CN112895809B - Method and device for driving drive axle and electronic equipment - Google Patents
Method and device for driving drive axle and electronic equipment Download PDFInfo
- Publication number
- CN112895809B CN112895809B CN202110222464.7A CN202110222464A CN112895809B CN 112895809 B CN112895809 B CN 112895809B CN 202110222464 A CN202110222464 A CN 202110222464A CN 112895809 B CN112895809 B CN 112895809B
- Authority
- CN
- China
- Prior art keywords
- information
- road surface
- vehicle
- drive axle
- actuator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B35/00—Axle units; Parts thereof ; Arrangements for lubrication of axles
- B60B35/12—Torque-transmitting axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The embodiment of the application provides a method and a device for driving a drive axle and electronic equipment, wherein the method is applied to a vehicle-mounted controller, the vehicle-mounted controller is connected with a plurality of drive axle actuators of a vehicle, and each drive axle actuator is connected with the drive axle; calculating the number of drive axles required by the vehicle at present according to the acquired current running state information of the vehicle and the road surface information of the running road surface where the vehicle is located; determining a target drive axle actuator from a plurality of drive axle actuators according to the number of drive axles and road surface information; and the drive axle connected with the control target drive axle actuator is used as a working drive axle to work. The mode does not need to artificially participate in the drive connection of the control drive axle, and reduces the drive connection time of the drive axle compared with the existing drive mode, thereby effectively reducing the fuel consumption and saving the resources and the driving cost.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a method and an apparatus for driving an axle, and an electronic device.
Background
A transaxle is a mechanism located at the end of a power train to change the rotational speed and torque from a transmission and transmit them to drive wheels, and is generally composed of a final drive, a differential, a wheel gear, a transaxle casing, etc., and a constant velocity joint, and in addition, the transaxle is subject to vertical force, longitudinal force, and lateral force, and braking torque and reaction force acting between a road surface and a vehicle frame or a vehicle body, and thus is an extremely important component in a vehicle.
When a vehicle includes multiple drive axles, the existing drive scheme is: according to the individual judgment requirement of a driver, the front bridge and the rear bridge are connected through the connecting operation rods manually, so that multi-bridge driving is realized.
Disclosure of Invention
Accordingly, the present invention is directed to a method, an apparatus and an electronic device for driving an axle, so as to alleviate the above technical problems.
In a first aspect, an embodiment of the present invention provides a method for driving a drive axle, where the method is applied to an onboard controller of a vehicle, the onboard controller is connected to multiple drive axle actuators of the vehicle, and each drive axle actuator is connected to a drive axle; the method comprises the following steps: acquiring current running state information of a vehicle and road surface information of a running road surface where the vehicle is located; calculating the number of currently required drive axles of the vehicle based on the running state information and the road surface information; determining a target drive axle actuator from a plurality of drive axle actuators according to the number of drive axles and the road surface information; and the drive axle connected with the control target drive axle actuator is used as a working drive axle to work.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the vehicle-mounted controller is further connected to a vision collector and a vehicle state sensing component of the vehicle; the method for acquiring the current running state information of the vehicle and the road surface information of the running road surface where the vehicle is located comprises the following steps: acquiring running state information of a vehicle through a vehicle state sensing assembly; acquiring a road surface image acquired by a vision acquisition device; road surface information is determined based on the road surface image.
With reference to the first possible implementation manner of the first aspect, the embodiment of the present invention provides a second possible implementation manner of the first aspect, wherein the vehicle state sensing assembly includes a speed sensor, a rotation speed sensor and a load sensor; the method for acquiring the running state information of the vehicle through the vehicle state sensing assembly comprises the following steps: acquiring speed information of a vehicle through a speed sensor; acquiring rotating speed information of an engine of a vehicle through a rotating speed sensor; and acquiring load information of the vehicle through the load sensor.
With reference to the first possible implementation manner of the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the step of determining the road surface information based on the road surface image includes: extracting image parameter information contained in the road surface image; wherein the image parameter information comprises at least one of: weather parameter information, road surface humidity parameter information and position parameter information of a plurality of lane points; the lane points are position points to be passed through on the same lane line on the road surface where the vehicle is located, and the position parameter information is coordinate information under a three-dimensional coordinate system established by taking the current position of the vehicle as a coordinate origin; road surface information is determined based on the image parameter information.
With reference to the third possible implementation manner of the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where a road surface friction coefficient lookup table is pre-stored in the vehicle-mounted controller, and multiple specific operating condition parameters and a specific road surface friction coefficient corresponding to each specific operating condition parameter are stored in the road surface friction coefficient lookup table; each specific working condition parameter comprises specific weather parameter information and specific road surface humidity parameter information; wherein the road surface information comprises a road surface friction coefficient; the determination mode of the road surface friction coefficient comprises the following steps: searching target specific working condition information matched with the weather parameter information and the road surface humidity parameter information in a road surface friction coefficient lookup table; and determining the specific road surface friction coefficient corresponding to the target specific working condition information as the road surface friction coefficient corresponding to the weather parameter information and the road surface humidity parameter information.
