# US 2021/0276529 A1 · Vehicle Power Distribution Control Method, Apparatus and System

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- Number: US 2021/0276529 A1
- Document ID: US20210276529A1
- Status: Published application
- Kind: A1
- Application number: 16/333,238
- Filed: 2018-04-26
- Published: 2021-09-09
- Earliest claimed: 2017-04-27
- Assignees: Guangzhou Automobile Group Co., Ltd.
- Applicants: Guangzhou Automobile Group Co., Ltd.
- Inventors: Lingtao HAN; Chao DING; Qiang REN; Wei XU; Ted, S HUANG; Chunyun ZHENG
- Web page: https://patentgrep.com/patent/US20210276529A1

## CPC

- B60W 10/11: Stepped gearings
- B60W 10/14: Central differentials for dividing torque between front and rear axles
- B60K 35/28: characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
- B60W 10/119: including control of all-wheel-driveline means, e.g. transfer gears or clutches for dividing torque between front and rear axle (B60W10/14 takes precedence)
- B60W 30/18172: {Preventing, or responsive to skidding of wheels}
- B60W 30/182: Selecting between different operative modes, e.g. comfort and performance modes
- B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention
- G06T 7/40: Analysis of texture (depth or shape recovery from texture G06T7/529)
- G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle
- B60K 17/348: having differential means for driving one set of wheels, e.g. the front, at one speed and the other set, e.g. the rear, at a different speed (B60K17/346 takes precedence)
- B60K 2023/085: {automatically actuated}
- B60K 2360/176: Camera images
- B60W 2050/146: {Display means}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2510/125: Locking status
- B60W 2520/403: between front and rear axle
- B60W 2540/10: Accelerator pedal position
- B60W 2552/00: Input parameters relating to infrastructure
- B60W 2552/05: Type of road, e.g. motorways, local streets, paved or unpaved roads
- B60W 2552/35: Road bumpiness, e.g. potholes
- B60W 2710/105: Output torque
- B60W 2710/12: Differentials
- B60W 2710/125: Locking status
- G06T 2207/30252: Vehicle exterior; Vicinity of vehicle
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

A vehicle power distribution control method, apparatus and system are provided. The method includes: acquiring an image of a road surface on which a vehicle drives currently, and recognizing, according to the image of the road surface, the type of the road surface on which the vehicle drives currently; starting a corresponding terrain mode in an all-terrain adaptive mode according to the current type of the road surface; determining a power distribution strategy corresponding to the current terrain mode according to a correspondence between terrain modes and preset power distribution strategies; and switching a center differential of the vehicle to a corresponding locking mode according to the current power distribution strategy, and distributing, in the locking mode, torques to front and rear axles of the vehicle according to a torque distribution curve corresponding to the current power distribution strategy. The front and rear axles of a four-wheel drive vehicle can be conveniently provided with adequate torques on different road surfaces.

## Claims

### Claim 1

A vehicle power distribution control method, comprising:
acquiring an image of a road surface on which a vehicle drives currently, and recognizing, according to the image of the road surface, the type of the road surface on which the vehicle drives currently;
starting a corresponding terrain mode in an all-terrain adaptive mode according to the current type of the road surface, and determining a power distribution strategy corresponding to the current terrain mode according to a correspondence between terrain modes and preset power distribution strategies, the terrain mode in the all-terrain adaptive mode comprising at least two of a common terrain mode, a snow mode, a mud mode, and a sand mode; and
switching a center differential of the vehicle, to a corresponding locking mode according to the current power distribution strategy, and distributing torques to front and rear axles of the vehicle according to a torque distribution curve corresponding to the current power distribution strategy, the torque distribution curve being a function curve using a throttle position as a variable and a torque proportion of a driven axle as an output.

### Claim 2 (depends on 1)

The vehicle power distribution control method as claimed in claim 1, further comprising:
presetting at least two power distribution strategies, and establishing a correspondence between various terrain modes in the all-terrain adaptive mode and the power distribution strategies; and
pre-establishing a correspondence between various terrain modes in the all-terrain adaptive mode and the types of road surfaces.

### Claim 3 (depends on 1)

The vehicle power distribution control method as claimed in claim 1, further comprising:
if receiving an operation instruction for selecting a terrain mode, comparing a terrain mode pointed by the operation instruction, with a terrain mode corresponding to the currently recognized type of a road surface, if the two are consistent, starting the terrain mode pointed by the operation instruction, otherwise, starting the terrain mode corresponding to the currently recognized type of the road surface;
and/or,
acquiring an image of a road surface on which a vehicle drives currently, and recognizing, according to the image of the road surface, the type of the road surface on which the vehicle drives currently comprises:
acquiring an image of a road surface on which a vehicle drives currently, and analyzing the image of the road surface to obtain road surface state information;
acquiring current geographic location information of the vehicle, and determining a terrain of the current location of the vehicle according to the geographic location information; and
recognizing the type of the road surface on which the vehicle drives currently in conjunction with the terrain and the road surface state information.

### Claim 4 (depends on 1)

The vehicle power distribution control method as claimed in claim 1, wherein the correspondence between various terrain modes in the all-terrain adaptive mode and preset power distribution strategies comprises:
the common terrain mode, the snow mode, and the mud mode/sand mode respectively correspond to a common distribution strategy, a first distribution strategy and a second distribution strategy;
the step of switching a center differential of the vehicle to a corresponding locking mode according to the current power distribution strategy and distributing torques to front and rear axles of the vehicle according to a torque distribution curve corresponding to the current power distribution strategy comprises:
if it is the common distribution strategy, controlling the center differential of the vehicle to switch to a smart control mode, adjusting the locking degree of the center differential in the smart control mode timely, acquiring a throttle position, determining a first torque proportion corresponding to a driven axle according to the throttle position and a first torque distribution curve, and, distributing torques to front and rear axles of the vehicle according to the first torque proportion;
if it is the first distribution strategy, controlling the center differential of the vehicle to switch to a smart locking mode, maintaining the center differential at a set locking degree in the smart locking mode, acquiring a throttle position, determining a second torque proportion corresponding to a driven axle according to the throttle position and a second torque distribution curve, and distributing torques to front and rear axles of the vehicle according to the second torque proportion; and
if it is the second distribution strategy, controlling the center differential of the vehicle to switch to a full locking mode, maintaining the center differential at a maximum locking degree in the full locking mode, acquiring a throttle position, determining a third torque proportion corresponding to a driven axle according to the throttle position and a third torque distribution curve, and distributing torques to front and rear axles of the vehicle according to the third torque proportion,
wherein the driven axle is a front axle or a rear axle, the set locking degree is smaller than the maximum locking degree, and when the throttle position is the same, the second torque proportion is greater than the first torque proportion, and the third torque proportion is greater than the first torque proportion and smaller than or equal to the second torque proportion.

### Claim 5

A vehicle power distribution control apparatus, comprising:
a road surface recognition module, configured to acquire an image of a road surface on which a vehicle drives currently, and recognize, according to the image of the road surface, the type of the road surface on which the vehicle drives currently;
a power distribution strategy determining module, configured to start a corresponding terrain mode in an all terrain adaptive mode according to the current type of the road surface, and determine a power distribution strategy corresponding to the current terrain, mode according to a correspondence between terrain modes and preset power distribution strategies, the terrain mode in the all-terrain adaptive mode comprising at least two of a common terrain mode, a snow mode, a mud mode, and a sand mode; and
a power distribution control module, configured to switch a center differential of the vehicle to a corresponding locking mode according to the current power distribution strategy, and distribute torques to front and rear axles of the vehicle according, to a torque distribution curve corresponding to the current power distribution strategy,
wherein the torque distribution curve is a function curve using a throttle position as a variable and a torque proportion of a driven axle as an output.

### Claim 6 (depends on 5)

The vehicle power distribution control apparatus as claimed in claim 5, further comprising:
a setting module, configured to preset at least two power distribution strategies, establish a correspondence between various terrain modes in the all-terrain adaptive mode and the power distribution strategies and establish a correspondence between various terrain modes in the all-terrain adaptive mode and the types of road surfaces.

### Claim 7 (depends on 5)

The vehicle power distribution control apparatus as claimed in claim 5, wherein
the road surface recognition module is specifically configured to: acquire an image of a road surface on which a vehicle drives currently, and analyze the image of the road surface to obtain road surface state information; acquire current geographic location information of the vehicle, and determine a terrain of the current location of the vehicle according to the geographic location information; and recognize the type of the road surface on which the vehicle drives currently in conjunction with the terrain and the road surface state information,
and/or,
the power distribution strategy determining module is further configured to compare, if receiving an operation instruction for selecting a terrain mode, a terrain mode pointed by the operation instruction with a terrain mode corresponding to the currently recognized type of the road surface, start, if the two are consistent, the terrain mode pointed by the operation instruction otherwise, start the terrain mode corresponding to the currently recognized type of the road surface.

### Claim 8 (depends on 5)

The vehicle power distribution control apparatus as claimed in claim 5, wherein the correspondence between various terrain modes in the all-terrain adaptive mode and preset power distribution strategies comprises:
the common terrain mode, the snow mode, and the mud mode/sand mode respectively correspond to a common distribution strategy, a first distribution strategy and a second distribution strategy;
the power distribution control module comprises:
a first distribution control unit, configured to control, if it is the common distribution strategy, the center differential of the vehicle to switch to a smart control mode, adjust the locking degree of the center differential in the smart control mode timely, acquire a throttle position, determine a first torque proportion corresponding to a driven axle according to the throttle position and a first torque distribution curve, and distribute torques to front and rear axles of the vehicle according to the first torque proportion;
a second distribution control unit, configured to control, if it is the first distribution strategy, the center differential of the vehicle to switch to a smart locking mode, maintain the center differential at a set locking degree, acquire a throttle position, determine a second torque proportion corresponding to a driven axle according to the throttle position and a second torque distribution curve, and distribute torques to front and rear axles of the vehicle according to the second torque proportion; and
a third distribution control unit, configured to control, if it is the second distribution strategy, the center differential of the vehicle to switch to a full locking mode, maintain the center differential at a maximum locking degree, acquire a throttle position, determine a third torque proportion corresponding to a driven axle according to the throttle position and a third torque distribution curve, and distribute torques to front and rear axles of the vehicle according to the third torque proportion,
wherein the driven axle is a front axle or a rear axle, the set locking degree is smaller than the maximum locking degree, and when the throttle position is the same, the second torque proportion is greater than the first torque proportion, and the third torque proportion is greater than the first torque proportion and smaller than or equal to the second torque proportion.

### Claim 9

A vehicle power distribution control system, comprising: a road surface recognition apparatus, an all-terrain controller and a power distribution apparatus, wherein
the road surface recognition apparatus is configured to acquire an image of a road surface on which a vehicle drives currently, and send the image of the road surface to the all-terrain controller;
the all-terrain controller is configured to start a corresponding terrain mode in an all-terrain adaptive mode according to the current, type of the road surface, determine a power distribution strategy corresponding to the current terrain mode according to a correspondence between terrain modes and preset power distribution strategies, and send the power distribution strategy to the power distribution apparatus, the terrain mode in the all-terrain adaptive mode comprising at least two of a common terrain mode, a snow mode, a mud mode, and a sand mode; and
the power distribution apparatus is configured to switch a center differential of the vehicle to a corresponding locking mode according to the current power distribution strategy, and distribute torques to front and rear axles of the vehicle according to a torque distribution curve corresponding to the current power distribution strategy,
wherein the torque distribution curve is a function curve using, a throttle position as a variable and a torque proportion of a driven axle as an output.

### Claim 10 (depends on 9)

The vehicle power distribution control system as claimed in claim 9, further comprising: a terrain mode selecting apparatus, wherein
the terrain mode selecting apparatus is configured to receive an operation instruction for selecting a terrain mode, and send a terrain mode pointed by the operation instruction to the all-terrain controller;
the all-terrain controller is further configured to compare, if receiving the operation instruction for selecting a terrain mode, the terrain mode pointed by the operation instruction with a terrain mode corresponding to the currently recognized type of the road surface, if the two are consistent, start the terrain mode pointed by the operation instruction, otherwise, start the terrain mode corresponding to the currently recognized type of the road surface;
and/or,
the road surface recognition apparatus comprises: an image collection device, a positioning device and a processor;
the image collection device is configured to collect an image of a road surface on which a vehicle drives currently, and send the image of the road surface to the processor;
the positioning device is configured to acquire current geographic location information of the vehicle, and send the geographic location information to the processor; and
the processor is configured to analyze the image of the road surface to obtain road surface state information, determine a terrain of the current location of the vehicle according to the geographic location information, and recognize the type of the road surface on which the vehicle drives currently in conjunction, with the terrain and the road surface state information.

### Claim 11 (depends on 9)

The vehicle power distribution control system as claimed in claim 9, wherein the correspondence between various terrain modes in the all-terrain adaptive mode and power distribution strategies comprises:
the common terrain mode, the snow mode, and the mud mode/sand mode respectively correspond to a common distribution strategy, a first distribution strategy and a second distribution strategy;
the power distribution apparatus is configured to:
control, if it is the common distribution strategy, the center differential of the vehicle to switch to a smart control mode, adjust the locking degree of the center differential in the smart, control mode timely, acquire a throttle position, determine a first torque proportion corresponding to a driven axle according to the throttle position and a first torque distribution curve, and distribute torques to front, and rear axles of the vehicle according to the first torque proportion;
control, if it is the first distribution strategy, the center differential of the vehicle to switch to a smart locking mode, maintain the center differential at a set locking degree in the smart locking mode, acquire a throttle position, determine a second torque proportion corresponding to a driven axle according to the throttle position and a second torque distribution curve, and distribute torques to front and rear axles of the vehicle according to the second torque proportion; and
control, if it is the second distribution strategy, the center differential of the vehicle to switch, to a full locking, mode, maintain the center differential at a maximum locking degree in the full locking mode acquire a throttle position, determine a third torque proportion corresponding to a driven axle according to the throttle position and a third torque distribution curve, and distribute torques to front and rear axles of the vehicle according to the third torque proportion,
wherein the driven axle is a front axle or a rear axle, the set locking degree is smaller than the maximum locking degree, and when the throttle position is the same, the second torque proportion is greater than the first torque proportion, and the third torque proportion is greater than the first torque proportion and smaller than or equal to the second torque proportion.

### Claim 12 (depends on 2)

The vehicle power distribution control method as claimed in claim 2, wherein the correspondence between, various terrain modes in the all-terrain adaptive mode and preset power distribution strategies comprises:
the common terrain mode, the snow mode, and the mud mode/sand mode respectively correspond to a common distribution strategy, a first distribution strategy and a second distribution strategy;
the step of switching a center differential of the vehicle to a corresponding, locking mode according to the current power distribution strategy and distributing torques to front and rear axles of the vehicle according to a torque distribution curve corresponding to the current power distribution strategy comprises:
if it is the common distribution strategy, controlling the center differential of the vehicle to switch to a smart control mode, adjusting the locking degree of the center differential in the smart control mode timely, acquiring a throttle position, determining a first torque proportion corresponding to a driven axle according to the throttle position and a first torque distribution curve, and distributing torques to front and rear axles of the vehicle according to the first torque proportion;
if it is the first distribution strategy, controlling the center differential of the vehicle to switch to a smart locking mode, maintaining the center differential at, a set locking degree in the smart locking mode, acquiring a throttle position, determining a second torque proportion corresponding to a driven axle according to the throttle position and a second torque distribution curve, and distributing torques to front and rear axles of the vehicle according to, the second torque proportion; and
if it is the second distribution strategy, controlling the center differential of the vehicle to switch to a full locking mode, maintaining the center differential at a maximum locking degree in the full locking mode, acquiring a throttle position, determining a third torque proportion corresponding to a driven axle according to the throttle position and a third torque distribution curve, and distributing torques to front and rear axles of the vehicle according to the third torque proportion,
wherein the driven axle is a front axle or a rear axle, the set locking degree is smaller than the maximum locking degree, and when the throttle position is the same, the second torque proportion is greater than the first torque proportion, and the third torque proportion is greater than the first torque proportion and smaller than or equal to the second torque proportion.

### Claim 13 (depends on 3)

The vehicle power distribution control method as claimed in claim 3, wherein the correspondence between various terrain modes in the all-terrain adaptive mode and preset power distribution strategies comprises:
the common terrain mode, the snow mode, and the mud mode/sand mode respectively correspond to a common distribution strategy, a first distribution strategy and a second, distribution strategy;
the step of switching a center differential of the vehicle to a corresponding, locking mode according to the current power distribution strategy and distributing torques to front and rear axles of the vehicle according to a torque distribution curve corresponding to the current power distribution strategy comprises:
if it is the common distribution strategy, controlling the center differential of the vehicle to switch to a smart control mode, adjusting the locking degree of the center differential in the smart control mode timely, acquiring a throttle position, determining a first torque proportion corresponding to a driven axle according to the throttle position and a first torque distribution curve, and distributing torques to front and rear axles of the vehicle according to the first torque proportion;
if it is the first distribution strategy, controlling the center differential of the vehicle to switch to a smart locking mode, maintaining the center differential at a set locking degree in the smart locking mode, acquiring a throttle position, determining a second torque proportion corresponding to a driven axle according to the throttle position and a second torque distribution curve, and distributing torques to front and rear axles of the vehicle according to the second torque proportion; and
if it is the second distribution strategy, controlling the center differential of the vehicle to switch to a full locking mode, maintaining the center differential at a maximum locking degree in the full locking mode, acquiring a throttle position, determining, a third torque proportion corresponding to, a driven axle according to the throttle position and a third torque distribution curve, and distributing torques to front and rear axles of the vehicle according to the third torque proportion,
wherein the driven axle is, a front axle or a rear axle, the set locking degree is smaller than the maximum locking degree, and when the throttle position is the same, the second torque proportion is greater than the first torque proportion, and the third torque proportion is greater than the first torque proportion and smaller than or equal to the second torque proportion.

### Claim 14 (depends on 6)

The vehicle power distribution control apparatus as claimed in claim 6, wherein the correspondence between various terrain modes in the all-terrain adaptive mode and preset power distribution strategies comprises:
the common terrain mode, the snow mode, and the mud mode/sand mode respectively correspond to a common distribution strategy, a first distribution strategy and a second distribution strategy;
the power distribution control module comprises:
a first distribution control unit, configured to control, if it is the common distribution strategy, the center differential of the vehicle to switch to a smart control mode, adjust the locking degree of the center differential in the smart control mode timely, acquire a throttle position, determine a first torque proportion corresponding, to a driven axle according to the throttle position and a first torque distribution curve, and distribute torques to front and rear axles of the vehicle according to the first torque, proportion;
a second distribution control unit, configured to control, if it is the first distribution strategy, the center differential of the vehicle to switch to a smart locking mode, maintain the center differential at a set, locking degree, acquire a throttle position determine a second torque proportion corresponding to a driven axle according to the throttle position and a second torque distribution curve, and distribute torques to front and rear axles of the vehicle according to the second torque proportion; and
a third distribution control unit, configured to control, if it is the second distribution strategy, the center differential of the vehicle to switch to a full locking mode, maintain the center differential at a maximum locking degree, acquire a throttle position, determine a third torque proportion corresponding to a driven axle according to the throttle position and a third torque distribution curve, and distribute torques to front and rear axles of the vehicle according to the third torque proportion,
wherein the driven axle is a front axle or a rear axle, the set locking degree is smaller than the maximum locking degree, and when the throttle position is the same, the second torque proportion is greater than the first torque proportion, and the third torque proportion is greater than the first torque proportion and smaller than or equal to the second torque proportion.

