WO2023011043A1

WO2023011043A1 - Vehicle driving control method and apparatus, and control device

Info

Publication number: WO2023011043A1
Application number: PCT/CN2022/101162
Authority: WO
Inventors: 王建
Original assignee: 长城汽车股份有限公司
Priority date: 2021-08-05
Filing date: 2022-06-24
Publication date: 2023-02-09
Also published as: CN114643979A

Abstract

Disclosed are a vehicle driving control method and apparatus, and a control device. The method comprises: acquiring a wheel speed of a first front wheel, a wheel speed of a second front wheel, a wheel speed of a first rear wheel, and a wheel speed of a second rear wheel of a target vehicle; according to the wheel speed of the first front wheel, the wheel speed of the second front wheel, the wheel speed of the first rear wheel and the wheel speed of the second rear wheel, determining whether a first front tire, a second front tire, a first rear tire or a second rear tire is a preset spare tire; if a preset spare tire is present, outputting preset driving control information.

Description

车辆驾驶控制方法、装置和控制设备Vehicle driving control method, device and control device

本专利申请要求于2021年08月05日提交的中国专利申请No.CN202110895762.2的优先权。在先申请的公开内容通过整体引用并入本申请。This patent application claims the priority of Chinese Patent Application No. CN202110895762.2 submitted on August 5, 2021. The disclosure of the prior application is incorporated by reference in its entirety into this application.

技术领域technical field

本申请涉及车辆控制技术领域，尤其涉及一种车辆驾驶控制方法、装置和控制设备。The present application relates to the technical field of vehicle control, in particular to a vehicle driving control method, device and control equipment.

背景技术Background technique

随着经济水平的飞速发展，汽车已进入千家万户，逐渐成为每个家庭的生活必需品。汽车在行驶过程中，有时轮胎会出现问题，如爆胎，此时，用户可以将随车携带的备胎替换到汽车上，以继续行驶。With the rapid development of the economic level, cars have entered thousands of households and gradually become the necessities of life for every family. When the car is running, sometimes the tires have problems, such as a blowout. At this time, the user can replace the spare tire carried with the car on the car to continue driving.

目前，市面上的备胎可以分为全尺寸备胎、非全尺寸备胎以及零压备胎。全尺寸备胎，是指与原汽车轮胎规格完全相同的备胎，这种类型的备胎是可以“转正”的，即替换后可一直使用，直至其出现问题为止。非全尺寸备胎，是指比原汽车轮胎的轮胎直径略小、宽度较窄的备胎，这种类型的备胎只能作为应急车胎，不能长时间使用，且行驶最高时速不能超过80km/h。在汽车摆脱困境后，用户需要及时将备胎更换为正常轮胎。零压备胎，是指直接隐藏在汽车轮胎上的备胎，其在遭到刺扎后，不会漏气或者漏气非常缓慢，能够保证汽车继续行驶，但是行驶最高时速不能超过80km/h。At present, spare tires on the market can be divided into full-size spare tires, non-full-size spare tires and zero pressure spare tires. A full-size spare tire refers to a spare tire with exactly the same specifications as the original car tire. This type of spare tire can be "reverted", that is, it can be used until it has a problem. A non-full-size spare tire refers to a spare tire with a slightly smaller diameter and narrower width than the original car tire. This type of spare tire can only be used as an emergency tire and cannot be used for a long time, and the maximum speed cannot exceed 80km/h h. After the car gets out of trouble, the user needs to replace the spare tire with a normal tire in time. Zero-pressure spare tire refers to the spare tire directly hidden on the car tire. After being punctured, it will not leak air or leak air very slowly, which can ensure that the car can continue to drive, but the maximum speed cannot exceed 80km/h .

然而，对于非全尺寸备胎和零压备胎，当其投入使用后，由于其与原汽车轮胎存在尺寸差异，有时会出现诸如超过备胎限制速度、汽车零件磨损加快等问题，降低了汽车的安全性。However, for non-full-size spare tires and zero-pressure spare tires, when they are put into use, due to the size difference between them and the original car tires, sometimes there will be problems such as exceeding the speed limit of the spare tire and accelerating the wear and tear of car parts, which will reduce the quality of the car. security.

技术问题technical problem

本申请实施例提供了一种车辆驾驶控制方法、装置和控制设备，以解决更换有非全尺寸备胎或零压备胎的车辆存在的安全性低的问题。Embodiments of the present application provide a vehicle driving control method, device and control equipment to solve the problem of low safety in vehicles replaced with non-full-size spare tires or zero-pressure spare tires.

技术解决方案technical solution

本申请采用的技术方案是：第一方面，本申请实施例提供了一种车辆驾驶控制方法，包括：The technical solution adopted in this application is: first aspect, the embodiment of this application provides a vehicle driving control method, including:

获取步骤：获取目标车辆的第一前轮的轮速、第二前轮的轮速、第一后轮的轮速以及第二后轮的轮速；Obtaining step: obtaining the wheel speed of the first front wheel, the wheel speed of the second front wheel, the wheel speed of the first rear wheel and the wheel speed of the second rear wheel of the target vehicle;

判断步骤：根据第一前轮的轮速、第二前轮的轮速、第一后轮的轮速以及第二后轮的轮速，判断第一前轮、第二前轮、第一后轮以及第二后轮中是否存在预设备胎；Judgment step: according to the wheel speed of the first front wheel, the wheel speed of the second front wheel, the wheel speed of the first rear wheel and the wheel speed of the second rear wheel, judge whether the first front wheel, the second front wheel, the first rear wheel the presence of pre-installed tires in the first and second rear wheels;

控制步骤：若存在预设备胎，则输出预设驾驶控制信息。Control step: if there is a pre-installed tire, then output preset driving control information.

在一种可能的实现方式中，目标车辆为四驱车辆；In a possible implementation manner, the target vehicle is a four-wheel drive vehicle;

相应的，在输出预设驾驶控制信息之前，车辆驾驶控制方法还包括：Correspondingly, before outputting the preset driving control information, the vehicle driving control method further includes:

获取四驱车辆的当前驾驶模式；Obtain the current driving mode of the four-wheel drive vehicle;

相应的，输出预设驾驶控制信息，包括：Correspondingly, preset driving control information is output, including:

在当前驾驶模式为四驱模式的情况下，输出将驾驶模式切换至两驱模式的提示信息。In the case that the current driving mode is the four-wheel drive mode, a prompt message for switching the driving mode to the two-wheel drive mode is output.

在当前驾驶模式为四驱模式的情况下，输出将扭矩加载门限值提升至预设门限值的控制指令。In the case that the current driving mode is the four-wheel drive mode, a control instruction for increasing the torque loading threshold value to a preset threshold value is output.

在一种可能的实现方式中，输出预设驾驶控制信息，包括：In a possible implementation manner, preset driving control information is output, including:

输出驾驶速度低于预设备胎速度阈值的提示信息。Output a prompt message that the driving speed is lower than the preset tire speed threshold.

输出将最大行驶速度设置为预设备胎速度阈值的控制指令。A control command is output to set the maximum travel speed as a pre-installation tire speed threshold.