With reference to the third possible implementation manner of the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the road surface information further includes road surface gradient information and road surface curvature information; the determination method of the road surface gradient information includes: acquiring an x-axis coordinate value and a z-axis coordinate value in the position parameter information of each lane point; calculating road surface gradient information based on the coordinate value of the x axis and the coordinate value of the z axis; the road surface gradient information is an included angle between a plane where the lane point is located and a plane where the current position point of the vehicle is located; the determination mode of the road surface curvature information comprises the following steps: randomly selecting two target lane points from the plurality of lane points; acquiring an x-axis coordinate value and a y-axis coordinate value in the position parameter information corresponding to each target lane point; calculating the corresponding slopes of the two target lane points based on the coordinate value of the x axis and the coordinate value of the y axis; and taking the slope as the road surface curvature information.
With reference to the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, wherein the step of calculating the number of currently required transaxles of the vehicle based on the running state information and the road surface information includes: calculating the number of currently required drive axles of the vehicle according to the road surface friction coefficient in the road surface information, the road surface gradient information in the road surface information, the speed information in the running state information, the rotating speed information in the running state information and the load information in the running state information; wherein the currently required number of drive axles of the vehicle is calculated by:
where N denotes the number of transaxles, K denotes a calculation coefficient, U denotes a road surface friction coefficient, M denotes load information, a denotes road surface gradient information, V denotes speed information, and W denotes rotational speed information.
With reference to the first aspect, an embodiment of the present invention provides a seventh possible implementation manner of the first aspect, where a drive axle executor lookup table is pre-stored in the vehicle-mounted controller, and an executor identifier corresponding to each drive axle executor and a specific selection parameter corresponding to each executor identifier are stored in the drive axle executor lookup table; the specific selection parameters comprise the number of specific drive axles and the curvature information of a specific road surface; the step of determining a target drive axle actuator from a plurality of drive axle actuators based on the number of drive axles and the road surface information includes: searching target specific selection parameters matched with the number of the drive axles and the road surface curvature information in the road surface information in a drive axle actuator lookup table; acquiring an actuator identifier corresponding to a target specific selection parameter; and determining the drive axle actuator corresponding to the actuator identifier as a target drive axle actuator.
In a second aspect, the embodiment of the present invention further provides an apparatus for driving a drive axle, where the apparatus is applied to an onboard controller of a vehicle, the onboard controller is connected to a plurality of drive axle actuators of the vehicle, and each drive axle actuator is connected to a drive axle; the above-mentioned device includes: the acquisition module is used for acquiring the current running state information of the vehicle and the road surface information of the running road surface where the vehicle is located; the calculating module is used for calculating the number of the drive axles required by the vehicle at present based on the running state information and the road surface information; the determining module is used for determining a target drive axle actuator from a plurality of drive axle actuators according to the number of drive axles and the road surface information; and the control module is used for controlling the drive axle connected with the target drive axle actuator to work as a working drive axle.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes a processor and a memory, where the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the foregoing method.
The embodiment of the invention has the following beneficial effects:
the embodiment of the application provides a method and a device for driving a drive axle and electronic equipment, wherein the method is applied to a vehicle-mounted controller, the vehicle-mounted controller is connected with a plurality of drive axle actuators of a vehicle, and each drive axle actuator is connected with the drive axle; calculating the number of drive axles required by the vehicle at present according to the acquired current running state information of the vehicle and the road surface information of the running road surface where the vehicle is located; determining a target drive axle actuator from a plurality of drive axle actuators according to the number of drive axles and road surface information; and the drive axle connected with the control target drive axle actuator is used as a working drive axle to work. The mode does not need to artificially participate in controlling the driving connection of the driving axle, and compared with the existing driving mode, the driving connection time of the driving axle is shortened, so that the fuel consumption is effectively reduced, and the resources and the driving cost are saved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic structural diagram of a vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for driving an axle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vertical coordinate system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a horizontal coordinate system according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a transaxle driving apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, the existing drive axle connection mode needs to be manually connected through front and rear axle connection operation rods according to the personal judgment requirement of a driver, and the intervention time is delayed when the drive axle is connected depending on the experience of the driver, so that large fuel consumption and resource waste are easily caused.
For the convenience of understanding the present embodiment, a method of driving the transaxle disclosed in the present embodiment will be described in detail.
The embodiment provides a method for driving a driving axle, wherein the method is applied to an on-board controller of a vehicle, the on-board controller is connected with a plurality of driving axle actuators of the vehicle, and each driving axle actuator is connected with the driving axle.
