CN101633316B - Right-left driving force control system - Google Patents
Right-left driving force control system Download PDFInfo
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- CN101633316B CN101633316B CN2009101511713A CN200910151171A CN101633316B CN 101633316 B CN101633316 B CN 101633316B CN 2009101511713 A CN2009101511713 A CN 2009101511713A CN 200910151171 A CN200910151171 A CN 200910151171A CN 101633316 B CN101633316 B CN 101633316B
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Abstract
A right-left driving force control system includes: a selecting unit which: selects an adjusting unit adjusting distribution of a driving force between right and left wheels, when a shifting direction in which the driving force is shifted between the wheels and which is related to a control amount is the same as a first direction towards one of the wheels which has a larger speed; selects a limiting unit adjusting a differential action limiting force, when the shifting direction is the same as a second direction towards one of the wheels which has a smaller speed, and a difference between the wheel speeds is equal to or larger than a threshold value; and maintains the adjusting unit or the limiting unit, which has been selected, when the shifting direction is the same as the second direction, and the difference between the wheel speeds is less than the threshold value; and a control unit which controls the adjusting unit or the limiting unit, which is selected or maintained by the selecting unit, based on the control amount.
Description
Technical field
The present invention relates to a kind of right-left driving force control system, more specifically, relate to a kind of right-left driving force control technology that is used to keep the stable vehicle behavior.
Background technology
Developed a kind of propulsive effort distribution system, wherein, when Ackermann steer angle through coming the yaw moment of control action on vehicle, to improve the turning performance of vehicle in the difference that produces propulsive effort between the left and right wheels.
Yet in the propulsive effort distribution system of such correlation technique, though can between left and right wheels, produce propulsive effort difference, propulsive effort difference can not be limited, and causes that skidding of left and right wheels can not repressed problem to overtake the time when vehicle is straight.
Consider the problems referred to above, developed the correlation technique of another kind of right-left driving force distribution system.This right-left driving force distribution system comprises right-left driving force regulon and differential action limiting unit (with reference to JP-A-2008-298191).
In the correlation technique of the right-left driving force distribution system of in like JP-A-2008-298191, describing; The differential action limiting unit is set in the right-left driving force regulon; In order to use right-left driving force regulon and differential action limiting unit independently, it is necessary that control becomes.
Control method as imagination; Can consider a kind of method; Wherein the motoring condition by vehicle calculates the propulsive effort regulated quantity of right-left driving force regulon and the differential action limit amount of differential action limiting unit respectively, so that control right-left driving force regulon and differential action limiting unit independently.
Yet, in the method for describing, exist right-left driving force regulon and differential action limiting unit in the above by chance by the worry of using simultaneously.If right-left driving force regulon and differential action limiting unit are used simultaneously, can cause owing to the torque of interlocking and disturb, cause the operating efficiency of propulsive effort distribution system and the problem that controllability reduces.
Though can consider that a kind of regulon of right-left driving force therein and differential action limiting unit are optionally switched so that have only any one in them can be prevented that these two unit from turning round so simultaneously by the method for place in operation; But there is such worry; When right-left driving force regulon and differential action limiting unit are so switched, owing to right-left driving force regulated quantity and varying in size of differential action limit amount and the acute variation of propulsive effort difference takes place and the behavior of vehicle becomes discontinuous.In addition; Straight to overtake the time at vehicle; Wheel speed difference between the left and right wheels reverses from left to right continually or reverses from right to left; And when this takes place, between right-left driving force regulon and differential action limiting unit, produce so-called swing (hunting), discontinuous worry thereby the behavior that has caused vehicle becomes.
Summary of the invention
The purpose of this invention is to provide and a kind ofly can manage to use independently right-left driving force regulon and differential action limiting unit according to the motoring condition of vehicle as required, keep the stable right-left driving force control system of vehicle behavior simultaneously.
