A vehicle control method, device, system, storage medium and vehicle

Abstract

The application provides a vehicle control method, device, system, storage medium and vehicle, and belongs to the technical field of vehicle control. The method comprises the following steps: according to the matching result of the current running data of a vehicle and a four-wheel drive control condition set corresponding to the current driving mode of the vehicle, the driving mode of the vehicle is controlled to enter or exit the four-wheel drive mode. The application aims to optimize the control logic of the vehicle entering or exiting the four-wheel drive mode, and takes into account the energy saving and stability of the vehicle, and can be applied to intelligent driving or intelligent network connection scenarios.

Description

Technical Field

[0001] This application relates to the technical field of vehicle control, and more specifically, to a vehicle control method, device, system, storage medium, and vehicle. Background Technology

[0002] With the rapid development of the automotive industry, vehicle drive modes have also become more diverse. Currently, the most common drive modes are divided into two categories: two-wheel drive and four-wheel drive. When a vehicle is running in four-wheel drive mode, it can enhance the vehicle's stability and driving passability. However, if a vehicle uses full-time four-wheel drive, it will lead to greater energy consumption and increased maintenance costs.

[0003] In order to balance energy saving and vehicle stability, optimizing the control of the vehicle entering or exiting four-wheel drive mode is an urgent problem to be solved. Summary of the Invention

[0004] This application provides a vehicle control method, device, system, storage medium, and vehicle, aiming to optimize the control logic for a vehicle entering or exiting four-wheel drive mode, while taking into account both the vehicle's energy efficiency and stability.

[0005] In a first aspect, embodiments of this application provide a vehicle control method, the method comprising: Based on the matching result of the vehicle's current operating data and the four-wheel drive control condition set corresponding to the vehicle's current driving mode, the vehicle's driving mode is controlled to enter or exit the four-wheel drive mode. Among them, the four-wheel drive control condition set corresponding to each driving mode includes at least one safety-type condition item. Each parameter judgment item in the same safety-type condition item is configured with the same trigger threshold in the four-wheel drive control condition set corresponding to any driving mode, so as to adapt to the safety requirements of each driving mode. The four-wheel drive control condition set corresponding to any non-economic driving mode also includes at least one performance-related condition item. Each parameter judgment item in the same performance-related condition item is configured with at least the trigger threshold corresponding to that driving mode in the four-wheel drive control condition set corresponding to any driving mode, so as to adapt to the performance requirements of different driving modes.

[0006] Optionally, the driving modes of the vehicle include one or more of the following: Eco mode, Comfort mode, Sport mode, Snow mode, Sand mode, and Off-road mode.

[0007] Optionally, the vehicle's operating data includes one or more of the following: vehicle dynamics data, driving intention data, execution status data, and environmental perception data. And / or, the vehicle dynamics data includes one or more of the following: vehicle speed, wheel speed, acceleration, yaw rate, roll angle, and pitch angle; And / or, the driving intention data includes one or more of the following: steering wheel angle, accelerator pedal opening, and brake pedal travel; And / or, the execution status data includes drive system status data and / or braking system status data; And / or, the environmental perception data includes one or more of the following: road surface information, weather information, and road condition warning information ahead.

[0008] Optionally, based on the matching result of the vehicle's current operating data and the four-wheel drive control condition set corresponding to the vehicle's current driving mode, the vehicle's drive mode is controlled to enter or exit four-wheel drive mode, including: The current operating data is matched with each condition item in the four-wheel drive control condition set corresponding to the current driving mode; When the current operating data triggers at least one condition in the four-wheel drive control condition set corresponding to the current driving mode, the matching result is determined to be a successful match, and the vehicle's drive mode is controlled to switch from the default drive mode corresponding to the current driving mode to the four-wheel drive mode. If the current operating data does not trigger any of the conditions in the four-wheel drive control condition set corresponding to the current driving mode, the matching result is determined to be a matching failure, and the driving mode of the vehicle is controlled to be the default driving mode corresponding to the current driving mode.

[0009] Optionally, the default drive mode for any driving mode is two-wheel drive mode; And / or, the default drive mode for Eco or Comfort mode is two-wheel drive, and the default drive mode for any of the following driving modes is four-wheel drive: Comfort, Sport, Snow, Sand, and Off-road.

[0010] Optionally, any condition item includes a trigger threshold and a release threshold corresponding to each parameter judgment item in the condition item, and the release threshold is less than the trigger threshold.

[0011] Optionally, the method further includes: When any condition item in the four-wheel drive control condition set corresponding to the current driving mode is a target condition item, determine the trigger threshold and / or release threshold corresponding to each parameter judgment item in the target condition item at the current vehicle speed.

[0012] Optionally, each parameter judgment item in the same safety category condition item has the same trigger threshold and release threshold configured in the four-wheel drive control condition set corresponding to any driving mode; and / or, Each parameter judgment item in the same performance category has a trigger threshold and release threshold configured in the four-wheel drive control condition set corresponding to any driving mode.

[0013] Optionally, the safety-related conditions include one or more of the following: brake failure judgment condition, tire blowout judgment condition, emergency avoidance judgment condition, nonlinear instability judgment condition, crosswind judgment condition, and road surface water judgment condition.

[0014] Optionally, the performance-related conditions include one or more of the following: rapid acceleration judgment condition, cornering judgment condition, cornering acceleration judgment condition, understeer or fishtailing judgment condition, front and rear wheel slippage judgment condition, wet and slippery road surface judgment condition, and vehicle climbing judgment condition.