Fig. 1 shows a schematic structural diagram of a vehicle, as shown in fig. 1, the vehicle includes an on-board controller 100, the on-board controller 100 is connected with a plurality of transaxle actuators 101 of the vehicle, and each transaxle actuator 101 is connected with a transaxle 102; fig. 1 illustrates an example of 3 transaxle actuators 101.
In this embodiment, the transaxle actuator 101 can provide the state information of the transaxle being connected and disconnected, and can perform the connection or disconnection operation under the control of the vehicle-mounted controller, so as to operate or stop the transaxle. The onboard controller 100 may be a Central Processing Unit (CPU), and may be configured with a corresponding operating system, a control interface, and the like, and specifically, may be a digital logic controller such as an MCU (micro controller Unit) controller, which can be used for automation control, and may load a control instruction to a memory at any time for storage and execution, and at the same time, may be provided with a CPU instruction and a data memory, an input/output Unit, a power module, a digital analog Unit, and the like, and may be specifically set according to an actual use condition.
Referring to fig. 2, a flowchart of a method for driving an axle is shown, and the method is applied to the vehicle-mounted controller, and specifically includes the following steps:
step S202, obtaining the current running state information of the vehicle and the road information of the running road where the vehicle is;
the operating state information may be understood as a current driving state of the vehicle, and the operating state information includes at least one of: the system comprises speed information, rotating speed information and load information, wherein the speed information is the current speed of the vehicle, the rotating speed information is the current engine rotating speed of the vehicle, the load information is the current load information of the vehicle, the running state information can be obtained according to actual needs, and the running state information is not limited.
The road surface information may be understood as information of a current driving road surface of the vehicle, wherein in the present embodiment, the road surface information includes at least one of the following: the road surface friction coefficient, the road surface gradient information and the road surface curvature information can be obtained according to actual needs, and the road surface information is not limited.
Step S204, calculating the number of drive axles currently required by the vehicle based on the running state information and the road surface information;
the number of the drive axles required by the vehicle at present can be determined in real time through the current running state information and the road surface information of the vehicle, so that the drive axles with the corresponding number of the drive axles work, and the driving of the vehicle is realized.
Step S206, determining a target drive axle actuator from a plurality of drive axle actuators according to the number of drive axles and the road surface information;
since the vehicle includes a plurality of transaxles in order to accurately determine which transaxles need to operate, in this embodiment, the target transaxle actuator can be determined based on the number of transaxles and the road surface information, that is, which transaxles need to operate can be determined clearly by the determined target transaxle actuator.
In step S208, the drive axle to which the control target drive axle actuator is connected operates as the working drive axle.
The vehicle-mounted controller can directly send a control instruction to the target drive axle actuator to control the drive axle connected with the target drive axle actuator to work as a working drive axle.
The embodiment of the application provides a method for driving a drive axle, wherein the method is applied to an on-board controller, the on-board controller is connected with a plurality of drive axle actuators of a vehicle, and each drive axle actuator is connected with the drive axle; calculating the number of drive axles required by the vehicle at present according to the acquired current running state information of the vehicle and the road surface information of the running road surface where the vehicle is located; determining a target drive axle actuator from a plurality of drive axle actuators according to the number of drive axles and road surface information; and the drive axle connected with the control target drive axle actuator is used as a working drive axle to work. The mode does not need to artificially participate in the drive connection of the control drive axle, and reduces the drive connection time of the drive axle compared with the existing drive mode, thereby effectively reducing the fuel consumption and saving the resources and the driving cost.
As shown in fig. 1, the vehicle-mounted controller 100 is further connected with a vision collector 103 of the vehicle and a vehicle state sensing component 104; the step S202 can be realized by the steps A1 to A3:
a1, acquiring running state information of a vehicle through a vehicle state sensing assembly;
as shown in fig. 1, the vehicle state sensing component 104 includes a speed sensor 105, a rotation speed sensor 106 and a load sensor 107, and the specific operation state information is obtained through a process of: acquiring speed information of the vehicle through a speed sensor 105; acquiring rotation speed information of an engine of the vehicle through a rotation speed sensor 106; and load information of the vehicle is acquired by the load sensor 107.
A2, acquiring a road surface image acquired by a vision acquisition device;
in this embodiment, the vision collector is a monocular or bifacial camera mounted on a windshield of the vehicle, and can shoot a road image of a road on which the vehicle runs through the camera and send the shot road image to the vehicle-mounted controller, so that the vehicle-mounted controller can determine the road information according to the road image.
And step A3, determining the road surface information based on the road surface image.