In order to achieve the above object,, provide a kind of right-left driving force control system, comprising according to the present invention:
Regulon, the distribution of the propulsive effort between the left and right wheels of adjusting vehicle;
Limiting unit is regulated the differential action limiting force be applied between the left and right wheels with the differential action between the restriction left and right wheels;
Detecting unit, the wheel that detects left and right wheels is fast;
Calculating unit comes the calculation control amount according to the motoring condition of vehicle;
Selected cell:
When propulsive effort wherein between left and right wheels, move and with the related moving direction of controlling quantity with in left and right wheels, have in the left and right wheels speed first direction than a wheel of bull wheel speed when identical, the selection regulon;
When moving direction is identical with the second direction than a wheel of steamboat speed in left and right wheels, having left and right wheels speed, and the difference between the left and right wheels speed is when being equal to or greater than first threshold, the selectional restriction unit; And
When moving direction is identical with second direction, and the difference between the left and right wheels speed is kept selecteed regulon or limiting unit during less than said first threshold; And
Control unit, control is selected regulon or the limiting unit that the unit is selected or kept according to controlling quantity.
When the state identical with second direction reverses from left to right or reverses from right to left by moving direction at moving direction; Reverse from left to right or reverse from right to left by the difference indicated direction between the left and right wheels speed; And left and right wheels speed is less than first threshold the time, and said selected cell can the selectional restriction unit.
Selected cell can be set at first threshold can be by the boundary value of regulon control.
When moving direction is identical with said second direction, and controlling quantity is when being equal to or greater than second threshold value, and selected cell can the selectional restriction unit; And when moving direction identical with said second direction, and controlling quantity is during less than second threshold value, selected cell can be kept selecteed regulon or limiting unit.
When the state identical with second direction reverses from left to right or reverses from right to left by moving direction at moving direction; Reverse from left to right or reverse from right to left by the difference indicated direction between the left and right wheels speed; And controlling quantity is during less than second threshold value, and selected cell can the selectional restriction unit.
Selected cell can be can be by the boundary value of regulon control with second threshold setting.
Description of drawings
Fig. 1 is the scheme drawing that shows according to the configuration of right-left driving force control system of the present invention.
Fig. 2 is the part enlarged drawing of propulsive effort allocation units.
Fig. 3 is the block diagram that shows the I/O relation of ECU.
Fig. 4 is the control chart that control is selected based on the fast difference enforcement of propulsive effort moving direction and wheel propulsive effort according to first embodiment.
Fig. 5 is the diagram of circuit that shows according to the right-left driving force control flow of in right-left driving force control system according to the present invention, carrying out of first embodiment.
Fig. 6 implements the Deformation Control figure as the control chart shown in Fig. 4 that propulsive effort control is selected according to propulsive effort moving direction and the fast difference of wheel.
Fig. 7 is the control chart that control is selected based on the fast difference enforcement of propulsive effort moving direction and wheel propulsive effort according to second embodiment.
Fig. 8 is the diagram of circuit that shows according to the right-left driving force control flow of in right-left driving force control system according to the present invention, carrying out of second embodiment.
The specific embodiment
Below, will the mode that be used for embodiment of the present invention be described based on accompanying drawing.
Specifically; Vehicle 1 comprises the front portion that the is installed in vehicle body engine 2 as drive source; Be connected to the driving device (transmission) 8 of a side of engine 2; Be connected to the between centers differentiator 10 that is used for the propulsive effort of engine 8 is dispensed to front-wheel 4 sides and trailing wheel 6 sides of driving device 8; Be used for and be dispensed to the front-wheel semiaxis 12L that is used for the near front wheel 4L and off front wheel 4R, the preceding differentiator 14 of 12R individually by the propulsive effort that between centers differentiator 10 is dispensed to front-wheel 4 sides; Be used for and will be transferred to the transmission shaft 16 of trailing wheel 6 sides by the propulsive effort that between centers differentiator 10 distributes, and be connected to transmission shaft 16 an end be used for according to the motoring condition of vehicle 1 propulsive effort individually is dispensed to the trailing wheel semiaxis 18L of left rear wheel 6L and off hind wheel 6R, the right-left driving force allocation units 20 of 18R.
Because engine 2, driving device 8, between centers differentiator 10 and preceding differentiator 14 are devices of the prior art, therefore will describe right-left driving force allocation units 20 in detail below.
As shown in Figure 2; Right-left driving force allocation units 20 comprise an end that forms transmission shaft 16 input part 24, be connected to input part 24 and be installed in left rear wheel semiaxis 18L and off hind wheel semiaxis 18R on modified roll mechanism portion 26, be installed in the right-left driving force regulating mechanism portion 28 on the off hind wheel semiaxis 18R and be installed in the differential action limiting mechanism portion 30 on the left rear wheel semiaxis 18L, these constituent components are accommodated in housing 22 inside.