在一种可能的实现方式中，判断步骤包括：In a possible implementation manner, the judging step includes:

根据第一前轮的轮速、第二前轮的轮速、第一后轮的轮速以及第二后轮的轮速，计算目标车辆的前轴和后轴之间的速度差值比例；Calculate the speed difference ratio between the front axle and the rear axle of the target vehicle according to the wheel speed of the first front wheel, the wheel speed of the second front wheel, the wheel speed of the first rear wheel and the wheel speed of the second rear wheel;

在速度差值比例大于预设比例阈值的情况下，判断第一前轮、第二前轮、第一后轮以及第二后轮中存在预设备胎；When the speed difference ratio is greater than the preset ratio threshold, it is judged that there is a pre-installed tire in the first front wheel, the second front wheel, the first rear wheel, and the second rear wheel;

在速度差值比例小于或者等于预设比例阈值的情况下，判断第一前轮、第二前轮、第一后轮以及第二后轮中不存在预设备胎。When the speed difference ratio is less than or equal to the preset ratio threshold, it is determined that there is no pre-installed tire among the first front wheel, the second front wheel, the first rear wheel and the second rear wheel.

在一种可能的实现方式中，根据第一前轮的轮速、第二前轮的轮速、第一后轮的轮速以及第二后轮的轮速，计算目标车辆的前轴和后轴之间的速度差值比例，包括：In a possible implementation manner, according to the wheel speed of the first front wheel, the wheel speed of the second front wheel, the wheel speed of the first rear wheel and the wheel speed of the second rear wheel, the front axle and rear axle of the target vehicle are calculated Speed difference ratio between axes, including:

获取第一前轮的轮速和第二前轮的轮速的第一平均值，以及第一后轮的轮速和第二后轮的轮速的第二平均值；Obtaining a first average value of the wheel speed of the first front wheel and the wheel speed of the second front wheel, and a second average value of the wheel speed of the first rear wheel and the wheel speed of the second rear wheel;

将第一平均值与第二平均值的差值占目标平均值的比例的绝对值，确定为速度差值比例；其中，目标平均值为第一平均值或第二平均值。The absolute value of the ratio of the difference between the first average value and the second average value to the target average value is determined as the speed difference ratio; wherein, the target average value is the first average value or the second average value.

获取第一前轮的轮速、第二前轮的轮速、第一后轮的轮速以及第二后轮的轮速的方差；obtaining the wheel speed of the first front wheel, the wheel speed of the second front wheel, the wheel speed of the first rear wheel, and the variance of the wheel speed of the second rear wheel;

在方差大于预设方差阈值的情况下，判断第一前轮、第二前轮、第一后轮以及第二后轮中存在预设备胎；When the variance is greater than the preset variance threshold, it is judged that there is a pre-installed tire in the first front wheel, the second front wheel, the first rear wheel, and the second rear wheel;

在方差小于或者等于预设方差阈值的情况下，判断第一前轮、第二前轮、第一后轮以及第二后轮中不存在预设备胎。If the variance is less than or equal to the preset variance threshold, it is determined that there is no pre-installed tire among the first front wheel, the second front wheel, the first rear wheel, and the second rear wheel.

第二方面，本申请实施例提供了一种车辆驾驶控制装置，包括：In a second aspect, the embodiment of the present application provides a vehicle driving control device, including:

获取模块，用于获取目标车辆的第一前轮的轮速、第二前轮的轮速、第一后轮的轮速以及第二后轮的轮速；An acquisition module, configured to acquire the wheel speed of the first front wheel, the wheel speed of the second front wheel, the wheel speed of the first rear wheel and the wheel speed of the second rear wheel of the target vehicle;

判断模块，用于根据第一前轮的轮速、第二前轮的轮速、第一后轮的轮速以及第二后轮的轮速，判断第一前轮、第二前轮、第一后轮以及第二后轮中是否存在预设备胎；Judging module, used to judge the first front wheel, the second front wheel, the second front wheel according to the wheel speed of the first front wheel, the wheel speed of the second front wheel, the wheel speed of the first rear wheel and the wheel speed of the second rear wheel Whether there are pre-installed tires in the first rear wheel and the second rear wheel;

控制模块，用于若存在预设备胎，则输出预设驾驶控制信息。The control module is configured to output preset driving control information if there is a pre-installed tire.

相应的，获取模块还用于：Correspondingly, the acquisition module is also used to:

相应的，控制模块还用于：Correspondingly, the control module is also used for:

相应的，获取模块还用于Correspondingly, the acquisition module is also used for

在一种可能的实现方式中，控制模块还用于：In a possible implementation, the control module is also used for:

在一种可能的实现方式中，判断模块还用于：In a possible implementation, the judging module is also used to:

第三方面，本申请实施例提供了一种控制设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如第一方面所述方法的步骤。In a third aspect, the embodiment of the present application provides a control device, including a memory, a processor, and a computer program stored in the memory and operable on the processor, when the processor executes the computer program The steps of the method described in the first aspect are realized.

有益效果Beneficial effect

本申请实施例提供一种车辆驾驶控制方法、装置和控制设备，通过车辆各个车轮的轮速，可以判断各个车轮中是否存在非全尺寸备胎或者零压备胎。当存在非全尺寸备胎或者零压备胎时，可以通过输出预设驾驶控制信息，控制车辆执行相应的驾驶操作，或者提醒用户改变驾驶行为，极大地提高了更换有非全尺寸备胎或者零压备胎的车辆在驾驶过程中的安全性。Embodiments of the present application provide a vehicle driving control method, device, and control equipment, which can determine whether there is a non-full-size spare tire or a zero-pressure spare tire in each wheel through the wheel speed of each wheel of the vehicle. When there is a non-full-size spare tire or zero-pressure spare tire, the vehicle can be controlled to perform corresponding driving operations by outputting preset driving control information, or remind the user to change the driving behavior, which greatly improves the efficiency of replacing a non-full-size spare tire or The vehicle with zero pressure spare tire is safe during driving.

附图说明Description of drawings

为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.

图1是本申请实施例提供的一种车辆驾驶控制方法的步骤流程图；FIG. 1 is a flow chart of the steps of a vehicle driving control method provided in an embodiment of the present application;

图2是本申请实施例提供的一种四驱车辆驾驶控制流程示意图；FIG. 2 is a schematic diagram of a four-wheel drive vehicle driving control flow provided by an embodiment of the present application;

图3是本申请实施例提供的一种车辆驾驶控制装置的结构示意图；Fig. 3 is a schematic structural diagram of a vehicle driving control device provided in an embodiment of the present application;

图4是本申请实施例提供的一种控制设备的示意图。Fig. 4 is a schematic diagram of a control device provided by an embodiment of the present application.

本申请的实施方式Embodiment of this application

以下描述中，为了说明而不是为了限定，提出了诸如特定***结构、技术之类的具体细节，以便透彻理解本申请实施例。然而，本领域的技术人员应当清楚，在没有这些具体细节的其它实施例中也可以实现本申请。在其它情况中，省略对众所周知的***、装置、电路以及方法的详细说明，以免不必要的细节妨碍本申请的描述。In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

为使本申请的目的、技术方案和优点更加清楚，下面将结合附图通过具体实施例来进行说明。In order to make the purpose, technical solution and advantages of the present application clearer, specific embodiments will be described below in conjunction with the accompanying drawings.

如背景技术所描述的，市面上的备胎可以分为全尺寸备胎、非全尺寸备胎以及零压备胎。对于非全尺寸备胎和零压备胎，当其投入使用后，车速要限制在80km/h以下，有些用户并不清楚或者忘记了此类备胎的使用要求，而该使用要求只是在备胎胎面上通过业内术语进行提示，并不显眼，且现有车辆的控制逻辑也没有针对备胎更换的相应提示，如此，用户在驾驶更换有非全尺寸备胎或零压备胎的车辆时，很容易出现车速超过备胎限制速度的现象，降低了车辆的安全性。As described in the background art, spare tires on the market can be classified into full-size spare tires, non-full-size spare tires and zero-pressure spare tires. For non-full-size spare tires and zero-pressure spare tires, when they are put into use, the vehicle speed must be limited to less than 80km/h. The tire tread is prompted by industry terms, which is not conspicuous, and the control logic of the existing vehicle does not have a corresponding reminder for the replacement of the spare tire. In this way, the user is driving a vehicle with a non-full-size spare tire or a zero-pressure spare tire. When driving, it is easy to appear that the speed of the vehicle exceeds the speed limit of the spare tire, which reduces the safety of the vehicle.