The specific process of determining the road surface information may be implemented by steps B1 to B2:
b1, extracting image parameter information contained in the road surface image;
wherein the image parameter information includes at least one of: weather parameter information, road surface humidity parameter information and position parameter information of a plurality of lane points; the lane points are position points to be passed through on the same lane line on the road surface where the vehicle is located, and the position parameter information is coordinate information under a three-dimensional coordinate system established by taking the current position of the vehicle as a coordinate origin; the image parameter information may be extracted according to actual needs, and the image parameter information included in the road surface image is not limited herein, and the number of lane points is not limited.
In this embodiment, the onboard controller can acquire the image parameter information by using an image processing method on the road surface image, and the image processing method may be determined as needed, and is not limited herein.
And B2, determining the road surface information based on the image parameter information.
Generally, a road surface friction coefficient lookup table is stored in a vehicle-mounted controller in advance, and a plurality of specific working condition parameters and specific road surface friction coefficients corresponding to each specific working condition parameter are stored in the road surface friction coefficient lookup table; each specific working condition parameter comprises specific weather parameter information and specific road surface humidity parameter information; if the road surface information includes a road surface friction coefficient; the process of determining the road surface friction coefficient based on the image parameter information is: searching target specific working condition information matched with the weather parameter information and the road surface humidity parameter information in a road surface friction coefficient lookup table; and determining the specific road surface friction coefficient corresponding to the target specific working condition information as the road surface friction coefficient corresponding to the weather parameter information and the road surface humidity parameter information.
For example, the specific road surface friction coefficients stored in the road surface friction coefficient lookup table are 0.1, 0.3, 0.6 and 0.8, wherein the specific weather parameter information corresponding to the specific road surface friction coefficient of 0.1 is rainy days, and the specific road surface humidity parameter information is 95-80; the specific weather parameter information corresponding to the specific road surface friction coefficient of 0.3 is rainy days, the specific road surface humidity parameter information is 75-60, the specific weather parameter information corresponding to the specific road surface friction coefficient of 0.6 is cloudy days, the specific road surface humidity parameter information is 50-40, the specific weather parameter information corresponding to the specific road surface friction coefficient of 0.8 is clear days, and the specific road surface humidity parameter information is 25-15; if the obtained weather parameter information is clear day, the road surface humidity parameter information is 20, and the road surface humidity parameter information is 20 in the range of the specific road surface humidity parameter information of 25-15, and the weather parameter information is the same as the specific weather parameter information of 25-15 of the specific road surface humidity parameter information, the obtained weather parameter information and the road surface humidity parameter information are matched with the target specific working condition information of the specific weather parameter information of clear day and the specific road surface humidity parameter information of 25-15 by inquiring a road surface friction coefficient inquiry table; therefore, the specific road surface friction coefficient 0.8 corresponding to the target specific condition information is determined as the road surface friction coefficient corresponding to the weather parameter information and the road surface humidity parameter information.
The road surface information also comprises road surface gradient information and road surface curvature information; the determination mode of the road surface gradient information comprises steps C1 to C2:
step C1, acquiring an x-axis coordinate value and a z-axis coordinate value in the position parameter information of each lane point;
step C2, calculating road surface gradient information based on the coordinate value of the x axis and the coordinate value of the z axis; the road surface gradient information is an included angle between a plane where the lane point is located and a plane where the current position point of the vehicle is located;
for convenience of understanding, fig. 3 shows a schematic structural diagram of a vertical coordinate system, as shown in fig. 3, a point o is a current position of a vehicle and is also a coordinate origin, a curve is a lane line on a road surface where the vehicle is currently located, a point a, a point b, and a point c are lane points, which are described by taking the point a as an example, a connecting line (a dotted line in fig. 3) between the point a and the point o forms an angle with an x axis, and the angle q is road surface gradient information of the road surface at the point a. The slope from the lane point to the origin can be obtained through the x-axis coordinate value and the z-axis coordinate value of the point a, and the slope is determined as the included angle between the plane where the lane point is located and the plane where the current position point of the vehicle is located (i.e., the x-axis). Besides the way of acquiring the road surface gradient information by using the lane point coordinate information, the road surface gradient information can be acquired by other ways, which are not limited and described herein.
The determination method of the road surface curvature information comprises steps D1 to D3:
step D1, randomly selecting two target lane points from a plurality of lane points;
for convenience of understanding, fig. 4 shows a schematic structural diagram of a horizontal coordinate system, as shown in fig. 4, a point o is a current position of the vehicle and is also an origin of coordinates, a curve is a lane line on a road surface where the vehicle is currently located, and points a, b, and c are lane points, where the lane line in fig. 3 is the same as the lane line in fig. 4. 2 target lane points can be arbitrarily selected from the three lane points, for example, the point a and the point b are selected as the target lane points.