In addition; Right-left driving force allocation units 20 act as; In the difference according to speed between left and right sides trailing wheel 6L, the 6R or distance permission rotation in modified roll mechanism portion 26; To be transferred to left and right sides semiaxis 18L, 18R by the propulsive effort of transmission shaft 16 inputs, and distribute the propulsive effort between left and right sides trailing wheel 6L, the 6R through using 28 propulsive efforts of one that will be transferred among left and right sides trailing wheel 6L, the 6R of right-left driving force regulating mechanism portion to move to another wheel.Right-left driving force regulating mechanism portion 28 comprises and is used for left and right sides trailing wheel 6L, 6R one speed is increased and is decreased to wheel speed increases/reducing mechanism 32 than another wheel faster speed and slower speed, is used for through engagement propulsive effort being moved to the right clutch 34 of off hind wheel 6R and being used for the left clutch 36 that propulsive effort moved to left rear wheel 6L from off hind wheel 6R through meshing from left rear wheel 6L.
In addition, the so-called differential action restriction power-transfer clutch of being made up of multi-disc friction clutch 38 is set in the differential action limiting mechanism portion 30 of right-left driving force allocation units 20.Like this, differential action limiting mechanism portion 30 act as, and limits differential between left and right sides trailing wheel 6L, the 6R through engagement differential action restriction power-transfer clutch 38.That is, when producing the fast difference of wheel between left and right sides trailing wheel 6L, the 6R,, make propulsive effort move to the wheel that has than steamboat speed from the wheel that has than bull wheel speed if differential action restriction power-transfer clutch 38 is meshed.
The differential action restriction power-transfer clutch 38 of differential action limiting mechanism portion 30 and the right clutch 34 of right-left driving force regulating mechanism portion 28 are used to from the hydraulic actuation that is installed in the hydraulic pressure unit 40 in the vehicle 1 with left clutch 36.
In addition, be used to detect each wheel 4L, 4R, 6L and the 6R that each wheel speed sensors 42L, 42R, 44L and 44R that takes turns speed is set at vehicle 1.
In addition; Being arranged in the vehicle 1 is different sensor, comprise the yaw-rate that is used to detect vehicle 1 yaw rate sensor 46, be used to detect deflection angle steering angle sensor 48, be used to detect vehicle body speed vehicle body speed sensor 50 and be used to detect the throttle position switch 52 of throttle position.
These sensors are electrically connected to the ECU (Electronic Control Unit, electronic control unit) 60 that is installed on the vehicle 1.
This ECU 60 is according to controlling different unit by the detected sensor information of different sensors.
For instance, ECU 60 act as, the right-left driving force regulating mechanism portion 28 and differential action limiting mechanism portion 30 of control right-left driving force allocation units 20.
Specifically, as shown in Figure 3, be formed on ECU 60 in-to-ins and be the first controlling quantity calculating part 62, the second controlling quantity calculating part 64, the 3rd controlling quantity calculating part 66, combination control amount calculating part 68 and propulsive effort control selection portion 70.
The first controlling quantity calculating part 62 comprises the testing result that is used for by yaw rate sensor 46; Calculate the yaw-rate controlling quantity calculating part of yaw-rate controlling quantity according to the difference between target yaw rate and the actual yaw rate; Be used for the turn condition controlling quantity calculating part 74 that calculates the turn condition controlling quantity according to the deflection angle and the vehicle body speed of vehicle by the testing result of steering angle sensor 48 and vehicle body speed sensor 50; Be used for by back wheel speed sensors 44L; The testing result of 44R is calculated the Sliding Control amount calculating part 76 of Sliding Control amount according to the sliding rate (specific sliding) of wheel.
In addition, this first controlling quantity calculating part 62 has the function of calculating first controlling quantity, and each controlling quantity of calculating at yaw-rate controlling quantity calculating part 72, turn condition controlling quantity calculating part 74 and Sliding Control amount calculating part 76 places is added in first controlling quantity.This first controlling quantity is the controlling quantity that is used to control right-left driving force regulating mechanism portion 28, that is, and and the engagement controlling quantity of right clutch 34 or left clutch 36.So; Right-left driving force moving direction in the trailing wheel 6 is included in (being associated to) controlling quantity; For instance; Ingear propulsive effort through right clutch 34 to off hind wheel 6R mobile be shown as on the occasion of, and the ingear propulsive effort through left clutch 36 is to the mobile negative value that is shown as of left rear wheel 6L.
