope during the driving process of the vehicle includes: G1-5-1, extracting the road surface slope interval corresponding to each qualified index of road surface slope from the database.

[0082] G1-5-2. Match and compare the road slope during the vehicle driving process with the road slope interval corresponding to each road slope qualification index, and obtain the road slope qualification index during the vehicle driving process, and use it as the .

[0083] G1-6, according to The road surface humidity qualification index during the vehicle driving process is obtained by the same statistical method and recorded as .

[0084] G1-7. Calculate the power qualification index of the vehicle , , , , and are the weights of the set road surface flatness qualified index, road surface smoothness qualified index, road surface slope qualified index and road surface moisture qualified index, respectively. , .

[0085] It should be added that the slope of the road has the most direct impact on the power of the car. When going uphill, the car needs to overcome the component of gravity along the slope direction. The greater the slope, the greater the traction required, and the higher the requirements for the power system. When going downhill, the car accelerates under the action of gravity, and it is necessary to reasonably control the power output and cooperate with the braking system to ensure a safe driving speed. For example, on a steep slope, the car may need to increase the engine output power to several times the normal flat road driving in order to climb the slope smoothly. The smoothness of the road surface is directly related to the friction between the tires and the road surface, which in turn affects the power transmission efficiency and handling performance of the car. Under different road smoothness conditions, the car's power system needs to have corresponding adaptability. For example, on a road with a low friction coefficient, in order to prevent the wheels from spinning, the engine needs to reduce the torque output. Therefore, the weight of the road smoothness qualification index is second only to the weight of the road slope qualification index. The effect of road humidity on power is not absolute. The change of humidity within a certain range has relatively little effect on the power system of the car. Only when the road humidity reaches a certain level, such as water accumulation or hydroplaning, will it have a greater impact on power and driving safety. Therefore, the weight of the road humidity qualification index in the power qualification index is slightly smaller than that of the road smoothness qualification index. The road surface flatness mainly affects the driving comfort of the car and the working condition of the suspension system. Although uneven road surfaces will increase the driving resistance of the car and make the car consume more power during acceleration and driving, this effect is relatively indirect compared to the road slope, smoothness and humidity. Generally speaking, when the road surface flatness is poor, the car's power system does not need to be adjusted drastically like on roads with large slopes or low smoothness. It only needs to increase some power output appropriately to maintain the vehicle speed. Therefore, the setting , in order to facilitate analysis, The specific value can be 0.1. The specific value can be 0.3. The specific value can be 0.4. The specific value can be 0.2.

[0086] The embodiment of the present invention calculates the power qualification index of the vehicle according to the road surface flatness, road surface slope, road surface smoothness and road surface humidity during the vehicle driving process, and comprehensively calculates the power qualification index for multiple road conditions, thereby avoiding the limitation of a single road condition, improving the accuracy of the evaluation of the vehicle driving dynamic performance, and thus improving the targeted evaluation of the vehicle driving dynamic performance.

[0087] G2. Match and compare the power qualification index of the vehicle with the power qualification index corresponding to each vehicle power distribution level to obtain the vehicle power distribution level.

[0088] G3. Extracting the vehicle power control information corresponding to each vehicle power distribution level from the database, and then using the vehicle power control information corresponding to the vehicle power distribution level as the power distribution information of the vehicle drive axle.

[0089] The vehicle route monitoring module is used to generate a vehicle driving path when the target user inputs a destination, and monitor the turning information of the vehicle when it drives to a turning area, including the curvature radius of the road curve and the vehicle speed.

[0090] It should be added that the turning area is the curved part of the road. When the projection of the center line of the road on the horizontal plane shows a continuous change in curvature, the area can be defined as the turning area. The starting point and end point of the curve are used as the boundaries of the turning area. The starting point refers to the position where the car begins to enter the section with curvature change, and the end point is the position where the car completely leaves the section with curvature change and the center line of the road returns to a straight line or enters the next section with different curvature. For example, on a circular curve with a radius of 50 meters, the section from the tangent point where the front wheels of the car begin to enter the curve to the tangent point where the rear wheels leave the curve is the turning area.