[0015] Optionally, the method further includes: Obtain the current initial operating data of the vehicle; The current initial running data is preprocessed to obtain the current running data; The preprocessing includes filtering and / or debouncing.

[0016] In a second aspect, embodiments of this application provide an electronic device, including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the vehicle control method as described in the first aspect of the embodiments.

[0017] Thirdly, embodiments of this application provide a vehicle control system, the system including a sensing module, a controller, and a four-wheel drive system; The sensing module is used to acquire the vehicle's current operating data; The controller is used to control the driving mode of the four-wheel drive system to enter or exit the four-wheel drive mode based on the matching result of the vehicle's current operating data and the four-wheel drive control condition set corresponding to the vehicle's current driving mode. Among them, the four-wheel drive control condition set corresponding to each driving mode includes at least one safety-type condition item. Each parameter judgment item in the same safety-type condition item is configured with the same trigger threshold in the four-wheel drive control condition set corresponding to any driving mode, so as to adapt to the safety requirements of each driving mode. The four-wheel drive control condition set corresponding to any non-economic driving mode also includes at least one performance-related condition item. Each parameter judgment item in the same performance-related condition item is configured with at least the trigger threshold corresponding to that driving mode in the four-wheel drive control condition set corresponding to any driving mode, so as to adapt to the performance requirements of different driving modes.

[0018] Fourthly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the vehicle control method as described in the first aspect of the embodiments.

[0019] Fifthly, embodiments of this application provide a vehicle for executing the vehicle control method described in the first aspect of the embodiment, or including the electronic equipment described in the second aspect of the embodiment, or including the vehicle control system described in the third aspect of the embodiment.

[0020] Beneficial effects: This application provides a vehicle control method that controls the vehicle's driving mode to enter or exit four-wheel drive mode based on the matching result of the vehicle's current operating data and the four-wheel drive control condition set corresponding to the vehicle's current driving mode. That is, different driving modes have their own corresponding four-wheel drive control condition sets for determining whether the four-wheel drive mode should be engaged, which can optimize the control logic for the vehicle to enter or exit four-wheel drive mode.

[0021] Furthermore, the four-wheel drive control condition set corresponding to each driving mode includes at least one safety-related condition item. Each parameter judgment item in the same safety-related condition item is configured with at least the same trigger threshold in the four-wheel drive control condition set corresponding to any driving mode, in order to adapt to the safety requirements of each driving mode and ensure that the four-wheel drive mode switching is in accordance with the safety requirements in each driving mode. The four-wheel drive control condition set corresponding to any non-economy driving mode also includes at least one performance-related condition item. Each parameter judgment item in the same performance-related condition item is configured with at least the trigger threshold corresponding to that driving mode in the four-wheel drive control condition set corresponding to any driving mode, in order to adapt to the performance requirements of different driving modes and take into account the energy efficiency and stability of the vehicle in different driving modes. It can be applied to intelligent driving or intelligent connected scenarios. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart of the steps of a vehicle control method proposed in an embodiment of this application; Figure 2 This is an execution flowchart of a vehicle control method proposed in an embodiment of this application; Figure 3 This is a functional block diagram of a vehicle control device provided in one embodiment of this application; Figure 4 This is a schematic diagram of the architecture of a vehicle control system proposed in one embodiment of this application; Figure 5 This is a schematic diagram of an electronic device according to an embodiment of this application; Figure 6 This is a schematic diagram of a readable storage medium proposed in an embodiment of this application; Figure 7 This is a schematic diagram of a computer program product proposed in an embodiment of this application. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0026] With the rapid development of the automotive industry, vehicle drive modes have also become more diverse. Vehicle drive mode refers to the way power is transmitted from the engine / motor to the wheels, that is, which wheels receive driving force. Currently, the most common drive modes are divided into two categories: two-wheel drive and four-wheel drive. Two-wheel drive mode includes front-wheel drive mode where the front wheels are powered and rear-wheel drive mode where the rear wheels are powered. Four-wheel drive mode means that both the front and rear axles of the vehicle can receive power.

[0027] When a vehicle is in four-wheel drive mode, it can enhance the vehicle's stability and driving passability. For example, it is less likely to get stuck on special road surfaces such as sand or snow, and it is more stable when cornering or changing lanes at high speed. However, if a vehicle uses full-time four-wheel drive, it will lead to greater energy consumption and increased maintenance costs.

[0028] In order to balance energy saving and vehicle stability, there are currently on-demand four-wheel drive or part-time four-wheel drive solutions, which means that four-wheel drive mode is only activated in certain scenarios where stability is required.

[0029] For example, individual vehicle status signals, such as slip ratio, are statically compared with a preset fixed threshold (e.g., 20%). When the slip ratio exceeds the fixed threshold, four-wheel drive mode is activated. However, this approach still has certain drawbacks, as shown below: 1. When relying solely on a single dimension to make a static judgment based on a fixed threshold to determine whether to activate the four-wheel drive mode, it cannot respond to safety needs in complex scenarios such as brake failure, crosswinds, and sudden water accumulation on the road. 2. It is difficult to balance economy and safety. If the safety needs are guaranteed so that the four-wheel drive mode can be engaged in time, the threshold cannot be set too high. However, this may also lead to the four-wheel drive mode engaging too frequently, affecting economy. If a high threshold is set to improve economy, safety on low-traction roads will be sacrificed. 3. It is disconnected from the driver's intentions and the logic for the intervention of the four-wheel drive mode is independent of the driving mode. If the vehicle is in Eco mode, it may frequently activate the four-wheel drive due to slight road unevenness, which violates the original intention of energy saving; while in Sport mode, it may not be able to provide sufficient sport performance support due to the threshold setting not being aggressive enough.