D2, acquiring an x-axis coordinate value and a y-axis coordinate value in the position parameter information corresponding to each target lane point;
d3, calculating the corresponding slopes of the two target lane points based on the coordinate values of the x axis and the coordinate values of the y axis; and taking the slope as the road surface curvature information.
Based on that the straight line formed by the points a and b forms a certain angle with the X axis, the angle e is the road surface curvature information, the slope between the straight line formed by the points a and b and the X axis can be calculated by using the coordinate values of the X axis and the y axis of the points a and b, the slope is used as the road surface curvature information, and the road surface curvature information can be obtained by other methods besides the method of obtaining the road surface curvature information by using the coordinate information of the lane points, which is not limited and described herein.
The step S204 is implemented specifically as follows: calculating the number of currently required drive axles of the vehicle according to the road surface friction coefficient in the road surface information, the road surface gradient information in the road surface information, the speed information in the running state information, the rotating speed information in the running state information and the load information in the running state information; wherein the currently required number of drive axles of the vehicle is calculated by:
where N represents the number of transaxles, K represents a calculation coefficient, U represents a road surface friction coefficient, M represents load information, a represents road surface gradient information, V represents speed information, and W represents rotational speed information.
The road surface friction coefficient, the road surface gradient information, the speed information, the rotation speed information, and the load information may be obtained in the above-described manner, or may be obtained in other manners, for example, the road surface friction coefficient and the road surface gradient information may be directly obtained by using a sensor, and the obtaining manner of the information is not limited herein.
When the system is actually used, a drive axle actuator query table is stored in the vehicle-mounted controller in advance, and actuator identifications corresponding to each drive axle actuator and specific selection parameters corresponding to each actuator identification are stored in the drive axle actuator query table; the specific selection parameters comprise the number of specific drive axles and the curvature information of a specific road surface; the step S206 is specifically implemented as follows: searching a target specific selection parameter matched with the number of drive axles and road surface curvature information in the road surface information in a drive axle actuator lookup table; acquiring an actuator identifier corresponding to a target specific selection parameter; and determining the drive axle actuator corresponding to the actuator identifier as a target drive axle actuator.
For example, the actuator identifiers stored in the drive axle actuator lookup table are 1, 2, 3 and 4, wherein the number of the specific drive axles corresponding to the actuator identifier 1 is 1, 3 and 4, and the information of the curvature of the specific road surface is 10 to 20; the number of the specific drive axles corresponding to the actuator identifier 2 is 2, 3 and 4, the curvature information of the specific road surface is 30-40, the number of the specific drive axles corresponding to the actuator identifier 3 is 2, 3 and 4, the curvature information of the specific road surface is 35-50, the number of the specific drive axles corresponding to the actuator identifier 4 is 2, 3 and 4, and the curvature information of the specific road surface is 60-80; therefore, the obtained drive axle number and the road surface curvature information need to be matched with the specific drive axle number and the specific road surface curvature information at the same time, so that which target drive axle actuator is can be determined.
If the number of the obtained drive axles is 2 and the road surface curvature information is 38, it is indicated that the vehicle needs 2 drive axles to drive currently, and the road surface curvature information is 38, namely within the range of 30-40 of the specific road surface curvature information and 35-50 of the specific road surface curvature information, so that by inquiring the drive axle actuator query table, the specific selection parameters corresponding to the actuator identifier 2 and the actuator identifier 3 are matched with the two information, and therefore, the actuator identifier 2 and the actuator identifier 3 are determined as target drive axle actuators. The vehicle-mounted controller can control a drive axle connected with the target drive axle actuator to work as a working drive axle.
Corresponding to the method embodiment, the embodiment of the invention provides a device for driving a drive axle, wherein the device is applied to an on-board controller of a vehicle, the on-board controller is connected with a plurality of drive axle actuators of the vehicle, and each drive axle actuator is connected with the drive axle; fig. 5 shows a schematic structural diagram of a transaxle driving apparatus, which includes, as shown in fig. 5:
an obtaining module 502, configured to obtain current operating state information of a vehicle and road surface information of a driving road surface where the vehicle is located;
a calculation module 504 for calculating the number of drive axles currently required by the vehicle based on the operating state information and the road surface information;
a determining module 506, configured to determine a target drive axle actuator from the multiple drive axle actuators according to the number of drive axles and the road surface information;
and a control module 508, configured to control the transaxle to which the target transaxle actuator is connected to operate as a working transaxle.
The embodiment of the application provides a device for driving a drive axle, wherein the method is applied to an on-board controller, the on-board controller is connected with a plurality of drive axle actuators of a vehicle, and each drive axle actuator is connected with the drive axle; calculating the number of drive axles required by the vehicle at present according to the acquired current running state information of the vehicle and the road surface information of the running road surface where the vehicle is located; determining a target drive axle actuator from a plurality of drive axle actuators according to the number of drive axles and road surface information; and the drive axle connected with the control target drive axle actuator is used as a working drive axle to work. The mode does not need to artificially participate in the drive connection of the control drive axle, and reduces the drive connection time of the drive axle compared with the existing drive mode, thereby effectively reducing the fuel consumption and saving the resources and the driving cost.