此外，由于非全尺寸备胎和零压备胎的尺寸，与原车辆轮胎存在尺寸差异，导致在车辆行驶过程中，一些车辆零件将工作在非正常工况，例如四驱车辆的摩擦组器件，如此将加快车辆零件的磨损程度，甚至出现损坏现象，也降低了车辆的安全性。In addition, due to the size difference between the non-full-size spare tire and the zero-pressure spare tire and the original vehicle tire, some vehicle parts will work in abnormal working conditions during the driving of the vehicle, such as the friction components of the four-wheel drive vehicle , This will speed up the wear and tear of vehicle parts, and even damage, which also reduces the safety of the vehicle.

例如，较常见的一些车型的轮胎型号通常为225/55R19，其中，225表示轮胎胎面宽度，55表示轮胎扁平比，R19表示轮胎所适合轮圈的尺寸为19寸。而相应的非全尺寸备胎的型号通常为T135/90R17，可见，非全尺寸备胎与正常轮胎相差较大，经计算可得两者的周长相差168mm左右，左右轮的周长偏差将在7.6%以上。For example, the tire model of some of the more common models is usually 225/55R19, where 225 indicates the tire tread width, 55 indicates the tire aspect ratio, and R19 indicates that the size of the tire suitable for the rim is 19 inches. The model of the corresponding non-full-size spare tire is usually T135/90R17. It can be seen that the difference between the non-full-size spare tire and the normal tire is relatively large. After calculation, the circumference difference between the two is about 168mm, and the circumference deviation of the left and right wheels will be Above 7.6%.

值得一提的是，之所以全尺寸备胎没有占据整个市场，存在非全尺寸备胎和零压备胎的市场空间，是因为如下几方面原因：It is worth mentioning that the reason why full-size spare tires do not occupy the entire market and there is market space for non-full-size spare tires and zero-pressure spare tires is because of the following reasons:

一、节省空间。全尺寸备胎是三种备胎类型中体积最大的备胎，将其放置在后备箱内将占据大量的后备箱空间，不利于再放置其他杂物。而其他两种类型的备胎尺寸较小，放置在后备箱内可以保留较大的后备箱空间。1. Save space. The full-size spare tire is the largest among the three types of spare tires. Placing it in the trunk will occupy a large amount of trunk space, which is not conducive to placing other sundries. The other two types of spare tires are smaller in size, and they can reserve a larger trunk space when placed in the trunk.

二、节约成本。随着平价车型的大量出现，对于汽车厂商而言，汽车厂商为了提高竞争力，通常采用降低成本的方式，而备胎的配置即为一个成本点，当汽车销量极高时，各种类型的备胎之间的成本差价将变得较为客观。Second, cost savings. With the emergence of a large number of affordable models, for car manufacturers, in order to improve their competitiveness, car manufacturers usually adopt the method of reducing costs, and the configuration of spare tires is a cost point. When the sales of cars are extremely high, various types of The cost difference between spare tires will become more objective.

三、减轻车重。全尺寸备胎的整体重量是三种备胎类型中重量最大的备胎。当汽车重量较大时，将会对车身稳定性、操纵性等性能产生影响，对于一些将汽车定位于轻量级汽车的品牌而言，车身重量自然是越轻越好，因此，汽车厂商会尽可能降低车重，故而重量较大的全尺寸备胎通常不在优先考虑的范围之内。Three, reduce vehicle weight. The overall weight of the full-size spare wheel is the heaviest of the three spare wheel types. When the weight of the car is heavy, it will have an impact on the stability and handling of the car body. For some brands that position cars as lightweight cars, the lighter the body weight, the better. Therefore, car manufacturers will Keep the weight of the vehicle as low as possible, so a heavy full-size spare wheel is usually not a priority.

为了解决现有技术问题，本申请实施例提供了一种车辆驾驶控制方法、装置和控制设备。下面首先对本申请实施例所提供的车辆驾驶控制方法进行介绍。In order to solve the problems in the prior art, embodiments of the present application provide a vehicle driving control method, device and control equipment. The vehicle driving control method provided by the embodiment of the present application will be firstly introduced below.

车辆驾驶控制方法的执行主体，可以是车辆驾驶控制装置，例如车辆本身，也可以是安装在车辆上的具有处理器和存储器的控制设备，例如分动器控制设备、车载控制设备、汽车类芯片或者微型计算机等，本申请实施例不作具体限定。The execution subject of the vehicle driving control method may be a vehicle driving control device, such as the vehicle itself, or a control device with a processor and a memory installed on the vehicle, such as a transfer case control device, an on-board control device, an automotive chip Or a microcomputer, etc., which are not specifically limited in this embodiment of the present application.

本申请实施例通过车辆各个车轮的轮速，判断各个车轮中是否存在非全尺寸备胎或者零压备胎。当存在非全尺寸备胎或者零压备胎时，可以通过输出预设驾驶控制信息，控制车辆执行相应的驾驶操作或者提醒用户改变驾驶行为，以提高更换有非全尺寸备胎或者零压备胎的车辆在驾驶过程中的安全性。In the embodiment of the present application, it is judged whether there is a non-full-size spare tire or a zero-pressure spare tire in each wheel according to the wheel speed of each wheel of the vehicle. When there is a non-full-size spare tire or a zero-pressure spare tire, the preset driving control information can be output to control the vehicle to perform corresponding driving operations or remind the user to change the driving behavior, so as to improve the efficiency of replacing a non-full-size spare tire or zero-pressure spare tire. The safety of the tires of the vehicle during driving.

参见图1，其示出了本申请实施例提供的车辆驾驶控制方法的实现流程图，包括以下步骤：Referring to Fig. 1, it shows the flow chart of the implementation of the vehicle driving control method provided by the embodiment of the present application, including the following steps:

步骤S110、获取目标车辆的第一前轮的轮速、第二前轮的轮速、第一后轮的轮速以及第二后轮的轮速。Step S110, obtaining the wheel speed of the first front wheel, the wheel speed of the second front wheel, the wheel speed of the first rear wheel and the wheel speed of the second rear wheel of the target vehicle.

在一些实施例中，目标车辆可以是任意一种四轮车辆，其类型可以是两驱车，也可以是四驱车。In some embodiments, the target vehicle may be any kind of four-wheel vehicle, and its type may be a two-wheel drive vehicle or a four-wheel drive vehicle.

具体的，由前轴连接的两个车轮可以分别称为第一前轮和第二前轮，由后轴连接的两个车轮可以分别称为第一后轮和第二后轮。Specifically, the two wheels connected by the front axle may be referred to as the first front wheel and the second front wheel respectively, and the two wheels connected by the rear axle may be referred to as the first rear wheel and the second rear wheel respectively.

在一些实施例中，可以通过预先安装在目标车辆的轮速传感器，获取目标车辆的第一前轮的轮速、第二前轮的轮速、第一后轮的轮速以及第二后轮的轮速。In some embodiments, the wheel speed of the first front wheel, the wheel speed of the second front wheel, the wheel speed of the first rear wheel, and the second rear wheel of the target vehicle can be obtained by pre-installing the wheel speed sensor on the target vehicle. wheel speed.