[0091] It should be added that the radius of curvature of a road curve is obtained by using a vehicle-mounted camera placed in the upper middle position on the inside of the car's front windshield or near the rearview mirror to capture a clear image of the road in front of the car, and using computer vision technology to analyze and process the image. It can identify features such as lane lines and curbs on the road, and by tracking and calculating the geometric relationships of these features in multiple consecutive frames of images, it can obtain the curvature information of the road in front of the car, and then calculate the radius of curvature of the road curve.

[0092] It should be added that the vehicle speed is monitored by a speed sensor installed on the transmission output shaft of the vehicle.

[0093] The vehicle speed confirmation module is used to confirm the speed distribution information of the vehicle drive axle according to the steering information when the vehicle travels to the turning area.

[0094] Exemplarily, the confirming of the speed distribution information of the vehicle drive axle includes: H1, confirming the turning speed control information according to the curvature radius of the road curve and the vehicle speed.

[0095] Further, the confirmation of the turning speed control information includes: H1-1, matching and comparing the road curve curvature radius with the road curve curvature radius corresponding to each permitted vehicle speed to obtain the permitted vehicle speed of the vehicle under the road curve curvature radius.

[0096] H1-2. Compare the permitted vehicle speed with the vehicle speed.

[0097] H1-3. If the permitted vehicle speed is greater than or equal to the vehicle speed, the current vehicle speed will be maintained as the turning speed control information.

[0098] H1-4. If the permitted vehicle speed is less than the vehicle speed, the difference between the vehicle speed and the permitted vehicle speed is used as the vehicle speed difference, and the vehicle speed difference is reduced as the turning speed control information.

[0099] H2, the speed of the car and the radius of curvature of the road curve are respectively and ;

[0100] H3. Statistical analysis of vehicle steering angular velocity , .

[0101] H4, the wheelbase of the car extracted from the car drive axle control cloud platform is recorded as , and then based on the geometric relationship between the road curve radius and the front and rear wheels of the car, the distance from the center of the front wheel to the steering center and the distance from the center of the rear wheel to the steering center are statistically obtained and recorded as and .

[0102] It should be added that the geometric relationship between the radius of curvature of the road curve and the front and rear wheels of the car is: the distance from the center of the front wheel of the car to the steering center is half the wheelbase less than the radius of curvature of the road curve, while the distance from the center of the rear wheel of the car to the steering center is half the wheelbase greater than the radius of curvature of the road curve, that is, the distance from the center of the front wheel of the car to the steering center is The formula is , the distance from the rear wheel center to the steering center The formula is .

[0103] H5. The relationship between linear velocity and angular velocity is used to obtain the front wheel speed and rear wheel speed of the vehicle, which are recorded as and .

[0104] It should be added that the speed of the front wheels of the car The formula is , the rear wheel speed of the car The formula is .

[0105] In a specific embodiment, assuming that the speed of the car is km / h, the radius of curvature of the road curve is m, the wheelbase of the car is m.

[0106] Calculate the distance from the center of each wheel to the steering center: The distance from the center of the front wheel to the steering center of the car is m, the distance from the center of the rear wheel to the steering center of the car is m.

[0107] Calculate the car's steering angular velocity: rad / s, where 8.33 is the value of the car speed converted from km / h to m / s.

[0108] Calculate the speed of each wheel: The speed of the front wheel of the car is m / s, the speed of the rear wheels of the car is m / s.

[0109] H6. and As the speed distribution information of each wheel of the car.

[0110] H7. Use the turning speed control information and the speed distribution information of each wheel of the vehicle as the speed distribution information of the vehicle drive axle.

[0111] The embodiment of the present invention confirms the speed distribution information of the vehicle drive axle according to the steering information when the vehicle travels to the turning area, thereby breaking the current problem of insufficient attention to the drive axle control of the vehicle turning, improving the turning performance of the vehicle, thereby reducing tire wear, and further ensuring the lateral stability of the vehicle turning, while improving the user's driving comfort and reducing the safety hazards of the vehicle turning.

[0112] The database is used to store the historical driving information of each user, store the vehicle power control information corresponding to each vehicle power distribution level, and store the road surface slope interval corresponding to each road surface slope qualification index.