The driving axle driving device provided by the embodiment of the invention has the same technical characteristics as the driving axle driving method provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
An electronic device is further provided in the embodiment of the present application, as shown in fig. 6, which is a schematic structural diagram of the electronic device, where the electronic device includes a processor 121 and a memory 120, the memory 120 stores computer-executable instructions that can be executed by the processor 121, and the processor 121 executes the computer-executable instructions to implement the method of the transaxle driver.
In the embodiment shown in fig. 6, the electronic device further comprises a bus 122 and a communication interface 123, wherein the processor 121, the communication interface 123 and the memory 120 are connected by the bus 122.
The Memory 120 may include a Random Access Memory (RAM) and a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 123 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like may be used. The bus 122 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus 122 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one double-headed arrow is shown in FIG. 6, but this does not indicate only one bus or one type of bus.
The processor 121 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in software form in the processor 121. The Processor 121 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and the processor 121 reads information in the memory and completes the steps of the method of the optical transaxle drive of the foregoing embodiment in combination with hardware thereof.
The embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the method for driving the transaxle, where specific implementation may refer to the foregoing method embodiment, and details are not described herein again.
The method and apparatus for driving a bridge, and the computer program product of an electronic device provided in the embodiments of the present application include a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiments, and specific implementation may refer to the method embodiments, and will not be described herein again.
Unless specifically stated otherwise, the relative steps, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of the present application.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and operate, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used to illustrate the technical solutions of the present application, but not to limit the technical solutions, and the scope of the present application is not limited to the above-mentioned embodiments, although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present application and are intended to be covered by the appended claims. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method of driving a drive axle, the method being applied to an on-board controller of a vehicle, the on-board controller being connected to a plurality of drive axle actuators of the vehicle, each of the drive axle actuators being connected to a drive axle; the method comprises the following steps:
acquiring current running state information of a vehicle and road surface information of a running road surface where the vehicle is located;
calculating the number of currently required drive axles of the vehicle based on the running state information and the road surface information;
determining a target drive axle actuator from the plurality of drive axle actuators according to the number of drive axles and the road surface information;
controlling a drive axle connected with the target drive axle actuator to work as a working drive axle;
the operating state information includes at least one of: speed information, rotational speed information, and load information;
the road surface information includes at least one of: road surface friction coefficient, road surface gradient information and road surface curvature information;
a drive axle actuator query table is prestored in the vehicle-mounted controller, and an actuator identifier corresponding to each drive axle actuator and a specific selection parameter corresponding to each actuator identifier are stored in the drive axle actuator query table; the specific selection parameters comprise the number of specific drive axles and the information of the curvature of the specific road surface.
2. The method of claim 1, wherein the onboard controller is further connected with a vision collector and a vehicle status sensing component of the vehicle;
the method for acquiring the current running state information of the vehicle and the road surface information of the running road surface where the vehicle is located comprises the following steps:
acquiring running state information of the vehicle through the vehicle state sensing assembly;
acquiring a road surface image acquired by the vision acquisition device;
determining road surface information based on the road surface image.
3. The method of claim 2, wherein the vehicle condition sensing components include a speed sensor, a rotational speed sensor, and a load sensor;
the step of acquiring the running state information of the vehicle through the vehicle state sensing component includes:
acquiring speed information of the vehicle through the speed sensor;
acquiring rotating speed information of an engine of the vehicle through the rotating speed sensor; and (c) a second step of,
and acquiring load information of the vehicle through the load sensor.
4. The method according to claim 2, wherein the step of determining road surface information based on the road surface image comprises:
extracting image parameter information contained in the road surface image; wherein the image parameter information comprises at least one of: weather parameter information, road surface humidity parameter information and position parameter information of a plurality of lane points; the lane points are position points to be passed through on the same lane line on a road surface where the vehicle is located, and the position parameter information is coordinate information under a three-dimensional coordinate system established by taking the current position of the vehicle as a coordinate origin;
determining road surface information based on the image parameter information.
5. The method according to claim 4, wherein a road surface friction coefficient lookup table is stored in the vehicle-mounted controller in advance, and a plurality of specific working condition parameters and specific road surface friction coefficients corresponding to each specific working condition parameter are stored in the road surface friction coefficient lookup table; each specific working condition parameter comprises specific weather parameter information and specific road surface humidity parameter information;
wherein the road surface information comprises a road surface friction coefficient;
the determination mode of the road surface friction coefficient comprises the following steps:
searching target specific working condition information matched with the weather parameter information and the road surface humidity parameter information in the road surface friction coefficient lookup table;
and determining a specific road surface friction coefficient corresponding to the target specific working condition information as a road surface friction coefficient corresponding to the weather parameter information and the road surface humidity parameter information.