步骤S120、根据第一前轮的轮速、第二前轮的轮速、第一后轮的轮速以及第二后轮的轮速，判断第一前轮、第二前轮、第一后轮以及第二后轮中是否存在预设备胎。Step S120, according to the wheel speed of the first front wheel, the wheel speed of the second front wheel, the wheel speed of the first rear wheel and the wheel speed of the second rear wheel, determine whether the first front wheel, the second front wheel, the first rear wheel wheel and the presence of pre-installed tires in the second rear wheel.

在一些实施例中，预设备胎可以是非全尺寸备胎或零压备胎。由于预设备胎的尺寸与原车辆轮胎的尺寸不同，基于此，预设备胎的轮速和原车辆轮胎的轮速也不同，因此，可以通过各个轮胎的轮速，判断是否存在预设备胎。In some embodiments, the pre-installed tire may be a non-full size spare tire or a zero pressure spare tire. Since the size of the pre-installed tires is different from that of the original vehicle tires, the wheel speed of the pre-installed tires is also different from that of the original vehicle tires. Therefore, the wheel speed of each tire can be used to determine whether there are pre-installed tires.

可选的，步骤S120的一种实现方式可以如下：根据第一前轮的轮速、第二前轮的轮速、第一后轮的轮速以及第二后轮的轮速，计算目标车辆的前轴和后轴之间的速度差值比例；在速度差值比例大于预设比例阈值的情况下，判断第一前轮、第二前轮、第一后轮以及第二后轮中存在预设备胎；在速度差值比例小于或者等于预设比例阈值的情况下，判断第一前轮、第二前轮、第一后轮以及第二后轮中不存在预设备胎。Optionally, an implementation of step S120 may be as follows: Calculate the target vehicle according to the wheel speed of the first front wheel, the wheel speed of the second front wheel, the wheel speed of the first rear wheel, and the wheel speed of the second rear wheel The speed difference ratio between the front axle and the rear axle; in the case that the speed difference ratio is greater than the preset ratio threshold, it is judged that there is a Pre-installation of tires: when the speed difference ratio is less than or equal to the preset ratio threshold, it is judged that there is no pre-installation tire among the first front wheel, the second front wheel, the first rear wheel and the second rear wheel.

在一些实施例中，前轴和后轴之间的速度差值比例，又称为轴间速差。申请人发现，无论是两驱车还是四驱车，对于不存在上述预设备胎的车辆，在行驶过程中车辆的前轴和后轴之间的速度差值比例通常会低于一定比例，而存在上述预设备胎的车辆，在行驶过程中车辆的前轴和后轴之间的速度差值比例通常会高于该比例。基于上述发现，可以设置一个预设比例阈值，例如7.6%，如果速度差值比例大于预设比例阈值，则可以认为存在预设备胎，否则认为不存在预设备胎。In some embodiments, the ratio of the speed difference between the front axle and the rear axle is also referred to as the inter-axle speed difference. The applicant found that, whether it is a two-wheel-drive vehicle or a four-wheel-drive vehicle, for a vehicle that does not have the above-mentioned pre-installed tires, the ratio of the speed difference between the front axle and the rear axle of the vehicle during driving is usually lower than a certain ratio, while the above-mentioned Vehicles with pre-installed tires will normally have a higher ratio of the speed difference between the front and rear axles of the vehicle during travel. Based on the above findings, a preset ratio threshold can be set, such as 7.6%. If the speed difference ratio is greater than the preset ratio threshold, it can be considered that there is a pre-installation tire, otherwise it is considered that there is no pre-installation tire.

具体的，可以获取第一前轮的轮速和第二前轮的轮速的第一平均值，以及第一后轮的轮速和第二后轮的轮速的第二平均值。之后，可以将第一平均值与第二平均值的差值占目标平均值的比例的绝对值，确定为速度差值比例。其中，目标平均值可以取第一平均值，也可以取第二平均值，这里不对其进行具体限定。接着，对计算得到的速度差值比例与预设比例阈值的大小关系进行比较。如果速度差值比例大于预设比例阈值，则判断第一前轮、第二前轮、第一后轮以及第二后轮中存在预设备胎。如果速度差值比例小于或者等于预设比例阈值，则判断第一前轮、第二前轮、第一后轮以及第二后轮中不存在预设备胎。Specifically, a first average value of the wheel speed of the first front wheel and the wheel speed of the second front wheel, and a second average value of the wheel speed of the first rear wheel and the wheel speed of the second rear wheel may be acquired. Afterwards, the absolute value of the ratio of the difference between the first average value and the second average value to the target average value may be determined as the speed difference ratio. Wherein, the target average value may be the first average value, or may be the second average value, which is not specifically limited here. Next, the magnitude relationship between the calculated speed difference ratio and the preset ratio threshold is compared. If the speed difference ratio is greater than the preset ratio threshold, it is determined that there is a pre-installed tire in the first front wheel, the second front wheel, the first rear wheel and the second rear wheel. If the speed difference ratio is less than or equal to the preset ratio threshold, it is determined that there is no pre-installed tire among the first front wheel, the second front wheel, the first rear wheel and the second rear wheel.

值得一提的是，在同等车况下，由于车辆在转弯行驶过程中前轴和后轴之间的速度差值比例，大于直线行驶过程中前轴和后轴之间的速度差值比例，因此，可以设置两种预设比例阈值，即转弯行驶过程对应的预设比例阈值和直线行驶过程对应的预设比例阈值。如此，可以根据车辆行驶过程的类型，选择相应的预设比例阈值，以判断是否存在预设备胎。这样，可以更精确地对预设备胎进行判断，避免出现误判情况。It is worth mentioning that, under the same vehicle conditions, since the speed difference ratio between the front axle and the rear axle is greater than the speed difference ratio between the front axle and the rear axle when the vehicle is turning, the , two preset ratio thresholds can be set, that is, the preset ratio threshold corresponding to the turning process and the preset ratio threshold corresponding to the straight-line driving process. In this way, a corresponding preset ratio threshold can be selected according to the type of the vehicle's driving process, so as to determine whether there is a pre-installed tire. In this way, the pre-installation tire can be judged more accurately, and misjudgment can be avoided.

具体的，可以根据方向盘转角信号来识别车辆当前的车辆行驶过程的类型，例如检测到左转信号时，可以认为车辆处于转弯行驶过程。Specifically, the type of the current vehicle driving process of the vehicle can be identified according to the steering wheel angle signal, for example, when a left turn signal is detected, the vehicle can be considered to be in the process of turning.

需要说明的是，除了直线行驶过程和转弯行驶过程这两种驾驶场景之外，还可以根据需求，对其它类型的驾驶场景设置相应的预设比例阈值，本申请实施例不对其进行限定。It should be noted that in addition to the two driving scenarios of straight-line driving and turning driving, corresponding preset ratio thresholds can also be set for other types of driving scenarios according to requirements, which is not limited in this embodiment of the present application.

可选的，步骤S120的再一种实现方式可以如下：获取第一前轮的轮速、第二前轮的轮速、第一后轮的轮速以及第二后轮的轮速的方差；在方差大于预设方差阈值的情况下，判断第一前轮、第二前轮、第一后轮以及第二后轮中存在预设备胎；在方差小于或者等于预设方差阈值的情况下，判断第一前轮、第二前轮、第一后轮以及第二后轮中不存在预设备胎。Optionally, another implementation of step S120 may be as follows: obtain the wheel speed of the first front wheel, the wheel speed of the second front wheel, the wheel speed of the first rear wheel, and the variance of the wheel speed of the second rear wheel; When the variance is greater than the preset variance threshold, it is determined that there is a pre-installed tire in the first front wheel, the second front wheel, the first rear wheel, and the second rear wheel; when the variance is less than or equal to the preset variance threshold, It is judged that there is no pre-installed tire in the first front wheel, the second front wheel, the first rear wheel and the second rear wheel.

