Vehicle control method and device, vehicle and storage medium

Abstract

The embodiment of the invention provides a vehicle control method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining the torque distribution proportion of a front axle and a rear axle of the vehicle, controlling the vehicle according to the torque distribution proportion, and controlling the vehicle according to the torque distribution proportion in the process of controlling the vehicle according to the torque distribution proportion. If the driving mode of the vehicle is a target driving mode, whether a target object exists in a preset range or not is detected, if yes, position information and speed information of the target object are obtained, and the torque distribution proportion of a front axle and a rear axle of the vehicle is updated according to the position information and the speed information, and controlling the vehicle according to the updated torque distribution proportion. Through the embodiment of the invention, the torque distribution proportion can be updated in a variable driving environment, so that the updated torque distribution proportion better meets the requirements of a driver.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method and device, electronic equipment, and storage medium. Background Art

[0002] With the continuous development of new energy vehicle technology, people's pursuit of vehicle performance is getting higher and higher.

[0003] The rationality of the torque distribution between the front and rear axles of a car is one of the important factors in measuring the performance of the car. When the car is driving, especially at high speeds or encountering emergencies, a stable body is the key to ensuring the safety of the driver and passengers. Reasonable torque distribution between the front and rear axles can keep the vehicle in a stable driving posture under various road conditions and avoid dangerous situations such as skidding and tail swinging.

[0004] In the related art, different preset configurations are switched in response to user input to switch different torque distribution ratios between the front and rear axles, and then the vehicle is controlled based on the torque distribution ratio. However, this solution is not intelligent and user-friendly, and it is difficult to adapt to complex and changeable driving conditions. Summary of the invention

[0005] In view of the above problems, a control method and device for a vehicle, a vehicle, and a storage medium are proposed to overcome the above problems or at least partially solve the above problems, including:

[0006] A vehicle control method, the method comprising:

[0007] Obtaining a torque distribution ratio between a front axle and a rear axle of a vehicle, and controlling the vehicle according to the torque distribution ratio;

[0008] In the process of controlling the vehicle according to the torque distribution ratio, if the driving mode of the vehicle is a target driving mode, detecting whether there is a target object within a preset range;

[0009] If the target object exists, obtaining the position information and speed information of the target object;

[0010] The torque distribution ratio between the front axle and the rear axle of the vehicle is updated according to the position information and the speed information, and the vehicle is controlled according to the updated torque distribution ratio.

[0011] Optionally, updating the torque distribution ratio between the front axle and the rear axle of the vehicle according to the position information and the speed information includes:

[0012] Determining a relative distance between the target object and the vehicle according to the position information;

[0013] Determining a relative speed between the target object and the vehicle according to the speed information;

[0014] If the relative distance is less than or equal to a distance threshold, and the relative speed is greater than or equal to a speed threshold, determining the relative position of the target object and the vehicle to obtain a relative position determination result;

[0015] The torque distribution ratio between the front axle and the rear axle of the vehicle is updated according to the relative position determination result.

[0016] Optionally, updating the torque distribution ratio between the front axle and the rear axle of the vehicle according to the relative position determination result includes:

[0017] If the relative position determination result indicates that the target object is located in front of the vehicle, a first preset ratio is obtained, and the torque distribution ratio between the front axle and the rear axle of the vehicle is updated according to the first preset ratio; wherein, in the first preset ratio, the proportion of the front axle torque is greater than the proportion of the rear axle torque;

[0018] If the relative position judgment result indicates that the target object is located behind the vehicle, a second preset ratio is obtained, and the torque distribution ratio of the front axle and the rear axle of the vehicle is updated according to the second preset ratio; wherein, in the second preset ratio, the proportion of the front axle torque is less than the proportion of the rear axle torque.

[0019] Optionally, the method further comprises:

[0020] In response to the steering operation instruction, a third preset ratio is acquired; wherein, in the third preset ratio, the proportion of the front axle torque is greater than the proportion of the rear axle torque;

[0021] The torque distribution ratio between the front axle and the rear axle of the vehicle is updated according to the third preset ratio, and the vehicle is controlled according to the updated torque distribution ratio.

[0022] Optionally, the method further comprises:

[0023] In response to an operation instruction of accelerating to overtake, a fourth preset ratio is obtained; wherein, in the fourth preset ratio, a proportion of the front axle torque is less than a proportion of the rear axle torque;

[0024] The torque distribution ratio between the front axle and the rear axle of the vehicle is updated according to the fourth preset ratio, and the vehicle is controlled according to the updated torque distribution ratio.