In addition, the second controlling quantity calculating part 64 comprises the tractive force controlling quantity calculating part 78 that is used for according to as the throttle position calculated tractive effort controlling quantity of the testing result of throttle position switch 52.This second controlling quantity calculating part 64 has the function of calculating second controlling quantity according to the tractive force controlling quantity that is so calculated, and this second controlling quantity is used to control differential action limiting mechanism portion 30.This second controlling quantity is the engagement controlling quantity of differential action restriction power-transfer clutch 38.
In addition, the 3rd controlling quantity calculating part 66 comprises the fast difference detection unit 80 of wheel, takes turns fast difference detection unit 80 and is used for judging left and right sides trailing wheel 6 from the left and right wheels speed difference that the testing result by back wheel speed sensors 44L, 44R obtains which has than bull wheel speed.Take turns wheel speed that fast difference detection unit 80 deducts left rear wheel 6L in the wheel speed as off hind wheel 6R and be on the occasion of the time output-1 output valve, and the output valve of output 1 when such result is negative value.That is, the wheel speed of off hind wheel 6R greater than left rear wheel 6L the time, output valve becomes-1, and the wheel speed of left rear wheel 6L greater than off hind wheel 6R the time, output valve becomes 1.
In addition, the 3rd controlling quantity calculating part 66 has through multiply by the function of calculating the 3rd controlling quantity from the output valve of the fast difference detection unit 80 of wheel in second controlling quantity that the second controlling quantity calculating part 64 calculates.That is, the 3rd controlling quantity is by being included in the controlling quantity that second controlling quantity of the repressed propulsive effort moving direction of differential action is wherein formed.Thereby, as the propulsive effort moving direction in the first controlling quantity calculating part 62, in the 3rd controlling quantity, propulsive effort to off hind wheel 6R mobile be shown as on the occasion of, propulsive effort is to the mobile negative value that is shown as of left rear wheel 6L.
In addition, combination control amount calculating part 68 has through first controlling quantity that will calculate at the first controlling quantity calculating part, 62 places and the 3rd controlling quantity of calculating at the 3rd controlling quantity calculating part 66 places and adds the function of calculation combination controlling quantity together.Notice that because first be the controlling quantity that independently comprises (related) propulsive effort moving direction with the 3rd controlling quantity, so consequent combination control amount also becomes the controlling quantity that comprises (association) propulsive effort moving direction.
In addition, propulsive effort control selection portion 70 have by comprise (association) the enforcement of the enforcement of selecting the right-left driving force regulating control through right-left driving force regulating mechanism portion 28 by the relation between propulsive effort moving direction in the combination control amount of calculating at combination control amount calculating part 68 places and the left and right wheels speed difference that obtains by the testing result of back wheel speed sensors 44L, 44R and the differential action restriction control through differential action limiting mechanism portion 30 the two one of function.
For instance; As shown in Figure 4; Propulsive effort control selection portion 70 according to be used for control chart that propulsive effort control selects select the right-left driving force regulating control with differential action restriction control the two one of; In control chart; Be considered to positive and be considered to axis of ordinate to the combination control amount T that the propulsive effort moving direction of left rear wheel 6L is considered to bear to the propulsive effort moving direction of off hind wheel 6R therein, the wheel speed of off hind wheel 6R is considered to wheel speed positive and left rear wheel 6L greater than the situation of the wheel speed of left rear wheel 6L and is considered to axis of abscissa greater than the left and right wheels speed difference V that the situation of the wheel speed of off hind wheel 6R is considered to bear therein.
(first embodiment)
In control chart as shown in Figure 4; If the propulsive effort moving direction in combination control amount T is with when the direction with wheel fast than bull wheel is identical; Promptly; When vehicle is in corresponding to first during with the motoring condition of third quadrant, propulsive effort control selection portion 70 is set to through right-left driving force regulating mechanism portion 28 selects the right-left driving force regulating controls.