在一些实施例中，申请人发现，无论是两驱车还是四驱车，对于不存在上述预设备胎的车辆，在行驶过程中各个车轮的轮速的方差较小，而存在上述预设备胎的车辆，在行驶过程中各个车轮的轮速的方差较大。基于上述发现，可以设置一个预设方差阈值，如果各个车轮的轮速的方差大于该预设方差阈值，则可以认为存在预设备胎，否则认为不存在预设备胎。In some embodiments, the applicant found that no matter whether it is a two-wheel drive vehicle or a four-wheel drive vehicle, for vehicles without the above-mentioned pre-installed tires, the variance of the wheel speeds of each wheel during driving is small, while there are vehicles with the above-mentioned pre-installed tires , the variance of the wheel speed of each wheel is large during driving. Based on the above findings, a preset variance threshold can be set. If the variance of the wheel speeds of each wheel is greater than the preset variance threshold, it can be considered that there is a pre-installation tire, otherwise it is considered that there is no pre-installation tire.

步骤S130、若存在预设备胎，则输出预设驾驶控制信息。Step S130, if there is a pre-installed tire, then output preset driving control information.

在一些实施例中，预设驾驶控制信息可以是用于提醒用户改变驾驶行为的提示信息，也可以是对车辆的控制指令。In some embodiments, the preset driving control information may be prompt information for reminding the user to change the driving behavior, or may be a control instruction for the vehicle.

在一些实施例中，预设驾驶控制信息可以是驾驶速度低于预设备胎速度阈值的提示信息，例如语音播报如下信息，“当前备用轮胎已投入使用，请将车速控制在80km/h以内，以确保车辆行驶安全”，或者在仪表盘上显示相应提示信息。此外，为了提升车辆的安全性，预设驾驶控制信息还可以是将最大行驶速度设置为预设备胎速度阈值的控制指令，以限制车辆的行驶速度，从根本上避免车辆的行驶速度超过预设备胎速度阈值。另外，还可以统计更换预设备胎后车辆的行驶里程，并在行驶里程超过一定里程后，提示用户及时将预设备胎换下，如此，可以进一步提升安全性。In some embodiments, the preset driving control information may be prompt information indicating that the driving speed is lower than the preset tire-installation speed threshold, for example, the voice broadcasts the following information, "The current spare tire has been put into use, please control the vehicle speed within 80km/h, To ensure the safety of the vehicle", or display the corresponding prompt information on the instrument panel. In addition, in order to improve the safety of the vehicle, the preset driving control information can also be a control command to set the maximum driving speed as the preset tire speed threshold, so as to limit the driving speed of the vehicle and fundamentally avoid the driving speed of the vehicle exceeding the preset tire speed threshold. tire speed threshold. In addition, it can also count the mileage of the vehicle after replacing the pre-installed tires, and prompt the user to replace the pre-installed tires in time after the mileage exceeds a certain mileage, which can further improve safety.

在一些实施例中，若存在预设备胎，对于四驱车这一类型的目标车辆，尤其是适时四驱类型，如果使用四驱模式驾驶，由于轴间速差较大，会对传动***零件造成影响，缩短零件使用寿命，造成摩擦组的烧蚀风险，降低了车辆的安全性。考虑到上述情况，当目标车辆处于四驱模式时，可以通过预设驾驶控制信息，提示用户进入两驱模式，或者控制车辆进入两驱模式。In some embodiments, if there is a pre-installed tire, for the target vehicle of the four-wheel drive type, especially the timely four-wheel drive type, if the four-wheel drive mode is used to drive, due to the large speed difference between the axles, it will cause damage to the transmission system components. Impact, shorten the service life of parts, cause the risk of ablation of the friction group, and reduce the safety of the vehicle. Considering the above situation, when the target vehicle is in the four-wheel drive mode, the user may be prompted to enter the two-wheel drive mode through preset driving control information, or the vehicle may be controlled to enter the two-wheel drive mode.

为了更好地理解四驱车，下面对四驱车的驾驶原理进行介绍。In order to better understand the four-wheel drive, the driving principle of the four-wheel drive is introduced below.

分动器是四驱车的汽车动力传动***的重要组件，它的主要作用是将变速器输出的动力分配到前、后传动轴，通过主减速器、驱动轴将扭矩传递至4个车轮，从而实现四轮驱动。分动器通常包括高速驱动模式和低速驱动模式（以下简称4L模式），其中，高速驱动模式包括四驱模式(以下简称4WD模式)、高速两驱模式（以下简称2H模式）、高速四驱模式（以下简称4H模式）。The transfer case is an important component of the power transmission system of a four-wheel drive vehicle. Its main function is to distribute the power output by the transmission to the front and rear drive shafts, and transmit the torque to the four wheels through the final drive shaft and the final drive shaft to achieve four-wheel drive. The transfer box usually includes a high-speed driving mode and a low-speed driving mode (hereinafter referred to as 4L mode), among which, the high-speed driving mode includes four-wheel drive mode (hereinafter referred to as 4WD mode), high-speed two-wheel drive mode (hereinafter referred to as 2H mode), high-speed four-wheel drive mode (hereinafter referred to as 4H mode).

当分动器处于4H模式时，分动器会将摩擦组压紧，按1:1输出动力，用于泥地、沙地行驶。当分动器处于4L模式时，分动器会将变速器的输出扭矩放大2.5倍以上，使前后桥获得更大的输入扭矩，提升车辆的动力性，从容面对非铺装路及地形复杂的路况。而车辆行驶在较平顺的路况下时，则可以使分动器处于高速驱动模式，使车辆具有更好的燃油经济性。因此，通过使分动器模式切换，可以改善车辆在不同路况下的动力性及燃油经济性。When the transfer case is in 4H mode, the transfer case will compress the friction group and output power according to 1:1, which is used for driving on muddy and sandy ground. When the transfer case is in 4L mode, the transfer case will amplify the output torque of the transmission by more than 2.5 times, so that the front and rear axles can obtain greater input torque, improve the power of the vehicle, and calmly face non-paved roads and road conditions with complex terrain . When the vehicle is running on a relatively smooth road condition, the transfer case can be placed in a high-speed driving mode, so that the vehicle has better fuel economy. Therefore, by switching the transfer case mode, the power performance and fuel economy of the vehicle under different road conditions can be improved.

在一些实施例中，对于四驱车，当判断出存在预设备胎时，可以对四驱车辆的当前驾驶模式进行获取。具体的，可以通过分动器控制设备主动采集驾驶模式开关信号、车身电子稳定***信号、变速器档位信号、发动机状态信号等信息，以判断当前驾驶模式是否为四驱模式。In some embodiments, for a four-wheel drive vehicle, when it is determined that there is a pre-installed tire, the current driving mode of the four-wheel drive vehicle may be acquired. Specifically, information such as the driving mode switch signal, vehicle electronic stability system signal, transmission gear position signal, and engine status signal can be actively collected through the transfer case control device to determine whether the current driving mode is the four-wheel drive mode.