[0025] Optionally, obtaining the torque distribution ratio between the front axle and the rear axle of the vehicle includes:

[0026] Determine the driving mode of the vehicle, and obtain the torque distribution ratio of the front axle and the rear axle of the vehicle according to the driving mode; wherein the driving mode includes one or more of a normal driving mode, a sports mode, a snow mode and a creeping mode.

[0027] Optionally, the method further comprises:

[0028] When the driving mode is any one of the normal driving mode, the sports mode and the snow mode, the driving mode is determined to be the target driving mode.

[0029] A vehicle control device, the device comprising:

[0030] A first control module, configured to obtain a torque distribution ratio between a front axle and a rear axle of a vehicle, and control the vehicle according to the torque distribution ratio;

[0031] a target object detection module, configured to detect whether a target object exists within a preset range if the driving mode of the vehicle is a target driving mode during the process of controlling the vehicle according to the torque distribution ratio;

[0032] A target object information acquisition module, used to acquire the position information and speed information of the target object if the target object exists;

[0033] The second control module is used to update the torque distribution ratio between the front axle and the rear axle of the vehicle according to the position information and the speed information, and control the vehicle according to the updated torque distribution ratio.

[0034] A vehicle comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the vehicle control method as described above when executed by the processor.

[0035] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle control method described above is implemented.

[0036] The embodiments of the present application have the following advantages: by obtaining the torque distribution ratio of the front axle and the rear axle of the vehicle, and controlling the vehicle according to the torque distribution ratio, in the process of controlling the vehicle according to the torque distribution ratio, if the driving mode of the vehicle is the target driving mode, detecting whether there is a target object within a preset range, if the target object exists, obtaining the position information and speed information of the target object, updating the torque distribution ratio of the front axle and the rear axle of the vehicle according to the position information and the speed information, and controlling the vehicle according to the updated torque distribution ratio, the torque distribution ratio can be updated to adapt to changing driving environments, so that the updated torque distribution ratio better meets the needs of the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the description of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0038] Figure 1 is a flowchart of a vehicle control method provided by an embodiment of the present application;

[0039] Figure 2 is a diagram of an implementation process of updating a torque distribution ratio provided by an embodiment of the present application;

[0040] Figure 3 It is a structural block diagram of a vehicle control device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0042] Reference Figure 1 , shows a flow chart of a vehicle control method provided by an embodiment of the present application, which may specifically include the following steps:

[0043] Step 101, obtaining a torque distribution ratio between a front axle and a rear axle of a vehicle, and controlling the vehicle according to the torque distribution ratio;

[0044] The front axle and rear axle are two key components in the vehicle chassis system, which support and connect the front and rear of the vehicle respectively. The front axle is the component that connects the front wheels of the vehicle, and usually includes the steering system and suspension system. The main function of the front axle is to support the weight of the front of the vehicle and allow the front wheels to steer; the rear axle is the component that connects the rear wheels of the vehicle, including the suspension system and drive system (in rear-wheel drive vehicles), and the main function of the rear axle is to support the weight of the rear of the vehicle and transmit power to the rear wheels.

[0045] When the torque of the vehicle engine is transmitted to the chassis system, the torque distribution ratio of the front axle and the rear axle needs to be determined. If the front axle obtains more torque, the front wheels can obtain more power; conversely, if the rear axle obtains more torque, the rear wheels can obtain more power.

[0046] In step 101 , the vehicle needs to determine an initial torque distribution ratio during driving, and distribute the torque distribution ratio to the front axle and the rear axle.

[0047] In practical applications, torque distribution between the front and rear axles can be achieved through devices such as differentials.

[0048] In some embodiments of the present application, step 101 includes:

[0049] Determine the driving mode of the vehicle, and obtain the torque distribution ratio of the front axle and the rear axle of the vehicle according to the driving mode; wherein the driving mode includes one or more of a normal driving mode, a sports mode, a snow mode and a creeping mode.