[0030] Therefore, optimizing the control logic for entering or exiting four-wheel drive mode, improving the accuracy of vehicle drive mode control, and thus balancing vehicle economy, reliability, and safety is an urgent problem to be solved.

[0031] The vehicle control method provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0032] Reference Figure 1 The diagram illustrates a flowchart of a vehicle control method according to an embodiment of this application. The method may specifically include the following steps: S101: Based on the matching result of the vehicle's current operating data and the four-wheel drive control condition set corresponding to the vehicle's current driving mode, control the vehicle's driving mode to enter or exit the four-wheel drive mode.

[0033] In one feasible implementation, the vehicle's driving modes include one or more of the following: Eco mode, Comfort mode, Sport mode, Snow mode, Sand mode, and Off-road mode.

[0034] In actual implementation, various driving modes of the vehicle can be deployed according to the needs of actual application, and other driving modes can also be expanded. This application embodiment does not impose any restrictions.

[0035] Each driving mode of the vehicle is configured with a corresponding default drive mode and four-wheel drive control condition set.

[0036] In one feasible implementation, considering energy saving, the default drive mode corresponding to any driving mode can be configured as a two-wheel drive mode. That is, when the vehicle enters the driving mode, the vehicle is in two-wheel drive mode by default to save energy. As the vehicle runs, the vehicle's drive mode is controlled to enter or exit the four-wheel drive mode according to the matching result of the vehicle's current operating data and the four-wheel drive control condition set corresponding to the vehicle's current driving mode.

[0037] In one feasible implementation, considering the performance requirements of different driving modes, the default drive mode corresponding to the economy mode and comfort mode can be set to two-wheel drive mode, and the default drive mode corresponding to any of the driving modes such as sport mode, snow mode, sand mode and off-road mode can be set to four-wheel drive mode. In this implementation, the vehicle's drive mode is controlled to enter or exit four-wheel drive mode only when the vehicle's driving mode is in economy mode or comfort mode, based on the matching result of the current operating data of the vehicle and the four-wheel drive control condition set corresponding to economy mode or comfort mode.

[0038] In actual implementation, the set of four-wheel drive control conditions corresponding to any driving mode can be pre-configured.

[0039] Specifically, the four-wheel drive control condition set corresponding to any driving mode includes at least one safety-related condition item, which is used to determine whether the vehicle is in a safety risk condition.

[0040] Each driving mode's four-wheel drive control conditions include safety-related conditions. This ensures that in any driving mode, when the vehicle is operating under a safety risk condition triggered by any safety-related condition, the vehicle's drive mode can be switched to four-wheel drive mode, improving vehicle stability and passability, so that the vehicle can drive safely and reliably under safety risk conditions.

[0041] In one feasible implementation, the safety-related conditions include one or more of the following: brake failure judgment condition, tire blowout judgment condition, emergency avoidance judgment condition, nonlinear instability judgment condition, crosswind judgment condition, and road surface water judgment condition.

[0042] In actual implementation, safety-related conditions can be expanded according to actual design requirements, and this application embodiment does not impose any restrictions.

[0043] The four-wheel drive control condition set corresponding to any non-economic driving mode also includes at least one performance-related condition item. The performance-related condition item is used to determine whether the vehicle is in a high-performance demand condition. Thus, in the non-economic driving mode, in addition to entering the four-wheel drive mode for safety needs, the four-wheel drive mode can also be entered according to performance needs to provide a smoother and more powerful power response.

[0044] In one feasible implementation, the performance-related conditions include one or more of the following: rapid acceleration judgment condition, cornering judgment condition, cornering acceleration judgment condition, understeer or fishtailing judgment condition, front and rear wheel slippage judgment condition, wet and slippery road surface judgment condition, and vehicle climbing judgment condition.

[0045] In actual implementation, performance-related conditions can be expanded according to actual design requirements, and this application embodiment does not impose any restrictions.

[0046] In one feasible implementation, any condition item includes the trigger threshold corresponding to each parameter judgment item in that condition item.

[0047] For example, the number and content of the parameter judgment items in any condition item can be set according to the actual application requirements, and each parameter judgment item has a preset corresponding trigger threshold.

[0048] For example, the trigger thresholds for each parameter judgment item in any safety category condition item can be the same in different driving modes, thereby ensuring the safety of each driving mode.

[0049] Taking security-related conditions as an example, the parameter judgment items included in each security-related condition item and the corresponding trigger thresholds for each parameter judgment item can be as follows: Brake failure judgment criteria: Master cylinder pressure drop rate ≥ 15 bar / s and duration ≥ 0.1 s; The criteria for determining a tire blowout are: a sudden change in wheel speed on one side ≥30% and a duration ≥0.1s; Emergency avoidance judgment conditions: Steering wheel angular velocity ≥ 500° / s, lateral acceleration ≥ 0.4g and duration ≥ 0.2s; Nonlinear instability judgment condition: Front and rear axle deviation angles ≥ 3°; Crosswind detection criteria: Lateral acceleration ≥ 0.15g and steering wheel angle ≤ 10°; The criteria for determining road surface water accumulation are: a change in optical sensor reflectivity ≥40% for a duration ≥0.2s, or a vehicle slip rate ≥15% for a duration ≥0.2s.

[0050] Specifically, each parameter judgment item in the same performance category is configured with a trigger threshold corresponding to the driving mode in the four-wheel drive control condition set for any driving mode, so as to adapt to the performance requirements of different driving modes.