之后，在当前驾驶模式为四驱模式的情况下，输出将驾驶模式切换至两驱模式的提示信息，例如语音播报如下信息，“当前备用轮胎已投入使用，请将驾驶模式切换为两驱模式，以确保车辆行驶安全”，或者在仪表盘上显示相应提示信息。Afterwards, when the current driving mode is the four-wheel drive mode, a prompt message for switching the driving mode to the two-wheel drive mode is output, for example, the voice broadcasts the following information, "The current spare tire has been put into use, please switch the driving mode to the two-wheel drive mode , to ensure the safety of the vehicle", or display the corresponding prompt information on the dashboard.

此外，如果在预设时间内，如2分钟内，用户仍未将驾驶模式切换为两驱模式，或者未输出将驾驶模式切换至两驱模式的提示信息，可以输出将扭矩加载门限值提升至预设门限值的控制指令，例如预设门限值可以设定为轴间速差7.6%对应的扭矩加载门限值，以降低摩擦组扭矩分配，保护传动***及行车的安全。In addition, if the user has not switched the driving mode to the two-wheel drive mode within a preset time, such as within 2 minutes, or has not output a prompt message for switching the driving mode to the two-wheel drive mode, an increase in the torque loading threshold can be output. The control command to the preset threshold value, for example, the preset threshold value can be set as the torque loading threshold value corresponding to 7.6% of the speed difference between the shafts, so as to reduce the torque distribution of the friction group and protect the safety of the transmission system and driving.

值得一提的是，上述多种类型的预设驾驶控制信息，可以采取组合输出模式，如此，不仅可以主动提示用户改变驾驶行为，还可以控制车辆执行相应的驾驶操作，更好地提升车辆安全性。It is worth mentioning that the above-mentioned various types of preset driving control information can adopt a combined output mode. In this way, not only can the user be actively prompted to change the driving behavior, but also the vehicle can be controlled to perform corresponding driving operations to better improve vehicle safety. sex.

下面以执行主体为四驱车的分动器控制设备为例，如图2所示，提供一种具体的车辆驾驶控制流程。In the following, a transfer case control device whose executive body is a four-wheel drive vehicle is taken as an example, as shown in FIG. 2 , to provide a specific vehicle driving control process.

首先，获取四驱车的驾驶模式开关信号、轮速信号、变速器档位信号。之后，分动器控制设备根据“轴间速差超过7.6％”这一判断条件，判断车辆是否使用非全尺寸备胎。如果使用非全尺寸备胎，分动器控制设备继续判断车辆驾驶模式是否为2H模式。如果是2H模式，则请求发动机、变速器将最高车速限定在80km/h，同时仪表盘提示用户谨慎驾驶；如果不是2H模式，则提示用户切换至2H模式。之后，分动器控制设备判断2分钟内是否切换至2H模式，如果未切换至2H模式，则提升扭矩加载门限值。First, obtain the driving mode switch signal, wheel speed signal, and transmission gear signal of the four-wheel drive vehicle. After that, the transfer case control device judges whether the vehicle uses a non-full-size spare tire according to the judging condition of "the speed difference between the axles exceeds 7.6%". If a non-full-size spare tire is used, the transfer case control device continues to judge whether the driving mode of the vehicle is the 2H mode. If it is in 2H mode, the engine and transmission are requested to limit the maximum speed to 80km/h, and the instrument panel prompts the user to drive carefully; if it is not in 2H mode, the user is prompted to switch to 2H mode. Afterwards, the transfer case control device judges whether to switch to the 2H mode within 2 minutes, and if it is not switched to the 2H mode, the torque loading threshold value is increased.

本申请实施例通过车辆各个车轮的轮速，可以判断各个车轮中是否存在非全尺寸备胎或者零压备胎。当存在非全尺寸备胎或者零压备胎时，可以通过输出预设驾驶控制信息，控制车辆执行相应的驾驶操作，或者提醒用户改变驾驶行为，极大地提高了更换有非全尺寸备胎或者零压备胎的车辆在驾驶过程中的安全性。In the embodiment of the present application, through the wheel speed of each wheel of the vehicle, it can be judged whether there is a non-full-size spare tire or a zero pressure spare tire in each wheel. When there is a non-full-size spare tire or zero-pressure spare tire, the vehicle can be controlled to perform corresponding driving operations by outputting preset driving control information, or remind the user to change the driving behavior, which greatly improves the efficiency of replacing a non-full-size spare tire or The vehicle with zero pressure spare tire is safe during driving.

此外，通过轮速判断车辆中是否存在预设备胎的方式，易于开发，具有开发成本低的优点。In addition, the method of judging whether there is a pre-installed tire in the vehicle by the wheel speed is easy to develop and has the advantage of low development cost.

应理解，上述实施例中各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiment of the present application.

以下为本申请的装置实施例，对于其中未详尽描述的细节，可以参考上述对应的方法实施例。The following are device embodiments of the present application, and for details that are not exhaustively described therein, reference may be made to the above-mentioned corresponding method embodiments.

图3示出了本申请实施例提供的车辆驾驶控制装置的结构示意图，为了便于说明，仅示出了与本申请实施例相关的部分，详述如下：Figure 3 shows a schematic structural diagram of the vehicle driving control device provided by the embodiment of the present application. For the convenience of description, only the parts related to the embodiment of the present application are shown, and the details are as follows:

如图3所示，车辆驾驶控制装置300包括：As shown in Figure 3, the vehicle driving control device 300 includes:

获取模块310，用于获取目标车辆的第一前轮的轮速、第二前轮的轮速、第一后轮的轮速以及第二后轮的轮速；An acquisition module 310, configured to acquire the wheel speed of the first front wheel, the wheel speed of the second front wheel, the wheel speed of the first rear wheel and the wheel speed of the second rear wheel of the target vehicle;

判断模块320，用于根据第一前轮的轮速、第二前轮的轮速、第一后轮的轮速以及第二后轮的轮速，判断第一前轮、第二前轮、第一后轮以及第二后轮中是否存在预设备胎；Judgment module 320, for judging the first front wheel, the second front wheel, Whether there are pre-installed tires in the first rear wheel and the second rear wheel;

控制模块330，用于若存在预设备胎，则输出预设驾驶控制信息。The control module 330 is configured to output preset driving control information if there is a pre-installation tire.

图4是本申请实施例提供的控制设备4的示意图。如图4所示，该实施例的控制设备4包括：处理器40、存储器41以及存储在所述存储器41中并可在所述处理器40上运行的计算机程序42。所述处理器40执行所述计算机程序42时实现上述各个车辆驾驶控制方法实施例中的步骤，例如图1所示的步骤110至步骤130。或者，所述处理器40执行所述计算机程序42时实现上述各装置实施例中各模块的功能，例如图3所示模块310至330的功能。FIG. 4 is a schematic diagram of a control device 4 provided by an embodiment of the present application. As shown in FIG. 4 , the control device 4 of this embodiment includes: a processor 40 , a memory 41 and a computer program 42 stored in the memory 41 and executable on the processor 40 . When the processor 40 executes the computer program 42 , the steps in the above embodiments of the vehicle driving control method are implemented, such as steps 110 to 130 shown in FIG. 1 . Alternatively, when the processor 40 executes the computer program 42, the functions of the modules in the above-mentioned device embodiments are implemented, for example, the functions of the modules 310 to 330 shown in FIG. 3 .

示例性的，所述计算机程序42可以被分割成一个或多个模块，所述一个或者多个模块被存储在所述存储器41中，并由所述处理器40执行，以完成本申请。所述一个或多个模块可以是能够完成特定功能的一系列计算机程序指令段，该指令段用于描述所述计算机程序42在所述控制设备4中的执行过程。例如，所述计算机程序42可以被分割成图3所示的模块310至330。Exemplarily, the computer program 42 may be divided into one or more modules, and the one or more modules are stored in the memory 41 and executed by the processor 40 to complete the present application. The one or more modules may be a series of computer program instruction segments capable of accomplishing specific functions, and the instruction segments are used to describe the execution process of the computer program 42 in the control device 4 . For example, the computer program 42 may be divided into modules 310 to 330 shown in FIG. 3 .