[0050] In specific implementations, different driving modes represent different driving styles or driving scenarios. For example, the normal driving mode is designed to provide balanced performance and comfort, suitable for most daily driving scenarios, and can take into account fuel efficiency, driving comfort and handling; the sports mode is usually used to improve the performance and handling of the vehicle, and is suitable for scenarios that require fast acceleration and intense driving; the snow mode is used to provide better traction and stability on slippery or low-friction roads, and is suitable for snow, ice or muddy roads; the creep mode is usually used for off-road driving, especially to provide stable low-speed driving capabilities at low speeds and complex terrains.

[0051] Different driving modes have different requirements for the torque ratio distribution of the front axle and the rear axle. Therefore, the torque ratio distribution of the front axle and the rear axle corresponding to the driving mode can be determined by determining the current driving mode of the vehicle.

[0052] In some examples, for the normal driving mode, the focus is on the balance of performance, so it is sufficient to ensure that the front axle and the rear axle are evenly distributed. For example, the torque distribution ratio of the front axle and the rear axle in the normal driving mode can be set to 50:50.

[0053] In some examples, for the sports mode, the driving style is more aggressive, with the intention of obtaining better dynamics. In this mode, the rear axle load will increase during the actual acceleration of the vehicle, so the torque output of the rear axle needs to be increased. For example, the torque distribution ratio of the front axle and the rear axle in the sports mode can be set to 45:55.

[0054] In some examples, for the snow mode, more torque needs to be distributed to the front axle to enhance the stability and handling of the vehicle when driving on snow. For example, the torque distribution ratio between the front axle and the rear axle in the snow mode can be set to 45:55.

[0055] In some examples, for creep mode, the vehicle is traveling at a low speed in this mode, and only the normal torque distribution ratio needs to be considered, while more torque is distributed to the rear axle to improve the vehicle's passability in various complex terrains. For example, the torque distribution ratio of the front axle and the rear axle in creep mode can be set to 45:55.

[0056] Step 102, in the process of controlling the vehicle according to the torque distribution ratio, if the driving mode of the vehicle is a target driving mode, detecting whether there is a target object within a preset range;

[0057] The preset range may be a certain range centered on the vehicle; the target object refers to an object that may affect the driving of the vehicle, such as other moving vehicles, obstacles, etc.

[0058] In step 102, during the driving process of the vehicle, when there is a target object within the preset range of the vehicle, the driver may need to judge and operate the vehicle according to the specific situation of the target object, such as avoiding, braking, accelerating, etc. according to the motion state of the target object. For different situations, the front axle and rear axle torque distribution ratios need to be adjusted differently to meet the needs of the driver. Therefore, in order to determine whether the front axle and rear axle torque distribution ratios need to be adjusted, it is necessary to first determine whether there is a target object within the preset range of the vehicle.

[0059] Moreover, considering that the torque distribution ratio between the front and rear axles may not necessarily need to be adjusted in some driving modes, before detecting whether there is a target object within the preset range, it is also necessary to determine whether the vehicle's current driving mode requires adjustment of the torque distribution ratio. If the vehicle's driving mode is the target driving mode, the torque distribution ratio between the front and rear axles needs to be adjusted, and then the target object within the preset range is detected.

[0060] In practical applications, laser radar sensors can be installed at the front and rear of the vehicle to detect target objects within a preset range. The detection range of the laser radar sensor should cover a distance of 100m from the front and rear of the vehicle.

[0061] In some embodiments of the present application, the driving mode includes one or more of a normal driving mode, a sports mode, a snow mode, and a creeping mode, and the method further includes:

[0062] When the driving mode is any one of the normal driving mode, the sports mode and the snow mode, determining that the driving mode is the target driving mode

[0063] In this embodiment, since the vehicle travels at a low speed in the creep mode, only the normal torque distribution ratio needs to be considered, and therefore there is no need to update the torque distribution ratio by detecting the target object.

[0064] Step 103, if the target object exists, obtain the position information and speed information of the target object;

[0065] In step 103, when a target object is detected within the preset range, it is necessary to further determine the information of the target object to determine whether the target object may affect the driving of the vehicle and whether the driver needs to change the way of operating the vehicle according to the target object. Among them, the position information is used to determine the position of the target object, which can be information such as radar coordinates and infrared distance; the speed information is used to determine the motion state of the target object, which can be information such as the speed and acceleration of the target object.

[0066] In practical applications, the position and speed information of the target object can be obtained through the laser radar sensor installed in the vehicle. Specifically, a data acquisition and processing system can be established to receive the data sent by the laser radar sensor in real time and perform preprocessing and analysis. The filtering algorithm is used to remove noise and outliers, and the corresponding anti-shake mechanism is added to improve the accuracy and reliability of the data.