### Claim 15 (depends on 7)

The vehicle power distribution control apparatus as claimed in claim 7, wherein the correspondence between various terrain modes in the all-terrain adaptive mode and preset power distribution strategies comprises:
the common terrain mode, the snow mode, and the mud mode/sand mode respectively correspond to a common distribution strategy, a first distribution strategy and a second distribution strategy;
the power distribution control module comprises:
a first distribution control unit, configured to control, if it is the common distribution strategy, the center differential of the vehicle to switch to a smart control mode, adjust the locking degree of the center differential in the smart control mode timely, acquire a throttle position, determine a first torque proportion corresponding to a driven axle according to the throttle position and a first torque distribution curve, and distribute torques to front and rear axles of the vehicle according to the first torque proportion:
a second distribution control unit, configured to control, if it is the first distribution strategy, the center differential of the Vehicle to switch to a smart locking, mock, maintain the center differential at a set locking degree, acquire a throttle position, determine a second torque proportion corresponding to a driven axle according to the throttle position and a second torque distribution curve, and distribute torques to front and rear axles of the vehicle according to the second torque proportion; and
a third distribution control unit, configured to control, if it is the second distribution strategy, the center differential of the vehicle to switch to a full locking mode, maintains the center differential at a maximum locking degree, acquire a throttle position, determine a third torque proportion corresponding to a driven axle according, to the throttle position and a third torque distribution curve, and distribute torques to front and rear axles of the vehicle according to the third torque proportion,
wherein the driven axle is a front axle or a rear axle, the set locking degree is smaller than the maximum locking degree, and when the throttle position is the same, the second torque proportion is greater than the first torque proportion, and the third torque proportion is greater than the first torque proportion and smaller than or equal to the second torque proportion.

### Claim 16 (depends on 10)

The vehicle power distribution control system as claimed in claim 10, wherein the correspondence between various terrain modes in the all-terrain adaptive mode and power distribution strategies comprises:
the common terrain mode, the snow mode and the mud mode/sand mode respectively correspond to a common distribution strategy, a first distribution strategy and a second distribution strategy;
the power distribution apparatus is configured to:
control, if it is the common distribution strategy, the center differential of the vehicle to switch to a smart control mode, adjust the locking degree of the center differential in the smart control mode timely, acquire a throttle position, determine a first torque proportion corresponding to a driven axle according, to the throttle position and a first torque distribution curve, and distribute torques to front and rear axles of the vehicle according to the first torque proportion;
control, if it is the first distribution strategy, the center differential of the vehicle to switch to a smart locking mode, maintain the center differential at a set locking degree in the smart locking mode, acquire a throttle position, determine a second torque proportion corresponding to a driven axle according to the throttle position and a second torque distribution curve, and distribute torques to front and rear axles of the vehicle according to the second torque proportion; and
control, if it is the second distribution strategy, the center differential of the vehicle to switch to a full locking mode, maintain the center differential at a maximum locking degree in the full locking mode, acquire a throttle position, determine a third torque proportion corresponding to a driven axle according to the throttle position and a third torque distribution curve, and distribute torques to front and rear axles of the vehicle according to the third torque proportion,
wherein the driven axle is a front axle or a rear axle, the set locking degree is smaller than the maximum locking degree, and when the throttle position is the same, the second torque proportion is greater than the first torque proportion, and the third torque proportion is greater than the first torque proportion and smaller than or equal to the second torque proportion.