所述控制设备4可包括，但不仅限于，处理器40、存储器41。本领域技术人员可以理解，图4仅仅是控制设备4的示例，并不构成对控制设备4的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如所述控制设备还可以包括输入输出设备、网络接入设备、总线等。The control device 4 may include, but not limited to, a processor 40 and a memory 41 . Those skilled in the art can understand that FIG. 4 is only an example of the control device 4 and does not constitute a limitation to the control device 4. It may include more or less components than shown in the figure, or combine some components, or different components. , for example, the control device may also include an input and output device, a network access device, a bus, and the like.

所称处理器40可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器 (Digital Signal Processor，DSP)、专用集成电路 (Application Specific Integrated Circuit，ASIC)、现场可编程门阵列 (Field-Programmable Gate Array，FPGA) 或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。The so-called processor 40 may be a central processing unit (Central Processing Unit, CPU), can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.

所述存储器41可以是所述控制设备4的内部存储单元，例如控制设备4的硬盘或内存。所述存储器41也可以是所述控制设备4的外部存储设备，例如所述控制设备4上配备的插接式硬盘，智能存储卡（Smart Media Card, SMC），安全数字（Secure Digital, SD）卡，闪存卡（Flash Card）等。进一步地，所述存储器41还可以既包括所述控制设备4的内部存储单元也包括外部存储设备。所述存储器41用于存储所述计算机程序以及所述控制设备所需的其他程序和数据。所述存储器41还可以用于暂时地存储已经输出或者将要输出的数据。The memory 41 may be an internal storage unit of the control device 4 , such as a hard disk or memory of the control device 4 . The memory 41 can also be an external storage device of the control device 4, such as a plug-in hard disk equipped on the control device 4, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, flash memory card (Flash Card) and so on. Further, the memory 41 may also include both an internal storage unit of the control device 4 and an external storage device. The memory 41 is used to store the computer program and other programs and data required by the control device. The memory 41 can also be used to temporarily store data that has been output or will be output.

所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，仅以上述各功能单元、模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能单元、模块完成，即将所述装置的内部结构划分成不同的功能单元或模块，以完成以上描述的全部或者部分功能。实施例中的各功能单元、模块可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中，上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。另外，各功能单元、模块的具体名称也只是为了便于相互区分，并不用于限制本申请的保护范围。上述***中单元、模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units, Completion of modules means that the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware It can also be implemented in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application. For the specific working process of the units and modules in the above system, reference may be made to the corresponding process in the foregoing method embodiments, and details will not be repeated here.

在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述或记载的部分，可以参见其它实施例的相关描述。In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts that are not detailed or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

在本申请所提供的实施例中，应该理解到，所揭露的装置/控制设备和方法，可以通过其它的方式实现。例如，以上所描述的装置/控制设备实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通讯连接可以是通过一些接口，装置或单元的间接耦合或通讯连接，可以是电性，机械或其它的形式。In the embodiments provided in this application, it should be understood that the disclosed device/control device and method may be implemented in other ways. For example, the device/control device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

所述集成的模块如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请实现上述实施例方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个车辆驾驶控制方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质可以包括：能够携带所述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器（ROM，Read-Only Memory）、随机存取存储器（RAM，Random Access Memory）、电载波信号、电信信号以及软件分发介质等。需要说明的是，所述计算机可读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读介质不包括电载波信号和电信信号。If the integrated modules are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments in the present application can also be completed by instructing related hardware through computer programs. The computer programs can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps in the above-mentioned embodiments of the vehicle driving control method can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, computer-readable media Excludes electrical carrier signals and telecommunication signals.

以上所述实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围，均应包含在本申请的保护范围之内。The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still implement the foregoing embodiments Modifications to the technical solutions described in the examples, or equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the application, and should be included in the Within the protection scope of this application.

Claims

一种车辆驾驶控制方法，其特征在于，包括：A vehicle driving control method, characterized in that, comprising:

获取步骤：获取目标车辆的第一前轮的轮速、第二前轮的轮速、第一后轮的轮速以及第二后轮的轮速；Obtaining step: obtaining the wheel speed of the first front wheel, the wheel speed of the second front wheel, the wheel speed of the first rear wheel and the wheel speed of the second rear wheel of the target vehicle;

判断步骤：根据所述第一前轮的轮速、所述第二前轮的轮速、所述第一后轮的轮速以及所述第二后轮的轮速，判断所述第一前轮、所述第二前轮、所述第一后轮以及所述第二后轮中是否存在预设备胎；Judging step: judging the first front wheel speed according to the wheel speed of the first front wheel, the wheel speed of the second front wheel, the wheel speed of the first rear wheel and the wheel speed of the second rear wheel wheel, the second front wheel, the first rear wheel, and whether there are pre-installed tires in the second rear wheel;

控制步骤：若存在所述预设备胎，则输出预设驾驶控制信息。Control step: if the pre-installed tire exists, then output preset driving control information.
根据权利要求1所述的方法，其特征在于，所述目标车辆为四驱车辆；The method according to claim 1, wherein the target vehicle is a four-wheel drive vehicle;

在所述输出预设驾驶控制信息之前，所述方法还包括：Before said outputting preset driving control information, said method also includes:

获取所述四驱车辆的当前驾驶模式；Obtain the current driving mode of the four-wheel drive vehicle;

所述输出预设驾驶控制信息，包括：The output preset driving control information includes:

在所述当前驾驶模式为四驱模式的情况下，输出将驾驶模式切换至两驱模式的提示信息。In the case that the current driving mode is the four-wheel drive mode, a prompt message for switching the driving mode to the two-wheel drive mode is output.
根据权利要求1所述的方法，其特征在于，所述目标车辆为四驱车辆；The method according to claim 1, wherein the target vehicle is a four-wheel drive vehicle;

在所述输出预设驾驶控制信息之前，所述方法还包括：Before said outputting preset driving control information, said method also includes:

获取所述四驱车辆的当前驾驶模式；Obtain the current driving mode of the four-wheel drive vehicle;

所述输出预设驾驶控制信息，包括：The output preset driving control information includes:

在所述当前驾驶模式为四驱模式的情况下，输出将扭矩加载门限值提升至预设门限值的控制指令。In the case that the current driving mode is the four-wheel drive mode, a control instruction for raising the torque loading threshold value to a preset threshold value is output.
根据权利要求1所述的方法，其特征在于，所述输出预设驾驶控制信息，包括：The method according to claim 1, wherein said outputting preset driving control information comprises:

输出驾驶速度低于预设备胎速度阈值的提示信息。Output a prompt message that the driving speed is lower than the preset tire speed threshold.
根据权利要求1所述的方法，其特征在于，所述输出预设驾驶控制信息，包括：The method according to claim 1, wherein said outputting preset driving control information comprises:

输出将最大行驶速度设置为预设备胎速度阈值的控制指令。A control command is output to set the maximum travel speed as a pre-installation tire speed threshold.
根据权利要求1所述的方法，其特征在于，所述判断步骤包括：The method according to claim 1, wherein the judging step comprises:

根据所述第一前轮的轮速、所述第二前轮的轮速、所述第一后轮的轮速以及所述第二后轮的轮速，计算所述目标车辆的前轴和后轴之间的速度差值比例；According to the wheel speed of the first front wheel, the wheel speed of the second front wheel, the wheel speed of the first rear wheel and the wheel speed of the second rear wheel, calculate the front axle and the speed difference ratio between the rear axles;

在所述速度差值比例大于预设比例阈值的情况下，判断所述第一前轮、所述第二前轮、所述第一后轮以及所述第二后轮中存在所述预设备胎；When the speed difference ratio is greater than a preset ratio threshold, it is judged that the pre-device exists in the first front wheel, the second front wheel, the first rear wheel, and the second rear wheel fetal;

在所述速度差值比例小于或者等于所述预设比例阈值的情况下，判断所述第一前轮、所述第二前轮、所述第一后轮以及所述第二后轮中不存在所述预设备胎。When the speed difference ratio is less than or equal to the preset ratio threshold, it is judged that none of the first front wheel, the second front wheel, the first rear wheel and the second rear wheel There is said pre-installed tire.
根据权利要求6所述的方法，其特征在于，所述根据所述第一前轮的轮速、所述第二前轮的轮速、所述第一后轮的轮速以及所述第二后轮的轮速，计算所述目标车辆的前轴和后轴之间的速度差值比例，包括：The method according to claim 6, characterized in that, the wheel speed of the first front wheel, the wheel speed of the second front wheel, the wheel speed of the first rear wheel and the second The wheel speed of the rear wheels, calculating the speed difference ratio between the front axle and the rear axle of the target vehicle, includes:

获取所述第一前轮的轮速和所述第二前轮的轮速的第一平均值，以及所述第一后轮的轮速和所述第二后轮的轮速的第二平均值；obtaining a first average of the wheel speed of the first front wheel and the wheel speed of the second front wheel, and a second average of the wheel speed of the first rear wheel and the wheel speed of the second rear wheel value;

将所述第一平均值与所述第二平均值的差值占目标平均值的比例的绝对值，确定为所述速度差值比例；其中，所述目标平均值为所述第一平均值或所述第二平均值。The absolute value of the ratio of the difference between the first average value and the second average value to the target average value is determined as the speed difference ratio; wherein, the target average value is the first average value or the second average.
根据权利要求1所述的方法，其特征在于，所述判断步骤包括：The method according to claim 1, wherein the judging step comprises:

获取所述第一前轮的轮速、所述第二前轮的轮速、所述第一后轮的轮速以及所述第二后轮的轮速的方差；acquiring the wheel speed of the first front wheel, the wheel speed of the second front wheel, the wheel speed of the first rear wheel, and the variance of the wheel speed of the second rear wheel;

在所述方差大于预设方差阈值的情况下，判断所述第一前轮、所述第二前轮、所述第一后轮以及所述第二后轮中存在所述预设备胎；When the variance is greater than a preset variance threshold, it is determined that the pre-installed tire exists in the first front wheel, the second front wheel, the first rear wheel, and the second rear wheel;

在所述方差小于或者等于所述预设方差阈值的情况下，判断所述第一前轮、所述第二前轮、所述第一后轮以及所述第二后轮中不存在所述预设备胎。When the variance is less than or equal to the preset variance threshold, it is judged that the first front wheel, the second front wheel, the first rear wheel and the second rear wheel do not have the Pre-equipped tires.
一种车辆驾驶控制装置，其特征在于，包括：A vehicle driving control device, characterized in that it comprises:

获取模块，用于获取目标车辆的第一前轮的轮速、第二前轮的轮速、第一后轮的轮速以及第二后轮的轮速；An acquisition module, configured to acquire the wheel speed of the first front wheel, the wheel speed of the second front wheel, the wheel speed of the first rear wheel and the wheel speed of the second rear wheel of the target vehicle;

判断模块，用于根据所述第一前轮的轮速、所述第二前轮的轮速、所述第一后轮的轮速以及所述第二后轮的轮速，判断所述第一前轮、所述第二前轮、所述第一后轮以及所述第二后轮中是否存在预设备胎；A judging module, configured to judge the first front wheel speed, the second front wheel speed, the first rear wheel speed, and the second rear wheel speed Whether there are pre-installed tires in a front wheel, the second front wheel, the first rear wheel and the second rear wheel;

控制模块，用于若存在所述预设备胎，则输出预设驾驶控制信息。A control module, configured to output preset driving control information if the pre-installed tire exists.
根据权利要求9所述的装置，其特征在于，所述目标车辆为四驱车辆；The device according to claim 9, wherein the target vehicle is a four-wheel drive vehicle;

所述获取模块还用于：The acquisition module is also used for:

获取所述四驱车辆的当前驾驶模式；Obtain the current driving mode of the four-wheel drive vehicle;

所述控制模块还用于：The control module is also used for:

在所述当前驾驶模式为四驱模式的情况下，输出将驾驶模式切换至两驱模式的提示信息。In the case that the current driving mode is the four-wheel drive mode, a prompt message for switching the driving mode to the two-wheel drive mode is output.
根据权利要求9所述的装置，其特征在于，所述目标车辆为四驱车辆；The device according to claim 9, wherein the target vehicle is a four-wheel drive vehicle;

所述获取模块还用于：The acquisition module is also used for:

获取所述四驱车辆的当前驾驶模式；Obtain the current driving mode of the four-wheel drive vehicle;

所述控制模块还用于：The control module is also used for:

在所述当前驾驶模式为四驱模式的情况下，输出将扭矩加载门限值提升至预设门限值的控制指令。In the case that the current driving mode is the four-wheel drive mode, a control instruction for raising the torque loading threshold value to a preset threshold value is output.
根据权利要求9所述的装置，其特征在于，所述控制模块还用于：The device according to claim 9, wherein the control module is also used for:

输出驾驶速度低于预设备胎速度阈值的提示信息。Output a prompt message that the driving speed is lower than the preset tire speed threshold.
根据权利要求9所述的装置，其特征在于，所述控制模块还用于：The device according to claim 9, wherein the control module is also used for:

输出将最大行驶速度设置为预设备胎速度阈值的控制指令。A control command is output to set the maximum travel speed as a pre-installation tire speed threshold.
根据权利要求9所述的装置，其特征在于，所述判断模块还用于：The device according to claim 9, wherein the judging module is also used for:

根据所述第一前轮的轮速、所述第二前轮的轮速、所述第一后轮的轮速以及所述第二后轮的轮速，计算所述目标车辆的前轴和后轴之间的速度差值比例；According to the wheel speed of the first front wheel, the wheel speed of the second front wheel, the wheel speed of the first rear wheel and the wheel speed of the second rear wheel, calculate the front axle and the speed difference ratio between the rear axles;

在所述速度差值比例大于预设比例阈值的情况下，判断所述第一前轮、所述第二前轮、所述第一后轮以及所述第二后轮中存在所述预设备胎；When the speed difference ratio is greater than a preset ratio threshold, it is judged that the pre-device exists in the first front wheel, the second front wheel, the first rear wheel, and the second rear wheel fetal;

在所述速度差值比例小于或者等于所述预设比例阈值的情况下，判断所述第一前轮、所述第二前轮、所述第一后轮以及所述第二后轮中不存在所述预设备胎。When the speed difference ratio is less than or equal to the preset ratio threshold, it is judged that none of the first front wheel, the second front wheel, the first rear wheel and the second rear wheel There is said pre-installed tire.
一种控制设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现如权利要求1至8任一项所述方法的步骤。A control device, comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, characterized in that, when the processor executes the computer program, the following claims 1 to 1 are implemented. 8. The steps of any one of the methods.