Promptly; When vehicle is in corresponding to first during with the motoring condition of third quadrant; The right-left driving force regulating control is selected by propulsive effort control selection portion 70; So that propulsive effort moves to respect to the foreign steamer side of the turn direction of vehicle 1 so that makes propulsive effort on the direction that the turning of vehicle is promoted, act on, that is, and towards the oversteer side.In addition; When vehicle is in the motoring condition corresponding to first quartile; Make that the right clutch 34 of right-left driving force regulating mechanism portion 28 is meshed according to the combination control amount, and when wheel is in the motoring condition corresponding to third quadrant, make left clutch 36 mesh in the same way.
On the other hand; In control chart shown in Figure 4, if the propulsive effort moving direction among the combination control amount T is with when the direction with wheel fast than steamboat is identical, promptly; When vehicle is in corresponding to second quadrant and four-quadrant motoring condition; Then propulsive effort control selection portion 70 is set to the predetermined wheel speed difference Va of leap as the border ,-Va (below, this two species diversity all is called as predetermined wheel speed difference | Va|) implement Different control.
Specifically; If vehicle is in corresponding in second quadrant and the four-quadrant motoring condition and left and right wheels speed difference | V| is equal to or greater than predetermined wheel speed difference | during Va|; Promptly; If V＜-when Va or Va＜V, then propulsive effort control selection portion 70 is set to through differential action limiting mechanism portion 30 and selects differential actions restriction control.Promptly; If vehicle is in such motoring condition, then propulsive effort control selection portion 70 be chosen in wherein make propulsive effort move to respect to the differential action restriction control of the interior wheel side of the turn direction of vehicle 1 so that make propulsive effort therein vehicle the repressed direction of turning or on the direction of understeering side, act on.In addition, when this takes place, make that according to the combination control amount differential action restriction power-transfer clutch 38 of differential action limiting mechanism portion 30 is meshed.
In addition; If vehicle is in corresponding in second quadrant and the four-quadrant motoring condition and left and right wheels speed difference | V| is less than predetermined wheel speed difference | during Va|; If promptly the motoring condition of vehicle be in wherein define-the regional A of Va＜V＜Va, B in, then propulsive effort control selection portion 70 is set to and keeps the propulsive effort control that has been performed recently.
Yet if the motoring condition of vehicle changes between regional A and area B, propulsive effort control selection portion 70 is set to selects differential action restriction control.Promptly; If the propulsive effort moving direction between second quadrant and four-quadrant among the combination control amount T reverses from left to right or reverse from right to left in; The direction of left and right wheels speed difference V reverses from left to right or reverses from right to left; Make propulsive effort control selection portion 70 select differential action restriction control, even if the right-left driving force regulating control is selected recently.
Below, with describing the function according to right-left driving force control system of the present invention that is configured is described like the front.
With reference to Fig. 5, the right-left driving force control flow of in right-left driving force control system according to the present invention, carrying out is shown in a flowchart, below, will be according to the function of flow chart description right-left driving force control system.
At first, like step S1, ECU 60 reads the testing result such as the various sensors of yaw rate sensor 46, steering angle sensor 48, vehicle body speed sensor 50, each wheel speed sensors 42L, 42R, 44L, 44R and throttle position switch 52.
In the step S2 of follows step S1, at combination control amount calculating part 68 places, first controlling quantity of calculating at the first controlling quantity calculating part, 62 places and the 3rd controlling quantity of calculating at the 3rd controlling quantity calculating part 66 places are added in together with calculation combination controlling quantity T.
In step S3, judge whether the propulsive effort moving direction be included in the combination control amount that (association) step S2 calculates is whether with identical towards the direction of the wheel of the bigger wheel speed of having of trailing wheel 6.That is whether the motoring condition of, judging vehicle is corresponding to first quartile in the control chart shown in Fig. 4 or third quadrant.
If the result who judges is true (being), then the right-left driving force control flow advances to step S4.
In step S4, carry out the right-left driving force regulating control according to the combination control amount T that calculates among the superincumbent step S2, and the flow process of being discussed is back to initial step.That is, in step S4, meshed if combination control amount T, then controls the right clutch 34 of right-left driving force regulating mechanism portion 28 for just, and if same amount for negative, then control left clutch 36 and meshed.
On the other hand; If the result of the detection of in step S3, implementing is false (denying); Promptly; If the propulsive effort moving direction among the combination control amount T is with identical towards the direction that has than the wheel of steamboat speed, and the motoring condition of vehicle is corresponding to second quadrant or the four-quadrant of the control chart shown in Fig. 4, and then flow process advances to step S5.
In step S5, judge left and right wheels speed difference | whether V| is equal to or greater than predetermined wheel speed difference | Va|, that is, whether satisfy V＜-Va or Va＜V.
If the result who judges is true (being), then flow process advances to step S6.
In step S6, the differential action restriction power-transfer clutch 38 of controlling differential action limiting mechanism portion 30 according to the combination control amount of calculating among the superincumbent step S2 is meshed, and flow process is back to initial step.
On the other hand, if the result of determination among the superincumbent step S5 is false (denying), that is, if the motoring condition of vehicle corresponding to the regional A in the control chart shown in Fig. 4 or the motoring condition of area B, then flow process advances to step S7.
In step S7, whether the motoring condition of judging vehicle changes between the regional A in the control chart shown in Fig. 4 and the area B.
If the result who judges is true (being), then flow process advances to top step S6.That is, for instance, if the motoring condition of vehicle is from wherein taking turns fast difference V for negative; The wheel speed that is revolver is that positive motoring condition (regional A) changes to and takes turns fast difference therein for just greater than the wheel speed of right side wheel and combination control amount T; The wheel speed of promptly right wheel is greater than the wheel speed of revolver and combination control amount T during for negative motoring condition (area B), and is perhaps opposite, if the motoring condition of vehicle is when area B changes to regional A; Flow process advances to step S6, to carry out differential action restriction control.
On the other hand; If the result of determination among the step S7 is false (denying); If promptly the motoring condition of vehicle does not change between regional A and area B but the motoring condition of vehicle is the motoring condition corresponding to regional A or area B, then flow process advances to step S8.
In step S8, selecteed recently propulsive effort control, the propulsive effort control of selecting in the propulsive effort control flow that promptly one-period before current flow process takes place is kept on the go, and current propulsive effort control flow is back to initial step.Promptly; When if the motoring condition of vehicle changes to the motoring condition corresponding to regional A or area B from the motoring condition corresponding to first quartile and third quadrant; Keep the right-left driving force regulating control; And if the motoring condition of vehicle is from the speed of the wheel second quadrant and four-quadrant wherein difference | V| is equal to or greater than predetermined wheel speed difference | during the area change of Va| to regional A or area B, keep differential action restriction control.
Therefore; Described like the front; In right-left driving force control system according to the present invention; Right-left driving force allocation units 20 comprise right-left driving force regulating mechanism portion 28 and differential action limiting mechanism portion 30; Combination control amount T corresponding to right-left driving force regulating mechanism portion 28 and differential action limiting mechanism portion 30 is calculated, and any one in right-left driving force regulating mechanism portion 28 and the differential action limiting mechanism portion 30 is selected, and according to the single controlling quantity T control quilt portion of selecting of mechanism like this.
The result; Use when not only can prevent right-left driving force regulating mechanism portion 28 and differential action limiting mechanism portion 30, can also suppress when the right-left driving force regulating control with differential action restriction control during by switching in addition with the acute variation of the propulsive effort difference of generation.
In addition, implement the selection between right-left driving force regulating control and the differential action restriction control based on combination control amount T shown in the control chart that shows among Fig. 4 and left and right wheels speed difference V.
Because selecteed propulsive effort control recently is maintained among regional A in the control chart shown in Fig. 4, the B, therefore can reduce the right-left driving force regulating mechanism portion that takes place owing to the change of the motoring condition of the vehicle between regional A and area B and the frequent switching between the differential action limiting mechanism portion.
In addition; If the motoring condition of vehicle changes between regional A and area B, make differential action restriction control be selected, thereby; When attempting to keep straight state to overtake; Do not implement therein that propulsive effort is assigned to any one the propulsive effort regulating control in the left and right wheels, but, can improve the straight stability to overtake of vehicle through select differential action restriction control with the mode of insurance.
In addition, when the turning of vehicle is suppressed, replace right-left driving force regulating mechanism portion 28, can suppress energy consumption, thereby can also realize the raising of fuel efficiency through using the less differential action limiting mechanism portion 30 of energy consumption.
Therefore; First embodiment according to right-left driving force control system of the present invention; Owing to can reduce the swing between right-left driving force regulating control and the differential action restriction control; And can suppress when the propulsive effort control operation when being switched in addition with the acute variation of the propulsive effort difference that takes place, therefore can suppress the discountinuity of the behavior of vehicle.