[0051] For example, the performance requirements of Sport mode are higher than those of Comfort mode. When both Comfort mode and Sport mode have the same performance-related condition item in their four-wheel drive control conditions: cornering judgment condition item, the trigger thresholds for each parameter judgment item in the cornering judgment condition item in Comfort mode can be set higher, while the trigger thresholds for each parameter judgment item in the cornering judgment condition item in Sport mode can be set lower. As a result, the cornering judgment in Sport mode is more sensitive than that in Comfort mode, making it easier for the four-wheel drive mode to intervene in a timely manner to meet the higher performance requirements of the vehicle in Sport mode.

[0052] For example, in Comfort Mode, the parameter judgment items and corresponding trigger thresholds for each performance-related condition item can be as follows: Rapid acceleration judgment criteria: Accelerator pedal opening ≥ 70% and duration ≥ 0.2s; The criteria for judging a curve are: the steering wheel angle is ≥90° and the duration is ≥1s; The criteria for judging cornering acceleration are: steering wheel angle ≥ 40°, accelerator pedal opening ≥ 40% and duration ≥ 0.2s; Understeer or drift detection criteria: Yaw rate deviation ≥ 35%; The criteria for judging front and rear wheel slippage are: slip ratio ≥ 20% and duration ≥ 0.5s; The criteria for judging slippery road surfaces are: the difference in speed between the front and rear wheels is ≥10km / h, the steering wheel angle is ≤10° and the duration is ≥0.5s; Vehicle hill climbing judgment conditions: pitch angle ≥ 20%, main drive power ≥ 80% peak value and duration ≥ 1s.

[0053] In motion mode, the parameter judgment items and corresponding trigger thresholds for each performance condition item can be as follows: Rapid acceleration judgment criteria: Accelerator pedal opening ≥ 50% and duration ≥ 0.2s; The criteria for judging a curve are: steering wheel angle ≥ 60° and duration ≥ 1s; The criteria for judging acceleration in corners are: steering wheel angle ≥ 30°, accelerator pedal opening ≥ 30% and duration ≥ 0.2s; Understeer or drift detection criteria: Yaw rate deviation ≥ 15%; The criteria for judging front and rear wheel slippage are: slip ratio ≥ 15% and duration ≥ 0.5s; The criteria for judging slippery road surfaces are: the difference in speed between the front and rear wheels is ≥5km / h, the steering wheel angle is ≤10° and the duration is ≥0.5s; Vehicle hill climbing judgment conditions: pitch angle ≥10%, main drive power ≥80% peak and duration ≥1s.

[0054] In another feasible implementation, any condition item includes not only the trigger threshold corresponding to each parameter judgment item in the condition item, but also the release threshold corresponding to each parameter judgment item, and the release threshold is less than the trigger threshold.

[0055] The trigger and release thresholds of each parameter judgment item can form a hysteresis interval or a delayed interval, thereby avoiding frequent jitter at the threshold boundary when switching four-wheel drive mode.

[0056] For example, the trigger threshold and release threshold of each parameter judgment item in any safety category condition item can be the same in different driving modes, thereby ensuring the safety of each driving mode.

[0057] Each parameter judgment item in the same performance category has a trigger threshold and release threshold configured in the four-wheel drive control condition set corresponding to any driving mode.

[0058] In actual implementation, the trigger threshold and release threshold of each parameter judgment item in any condition item can be set according to the actual application requirements. This application embodiment does not impose any restrictions. For example, the release threshold of any parameter judgment item in any condition item can be 70-80% of the trigger threshold.

[0059] In one feasible implementation, considering that the sensitivity to identifying safety risk conditions and high-performance demand conditions varies with vehicle speed, the target condition items that are significantly affected by vehicle speed can be determined according to the actual application requirements. Trigger thresholds and / or release thresholds corresponding to each parameter judgment item in the target condition item can be set at different vehicle speeds. For example, the trigger threshold of the parameter judgment item in any target condition item can be inversely proportional to the vehicle speed. By dynamically adjusting the trigger threshold and / or release threshold of the parameter judgment item based on the vehicle speed, the safety of the vehicle or the performance requirements of the vehicle can be further improved.

[0060] In one feasible implementation, controlling the vehicle's drive mode to enter or exit four-wheel drive mode based on the matching result of the vehicle's current operating data and the four-wheel drive control condition set corresponding to the vehicle's current driving mode may include the following steps: A1: Obtain the vehicle's current driving mode.

[0061] In actual implementation, the current driving mode can be a driving mode actively selected by the driver or a driving mode recommended by the intelligent driving system, etc. This application embodiment does not impose any restrictions.

[0062] A2: Obtain the vehicle's current operating data.

[0063] Specifically, the vehicle's operating data includes one or more of the following: vehicle dynamics data, driving intention data, execution status data, and environmental perception data. And / or, the vehicle dynamics data includes one or more of the following: vehicle speed, wheel speed, acceleration, yaw rate, roll angle, and pitch angle; And / or, the driving intention data includes one or more of the following: steering wheel angle, accelerator pedal opening, and brake pedal travel; And / or, the execution status data includes drive system status data and / or braking system status data; And / or, the environmental perception data includes one or more of the following: road surface information, weather information, and road condition warning information ahead.

[0064] In practice, vehicle dynamics data, driving intention data, execution status data, and environmental perception data can be obtained through multimodal sensors installed on the vehicle.