[0067] Step 104 : updating the torque distribution ratio between the front axle and the rear axle of the vehicle according to the position information and the speed information, and controlling the vehicle according to the updated torque distribution ratio.

[0068] In step 104, different influencing factors of the target object on the vehicle can be confirmed based on the position information and speed information of the object, and the torque distribution ratio of the front axle and the rear axle of the vehicle is updated in combination with the different influencing factors to adapt to the changing driving environment and make the updated torque distribution ratio more in line with the driver's needs.

[0069] In some embodiments of the present application, step 104 includes:

[0070] Sub-step 1041, determining the relative distance between the target object and the vehicle according to the position information;

[0071] Sub-step 1042, determining the relative speed between the target object and the vehicle according to the speed information;

[0072] Sub-step 1043, if the relative distance is less than or equal to the distance threshold, and the relative speed is greater than or equal to the speed threshold, determining the relative position of the target object and the vehicle to obtain a relative position determination result;

[0073] Sub-step 1044, updating the torque distribution ratio between the front axle and the rear axle of the vehicle according to the relative position determination result.

[0074] In a specific implementation, by obtaining the position information of the target object and combining it with the current position information of the vehicle, the relative distance between the target object and the vehicle can be determined. The smaller the relative distance between the target object and the vehicle, the greater the probability that the target object will affect the normal driving of the vehicle. For example, if the relative distance between the vehicle and other moving vehicles is small, the two vehicles are likely to collide, and the driver needs to make an evasive move.

[0075] By obtaining the speed information of the target object and combining it with the current speed information of the vehicle, the relative speed between the target object and the vehicle can be determined. The greater the relative speed between the target object and the vehicle, the greater the probability that the target object will affect the normal driving of the vehicle. For example, for a stationary obstacle in front of the vehicle, its relative speed to the vehicle is the current speed of the vehicle. The greater the current speed of the vehicle, the more likely it is to hit the obstacle, and the driver needs to slow down and brake.

[0076] When the relative distance is less than or equal to the distance threshold, and the relative speed is greater than or equal to the speed threshold, it means that the target object is likely to affect the driving of the vehicle, and the driver will change the operation of the vehicle. Therefore, the torque ratio value needs to be updated to meet the driver's needs.

[0077] In some examples, the distance threshold may be set to 100 m and the speed threshold may be set to 36 kph.

[0078] Furthermore, since target objects with different relative positions have different effects on the vehicle and the driver, it is also necessary to determine the relative position of the target object and the vehicle, obtain a relative position determination result, and then update the torque ratio value according to the different position determination results.

[0079] In some embodiments of the present application, sub-step 1044 includes:

[0080] If the relative position determination result indicates that the target object is located in front of the vehicle, a first preset ratio is obtained, and the torque distribution ratio between the front axle and the rear axle of the vehicle is updated according to the first preset ratio; wherein, in the first preset ratio, the proportion of the front axle torque is greater than the proportion of the rear axle torque;

[0081] If the relative position judgment result indicates that the target object is located behind the vehicle, a second preset ratio is obtained, and the torque distribution ratio of the front axle and the rear axle of the vehicle is updated according to the second preset ratio; wherein, in the second preset ratio, the proportion of the front axle torque is less than the proportion of the rear axle torque.

[0082] In a specific implementation, when the relative position judgment result indicates that the target object is located in front of the vehicle, it means that the driver may need to perform operations such as deceleration, braking, or steering to avoid, and the front axle of the vehicle needs to obtain greater power to support these operations. Therefore, the first preset ratio should be set so that the proportion of the front axle torque is greater than the proportion of the rear axle torque, and the current torque distribution ratio of the vehicle is updated according to the first preset ratio. For example, the first preset ratio can be set to 55:45.

[0083] When the relative position determination result indicates that the target object is located behind the vehicle, it means that the driver may need to accelerate to avoid the object, and the rear axle of the vehicle needs to obtain greater power to support these operations. Therefore, the second preset ratio should be set so that the proportion of the front axle torque is less than the proportion of the rear axle torque, and the current torque distribution ratio of the vehicle is updated according to the second preset ratio. For example, the second preset ratio can be set to 45:55.