[0113] The vehicle driving control terminal is used to send the safety distribution information, power distribution information and vehicle driving speed distribution information of the target vehicle drive axle to the vehicle drive axle control cloud platform to perform corresponding control.

[0114] See also Figure 3 As shown, the present invention provides a vehicle drive axle control method, and the specific steps of the control method are as follows: S1, user collection and identification: when the target user starts the car, the face recognition image of the target user is collected, and then the identity information of the target user is identified.

[0115] S2. Vehicle safety monitoring: monitors the safety information of the vehicle during driving, including the distance between the vehicle and its adjacent vehicles and the deviation angle of the vehicle direction.

[0116] S3. Vehicle safety confirmation: Confirm the safety allocation information of the vehicle drive axle based on the identity information of the target user and the safety information of the vehicle driving process.

[0117] S4. Automobile road monitoring: monitor the road condition information during the vehicle driving process, including road flatness, road slope, road smoothness and road humidity.

[0118] S5. Vehicle power confirmation: confirm the power distribution information of the vehicle drive axle according to the road condition information during the vehicle's driving process.

[0119] S6. Vehicle route monitoring: When the target user inputs the destination, the vehicle driving path is generated, and the turning information when the vehicle drives to the turning area is monitored, including the curvature radius of the road curve and the vehicle speed.

[0120] S7, vehicle speed confirmation: confirm the speed distribution information of the vehicle drive axle according to the steering information when the vehicle drives to the turning area.

[0121] S8, vehicle driving control: the safety distribution information, power distribution information and vehicle driving speed distribution information of the target vehicle drive axle are sent to the vehicle drive axle control cloud platform to perform corresponding control.

[0122] The above contents are merely examples and explanations of the concept of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, they shall all fall within the protection scope of the present invention.

Claims

1. An automobile drive axle control system, characterized in that: The system includes: A user collection and recognition module is used to collect the target user's face recognition image when the target user starts the car, and then identify the target user's identity information; The vehicle safety monitoring module is used to monitor the safety information of the vehicle during driving, including the distance between the vehicle and its adjacent vehicles and the deviation angle of the vehicle direction; The vehicle safety confirmation module is used to confirm the safety allocation information of the vehicle drive axle according to the identity information of the target user and the safety information of the vehicle driving process; The safety allocation information includes anti-collision safety control information and anti-deviation safety control information. The anti-collision safety control information is obtained by importing the collision safety index of the target user's historical driving into the anti-collision safety control analysis model. The collision safety index of each historical driving of the target user is obtained by analyzing the number of sudden accelerations, the number of sudden brakes and the driving time during each historical driving of the target user. The collision safety index of the target user's historical driving is matched and compared with the collision safety index corresponding to the reference distance between each set car and its adjacent car to obtain the reference distance between the car and its adjacent car. The target user's historical driving direction deviation angle safety index is obtained by analyzing the total number of direction deviations and the deviation angle of the target user's historical driving. If the target user's historical driving direction deviation angle safety index is greater than or equal to the set permitted direction deviation angle safety index, the maximum direction deviation angle of the target user's historical driving is used as the target user's car reference direction deviation angle. Otherwise, the direction deviation angle corresponding to the set permitted direction deviation angle safety index is used as the target user's car reference direction deviation angle. The automobile road monitoring module is used to monitor the road condition information during the automobile driving process, including the road surface flatness, road surface slope, road surface smoothness and road surface humidity; The vehicle power confirmation module is used to confirm the power distribution information of the vehicle drive axle according to the road condition information during the vehicle driving process; The power qualification index of the vehicle is obtained by weighting and summing the corresponding qualified indexes of the road surface flatness, road surface slope, road surface smoothness and road surface humidity during the vehicle driving process. , compare and obtain the vehicle power distribution level, and then use the vehicle power control information corresponding to the vehicle power distribution level as the power distribution information of the vehicle drive axle; The vehicle route monitoring module is used to generate the vehicle driving path when the target user inputs the destination, and monitor the turning information of the vehicle when it drives to the turning area, including the curvature radius of the road curve and the vehicle speed; The vehicle speed confirmation module is used to confirm the speed distribution information of the vehicle drive axle according to the steering information when the vehicle drives to the turning area; The speed distribution information of the vehicle drive axle includes the turning speed control information and the speed distribution information of each wheel of the vehicle; A database for storing the historical driving information of each user, storing the vehicle power control information corresponding to each vehicle power distribution level, and storing the road slope interval corresponding to each road slope qualification index; The vehicle driving control terminal is used to send the safety distribution information, power distribution information and vehicle driving speed distribution information of the target vehicle drive axle to the vehicle drive axle control cloud platform to perform corresponding control.