[0065] Multimodal sensors include, but are not limited to, various parameter sensors, inertial measurement units, vehicle stability control system sensors, vision sensors, and radar sensors. Parameter sensors include wheel speed sensors that collect wheel speed and sensors that collect accelerator pedal opening.

[0066] In actual implementation, in addition to acquiring the vehicle's own operating data, it is also possible to acquire external network data, such as real-time weather information and road condition warnings ahead. The acquisition methods of external network data include, but are not limited to, wireless communication with cloud servers, short-range communication with roadside equipment, direct communication with other vehicles, and communication with edge nodes.

[0067] For example, when the performance class condition also includes: Weather assessment criteria: There is a heavy rain area ahead, and the distance to the heavy rain area is ≤100m.

[0068] By obtaining real-time weather information about the current driving location, the system can switch to four-wheel drive mode in a timely manner, overcoming the problem of insufficient anti-slip effect in two-wheel drive mode, especially rear-wheel drive mode.

[0069] For example, when the performance class condition also includes: Accident area judgment condition: The distance to the accident area ahead is ≤100m.

[0070] By acquiring road condition warning information ahead of the vehicle, it is possible to promptly determine whether there is an accident area ahead of the vehicle and to determine the distance between the vehicle and the accident area. When the distance between the vehicle and the accident area ahead is ≤100m, the vehicle's drive mode can be switched to four-wheel drive mode in a timely manner to improve the vehicle's stability and passability, so as to ensure that the vehicle safely passes through the accident area.

[0071] In actual implementation, based on the road condition warning information ahead, it can also identify the exit conditions of the highway. When it is detected that the vehicle needs to exit the highway (such as when it is determined to exit the highway according to the current navigation information) and the vehicle is less than a certain distance away from the highway exit, such as 80m, the vehicle's drive mode can be switched to four-wheel drive mode in time to avoid the instability problem that may occur when the rear-wheel drive mode turns at a large angle, and can ensure the safety of the vehicle when leaving the highway while driving at high speed.

[0072] In actual implementation, the current initial operating data obtained based on multimodal sensors can also be preprocessed with time-domain noise reduction to obtain the current operating data.

[0073] For example, the preprocessing includes filtering and / or debouncing.

[0074] In actual implementation, the filtering process can perform low-pass filtering at a preset cutoff frequency to remove high-frequency vibration noise. The cutoff frequency can be set according to the actual application requirements, such as 5-10Hz.

[0075] In actual implementation, the dejittering process can remove discrete jump events in the initial data signal. The dejittering process can select the dejittering processing method according to the actual application requirements. This application embodiment does not impose any restrictions. For example, if the time hysteresis dejittering processing method is adopted, any signal must be continuously maintained for a preset time, such as >0.3s, to be considered valid; otherwise, the signal is ignored.

[0076] A3: Match the current operating data with each condition item in the four-wheel drive control condition set corresponding to the current driving mode.

[0077] In actual implementation, if the four-wheel drive control condition set corresponding to the current driving mode includes target condition items related to vehicle speed, the trigger threshold and / or release threshold corresponding to each parameter judgment item in the target condition item at the current vehicle speed can also be determined.

[0078] During the process of matching the current operating data with each condition item in the four-wheel drive control condition set corresponding to the current driving mode, the parameter value to be judged is selected from the current operating data according to the parameter judgment items included in each condition item in the four-wheel drive control condition set corresponding to the current driving mode.

[0079] For any parameter judgment item in any condition item of the four-wheel drive control condition set corresponding to the current driving mode, if the parameter value to be judged corresponding to the parameter judgment item satisfies the trigger threshold corresponding to the parameter judgment item, it indicates that the parameter judgment item is in a satisfied state. If all parameters in this condition are satisfied, it indicates that the current running data triggered this condition.

[0080] Take the rapid acceleration judgment condition as an example: Rapid acceleration judgment criteria: Accelerator pedal opening ≥ 70% and duration ≥ 0.2s; Extract the current accelerator pedal opening, such as 80%, from the current operating data as the parameter value to be judged. If the current accelerator pedal opening is 80% ≥ 70% and the duration is ≥ 0.2s, the parameter judgment item is determined to be satisfied, and then the current operating data triggers the rapid acceleration judgment condition item.

[0081] In actual implementation, if the parameter value corresponding to any parameter judgment item is not the direct parameter value collected by the sensor, the parameter value corresponding to the parameter judgment item can be determined through further calculation and transformation. The calculation method of the indirect parameter value that needs to be calculated based on the direct measurement value can be preset in advance, and this application embodiment does not impose any restrictions.

[0082] If the current operating data does not trigger any of the conditions in the four-wheel drive control condition set corresponding to the current driving mode, the matching result is determined to be a matching failure, and the driving mode of the vehicle is controlled to be the default driving mode corresponding to the current driving mode.

[0083] When the current operating data triggers at least one condition in the four-wheel drive control condition set corresponding to the current driving mode, the matching result is determined to be a successful match, and the vehicle's drive mode is controlled to switch from the default drive mode corresponding to the current driving mode to the four-wheel drive mode.

[0084] For example, a four-wheel drive mode control command can be issued to the vehicle's power domain controller. The power domain controller responds to the four-wheel drive mode control command and can control the four-wheel drive system on the vehicle to enter four-wheel drive mode.

[0085] After entering four-wheel drive mode, the system continuously acquires the vehicle's current operating data and matches it with the four-wheel drive control condition set of the current driving mode. When the matching result is a failure, the system controls the vehicle to exit four-wheel drive mode.