6. The method of claim 4, wherein the road surface information further includes road surface gradient information and road surface camber information;
the determination manner of the road surface gradient information includes:
acquiring an x-axis coordinate value and a z-axis coordinate value in the position parameter information of each lane point;
calculating road surface gradient information based on the x-axis coordinate value and the z-axis coordinate value; the road surface gradient information is an included angle between a plane where a lane point is located and a plane where a current position point of a vehicle is located;
the determination mode of the road surface curvature information comprises the following steps:
randomly selecting two target lane points from the plurality of lane points;
acquiring an x-axis coordinate value and a y-axis coordinate value in the position parameter information corresponding to each target lane point;
calculating the corresponding slopes of the two target lane points based on the coordinate values of the x axis and the coordinate values of the y axis;
and taking the slope as the road surface curvature information.
7. The method according to claim 1, wherein the step of calculating the number of drive axles currently required by the vehicle based on the running state information and the road surface information comprises:
calculating the number of currently required drive axles of the vehicle according to the road surface friction coefficient in the road surface information, the road surface gradient information in the road surface information, the speed information in the running state information, the rotating speed information in the running state information and the load information in the running state information;
wherein the currently required number of drive axles of the vehicle is calculated by:
where N denotes the number of transaxles, K denotes a calculation coefficient, U denotes a road surface friction coefficient, M denotes the load information, a denotes the road surface gradient information, V denotes the speed information, and W denotes the rotation speed information.
8. The method of claim 1, wherein the step of determining a target drive axle actuator from the plurality of drive axle actuators based on the number of drive axles and the road surface information comprises:
searching target specific selection parameters matched with the number of the drive axles and the road surface curvature information in the road surface information in the drive axle actuator lookup table;
acquiring an actuator identifier corresponding to the target specific selection parameter;
and determining the drive axle actuator corresponding to the actuator identifier as a target drive axle actuator.
9. The device for driving the drive axle is characterized in that the device is applied to an on-board controller of a vehicle, the on-board controller is connected with a plurality of drive axle actuators of the vehicle, and each drive axle actuator is connected with the drive axle; the device comprises:
the acquisition module is used for acquiring the current running state information of the vehicle and the road surface information of the running road surface where the vehicle is located;
the calculation module is used for calculating the number of the drive axles required by the vehicle at present based on the running state information and the road surface information;
the determining module is used for determining a target drive axle actuator from the plurality of drive axle actuators according to the number of the drive axles and the road surface information;
the control module is used for controlling a drive axle connected with the target drive axle actuator to work as a working drive axle;
the operating state information includes at least one of: speed information, rotational speed information, and load information;
the road surface information includes at least one of: road surface friction coefficient, road surface gradient information and road surface curvature information;
a drive axle actuator query table is prestored in the vehicle-mounted controller, and an actuator identifier corresponding to each drive axle actuator and a specific selection parameter corresponding to each actuator identifier are stored in the drive axle actuator query table; the specific selection parameters comprise the number of specific drive axles and the curvature information of a specific road surface.
10. An electronic device comprising a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the method of any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110222464.7A CN112895809B (en) | 2021-02-26 | 2021-02-26 | Method and device for driving drive axle and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110222464.7A CN112895809B (en) | 2021-02-26 | 2021-02-26 | Method and device for driving drive axle and electronic equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112895809A CN112895809A (en) | 2021-06-04 |
| CN112895809B true CN112895809B (en) | 2022-12-06 |
Family
ID=76107395
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110222464.7A Active CN112895809B (en) | 2021-02-26 | 2021-02-26 | Method and device for driving drive axle and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112895809B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050121249A1 (en) * | 2003-01-08 | 2005-06-09 | Koji Iwaki | Hydraulic axle-drive device |