2. The vehicle drive axle control system according to claim 1, characterized in that: The confirmation of the safety distribution information of the vehicle drive axle includes: A1. extracting user identity information corresponding to each user's historical driving information from the database; A2. Match and compare the target user's identity information with the user identity information corresponding to each user's historical driving information to obtain the target user's historical driving information; A3, extracting the number of sudden accelerations, the number of sudden brakes and the driving duration of each driving time of the target user from the historical driving information of the target user, and then confirming the anti-collision safety control information of the car; A4. extracting the total number of direction deviations and the direction deviation angles of each direction deviation in the target user's historical driving from the target user's historical driving information, and then confirming the anti-deviation safety control information of the vehicle; A5. Use the anti-collision safety control information and anti-deviation safety control information of the automobile as the safety distribution information of the automobile drive axle.

3. The vehicle drive axle control system according to claim 2, characterized in that: The confirmation of the anti-collision safety control information of the automobile includes: The ratio of the number of sudden accelerations during each driving history of the target user to the driving duration is taken as the sudden acceleration frequency of each driving history of the target user, recorded as , Number the driving order. ; according to The frequency of sudden deceleration in each driving history of the target user is obtained by the same analysis method and recorded as ; Count the target user's historical driving collision safety index , , and are the weights of the set rapid acceleration frequency and rapid deceleration frequency, , ; Will Perform mean calculation and use the result as the collision safety index of the target user's historical driving; The collision safety index of the target user's historical driving is imported into the anti-collision safety control analysis model to obtain the anti-collision safety control information of the car.

4. The vehicle drive axle control system according to claim 2, characterized in that: The confirmation of the anti-deviation safety control information of the automobile includes: The total number of direction deviations in the target user's historical driving is recorded as , and the average deviation angle of each direction deviation of the target user's historical driving is calculated to obtain the average deviation angle of the target user's historical driving, which is recorded as ; The maximum direction deviation angle is selected from the direction deviation angles of each direction deviation of the target user's historical driving and recorded as ; Statistical safety index of the target user's historical driving direction deviation angle , , and They are respectively the set number of deviations from the permitted direction of the car and the set angle of deviation from the permitted direction of the car; If the target user's historical driving direction deviation angle safety index is greater than or equal to the set permitted direction deviation angle safety index, the target user's historical driving maximum direction deviation angle is used as the target user's car reference direction deviation angle; otherwise, the direction deviation angle corresponding to the set permitted direction deviation angle safety index is used as the target user's car reference direction deviation angle; If the car's direction deviation angle is greater than or equal to the target user's car reference direction deviation angle, the car's deviation direction is extracted from the car's direction deviation angle, and then the direction deviation angle is adjusted in the opposite direction of the car's deviation direction as the car's anti-deviation safety control information. Otherwise, normal driving will continue as the car's anti-deviation safety control information.

5. The automobile drive axle control system according to claim 1, characterized in that: The confirming of the power distribution information of the vehicle drive axle includes: G1. Calculate the driving power qualification index of the vehicle based on the road surface flatness, road slope, road smoothness and road humidity during the vehicle's driving process ; G2. Match and compare the power qualification index of the vehicle with the power qualification index corresponding to each vehicle power distribution level to obtain the vehicle power distribution level; G3. Extracting the vehicle power control information corresponding to each vehicle power distribution level from the database, and then using the vehicle power control information corresponding to the vehicle power distribution level as the power distribution information of the vehicle drive axle.