[0084] In practical applications, after determining the relative position judgment result, the updated torque ratio value can also be determined in combination with the current driving mode of the vehicle. For example, in sports mode, since the vehicle can obtain better acceleration performance, when the relative position judgment result indicates that the target object is located behind the vehicle, more torque can be allocated to the rear axle. For example, the updated torque ratio value can be set to 42:58.

[0085] In some embodiments of the present application, the method further includes:

[0086] In response to the steering operation instruction, a third preset ratio is acquired; wherein, in the third preset ratio, the proportion of the front axle torque is greater than the proportion of the rear axle torque;

[0087] The torque distribution ratio between the front axle and the rear axle of the vehicle is updated according to the third preset ratio, and the vehicle is controlled according to the updated torque distribution ratio.

[0088] In a specific implementation, since the center of gravity of the vehicle will shift to a certain extent when turning, in order to maintain the stability and controllability of the vehicle, the torque of the front axle will increase relatively and the torque of the rear axle will decrease relatively, so the third preset ratio should be set so that the proportion of the front axle torque is greater than the proportion of the rear axle torque. For example, the third preset ratio can be set to 55:45.

[0089] In addition, since the operating environment of the vehicle is a curve at this time, there is no need to detect the target object to update the torque ratio value again. In some examples, when the vehicle is in a turning state, the lidar sensor responsible for detecting the target object stops working.

[0090] In some embodiments of the present application, the method further includes:

[0091] In response to an operation instruction of accelerating to overtake, a fourth preset ratio is obtained; wherein, in the fourth preset ratio, a proportion of the front axle torque is less than a proportion of the rear axle torque;

[0092] The torque distribution ratio between the front axle and the rear axle of the vehicle is updated according to the fourth preset ratio, and the vehicle is controlled according to the updated torque distribution ratio.

[0093] In a specific implementation, since the torque distribution should be more biased towards the rear axle during acceleration and overtaking to obtain better acceleration performance, the fourth preset ratio should be set such that the proportion of the front axle torque is less than the proportion of the rear axle torque. For example, the fourth preset ratio can be set to 45:55.

[0094] In addition, during the acceleration and overtaking process, the smoothness of the operation should be ensured, so there is no need to detect the target object to update the torque ratio value again. In some examples, when the vehicle is in the state of accelerating and overtaking, the lidar sensor responsible for detecting the target object stops working.

[0095] In some examples, during the entire driving process of the vehicle, the torque distribution ratio of the front axle and the rear axle can be updated differently under different conditions to adapt to complex and changing driving scenarios and the driving needs of the driver. Figure 2 As shown:

[0096] When the vehicle is started, the driving mode is first determined to determine whether it is normal driving mode / sports mode / snow mode / crawling mode. If an input steering or acceleration overtaking operation command is received at this time, the torque ratio value corresponding to the operation command is determined, and the vehicle is controlled according to the torque ratio value;

[0097] Furthermore, if the driving mode is determined to be a target driving mode, that is, any one of the driving mode / sports mode / snow mode, the information of the target object is further detected through the intervention of a laser radar to determine whether the torque ratio value needs to be updated;

[0098] If there is a target object within the preset range, and the relative distance between the target object and the vehicle is less than or equal to the distance threshold, and the relative speed is greater than or equal to the speed threshold, the torque ratio value needs to be updated;

[0099] If there is no target object within the preset range, or if there is a target object but the relative distance between the target object and the vehicle is greater than the distance threshold and the relative speed is less than the speed threshold, there is no need to update the torque ratio value, but instead the vehicle is controlled according to the torque distribution ratio corresponding to the driving mode.

[0100] It should be noted that the specific torque distribution ratio in the above example is only a reference value. In actual application, it can be calibrated according to the specific vehicle model, and this application does not impose any restrictions on this.

[0101] In some examples, the present application also provides an implementation process for calibrating the torque distribution ratio, as follows:

[0102] Before actual vehicle calibration, first debug the equipment and sensor parameters to avoid zero drift or temperature drift of the sensor; in addition, static testing is also required:

[0103] 1) Park the vehicle on level ground, start the engine, and keep the vehicle stationary.

[0104] 2) Use a torque sensor to measure the static torque output of the front and rear axles to check if there is any abnormality.

[0105] 3) Check the vehicle's electronic control system to ensure that the four-wheel drive control module is working properly and the sensor data is accurate.