[0086] Reference Figure 2 This document illustrates an execution flowchart of the vehicle control method provided in an embodiment of this application. In one feasible implementation, taking a vehicle's driving modes as including Eco mode, Comfort mode, and Sport mode, with Eco mode and Comfort mode having a default drive mode of two-wheel drive and Sport mode having a default drive mode of four-wheel drive, the vehicle control method includes: Obtain the vehicle's current driving mode.

[0087] If the current driving mode is Eco, control the vehicle to operate in two-wheel drive mode.

[0088] Determine whether the current operating data matches the four-wheel drive control condition set of the economic mode.

[0089] If the current operating data fails to match the four-wheel drive control condition set of the economy mode, the vehicle will continue to operate in two-wheel drive mode.

[0090] If the current operating data matches the four-wheel drive control condition set of the economy mode, the vehicle is controlled to operate in four-wheel drive mode, and the matching is continuously checked. If the matching is successful, the vehicle operates in four-wheel drive mode until the matching fails and it switches to two-wheel drive mode.

[0091] If the current driving mode is comfort mode, control the vehicle to operate in two-wheel drive mode.

[0092] Determine whether the current operating data matches the four-wheel drive control condition set of comfort mode.

[0093] If the current operating data fails to match the four-wheel drive control condition set of comfort mode, the vehicle will continue to operate in two-wheel drive mode.

[0094] If the current operating data matches the four-wheel drive control condition set of comfort mode, the vehicle is controlled to operate in four-wheel drive mode, and the matching is continuously checked. If the matching is successful, the vehicle operates in four-wheel drive mode until the matching fails and it switches to two-wheel drive mode.

[0095] If the current driving mode is Sport mode, control the vehicle to continue operating in four-wheel drive mode.

[0096] The vehicle control method provided in this application embodiment controls the vehicle's driving mode to enter or exit the four-wheel drive mode based on the matching result of the vehicle's current operating data and the four-wheel drive control condition set corresponding to the vehicle's current driving mode. That is, different driving modes have their own corresponding four-wheel drive control condition sets for determining whether the four-wheel drive mode should be engaged. This can optimize the control logic for the vehicle to enter or exit the four-wheel drive mode, taking into account the energy efficiency and stability of the vehicle in different driving modes.

[0097] This method determines the intervention of four-wheel drive mode by using a set of multiple conditions based on driving mode. The determination dimension no longer relies on a single signal or a single data, but integrates vehicle dynamics data, driving intention data, execution status data and environmental perception data. This solves the problem that traditional four-wheel drive systems are triggered by only a few simple signals (such as wheel speed difference), resulting in delayed response and inability to prevent certain safety risks. It can improve the accuracy and timeliness of four-wheel drive mode intervention and ensure vehicle safety.

[0098] It can achieve refined energy consumption management. In driving modes with low performance requirements, such as the economy mode, it can maximize energy saving and only activate when the most necessary safety risks occur. In driving modes with performance requirements, it can control the activation of the four-wheel drive mode in a timely manner according to the performance requirements, thereby improving energy efficiency while meeting driving needs and enhancing the user experience.

[0099] By dynamically coupling the driving mode with the four-wheel drive condition judgment, and using the driving mode as the top-level input of the four-wheel drive control strategy, the response sensitivity and range of the four-wheel drive mode are strongly correlated with the driver's expectations and the vehicle's usage scenarios. This solves the problem of the four-wheel drive mode intervention logic being disconnected from the driver's subjective intentions, avoids the awkward situation of "excessive system intervention" or "failure to intervene when necessary," improves human-machine collaboration and driving experience, and ensures that the vehicle's operation meets the driver's expectations, thereby enhancing driving confidence and sense of control.

[0100] Reference Figure 3 This diagram illustrates a functional block diagram of a vehicle control device according to an embodiment of this application. The device includes: The drive mode control module 100 is used to control the vehicle's drive mode to enter or exit the four-wheel drive mode based on the matching result of the vehicle's current operating data and the four-wheel drive control condition set corresponding to the vehicle's current driving mode. Among them, the four-wheel drive control condition set corresponding to each driving mode includes at least one safety-type condition item. Each parameter judgment item in the same safety-type condition item is configured with the same trigger threshold in the four-wheel drive control condition set corresponding to any driving mode, so as to adapt to the safety requirements of each driving mode. The four-wheel drive control condition set corresponding to any non-economic driving mode also includes at least one performance-related condition item. Each parameter judgment item in the same performance-related condition item is configured with at least the trigger threshold corresponding to that driving mode in the four-wheel drive control condition set corresponding to any driving mode, so as to adapt to the performance requirements of different driving modes.

[0101] Optionally, the driving modes of the vehicle include one or more of the following: Eco mode, Comfort mode, Sport mode, Snow mode, Sand mode, and Off-road mode.

[0102] Optionally, the vehicle's operating data includes one or more of the following: vehicle dynamics data, driving intention data, execution status data, and environmental perception data. And / or, the vehicle dynamics data includes one or more of the following: vehicle speed, wheel speed, acceleration, yaw rate, roll angle, and pitch angle; And / or, the driving intention data includes one or more of the following: steering wheel angle, accelerator pedal opening, and brake pedal travel; And / or, the execution status data includes drive system status data and / or braking system status data; And / or, the environmental perception data includes one or more of the following: road surface information, weather information, and road condition warning information ahead.

