CN108237950B - Vehicle control method and system and vehicle - Google Patents
Vehicle control method and system and vehicle Download PDFInfo
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- CN108237950B CN108237950B CN201611214928.5A CN201611214928A CN108237950B CN 108237950 B CN108237950 B CN 108237950B CN 201611214928 A CN201611214928 A CN 201611214928A CN 108237950 B CN108237950 B CN 108237950B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
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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
- B60W30/18—Propelling the vehicle
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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
- 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
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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
- 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
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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- Electric Propulsion And Braking For Vehicles (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Abstract
The invention discloses a vehicle control method, a vehicle control system and a vehicle, wherein the vehicle comprises a power battery, a front axle driving motor and a rear axle driving motor, and the control method comprises the following steps: determining a total required torque of the vehicle according to the driving demand; acquiring longitudinal acceleration information and steering information of a vehicle; obtaining the front axle load and the rear axle load of the vehicle according to the longitudinal acceleration information and the steering information of the vehicle; and distributing torque to the front axle drive motor and the rear axle drive motor according to the front axle load, the rear axle load and the total required torque of the vehicle. The invention comprehensively considers the longitudinal acceleration information and the steering information of the vehicle, reasonably distributes the torque to the front axle driving motor and the rear axle driving motor of the vehicle according to the obtained total required torque, and ensures the stability, the safety and the dynamic property of the vehicle.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a vehicle control method and system and a vehicle.
Background
Today, the electric four-wheel drive technology is a research hotspot of a plurality of vehicle enterprises and host factories due to the rapid development of new energy vehicles. The flexibility of the power system of the electric four-wheel drive system determines the diversity and the dependence on the performance of controller software. In a traditional automobile, the power of a front shaft and a rear shaft is coordinated and distributed through parts such as a transfer case, a differential mechanism, a transmission shaft and the like, so that the four wheels are independently driven. The electric four-wheel drive mainly controls the torque distribution between the front shaft and the rear shaft through the vehicle control unit, does not need a transmission part, and has the advantages of simple structure, high space utilization rate and high power transmission efficiency.
However, in the existing electric four-wheel drive technology, for example, a pure electric vehicle driven by a dual-shaft motor is used, torque distribution is mostly performed according to the driving force ratio of a front shaft and a rear shaft, and differentiation under special working conditions is less considered.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art described above.
To this end, it is an object of the invention to propose a control method of a vehicle. The control method of the vehicle guarantees the stability, safety and dynamic property of the vehicle.
Another object of the present invention is to propose a control system of a vehicle.
It is a further object of the invention to propose a vehicle.
In order to achieve the above object, an aspect of the present invention discloses a control method of a vehicle including a power battery, a front axle driving motor, and a rear axle driving motor, the control method including: determining a total required torque of the vehicle according to the driving demand; acquiring longitudinal acceleration information and steering information of a vehicle; obtaining the front axle load and the rear axle load of the vehicle according to the longitudinal acceleration information and the steering information of the vehicle; and distributing torque to the front axle drive motor and the rear axle drive motor according to the front axle load, the rear axle load and the total required torque of the vehicle.
According to the control method of the vehicle, the longitudinal acceleration information and the steering information of the vehicle are comprehensively considered, the acquired total required torque is reasonably distributed to the front axle driving motor and the rear axle driving motor of the vehicle, and the stability, the safety and the dynamic property of the vehicle are guaranteed.
In addition, the control method of the vehicle according to the above embodiment of the invention may also have the following additional technical features:
further, the step of obtaining the front axle load and the rear axle load of the vehicle according to the longitudinal acceleration information and the steering information of the vehicle includes: when the vehicle runs straight, obtaining the front axle load and the rear axle load of the vehicle according to the vehicle specification parameters and the longitudinal acceleration information; obtaining a first front axle driving force and a first rear axle driving force according to the road surface friction coefficient, the front axle load and the rear axle load; and obtaining a first distribution torque of the front axle driving motor and a second distribution torque of the rear axle driving motor according to the first front axle driving force, the first rear axle driving force and the total required torque.
Further, still include: when the vehicle is turned to run, obtaining the front axle side-direction tilting force and the rear axle side-direction tilting force according to the vehicle specification parameters and the steering information; obtaining a second front axle driving force and a second rear axle driving force according to the front axle lateral tilting force, the rear axle lateral tilting force, the road surface friction coefficient and the vertical component force of the four wheels, and obtaining a third distribution torque of the front axle driving motor and a fourth distribution torque of the rear axle driving motor according to the second front axle driving force and the second rear axle driving force; determining final front axle drive motor distribution torque and rear axle drive motor distribution torque based on the first distribution torque, the second distribution torque, the third distribution torque, and the fourth distribution torque.
Further, after distributing the torque to the front axle driving motor and the rear axle driving motor, the method further comprises the following steps: the torque distributed to the front axle driving motor and the rear axle driving motor is limited according to the characteristics of the power battery, the characteristics of the front axle driving motor and the characteristics of the rear axle driving motor.
Further, after distributing the torque to the front axle driving motor and the rear axle driving motor, the method further comprises the following steps: and intervening an electronic stabilizing system and a braking energy recovery system according to the slip rate of the wheel so as to adjust the torque distributed to the front axle driving motor and the rear axle driving motor.
Another aspect of the present invention discloses a control system of a vehicle including a power battery, a front axle driving motor, and a rear axle driving motor, the control system including: a total demand torque determination module for determining a total demand torque of the vehicle according to the driving demand; the acquisition module is used for acquiring longitudinal acceleration information and steering information of the vehicle; the torque distribution module is used for obtaining the front axle load and the rear axle load of the vehicle according to the longitudinal acceleration information and the steering information of the vehicle; and distributing torque to the front axle drive motor and the rear axle drive motor according to the front axle load, the rear axle load and the total required torque of the vehicle.
According to the control system of the vehicle, the longitudinal acceleration information and the steering information of the vehicle are comprehensively considered, the acquired total required torque is reasonably distributed to the front axle driving motor and the rear axle driving motor of the vehicle, and the stability, the safety and the dynamic property of the vehicle are guaranteed.
In addition, the control system of the vehicle according to the above embodiment of the invention may further have the following additional technical features:
further, the split torque module includes: when the vehicle runs straight, obtaining the front axle load and the rear axle load of the vehicle according to the vehicle specification parameters and the longitudinal acceleration information; obtaining a first front axle driving force and a first rear axle driving force according to the road surface friction coefficient, the front axle load and the rear axle load; and obtaining a first distribution torque of the front axle driving motor and a second distribution torque of the rear axle driving motor according to the first front axle driving force, the first rear axle driving force and the total required torque.
Further, the split torque module further comprises: when the vehicle is turned to run, obtaining the front axle side-direction tilting force and the rear axle side-direction tilting force according to the vehicle specification parameters and the steering information; obtaining a second front axle driving force and a second rear axle driving force according to the front axle lateral tilting force, the rear axle lateral tilting force, the road surface friction coefficient and the vertical component force of the four wheels, and obtaining a third distribution torque of the front axle driving motor and a fourth distribution torque of the rear axle driving motor according to the second front axle driving force and the second rear axle driving force; determining final front axle drive motor distribution torque and rear axle drive motor distribution torque based on the first distribution torque, the second distribution torque, the third distribution torque, and the fourth distribution torque.
Further, still include: and the torque limiting module is used for limiting the torque distributed to the front axle driving motor and the rear axle driving motor according to the characteristics of the power battery, the characteristics of the front axle driving motor and the characteristics of the rear axle driving motor. And the torque adjusting module is used for intervening in an electronic stabilizing system and a braking energy recovery system according to the slip rate of the wheels so as to adjust the torque distributed to the front axle driving motor and the rear axle driving motor.
A third aspect of the invention discloses a vehicle comprising a control system of the vehicle according to any of the embodiments described above. The vehicle comprehensively considers the longitudinal acceleration information and the steering information of the vehicle, reasonably distributes the torque to the front axle driving motor and the rear axle driving motor of the vehicle according to the obtained total required torque, and ensures the stability, the safety and the dynamic property of the vehicle.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a control method of a vehicle according to one embodiment of the invention;
FIG. 2 is a schematic structural diagram of a two motor driven electric vehicle provided in accordance with the present invention;
FIG. 3 is a schematic diagram of a driving torque distribution algorithm under a flat road acceleration condition provided in accordance with the present invention;
FIG. 4 is a schematic diagram of a driving torque distribution algorithm under a straight road steering condition provided in accordance with the present invention;
FIG. 5 is a torque adjustment function block diagram of the electronic stability system;
FIG. 6 is a functional block diagram of a control method of a vehicle according to one embodiment of the invention; and
fig. 7 is a block diagram of a control system of a vehicle according to one embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A control method and system for a vehicle and the vehicle according to an embodiment of the invention are described below with reference to the accompanying drawings.
Before describing a control method of a vehicle according to an embodiment of the present invention, the vehicle includes a power battery, a front axle driving motor and a rear axle driving motor, and taking an electric vehicle as an example, the method mainly includes key components such as a front/rear axle driving motor, a front/rear axle motor controller, a front/rear axle reducer, a power battery, a battery management system, a vehicle control unit, and an electronic stability system ESC, as shown in fig. 2. The whole vehicle control unit comprehensively manages the whole vehicle state and the communication interface of a driver.
The whole vehicle control unit is used as a key part to comprehensively manage the whole electric appliance driving system of the vehicle, and the main functions of the whole vehicle control unit comprise: analyzing and processing the input of a driver, and monitoring the working state of the vehicle in real time; the charging and discharging and charging and discharging management are carried out, so that the driving safety is ensured; accessory management, which controls air conditioners, cooling systems, vacuum pumps, current converters, and the like; communicating with a battery management system and a motor controller to coordinate working states; and torque management, which manages and reasonably distributes the driving torque of the front and rear shaft motors.
Fig. 1 is a flowchart of a control method of a vehicle according to one embodiment of the invention.
As shown in fig. 1, a control method of a vehicle according to one embodiment of the present invention includes:
s110: the total required torque of the vehicle is determined according to the driving demand.
Firstly, analyzing and judging the driver demand, namely estimating the driver demand capacity by acquiring an accelerator pedal signal, a motor rotating speed and a vehicle speed signal and comprehensively considering a driving mode (automatic, economic, comfortable and sports), a driving mode (forced two-drive, preferential two-drive and four-drive) and a working mode (normal driving, acceleration, sliding and braking) of the vehicle, namely obtaining the total demand torque.
S120: longitudinal acceleration information and steering information of the vehicle are acquired.
In order to reasonably distribute the total required torque, the conditions of acceleration, steering and the like of a straight road surface, namely longitudinal acceleration information and steering information of the vehicle, need to be considered.
S130: and obtaining the front axle load and the rear axle load of the vehicle according to the longitudinal acceleration information and the steering information of the vehicle.
S140: distributing torque for the front axle drive motor and the rear axle drive motor according to the front axle load, the rear axle load and the total required torque of the vehicle.
Specifically, the method comprises the following steps: when the vehicle runs in a straight line, the front axle load and the rear axle load of the vehicle are obtained according to the vehicle specification parameters and the longitudinal acceleration information, the first front axle driving force and the first rear axle driving force are obtained according to the road surface friction coefficient, the front axle load and the rear axle load, and the first distribution torque of the front axle driving motor and the second distribution torque of the rear axle driving motor are obtained according to the first front axle driving force, the first rear axle driving force and the total required torque. Examples are: the vehicle is driven on a flat road (including acceleration, deceleration or uniform speed), and the front axle load is represented as F in fig. 3zfrontRear axle load is denoted as FzrearFront axle driving force is denoted as FxfrontThe rear axle driving force is denoted as FxrearAcquiring an opening degree and a wheel speed signal of an accelerator pedal from an automobile bus, obtaining a required total Torque Torque _ R in a table look-up (experimental data curve of motor rotating speed and Torque), and calculating front and rear axle torques according to vehicle dynamics to respectively represent as Torque _ Rfront and Torque _ Rrear; (in the calculation, a is addedxFactor (2)
Fxfront＝μ*FzfrontFxrear＝μ*Fzrear
Hcar、LcarRespectively the vehicle mass center height (m) and the wheel base (m);
Lfront、Lrearrespectively the distance (m) from the center of mass of the vehicle to the front and rear axes;
mcarvehicle mass (kg);
mu is the road surface friction coefficient.
Wherein the vehicle specification parameter is Hcar、Lcar、Lfront、LrearAnd mcar。
When the vehicle is in steering driving, the front axle lateral tilting force and the rear axle lateral tilting force are obtained according to vehicle specification parameters and steering information, the second front axle driving force and the second rear axle driving force are obtained according to the front axle lateral tilting force, the rear axle lateral tilting force, the road surface friction coefficient and the vertical component force of four wheels, the third distribution torque of the front axle driving motor and the fourth distribution torque of the rear axle driving motor are obtained according to the second front axle driving force and the second rear axle driving force, and the final front axle driving motor distribution torque and the rear axle driving motor distribution torque are determined according to the first distribution torque, the second distribution torque, the third distribution torque and the fourth distribution torque. Examples are: when the vehicle is traveling on a flat road (accelerating, decelerating or at a constant speed) with steering, the front and rear axle torque distribution needs to take into account not only the front and rear axle loads but also the lateral forces required for turning, as shown in fig. 4. Obtaining the lateral acceleration a of the vehicle from the bus of the vehicle according to the vehicle modelySteering wheel angle delta and yaw rate gamma, and the requirements for the lateral force of the front and rear shafts are respectively expressed as Fy_front、Fy_rearThe loads of the inner and outer wheels of the front and rear axles are changed during acceleration and turning, and the vertical forces of the four wheels are respectively Fz_fl、Fz_fr、Fz_rl、Fz_rrThe front and rear shaft driving force F is obtained by the friction circle theoremxfront */Fxrear *Further, the magnitudes of the driving forces Torque _ xfront and Torque _ xrear of the front and rear shafts are obtained, and the magnitudes are compared with Torque _ Rfront and Torque _ Rrear to obtain the optimum values as final torques. (adding lateral acceleration a)yInfluence factors of steering wheel angle delta and yaw rate gamma
Torque_xfront＝Fxfront *·rf·i Torque_xrear＝Fxrear *·rr·i
Wherein a isyIs the lateral acceleration (m/s) of the vehicle2)；
IzYaw moment of inertia (kgm) for z-axis2)；
Gamma is the yaw angular velocity (deg/s) measured by the triaxial acceleration sensor;
delta is the steering wheel angle (deg);
rf、rrradius (mm) of front and rear wheels;
and i is the reduction ratio of the front and rear shaft reducers.
Wherein the vehicle specification parameters include Iz、γ、mcar、ay、Lrear、LfrontAnd δ.
In some embodiments, after the front axle driving motor and the rear axle driving motor distribute the torque, the method further comprises:
the torque distributed to the front axle drive motor and the rear axle drive motor is limited according to the characteristics of the power battery, the characteristics of the front axle drive motor, and the characteristics of the rear axle drive motor.
Specifically, the maximum driving and generating capacity of the motor, i.e., the maximum torque, is estimated by sufficiently considering the influence of the characteristics of the front/rear driving motor and the power battery. As shown in fig. 6, in which the drive motor characteristics include rated voltage, efficiency map, peak torque, continuous torque, and external characteristic curve; the characteristics of the power battery include a capacity, a rated voltage, a charge/discharge condition, a current state of charge (SOC), and a temperature value.
Referring to fig. 6 again, after distributing the torque to the front axle driving motor and the rear axle driving motor, the method further includes: the electronic stabilizing system and the braking energy recovery system are intervened according to the slip rate of the wheels to adjust the torque distributed to the front axle driving motor and the rear axle driving motor.
Specifically, the vehicle control unit monitors and judges the vehicle running state in real time, and once an unstable condition occurs, namely the tire slip rate exceeds a steady state value (a common steady value is 0.2), the electronic stability system can intervene in work. When a certain wheel is driven to slip, a subfunction Traction Control System (TCS) of the electronic stability system is activated to independently control the front and rear axles, communicate with a vehicle control unit and reduce the torque of the relevant axles so as to adjust the running stability.
When a driver releases an accelerator pedal, a vehicle is in a sliding stage and a braking stage, once the situation that wheels are unstable is found, an electronic stability system intervenes to work and control the slip rate of the vehicle, and a sub-function drag torque control (hereinafter, DTC) and a braking energy recovery system (hereinafter, RBS) are used for cooperatively adjusting the magnitude of recovered torque, so that the torque distribution of front and rear axle motors is influenced.
For example, during the coasting phase, neither the brake pedal nor the accelerator pedal is depressed, the motor driving torque is negative, when one of the front and rear wheels is in an unstable state, i.e., the slip ratio deviates from the target value, the DTC is controlled by the target-to-current deviation, communicates with the vehicle control unit, and adjusts the torque of the corresponding axle, as shown in fig. 5.
And in the braking stage, a brake pedal is stepped, the RBS function is activated, and on the premise of vehicle stability, the recovery torque of the front axle and the rear axle is distributed according to the load of the front axle and the rear axle, and is communicated with a vehicle control unit to influence the final torque values of the front axle and the rear axle.
According to the control method of the vehicle, the longitudinal acceleration information and the steering information of the vehicle are comprehensively considered, the acquired total required torque is reasonably distributed to the front axle driving motor and the rear axle driving motor of the vehicle, and the stability, the safety and the dynamic property of the vehicle are guaranteed.
Fig. 7 is a block diagram of a control system of a vehicle according to one embodiment of the invention.
As shown in fig. 7, a control system 700 of a vehicle including a power battery, a front axle driving motor, and a rear axle driving motor, the control system 700 includes: the total requested torque module 710, the acquisition module 720, and the split torque module 730.
Wherein the determine total requested torque module 710 determines a total requested torque for the vehicle based on the driving demand. The obtaining module 720 is configured to obtain longitudinal acceleration information and steering information of the vehicle. The torque distribution module 730 is configured to obtain a front axle load and a rear axle load of the vehicle according to the longitudinal acceleration information and the steering information of the vehicle, and distribute a torque to the front axle driving motor and the rear axle driving motor according to the front axle load, the rear axle load of the vehicle, and the total required torque.
According to the control system of the vehicle, the longitudinal acceleration information and the steering information of the vehicle are comprehensively considered, the acquired total required torque is reasonably distributed to the front axle driving motor and the rear axle driving motor of the vehicle, and the stability, the safety and the dynamic property of the vehicle are guaranteed.
Further, the split torque module 730 includes: when the vehicle runs in a straight line, obtaining the front axle load and the rear axle load of the vehicle according to the vehicle specification parameters and the longitudinal acceleration information; obtaining a first front axle driving force and a first rear axle driving force according to the road surface friction coefficient, the front axle load and the rear axle load; a first distributed torque of the front axle drive motor and a second distributed torque of the rear axle drive motor are obtained according to the first front axle drive force, the first rear axle drive force and the total required torque.
Further, the split torque module 730 further includes: when the vehicle is driven in a steering mode, the front axle side tilting force and the rear axle side tilting force are obtained according to the vehicle specification parameters and the steering information; obtaining a second front shaft driving force and a second rear shaft driving force according to the front shaft lateral tilting force, the rear shaft lateral tilting force, the road surface friction coefficient and the vertical component force of the four wheels, and obtaining a third distribution torque of the front shaft driving motor and a fourth distribution torque of the rear shaft driving motor according to the second front shaft driving force and the second rear shaft driving force; and determining final front axle driving motor distribution torque and rear axle driving motor distribution torque according to the first distribution torque, the second distribution torque, the third distribution torque and the fourth distribution torque.
The control system 700 of the vehicle further includes: and a torque limiting module 740 for limiting the torque distributed to the front axle driving motor and the rear axle driving motor according to the characteristics of the power battery, the characteristics of the front axle driving motor and the characteristics of the rear axle driving motor. Further, the torque adjusting module 750 is configured to intervene in the electronic stability system and the braking energy recovery system according to the slip ratio of the wheel, so as to adjust the torque distributed to the front axle driving motor and the rear axle driving motor.
It should be noted that the specific implementation manner of the vehicle control system according to the embodiment of the present invention is similar to the specific implementation manner of the vehicle control method according to the embodiment of the present invention, and please refer to the description of the method part specifically, and details are not repeated here in order to reduce redundancy.
Further, an embodiment of the invention discloses a vehicle provided with the control system of the vehicle described in any one of the above embodiments. The vehicle comprehensively considers the longitudinal acceleration information and the steering information of the vehicle, reasonably distributes the torque to the front axle driving motor and the rear axle driving motor of the vehicle according to the obtained total required torque, and ensures the stability, the safety and the dynamic property of the vehicle.
In addition, other configurations and functions of the vehicle according to the embodiment of the present invention are known to those skilled in the art, and are not described in detail in order to reduce redundancy.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are illustrative and not restrictive, and that various changes, modifications, substitutions and alterations can be made herein by those skilled in the art without departing from the scope of the invention.
Claims (6)
1. A control method of a vehicle including a power battery, a front axle driving motor, and a rear axle driving motor, the control method comprising:
determining a total required torque of the vehicle according to the driving demand;
acquiring longitudinal acceleration information of a vehicle;
when the vehicle runs straight, obtaining the front axle load and the rear axle load of the vehicle according to the vehicle specification parameters and the longitudinal acceleration information;
obtaining a first front axle driving force and a first rear axle driving force according to the road surface friction coefficient, the front axle load and the rear axle load;
obtaining a first distributed torque of the front axle driving motor and a second distributed torque of the rear axle driving motor according to the first front axle driving force, the first rear axle driving force and the total required torque;
when the vehicle is in steering driving, acquiring steering information of the vehicle, and acquiring a front axle lateral tilting force and a rear axle lateral tilting force according to the vehicle specification parameters and the steering information;
obtaining a second front axle driving force and a second rear axle driving force according to the front axle lateral tilting force, the rear axle lateral tilting force, the road surface friction coefficient and the vertical component force of the four wheels, and obtaining a third distribution torque of the front axle driving motor and a fourth distribution torque of the rear axle driving motor according to the second front axle driving force and the second rear axle driving force;
determining final front axle drive motor distribution torque and rear axle drive motor distribution torque based on the first distribution torque, the second distribution torque, the third distribution torque, and the fourth distribution torque.
2. The control method of a vehicle according to claim 1, further comprising, after distributing the torques to the front axle drive motor and the rear axle drive motor:
the torque distributed to the front axle driving motor and the rear axle driving motor is limited according to the characteristics of the power battery, the characteristics of the front axle driving motor and the characteristics of the rear axle driving motor.
3. The control method of a vehicle according to claim 1, further comprising, after distributing the torques to the front axle drive motor and the rear axle drive motor:
and intervening an electronic stabilizing system and a braking energy recovery system according to the slip rate of the wheel so as to adjust the torque distributed to the front axle driving motor and the rear axle driving motor.
4. A control system of a vehicle, characterized in that the vehicle includes a power battery, a front axle driving motor, and a rear axle driving motor, the control system comprising:
a total demand torque determination module for determining a total demand torque of the vehicle according to the driving demand;
the acquisition module is used for acquiring longitudinal acceleration information and steering information of the vehicle;
the distribution torque module is used for obtaining the front axle load and the rear axle load of the vehicle according to the vehicle specification parameters and the longitudinal acceleration information when the vehicle runs in a straight line; obtaining a first front axle driving force and a first rear axle driving force according to the road surface friction coefficient, the front axle load and the rear axle load; obtaining a first distributed torque of the front axle driving motor and a second distributed torque of the rear axle driving motor according to the first front axle driving force, the first rear axle driving force and the total required torque; and the number of the first and second groups,
when the vehicle is turned to run, obtaining the front axle side-direction tilting force and the rear axle side-direction tilting force according to the vehicle specification parameters and the steering information; obtaining a second front axle driving force and a second rear axle driving force according to the front axle lateral tilting force, the rear axle lateral tilting force, the road surface friction coefficient and the vertical component force of the four wheels, and obtaining a third distribution torque of the front axle driving motor and a fourth distribution torque of the rear axle driving motor according to the second front axle driving force and the second rear axle driving force; determining final front axle drive motor distribution torque and rear axle drive motor distribution torque based on the first distribution torque, the second distribution torque, the third distribution torque, and the fourth distribution torque.
5. The control system of a vehicle according to claim 4, characterized by further comprising:
the torque limiting module is used for limiting the torque distributed to the front axle driving motor and the rear axle driving motor according to the characteristics of the power battery, the characteristics of the front axle driving motor and the characteristics of the rear axle driving motor;
and the torque adjusting module is used for intervening in an electronic stabilizing system and a braking energy recovery system according to the slip rate of the wheels so as to adjust the torque distributed to the front axle driving motor and the rear axle driving motor.