[0106] After the above static tests are passed, dynamic experiments are carried out to confirm the optimal torque distribution ratio of the vehicle at different speeds and driving conditions.

[0107] For example, dynamic experiments may be performed on a vehicle in acceleration, deceleration, and steering states, respectively.

[0108] When the vehicle is in the acceleration state, the initial torque distribution ratio can be calibrated according to the following formula:

[0109] TF:TR=M2:M1

[0110] Among them, TF is the front axle torque, TR is the rear axle torque, M2 is the rear body mass, and M1 is the front body mass.

[0111] When the vehicle is in a steering state, the torque distribution should take into account the influence of the steering angle γ on the torque distribution. The specific calibration can be carried out by referring to the following formula:

[0112] TF:TR=M2sinγ:M1cosγ

[0113] When the vehicle is in a deceleration state, the center of gravity of the vehicle will shift forward. Assuming the size of the shift is ΔL and the wheelbase of the vehicle is L, the torque distribution ratio can be calibrated by the following formula:

[0114] TF: TR=M2[1+(ΔL / L)]: M1[1-(ΔL / L)]

[0115] If steering is performed during deceleration, the rear axle torque ratio should be increased. At this time, the torque distribution ratio can be calibrated by the following formula:

[0116] TF: TR=M2sinγ[1-(ΔL / L)]: M1cosγ[1+(ΔL / L)]

[0117] ΔL is a dynamic quantity related to the vehicle body and acceleration, and can be obtained through measurement. The basic steps of its measurement are as follows:

[0118] 1) Establishing a mechanical model

[0119] Consider the vehicle as a rigid body, which is affected by gravity, ground support force and braking force when decelerating. According to Newton's second law, the relationship between the vehicle's deceleration a and the braking force F is F = ma, where m is the vehicle's curb weight.

[0120] When the vehicle decelerates, according to the D'Alembert principle, the center of gravity of the vehicle will shift forward. Assume that the wheelbase of the vehicle is L (the distance between the center of the front wheel and the center of the rear wheel), and the height of the center of gravity of the vehicle is h.

[0121] According to the principle of moment balance, when the vehicle decelerates, the contact point between the rear wheel and the ground is used as the fulcrum, and the moment generated by gravity is balanced with the moment generated by inertia. If the center of gravity is offset forward by x, then mgx = mah, and the solution is x = ah / g, where g is the acceleration due to gravity.

[0122] 2) Parameter acquisition and calculation

[0123] The curb mass m can be obtained through the curb mass data of the vehicle.

[0124] The height of the vehicle's center of gravity is usually provided by the vehicle manufacturer, or can be measured experimentally. For example, the weight distribution of the vehicle is measured in a horizontal state and when the front wheels or rear wheels are raised to a certain height, and the height of the center of gravity is calculated.

[0125] The vehicle's deceleration a can be calculated from the vehicle's braking system parameters. For vehicles equipped with an electronic stability program or other brake control systems, these systems can measure and record the vehicle's real-time deceleration. It is also possible to use instruments such as accelerometers to measure deceleration when the vehicle brakes.

[0126] 3) Experimental measurement

[0127] The weight distribution measurement method is used for experimental measurement, as follows:

[0128] Equipment preparation: A high-precision floor scale or wheel weighing scale is required. Drive the vehicle slowly onto the floor scale or wheel weighing scale, ensure that the vehicle is in a horizontal and stationary state, and measure the static loads of the four wheels of the vehicle: F1 (left front wheel), F2 (right front wheel), F3 (left rear wheel), and F4 (right rear wheel). The total weight of the vehicle at rest is G = F1 + F2 + F3 + F4.

[0129] Braking measurement: Then install the braking device on the vehicle and brake the vehicle in situ to achieve the same deceleration as the actual deceleration. Measure the loads F1', F2', F3', F4' of the four wheels again.

[0130] According to the principle of moment balance, the offset of the vehicle's center of gravity is calculated. Taking the rear axle of the vehicle as the fulcrum, when stationary, the distance between the vehicle's center of gravity and the rear axle is L1 = (F1 + F2) L / G; when braking, the distance between the vehicle's center of gravity and the rear axle is L2 = L1 = (F1' + F2') L / G', where G' = F1' + F2' + F3' + F4', and the forward offset of the center of gravity is ΔL = L2-L1.