[0103] Optionally, the drive mode control module is used to: The current operating data is matched with each condition item in the four-wheel drive control condition set corresponding to the current driving mode; When the current operating data triggers at least one condition in the four-wheel drive control condition set corresponding to the current driving mode, the matching result is determined to be a successful match, and the vehicle's drive mode is controlled to switch from the default drive mode corresponding to the current driving mode to the four-wheel drive mode. If the current operating data does not trigger any of the conditions in the four-wheel drive control condition set corresponding to the current driving mode, the matching result is determined to be a matching failure, and the driving mode of the vehicle is controlled to be the default driving mode corresponding to the current driving mode.

[0104] Optionally, the default drive mode for any driving mode is two-wheel drive mode; And / or, the default drive mode for Eco or Comfort mode is two-wheel drive, and the default drive mode for any of the following driving modes is four-wheel drive: Comfort, Sport, Snow, Sand, and Off-road.

[0105] Optionally, any condition item includes a trigger threshold and a release threshold corresponding to each parameter judgment item in the condition item, and the release threshold is less than the trigger threshold.

[0106] Optionally, the device further includes a vehicle speed correlation module, used for: When any condition item in the four-wheel drive control condition set corresponding to the current driving mode is a target condition item, determine the trigger threshold and / or release threshold corresponding to each parameter judgment item in the target condition item at the current vehicle speed.

[0107] Optionally, each parameter judgment item in the same safety category condition item has the same trigger threshold and release threshold configured in the four-wheel drive control condition set corresponding to any driving mode; and / or, Each parameter judgment item in the same performance category has a trigger threshold and release threshold configured in the four-wheel drive control condition set corresponding to any driving mode.

[0108] Optionally, the safety-related conditions include one or more of the following: brake failure judgment condition, tire blowout judgment condition, emergency avoidance judgment condition, nonlinear instability judgment condition, crosswind judgment condition, and road surface water judgment condition.

[0109] Optionally, the performance-related conditions include one or more of the following: rapid acceleration judgment condition, cornering judgment condition, cornering acceleration judgment condition, understeer or fishtailing judgment condition, front and rear wheel slippage judgment condition, wet and slippery road surface judgment condition, and vehicle climbing judgment condition.

[0110] Optionally, the apparatus further includes a preprocessing module for: Obtain the current initial operating data of the vehicle; The current initial running data is preprocessed to obtain the current running data; The preprocessing includes filtering and / or debouncing.

[0111] The vehicle control device in this application embodiment can be a device, or it can be a component, integrated circuit, or chip in a terminal. This application embodiment does not make any specific limitations.

[0112] The vehicle control device in this application embodiment can be a device with an operating system, and this application embodiment does not make specific limitations.

[0113] Reference Figure 4 The diagram illustrates the architecture of a vehicle control system according to an embodiment of this application. The system includes a sensing module, a controller, and a four-wheel drive system. The sensing module is used to acquire the vehicle's current operating data, which includes one or more of the following: vehicle speed, wheel speed, acceleration, yaw rate, roll angle, and pitch angle.

[0114] In actual implementation, the perception module includes multimodal sensors deployed on the vehicle and a communication unit for acquiring external network data.

[0115] For example, multimodal sensors include, but are not limited to, various parameter sensors, inertial measurement units, vehicle stability control system sensors, vision sensors, and radar sensors.

[0116] The controller is used to execute the vehicle control method described in the embodiments of this application. Specifically, it controls the driving mode of the four-wheel drive system to enter or exit the four-wheel drive mode based on the matching result of the current operating data of the vehicle and the four-wheel drive control condition set corresponding to the current driving mode of the vehicle.

[0117] Each driving mode's four-wheel drive control condition set includes at least one safety-related condition item. Each parameter judgment item in the same safety-related condition item has at least the same trigger threshold in the four-wheel drive control condition set corresponding to any driving mode, which can adapt to the safety requirements of each driving mode.

[0118] The four-wheel drive control condition set corresponding to any non-economic driving mode also includes at least one performance-related condition item. Each parameter judgment item in the same performance-related condition item is configured with at least the trigger threshold corresponding to that driving mode in the four-wheel drive control condition set corresponding to any driving mode, so as to adapt to the performance requirements of different driving modes.

[0119] In actual implementation, the four-wheel drive system may include a front-to-rear decoupled four-wheel drive system with decouplers for both front and rear drives, an on-demand four-wheel drive system implemented through a controllable coupler, and a full-time four-wheel drive system with a multi-plate clutch-type center differential. The embodiments in this application are not limited to these.

[0120] Reference Figure 5 The diagram illustrates an electronic device provided in an embodiment of this application. The electronic device includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor. When the program or instructions are executed by the processor, they implement the various processes of the vehicle control method embodiment described above and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0121] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.

[0122] Reference Figure 6 The diagram illustrates a readable storage medium provided in an embodiment of this application. The readable storage medium stores a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the vehicle control method embodiment described above and achieve the same technical effect. To avoid repetition, the details will not be repeated here.

[0123] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0124] Reference Figure 7 The diagram illustrates a computer program product provided in an embodiment of this application, including a computer program / instruction. When the computer program / instruction is executed by a processor, it implements the various processes of the vehicle control method embodiment described above and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0125] This application also provides a vehicle for executing the various processes of the above-described vehicle control method embodiments, or including the vehicle control device, vehicle control system, or electronic equipment described in this application embodiments, and achieving the same technical effect. To avoid repetition, these will not be described again here.