6. The automobile drive axle control system according to claim 5, characterized in that: The statistical vehicle driving power qualification index includes: The road surface smoothness during the car driving process is recorded as ; Statistical evaluation of road surface smoothness during vehicle driving , , To set the reference road surface smoothness; The road surface smoothness during the car driving process is recorded as ; Statistical evaluation of road surface smoothness during vehicle driving , , and To set the reference road surface smoothness and road surface smoothness difference; According to the road slope during the car's driving process, the road slope qualification index during the car's driving process is calculated ; according to The road surface humidity qualification index during the vehicle driving process is obtained by the same statistical method and recorded as ; Statistical analysis of the power qualification index of automobile driving , , , , and are the weights of the set road surface flatness qualified index, road surface smoothness qualified index, road surface slope qualified index and road surface moisture qualified index, respectively. , .

7. The automobile drive axle control system according to claim 6, characterized in that: The statistical road slope qualification index during the vehicle driving process includes: Extracting the road surface slope interval corresponding to each road surface slope qualification index from the database; The road slope during the vehicle driving process is matched and compared with the road slope interval corresponding to each road slope qualification index, and the road slope qualification index during the vehicle driving process is obtained and used as .

8. The automobile drive axle control system according to claim 1, characterized in that: The confirming of the speed distribution information of the vehicle drive axle includes: H1. Confirm the turning speed control information according to the curvature radius of the road and the speed of the vehicle; H2, the speed of the car and the radius of curvature of the road curve are respectively and ; H3. Statistical analysis of vehicle steering angular velocity , ; H4, the wheelbase of the car extracted from the car drive axle control cloud platform is recorded as , and then based on the geometric relationship between the road curve radius and the front and rear wheels of the car, the distance from the center of the front wheel to the steering center and the distance from the center of the rear wheel to the steering center are statistically obtained and recorded as and ; H5. The relationship between linear velocity and angular velocity is used to obtain the front wheel speed and rear wheel speed of the vehicle, which are recorded as and ; H6. and As the speed distribution information of each wheel of the car; H7. Use the turning speed control information and the speed distribution information of each wheel of the vehicle as the speed distribution information of the vehicle drive axle.

9. The automobile drive axle control system according to claim 8, characterized in that: The confirming of the turning speed control information includes: The road curve curvature radius is matched and compared with the road curve curvature radius corresponding to each permitted vehicle speed, so as to obtain the permitted vehicle speed of the vehicle under the road curve curvature radius; Compare the permitted vehicle speed with the vehicle speed; If the permitted vehicle speed is greater than or equal to the vehicle speed, the current vehicle speed will be maintained as the turning speed control information; If the permitted vehicle speed is less than the vehicle speed, the difference between the vehicle speed and the permitted vehicle speed is used as the vehicle speed difference, and the vehicle speed difference is reduced as the turning speed control information.

10. A vehicle drive axle control method, executed by a vehicle drive axle control system according to any one of claims 1 to 9, characterized in that: The method includes: S1. User collection and identification: When the target user starts the car, the target user's face recognition image is collected to identify the target user's identity information; S2. Vehicle safety monitoring: monitors the safety information of the vehicle during driving, including the distance between the vehicle and its adjacent vehicles and the deviation angle of the vehicle direction; S3, car safety confirmation: confirm the safety allocation information of the car drive axle according to the identity information of the target user and the safety information of the car driving process; S4. Automobile road monitoring: monitoring the road condition information during the driving process of the car, including road flatness, road slope, road smoothness and road humidity; S5, vehicle power confirmation: confirm the power distribution information of the vehicle drive axle according to the road condition information of the vehicle driving process; S6, car route monitoring: when the target user inputs the destination, the car driving path is generated, and the turning information when the car drives to the turning area is monitored, including the curvature radius of the road and the speed of the car; S7, vehicle speed confirmation: confirming the speed distribution information of the vehicle drive axle according to the steering information when the vehicle drives to the turning area; S8, vehicle driving control: the safety distribution information, power distribution information and vehicle driving speed distribution information of the target vehicle drive axle are sent to the vehicle drive axle control cloud platform to perform corresponding control.

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