[0131] The embodiments of the present application have the following advantages: by obtaining the torque distribution ratio of the front axle and the rear axle of the vehicle, and controlling the vehicle according to the torque distribution ratio, in the process of controlling the vehicle according to the torque distribution ratio, if the driving mode of the vehicle is the target driving mode, detecting whether there is a target object within a preset range, if the target object exists, obtaining the position information and speed information of the target object, updating the torque distribution ratio of the front axle and the rear axle of the vehicle according to the position information and the speed information, and controlling the vehicle according to the updated torque distribution ratio, the torque distribution ratio can be updated to adapt to changing driving environments, so that the updated torque distribution ratio better meets the needs of the driver.

[0132] It should be noted that, for the method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present application are not limited by the described order of actions, because according to the embodiments of the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present application.

[0133] Reference Figure 3 , shows a schematic diagram of the structure of a vehicle control device provided by an embodiment of the present application, which may specifically include the following modules:

[0134] A first control module 301 is used to obtain a torque distribution ratio between a front axle and a rear axle of a vehicle, and control the vehicle according to the torque distribution ratio;

[0135] a target object detection module 302, configured to detect whether a target object exists within a preset range if the driving mode of the vehicle is a target driving mode during the process of controlling the vehicle according to the torque distribution ratio;

[0136] The target object information acquisition module 303 is used to acquire the position information and speed information of the target object if the target object exists;

[0137] The second control module 304 is used to update the torque distribution ratio between the front axle and the rear axle of the vehicle according to the position information and the speed information, and control the vehicle according to the updated torque distribution ratio.

[0138] In some embodiments of the present application, the second control module 304 includes:

[0139] A relative distance determination submodule, used to determine the relative distance between the target object and the vehicle according to the position information;

[0140] A relative speed determination submodule, used to determine the relative speed between the target object and the vehicle according to the speed information;

[0141] A relative position determination submodule, configured to determine the relative position of the target object and the vehicle if the relative distance is less than or equal to a distance threshold and the relative speed is greater than or equal to a speed threshold, and obtain a relative position determination result;

[0142] The torque distribution ratio updating submodule is used to update the torque distribution ratio of the front axle and the rear axle of the vehicle according to the relative position judgment result.

[0143] In some embodiments of the present application, the torque distribution ratio updating submodule includes:

[0144] a first torque distribution ratio updating unit, configured to obtain a first preset ratio if the relative position determination result indicates that the target object is located in front of the vehicle, and update the torque distribution ratio of the front axle and the rear axle of the vehicle according to the first preset ratio; wherein, in the first preset ratio, the proportion of the front axle torque is greater than the proportion of the rear axle torque;

[0145] The second updating unit of the torque distribution ratio obtains a second preset ratio if the relative position judgment result indicates that the target object is located behind the vehicle, and updates the torque distribution ratio of the front axle and the rear axle of the vehicle according to the second preset ratio; wherein, in the second preset ratio, the proportion of the front axle torque is less than the proportion of the rear axle torque.

[0146] In some embodiments of the present application, the device further includes:

[0147] A third preset ratio acquisition module, used to acquire a third preset ratio in response to a steering operation instruction; wherein, in the third preset ratio, the proportion of the front axle torque is greater than the proportion of the rear axle torque;

[0148] The third control module is used to update the torque distribution ratio between the front axle and the rear axle of the vehicle according to the third preset ratio, and control the vehicle according to the updated torque distribution ratio.

[0149] In some embodiments of the present application, the device further includes:

[0150] a fourth preset ratio acquisition module, configured to acquire a fourth preset ratio in response to an acceleration overtaking operation instruction; wherein, in the fourth preset ratio, the proportion of the front axle torque is less than the proportion of the rear axle torque;

[0151] A fourth control module is used to update the torque distribution ratio between the front axle and the rear axle of the vehicle according to the fourth preset ratio, and control the vehicle according to the updated torque distribution ratio.

[0152] In some embodiments of the present application, the first control module 301 includes:

[0153] The driving mode determination submodule is used to determine the driving mode of the vehicle and obtain the torque distribution ratio of the front axle and the rear axle of the vehicle according to the driving mode; wherein the driving mode includes one or more of a normal driving mode, a sports mode, a snow mode and a creeping mode.