[0126] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0127] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal (which may be a computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0128] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. The description of the embodiments above is only for the purpose of helping to understand the method and core idea of ​​this application. Those skilled in the art can make many forms under the guidance of this application without departing from the spirit and scope of protection of the claims, and all of these are within the protection scope of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A vehicle control method, characterized in that, The method includes: Based on the matching result of the vehicle's current operating data and the four-wheel drive control condition set corresponding to the vehicle's current driving mode, the vehicle's driving mode is controlled to enter or exit the four-wheel drive mode. Among them, the four-wheel drive control condition set corresponding to each driving mode includes at least one safety-type condition item. Each parameter judgment item in the same safety-type condition item is configured with the same trigger threshold in the four-wheel drive control condition set corresponding to any driving mode, so as to adapt to the safety requirements of each driving mode. The four-wheel drive control condition set corresponding to any non-economic driving mode also includes at least one performance-related condition item. Each parameter judgment item in the same performance-related condition item is configured with at least the trigger threshold corresponding to that driving mode in the four-wheel drive control condition set corresponding to any driving mode, so as to adapt to the performance requirements of different driving modes.

2. The method according to claim 1, characterized in that, The vehicle's driving modes include one or more of the following: Eco mode, Comfort mode, Sport mode, Snow mode, Sand mode, and Off-road mode.

3. The method according to claim 1, characterized in that, The vehicle's operational data includes one or more of the following: vehicle dynamics data, driving intention data, execution status data, and environmental perception data. And / or, the vehicle dynamics data includes one or more of the following: vehicle speed, wheel speed, acceleration, yaw rate, roll angle, and pitch angle; And / or, the driving intention data includes one or more of the following: steering wheel angle, accelerator pedal opening, and brake pedal travel; And / or, the execution status data includes drive system status data and / or braking system status data; And / or, the environmental perception data includes one or more of the following: road surface information, weather information, and road condition warning information ahead.

4. The method according to any one of claims 1-3, characterized in that, Based on the matching result of the vehicle's current operating data and the four-wheel drive control condition set corresponding to the vehicle's current driving mode, the vehicle's drive mode is controlled to enter or exit four-wheel drive mode, including: The current operating data is matched with each condition item in the four-wheel drive control condition set corresponding to the current driving mode; When the current operating data triggers at least one condition in the four-wheel drive control condition set corresponding to the current driving mode, the matching result is determined to be a successful match, and the vehicle's drive mode is controlled to switch from the default drive mode corresponding to the current driving mode to the four-wheel drive mode. If the current operating data does not trigger any of the conditions in the four-wheel drive control condition set corresponding to the current driving mode, the matching result is determined to be a matching failure, and the driving mode of the vehicle is controlled to be the default driving mode corresponding to the current driving mode.

5. The method according to claim 4, characterized in that, The default drive mode for any driving mode is two-wheel drive. And / or, the default drive mode for Eco or Comfort mode is two-wheel drive, and the default drive mode for any of the following driving modes is four-wheel drive: Comfort, Sport, Snow, Sand, and Off-road.

6. The method according to claim 1, characterized in that, Each condition item includes a trigger threshold and a release threshold corresponding to each parameter judgment item in that condition item, and the release threshold is less than the trigger threshold.

7. The method according to claim 6, characterized in that, The method further includes: When any condition item in the four-wheel drive control condition set corresponding to the current driving mode is a target condition item, determine the trigger threshold and / or release threshold corresponding to each parameter judgment item in the target condition item at the current vehicle speed.

8. The method according to claim 6, characterized in that, Each parameter judgment item in the same safety category condition item has the same trigger threshold and release threshold configured in the four-wheel drive control condition set corresponding to any driving mode; and / or, Each parameter judgment item in the same performance category has a trigger threshold and release threshold configured in the four-wheel drive control condition set corresponding to any driving mode.

9. The method according to claim 1, characterized in that, The safety-related conditions include one or more of the following: brake failure judgment condition, tire blowout judgment condition, emergency avoidance judgment condition, nonlinear instability judgment condition, crosswind judgment condition, and road surface water judgment condition.

10. The method according to claim 1, characterized in that, The performance-related conditions include one or more of the following: rapid acceleration judgment condition, cornering judgment condition, cornering acceleration judgment condition, understeer or fishtailing judgment condition, front and rear wheel slippage judgment condition, wet and slippery road surface judgment condition, and vehicle climbing judgment condition.

11. The method according to claim 1, characterized in that, The method further includes: Obtain the current initial operating data of the vehicle; The current initial running data is preprocessed to obtain the current running data; The preprocessing includes filtering and / or debouncing.

12. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the vehicle control method as described in any one of claims 1-11.

13. A vehicle control system, characterized in that, The system includes a sensing module, a controller, and a four-wheel drive system; The sensing module is used to acquire the vehicle's current operating data; The controller is used to control the driving mode of the four-wheel drive system to enter or exit the four-wheel drive mode based on the matching result of the vehicle's current operating data and the four-wheel drive control condition set corresponding to the vehicle's current driving mode. Among them, the four-wheel drive control condition set corresponding to each driving mode includes at least one safety-type condition item. Each parameter judgment item in the same safety-type condition item is configured with the same trigger threshold in the four-wheel drive control condition set corresponding to any driving mode, so as to adapt to the safety requirements of each driving mode. The four-wheel drive control condition set corresponding to any non-economic driving mode also includes at least one performance-related condition item. Each parameter judgment item in the same performance-related condition item is configured with at least the trigger threshold corresponding to that driving mode in the four-wheel drive control condition set corresponding to any driving mode, so as to adapt to the performance requirements of different driving modes.

14. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the vehicle control method as described in any one of claims 1-11.

15. A vehicle, characterized in that, The vehicle is used to perform the vehicle control method according to any one of claims 1-11, or includes the electronic equipment according to claim 12, or includes the vehicle control system according to claim 13.

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