| CN202180709U (en) * | 2011-07-18 | 2012-04-04 | 三一汽车起重机械有限公司 | Multi-axle driving device and engineering vehicle |
| CN103963637A (en) * | 2014-04-29 | 2014-08-06 | 浙江吉利控股集团有限公司 | Integrated steering drive axle for vehicle and electric vehicle |
| CN107264337A (en) * | 2017-06-13 | 2017-10-20 | 北京新能源汽车股份有限公司 | The distribution method and electric automobile of a kind of driving torque |
| US10227000B1 (en) * | 2010-06-15 | 2019-03-12 | Hydro-Gear Limited Partnership | Selectable four-wheel drive system |
| US20190232783A1 (en) * | 2018-01-29 | 2019-08-01 | International Truck Intellectual Property Company, Llc | Vehicle with tandem axle assembly and method |
| CN110774830A (en) * | 2019-10-25 | 2020-02-11 | 北京星航机电装备有限公司 | Steering drive axle, automatic guided vehicle and control method based on steering drive axle |
| CN111546833A (en) * | 2020-05-28 | 2020-08-18 | 沈晶星 | Adaptive load-carrying vehicle, method, apparatus and storage medium |
-
2021
- 2021-02-26 CN CN202110222464.7A patent/CN112895809B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050121249A1 (en) * | 2003-01-08 | 2005-06-09 | Koji Iwaki | Hydraulic axle-drive device |
| US10227000B1 (en) * | 2010-06-15 | 2019-03-12 | Hydro-Gear Limited Partnership | Selectable four-wheel drive system |
| CN202180709U (en) * | 2011-07-18 | 2012-04-04 | 三一汽车起重机械有限公司 | Multi-axle driving device and engineering vehicle |
| CN103963637A (en) * | 2014-04-29 | 2014-08-06 | 浙江吉利控股集团有限公司 | Integrated steering drive axle for vehicle and electric vehicle |
| CN107264337A (en) * | 2017-06-13 | 2017-10-20 | 北京新能源汽车股份有限公司 | The distribution method and electric automobile of a kind of driving torque |
| US20190232783A1 (en) * | 2018-01-29 | 2019-08-01 | International Truck Intellectual Property Company, Llc | Vehicle with tandem axle assembly and method |
| CN110774830A (en) * | 2019-10-25 | 2020-02-11 | 北京星航机电装备有限公司 | Steering drive axle, automatic guided vehicle and control method based on steering drive axle |
| CN111546833A (en) * | 2020-05-28 | 2020-08-18 | 沈晶星 | Adaptive load-carrying vehicle, method, apparatus and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112895809A (en) | 2021-06-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112440997A (en) | Curve lane keeping method and system based on preview algorithm, server and medium | |
| CN109204318B (en) | Method and terminal equipment for judging rapid lane change of vehicle | |
| CN116783462A (en) | Performance test method of automatic driving system | |
| CN112895809B (en) | Method and device for driving drive axle and electronic equipment | |
| US20190186962A1 (en) | Quality of Service for a Vehicular Plug-and-Play Ecosystem | |
| CN110991232B (en) | Vehicle position correction method and system, storage medium and terminal | |
| CN112418031A (en) | Image recognition method and device, storage medium and electronic equipment | |
| CN112046492A (en) | Vehicle speed calculation method, device, equipment and medium with direction | |
| CN117400930B (en) | Risk field-based intelligent network-connected automobile roundabout scene risk degree evaluation method | |
| CN116630401A (en) | Fish-eye camera ranging method and terminal | |
| US20230281872A1 (en) | System for calibrating extrinsic parameters for a camera in an autonomous vehicle | |
| CN116001793A (en) | Starting control method, device, equipment and medium of AMT whole vehicle | |
| CN112356915B (en) | Method, system and storage medium for learning extreme angular position of steering wheel | |
| CN112721935A (en) | Vehicle control model training method, vehicle control method and device | |
| CN115358415A (en) | Distributed training method of automatic driving learning model and automatic driving method | |
| CN108945102A (en) | A method of instruction vehicle steering wheel steering angle | |
| CN115112125A (en) | Positioning method and device for automatic driving vehicle, electronic equipment and storage medium | |
| CN110568454A (en) | Method and system for sensing weather conditions | |
| CN216861336U (en) | Anti haze and dizzy on-vehicle vision sensing system and vehicle of light | |
| CN115675454B (en) | Vehicle collision recognition method, vehicle-mounted terminal, vehicle, and storage medium | |
| US20230351817A1 (en) | Information processing device, driving diagnosis method, and program | |
| CN115272484A (en) | Monocular camera external parameter online calibration method and device and electronic equipment | |
| CN116578891B (en) | Road information reconstruction method, terminal and storage medium | |
| CN117048365B (en) | Automobile torque control method, system, storage medium and equipment | |
| CN112937314B (en) | Method and device for improving torque smoothness in regeneration mode |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220714 Address after: 215100 floors 11 and 12, Tiancheng Times Business Plaza, No. 58, qinglonggang Road, high speed railway new town, Xiangcheng District, Suzhou City, Jiangsu Province Applicant after: Suzhou Zhitu Technology Co.,Ltd. Applicant after: FAW JIEFANG AUTOMOTIVE Co.,Ltd. Address before: 215100 station 501-e23, Tiancheng information building, No. 88, South Tiancheng Road, high speed rail new town, Xiangcheng District, Suzhou City, Jiangsu Province (cluster registration) Applicant before: Suzhou Zhitu Technology Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |