CN108116403A - Control method, system and the vehicle of vehicle - Google Patents
Control method, system and the vehicle of vehicle Download PDFInfo
- Publication number
- CN108116403A CN108116403A CN201611076037.8A CN201611076037A CN108116403A CN 108116403 A CN108116403 A CN 108116403A CN 201611076037 A CN201611076037 A CN 201611076037A CN 108116403 A CN108116403 A CN 108116403A
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- vehicle
- yaw angle
- torque
- vehicular turn
- ratio
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000007812 deficiency Effects 0.000 claims abstract description 17
- 230000001133 acceleration Effects 0.000 claims description 8
- 241000153246 Anteros Species 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 201000009482 yaws Diseases 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/107—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/114—Yaw movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0014—Adaptive controllers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of control method of vehicle, control system and vehicle, this method to include：Obtain the actual yaw angle of vehicle and theoretical yaw angle；Judge whether Vehicular turn is insufficient or excessive according to the difference between the actual yaw angle and the theoretical yaw angle；If the Vehicular turn deficiency or excessive, adjusts the front and rear shaft torque allocation proportion of the vehicle, to meet a steering demand.The present invention can effectively promote the stability of Ackermann steer angle, and then promote driving experience.
Description
Technical field
The present invention relates to automobile technical field, more particularly to a kind of control method of vehicle, system and vehicle.
Background technology
Existing four-wheel drive cars can effectively promote the cornering ability of vehicle by the torque distribution of between centers before and after control, change
Kind vehicle power performance under different operating modes.
In correlation technique, four-wheel drive cars are travelled using fixed proportion front-rear axle driving torque control mode control vehicle, but
Four-wheel drive cars may cause the stability of vehicle to decline due to various reasons when turning to, at this time according to the front-rear axle of fixed proportion
Torque may result in steering failure, and then cause vehicle that accident occurs.
The content of the invention
In view of this, the present invention is directed to propose a kind of control method of vehicle, this method can effectively promote turn inside diameter
When stability, and then promoted driving experience.
In order to achieve the above objectives, the technical proposal of the invention is realized in this way：
A kind of control method of vehicle, comprises the following steps：Obtain the actual yaw angle of vehicle and theoretical yaw angle；According to
Difference between the actual yaw angle and the theoretical yaw angle judges whether Vehicular turn is insufficient or excessive；It is if described
Vehicular turn deficiency is excessive, then the front and rear shaft torque allocation proportion of the vehicle is adjusted, to meet Vehicular turn demand.
Further, when the Vehicular turn deficiency, it is described adjustment vehicle front and rear shaft torque allocation proportion the step of
Including：First progressively reduce the ratio of rear bridge driven torque and preceding bridge output torque, after incrementally increase rear bridge driven torque and preceding bridge
The ratio of output torque.
Further, when the Vehicular turn is excessive, it is described adjustment vehicle front and rear shaft torque allocation proportion the step of
Including：First incrementally increase the ratio of rear bridge driven torque and preceding bridge output torque, after progressively reduce rear bridge driven torque and preceding bridge
The ratio of output torque.
Further, the actual yaw angle of the vehicle is according to the yaw velocity of the vehicle, side acceleration and vehicle
Speed obtains.
Further, if Vehicular turn deficiency or excessive, adjusts the front and rear shaft torque of the vehicle
Allocation proportion further comprises to meet a steering demand：If the Vehicular turn deficiency or excessive, basis
The antero posterior axis that difference and coefficient of road adhesion between the actual yaw angle and the theoretical yaw angle adjust the vehicle turns
Square allocation proportion, to meet a steering demand.
Compared with the prior art, the control method of vehicle of the present invention has the advantage that：
The control method of vehicle of the present invention, when meeting Vehicular turn, according to the actual yaw angle and reason of vehicle
By shaft torque allocation proportion before and after the difference adjustment between yaw angle, stability during so as to promote Vehicular turn, and then promoted
Driving experience.
It is another object of the present invention to propose a kind of control system of vehicle, which can effectively promote vehicle and turn
Stability when curved, and then promote driving experience.
In order to achieve the above objectives, the technical proposal of the invention is realized in this way：
A kind of control system of vehicle, including：Actual yaw angle determining module, the actual yaw angle determining module are used for
The actual yaw angle of the vehicle is obtained according to the yaw velocity of vehicle, side acceleration and speed；Theoretical yaw angle determines
Module, the theory yaw angle determining module are used to determine that the theoretical of the vehicle yaws according to the manipulation signal of the vehicle
Angle；Control module, the control module are used to be judged according to the difference between the actual yaw angle and the theoretical yaw angle
Whether Vehicular turn is insufficient either excessively and when the Vehicular turn is insufficient or excessive to adjust the antero posterior axis turn of the vehicle
Square allocation proportion, to meet a steering demand.
Further, the control module is further used for：When the Vehicular turn deficiency, after control first progressively reduces
The ratio of bridge driving torque and preceding bridge output torque, after incrementally increase the ratio of rear bridge driven torque and preceding bridge output torque.
Further, the control module is further used for：When the Vehicular turn is excessive, after control first incrementally increases
The ratio of bridge driving torque and preceding bridge output torque, after progressively reduce the ratio of rear bridge driven torque and preceding bridge output torque.
Further, the control module is additionally operable to when the Vehicular turn is insufficient or excessive, according to the reality
Difference and coefficient of road adhesion between yaw angle and the theoretical yaw angle adjust the front and rear shaft torque distribution ratio of the vehicle
Example, to meet a steering demand.
The control system of the vehicle and the control method of above-mentioned vehicle are compared with advantage possessed by the prior art
Identical, details are not described herein.
It is another object of the present invention to propose a kind of vehicle, which stablizes, and then can promote vehicle
Driving experience.
In order to achieve the above objectives, the technical proposal of the invention is realized in this way：
A kind of vehicle is provided with the control system of the vehicle as described in above-described embodiment.
The vehicle is identical compared with advantage possessed by the prior art with the control system of above-mentioned vehicle, herein not
It repeats again.
Description of the drawings
The attached drawing for forming the part of the present invention is used for providing a further understanding of the present invention, schematic reality of the invention
Example and its explanation are applied for explaining the present invention, is not constituted improper limitations of the present invention.In the accompanying drawings：
Fig. 1 is the flow chart of the control method of the vehicle described in the embodiment of the present invention；
Fig. 2 is the structure diagram of the control system of the vehicle described in the embodiment of the present invention.
Specific embodiment
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is the flow chart of the control method of vehicle according to an embodiment of the invention.As shown in Figure 1, according to this hair
The control method of the vehicle of bright one embodiment, includes the following steps：
S1：Obtain the actual yaw angle of vehicle and theoretical yaw angle.
Theoretical yaw angle is calculated the input of acceleration/brake pedal of vehicle and steering wheel angle according to driver.
In one embodiment of the invention, the actual yaw angle of vehicle is according to the yaw velocity of vehicle, side acceleration and speed
It obtains.Wherein, the yaw velocity of vehicle, side acceleration and speed are respectively according to mounted on yaw velocity sensing on vehicle
The rotating speed of device, lateral acceleration sensor and driving motor obtains.
S2：Judge whether Vehicular turn is insufficient or excessive according to the difference between actual yaw angle and theoretical yaw angle.
When the actual yaw angle of vehicle is more than theoretical yaw angle, judge that Vehicular turn is excessive；When the actual yaw of vehicle
When angle is less than theoretical yaw angle, Vehicular turn deficiency is judged.
S3：If Vehicular turn deficiency or excessively, the front and rear shaft torque allocation proportion of vehicle is adjusted, to meet
Steering demand.
In one embodiment of the invention, when Vehicular turn deficiency, rear bridge driven torque and preceding bridge are first progressively reduced
The ratio of output torque, after incrementally increase the ratio of rear bridge driven torque and preceding bridge output torque.
Specifically, vehicle determines that (i.e. actual yaw angle is less than Vehicular turn deficiency after bend is entered according to above-mentioned steps
Theoretical yaw angle) when, since front axle is control Vehicular turn, by the ratio for reducing rear bridge driven torque and preceding bridge output torque
Value, to reduce the difference of actual yaw angle and theoretical yaw angle, and then vehicle smoothly can steering range into bend.Wherein, when
, it is necessary to smaller rear bridge driven torque and the ratio of preceding bridge output torque when actual yaw angle is bigger less than the difference of theoretical yaw angle
Value.
In one embodiment of the invention, when vehicle enter bend can steering range after, if vehicle can close to bend
The edge of steering range, can further reduce the ratio of rear bridge driven torque and preceding bridge output torque at this time makes the traveling of vehicle
Track close to or according into after bend optimal steering range (i.e. the left and right sides of vehicle and bend there are one section suitably away from
From) turned to.Wherein, rear bridge driven torque and the ratio of preceding bridge output torque progressively reduce, in order that ensureing vehicle
Driving stability.When the suitable position after vehicle enters optimal steering range, by incrementally increasing rear bridge driven torque with before
The ratio of bridge output torque so that vehicle can be turned to according to optimal steering range.
In one embodiment of the invention, when Vehicular turn is excessive, rear bridge driven torque and preceding bridge are first incrementally increased
The ratio of output torque, after progressively reduce the ratio of rear bridge driven torque and preceding bridge output torque.
Specifically, vehicle determines that excessively (i.e. actual yaw angle is more than Vehicular turn after bend is entered according to above-mentioned steps
Theoretical yaw angle) when, by increasing the ratio of rear bridge driven torque and preceding bridge output torque, to reduce actual yaw angle and theory
The difference of yaw angle, and then vehicle smoothly can steering range into bend.When actual yaw angle is more than the difference of theoretical yaw angle
, it is necessary to the rear bridge driven torque of bigger and the ratio of preceding bridge output torque when bigger.
In one embodiment of the invention, when vehicle enter bend can steering range after, if vehicle can close to bend
The edge of steering range, can further increase the ratio of rear bridge driven torque and preceding bridge output torque at this time makes the traveling of vehicle
Track close to or according into after bend optimal steering range (i.e. the left and right sides of vehicle and bend there are one section suitably away from
From) turned to.Wherein, rear bridge driven torque and the ratio of preceding bridge output torque incrementally increase, in order that ensureing vehicle
Driving stability.When the suitable position after vehicle enters optimal steering range, by the distribution for progressively reducing front and rear shaft torque
Ratio so that vehicle can be turned to according to optimal steering range.
In one embodiment of the invention, when Vehicular turn is insufficient or excessive, it is also necessary to consider the attachment on road surface
Coefficient, shaft torque distribution ratio before and after being adjusted according to the difference between actual yaw angle and theoretical yaw angle and coefficient of road adhesion
Example, to meet a steering demand.
The control method of vehicle according to embodiments of the present invention, in Vehicular turn, according to the actual yaw angle of vehicle and
Shaft torque allocation proportion before and after difference adjustment between theoretical yaw angle, stability during so as to promote Vehicular turn, Jin Erti
Rise driving experience.
Fig. 2 is the structure diagram of the control system of vehicle according to an embodiment of the invention.As shown in Fig. 2, according to this
The control system of the vehicle of invention one embodiment, including：Actual yaw angle determining module 210, theoretical yaw angle determining module
220 and control module 230.
Wherein, actual yaw angle determining module 210 is used to be obtained according to the yaw velocity of vehicle, side acceleration and speed
To the actual yaw angle of vehicle.Theoretical yaw angle determining module 220 is used to determine the theory of vehicle according to the manipulation signal of vehicle
Yaw angle.Not whether control module 650 be used to judge Vehicular turn according to the difference between actual yaw angle and theoretical yaw angle
Foot either excessively and in Vehicular turn deficiency or excessively when adjust shaft torque allocation proportion before and after vehicle, to meet
Steering demand.
The control system of vehicle according to embodiments of the present invention, in Vehicular turn, according to the actual yaw angle of vehicle and
Shaft torque allocation proportion before and after difference adjustment between theoretical yaw angle, stability during so as to promote Vehicular turn, Jin Erti
Rise driving experience.
In one embodiment of the invention, control module 230 is further used for：When Vehicular turn deficiency, control is first
Progressively reduce the ratio of rear bridge driven torque and preceding bridge output torque, after incrementally increase rear bridge driven torque and preceding bridge output torque
Ratio.
In one embodiment of the invention, control module 230 is further used for：When Vehicular turn is excessive, control is first
Incrementally increase the ratio of rear bridge driven torque and preceding bridge output torque, after progressively reduce rear bridge driven torque and preceding bridge output torque
Ratio.
In one embodiment of the invention, control module 230 be additionally operable to when Vehicular turn is insufficient or it is excessive when, according to
The front and rear shaft torque allocation proportion of difference and coefficient of road adhesion adjustment vehicle between actual yaw angle and theoretical yaw angle, with
Just a steering demand is met.
It should be noted that the specific implementation and the embodiment of the present invention of the control system of the vehicle of the embodiment of the present invention
Vehicle control method specific implementation it is similar, specifically refer to the description of method part, in order to reduce redundancy, herein
It does not repeat.
Further, embodiment of the invention discloses that a kind of vehicle, is provided with as in any one above-mentioned embodiment
The control system of vehicle.The Vehicle turning stability is strong, and then can promote the driving experience of vehicle.
In addition, other compositions of vehicle according to embodiments of the present invention and effect are for those of ordinary skill in the art
For be all known, in order to reduce redundancy, be not repeated herein.