6. A vehicle, characterized by comprising: a control system of a vehicle according to any one of claims 4 to 5.
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| CN201611214928.5A CN108237950B (en) | 2016-12-26 | 2016-12-26 | Vehicle control method and system and vehicle |
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| CN109017747B (en) * | 2018-08-09 | 2021-04-06 | 重庆长安汽车股份有限公司 | Front and rear axle torque distribution method and system of new energy four-wheel drive vehicle and related components |
| CN109130888B (en) * | 2018-10-17 | 2021-12-07 | 上海爱驱汽车技术有限公司 | Control method of double-motor distributed four-wheel drive system |
| CN109591617A (en) * | 2018-11-14 | 2019-04-09 | 同济大学 | A kind of antero posterior axis Dual-motors Driving vehicle road antiskid control system and method |
| CN111196166A (en) * | 2018-11-19 | 2020-05-26 | 宝沃汽车（中国）有限公司 | Electric automobile and working condition identification method and device thereof |
| CN109878348B (en) * | 2019-02-14 | 2021-12-31 | 同济大学 | Motion control system and method for front-rear-shaft distributed driving electric vehicle |
| CN111993901B (en) * | 2019-05-27 | 2022-04-08 | 宇通客车股份有限公司 | Power distribution method of double electric systems and vehicle |
| CN112572161B (en) * | 2019-09-29 | 2022-04-15 | 比亚迪股份有限公司 | Vehicle driving control method and device and vehicle |
| CN112660101B (en) * | 2019-10-16 | 2022-04-12 | 长城汽车股份有限公司 | Method and device for distributing motor torque of hybrid vehicle |
| CN111016683A (en) * | 2019-12-31 | 2020-04-17 | 北京新能源汽车股份有限公司 | Vehicle and torque distribution method and device thereof |
| CN111516672B (en) * | 2020-04-26 | 2023-05-02 | 清华大学苏州汽车研究院（吴江） | Four-wheel drive vehicle fault processing method, device, equipment and storage medium |
| TWI739488B (en) * | 2020-06-22 | 2021-09-11 | 台灣制動股份有限公司 | Control method of electric locomotive tracking control system (TCS) |
| CN112092647B (en) * | 2020-08-24 | 2021-11-05 | 奇瑞新能源汽车股份有限公司 | Vehicle control method and device, storage medium, control system and vehicle |
| CN112660109B (en) * | 2020-12-25 | 2022-08-30 | 浙江吉利控股集团有限公司 | Four-wheel drive torque limiting method and device |
| CN113085582B (en) * | 2021-04-23 | 2023-03-03 | 联合汽车电子有限公司 | Real-time control method, storage medium, controller and system for dual-drive motor of new energy automobile |
| CN113085575B (en) * | 2021-04-26 | 2022-12-13 | 浙江吉利控股集团有限公司 | Four-wheel drive torque limiting method and device based on vertical load estimation |
| CN113085577B (en) * | 2021-04-26 | 2023-05-26 | 浙江极氪智能科技有限公司 | Four-wheel drive torque distribution method and device based on vertical load distribution |
| CN115257919A (en) * | 2021-04-29 | 2022-11-01 | 广汽埃安新能源汽车有限公司 | Pure electric four-wheel drive vehicle type steering optimization control method |
| CN113829884B (en) * | 2021-09-16 | 2024-02-06 | 清华大学苏州汽车研究院（吴江） | Rear axle anti-slip control method and device for double-electric drive bridge engineering vehicle |
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| JP5447346B2 (en) * | 2010-11-15 | 2014-03-19 | 三菱自動車工業株式会社 | Control device for hybrid electric vehicle |
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| CN103448716B (en) * | 2013-09-12 | 2015-10-07 | 清华大学 | Distributed electro-motive vehicle indulges-horizontal stroke-vertical force cooperative control method |
| CN104279311B (en) * | 2014-01-30 | 2015-11-25 | 比亚迪股份有限公司 | The controlling method of synchronizer and vehicle in vehicle |
| CN104724113B (en) * | 2015-03-17 | 2017-07-14 | 北京理工大学 | A kind of Handling stability control system for multiaxis distributed dynamoelectric driving vehicle |
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