[0154] In some embodiments of the present application, the device further includes:

[0155] The target driving mode determination module is used to determine that the driving mode is the target driving mode when the driving mode is any one of the normal driving mode, the sports mode and the snow mode.

[0156] Some embodiments of the present application also provide a vehicle, which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the above vehicle control method is implemented.

[0157] Some embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned vehicle control method is implemented.

[0158] Some embodiments of the present application also provide a computer program product, including a computer program, which implements the above vehicle control method when executed by a processor.

[0159] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0160] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0161] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0162] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the embodiments of the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0163] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0164] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0165] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0166] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0167] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the above elements.

[0168] The vehicle control method and device, vehicle, and storage medium provided are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: Obtaining a torque distribution ratio between a front axle and a rear axle of a vehicle, and controlling the vehicle according to the torque distribution ratio; In the process of controlling the vehicle according to the torque distribution ratio, if the driving mode of the vehicle is a target driving mode, detecting whether there is a target object within a preset range; If the target object exists, obtaining the position information and speed information of the target object; The torque distribution ratio between the front axle and the rear axle of the vehicle is updated according to the position information and the speed information, and the vehicle is controlled according to the updated torque distribution ratio.

2. The method according to claim 1, characterized in that The updating of the torque distribution ratio between the front axle and the rear axle of the vehicle according to the position information and the speed information comprises: Determining a relative distance between the target object and the vehicle according to the position information; Determining a relative speed between the target object and the vehicle according to the speed information; If the relative distance is less than or equal to a distance threshold, and the relative speed is greater than or equal to a speed threshold, determining the relative position of the target object and the vehicle to obtain a relative position determination result; The torque distribution ratio between the front axle and the rear axle of the vehicle is updated according to the relative position determination result.

3. The method according to claim 2, characterized in that Updating the torque distribution ratio between the front axle and the rear axle of the vehicle according to the relative position determination result includes: If the relative position determination result indicates that the target object is located in front of the vehicle, a first preset ratio is obtained, and the torque distribution ratio between the front axle and the rear axle of the vehicle is updated according to the first preset ratio; wherein, in the first preset ratio, the proportion of the front axle torque is greater than the proportion of the rear axle torque; If the relative position judgment result indicates that the target object is located behind the vehicle, a second preset ratio is obtained, and the torque distribution ratio of the front axle and the rear axle of the vehicle is updated according to the second preset ratio; wherein, in the second preset ratio, the proportion of the front axle torque is less than the proportion of the rear axle torque.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: In response to the steering operation instruction, a third preset ratio is acquired; wherein, in the third preset ratio, the proportion of the front axle torque is greater than the proportion of the rear axle torque; The torque distribution ratio between the front axle and the rear axle of the vehicle is updated according to the third preset ratio, and the vehicle is controlled according to the updated torque distribution ratio.

5. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: In response to an operation instruction of accelerating to overtake, a fourth preset ratio is obtained; wherein, in the fourth preset ratio, a proportion of the front axle torque is less than a proportion of the rear axle torque; The torque distribution ratio between the front axle and the rear axle of the vehicle is updated according to the fourth preset ratio, and the vehicle is controlled according to the updated torque distribution ratio.

6. The method according to claim 1, characterized in that The step of obtaining the torque distribution ratio between the front axle and the rear axle of the vehicle includes: Determine the driving mode of the vehicle, and obtain the torque distribution ratio of the front axle and the rear axle of the vehicle according to the driving mode; wherein the driving mode includes one or more of a normal driving mode, a sports mode, a snow mode and a creeping mode.

7. The method according to claim 6, characterized in that The method further comprises: When the driving mode is any one of the normal driving mode, the sports mode and the snow mode, the driving mode is determined to be the target driving mode.

8. A vehicle control device, characterized in that: The device comprises: A first control module, configured to obtain a torque distribution ratio between a front axle and a rear axle of a vehicle, and control the vehicle according to the torque distribution ratio; a target object detection module, configured to detect whether a target object exists within a preset range if the driving mode of the vehicle is a target driving mode during the process of controlling the vehicle according to the torque distribution ratio; A target object information acquisition module, used to acquire the position information and speed information of the target object if the target object exists; The second control module is used to update the torque distribution ratio between the front axle and the rear axle of the vehicle according to the position information and the speed information, and control the vehicle according to the updated torque distribution ratio.

9. A vehicle, characterized in that: The vehicle includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the vehicle control method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 7 is implemented.

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