The foregoing is merely a prefered embodiment of the invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modifications, equivalent replacements and improvements are made should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of control method of vehicle, which is characterized in that comprise the following steps：
Obtain the actual yaw angle of vehicle and theoretical yaw angle；
Judge whether Vehicular turn is insufficient or excessive according to the difference between the actual yaw angle and the theoretical yaw angle；
If the Vehicular turn deficiency or excessive, adjusts the front and rear shaft torque allocation proportion of the vehicle, to meet
Turn to demand.
2. the control method of vehicle according to claim 1, which is characterized in that described when the Vehicular turn deficiency
The step of front and rear shaft torque allocation proportion for adjusting vehicle, includes：First progressively reduce rear bridge driven torque and preceding bridge output torque
Ratio, after incrementally increase the ratio of rear bridge driven torque and preceding bridge output torque.
3. the control method of vehicle according to claim 1, which is characterized in that described when the Vehicular turn is excessive
The step of front and rear shaft torque allocation proportion for adjusting vehicle, includes：First incrementally increase rear bridge driven torque and preceding bridge output torque
Ratio, after progressively reduce the ratio of rear bridge driven torque and preceding bridge output torque.
4. the control method of vehicle according to claim 1, which is characterized in that the actual yaw angle of the vehicle is according to institute
Yaw velocity, side acceleration and the speed for stating vehicle obtain.
5. the control system of vehicle according to claim 1, which is characterized in that if the Vehicular turn deficiency or
Person is excessive, then adjusts the front and rear shaft torque allocation proportion of the vehicle, further comprises to meet a steering demand：
If the Vehicular turn deficiency or excessive, according between the actual yaw angle and the theoretical yaw angle
Difference and coefficient of road adhesion adjust the front and rear shaft torque allocation proportion of the vehicle, to meet a steering demand.
6. a kind of control system of vehicle, which is characterized in that including：
Actual yaw angle determining module, the actual yaw angle determining module are used for the yaw velocity according to vehicle, laterally add
Speed and speed obtain the actual yaw angle of the vehicle；
Theoretical yaw angle determining module, the theory yaw angle determining module are used to determine institute according to the manipulation signal of the vehicle
State the theoretical yaw angle of vehicle；
Control module, the control module are used to be judged according to the difference between the actual yaw angle and the theoretical yaw angle
Whether Vehicular turn is insufficient either excessively and when the Vehicular turn is insufficient or excessive to adjust the antero posterior axis turn of the vehicle
Square allocation proportion, to meet a steering demand.
7. the control system of vehicle according to claim 6, which is characterized in that the control module is further used for：When
During the Vehicular turn deficiency, control first progressively reduces the ratio of rear bridge driven torque and preceding bridge output torque, after incrementally increase
Rear bridge driven torque and the ratio of preceding bridge output torque.
8. the control system of vehicle according to claim 6, which is characterized in that the control module is further used for：When
When the Vehicular turn is excessive, control first incrementally increases rear bridge driven torque and the ratio of preceding bridge output torque, after progressively reduce
Rear bridge driven torque and the ratio of preceding bridge output torque.
9. the control system of vehicle according to claim 6, which is characterized in that the control module is additionally operable to when the vehicle
Understeer or it is excessive when, according to the difference between the actual yaw angle and the theoretical yaw angle and road surface attachment system
Number adjusts the front and rear shaft torque allocation proportion of the vehicle, to meet a steering demand.
10. a kind of vehicle, which is characterized in that the control system just like claim 6-9 any one of them vehicles is set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611076037.8A CN108116403A (en) | 2016-11-29 | 2016-11-29 | Control method, system and the vehicle of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611076037.8A CN108116403A (en) | 2016-11-29 | 2016-11-29 | Control method, system and the vehicle of vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108116403A true CN108116403A (en) | 2018-06-05 |
Family
ID=62225930
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611076037.8A Pending CN108116403A (en) | 2016-11-29 | 2016-11-29 | Control method, system and the vehicle of vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108116403A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267856A (en) * | 2020-01-10 | 2020-06-12 | 南京理工大学 | Vehicle automatic drift control method and system based on longitudinal force pre-distribution |
| CN112208515A (en) * | 2020-10-19 | 2021-01-12 | 一汽解放汽车有限公司 | Vehicle transverse control method, device, equipment and medium |
| CN113291314A (en) * | 2020-02-21 | 2021-08-24 | 湖北亿咖通科技有限公司 | Method and system for calculating vehicle course information |
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