By this way, in right-left driving force control system according to the present invention, can independently as required use propulsive effort regulating mechanism portion and differential action limiting mechanism portion, the behavior that the while is kept vehicle according to the motoring condition of vehicle is stable.
So, the description according to first embodiment of right-left driving force control system of the present invention is finished.Yet the pattern that is used for embodiment of the present invention is not limited to first embodiment.
And in first embodiment, the control chart shown in Fig. 4 is used for propulsive effort control to be selected, and control chart is not limited to that kind shown in Fig. 4.
For instance; Since usually right-left driving force regulating mechanism portion 28 have controlled and the ratio action with the fast difference V of the bigger left and right wheels of limiting mechanism portion 30, as first variation of the control chart that shows among Fig. 4, if control chart as shown in Figure 6 can be used; Do not have problem yet; In control chart shown in Figure 6, second and four-quadrant in, predetermined wheel speed difference | Va| is set to the left and right wheels speed difference that forms the control restriction through right-left driving force regulating mechanism portion; If what left and right wheels speed difference met or exceeded setting like this whereby controlledly takes turns fast difference limit, then differential action restriction control is set to activation.
In this variation; Be used for and second and the propulsive effort control of the motoring condition of the cooresponding vehicle of four-quadrant motoring condition; That is, compare when only implementing propulsive effort control, can in wideer scope, carry out the inhibition of turn inside diameter through right-left driving force control.
(second embodiment)
In the control chart shown in Fig. 7; If the propulsive effort moving direction among the combination control amount T be identical towards the direction that has than the wheel of bull wheel speed; Promptly; When vehicle is in corresponding to first during with the motoring condition of third quadrant, propulsive effort control selection portion 70 is set to through right-left driving force regulating mechanism portion 28 selects the right-left driving force regulating controls.
Promptly; When vehicle is in corresponding to first during with the motoring condition of third quadrant; The right-left driving force regulating control is selected by propulsive effort control selection portion 70, so that propulsive effort moves to the foreign steamer side with respect to the turn direction of vehicle 1, so that makes propulsive effort on the direction of the turning that promotes vehicle, act on; That is, towards the oversteer side.In addition; When vehicle is in the motoring condition corresponding to first quartile; Make that according to the combination control amount right clutch 34 of right-left driving force regulating mechanism portion 28 is meshed, and when vehicle is in the motoring condition corresponding to third quadrant, make left clutch 36 meshed in the same way.
On the other hand; In the control chart shown in Fig. 7, if the propulsive effort moving direction among the combination control amount T is with identical towards the direction with wheel fast than steamboat, promptly; When vehicle is in corresponding to second with during four-quadrant motoring condition; Propulsive effort control selection portion 70 is set to the predetermined control amount Ta of leap as the border ,-Ta (below, these two amounts all are called as the predetermined control amount | Ta|) and predetermined wheel speed difference Va;-Va (below, these two differences all are called as predetermined wheel speed difference | Va|) implement differentiating control.Usually to note; For can controlled combination control amount T and left and right wheels speed difference V; Differential action limiting mechanism portion 30 has bigger boundary; Thereby the boundary than right-left driving force regulating mechanism portion 28 is bigger, and the predetermined control amount | Ta| and predetermined wheel speed difference | and Va| is set to can be by the combination control amount T and the fast difference V of wheel of the combination control amount of the boundary of right-left driving force regulating mechanism portion 28 controls and the fast difference of wheel corresponding to forming.
Specifically; If vehicle be in corresponding to second and four-quadrant motoring condition in and the combination control amount | T| is equal to or greater than the predetermined control amount | Ta| or left and right wheels speed difference | V| is equal to or greater than predetermined wheel speed difference | Va|; Promptly; If V＜-Va or Va＜V, perhaps T＜-when Ta or Ta＜T, propulsive effort control selection portion 70 is set to selects the differential action restriction control carried out through differential action limiting mechanism portion 30.Promptly; If vehicle is in such motoring condition; Differential action restriction control is selected by propulsive effort control selection portion 70; In differential action restriction control, make propulsive effort move to interior wheel side, so that make propulsive effort perhaps on the direction of understeering side, act in the repressed direction of the turning of vehicle with respect to the turn direction of vehicle 1.In addition, when this takes place, make that according to the combination control amount differential action restriction power-transfer clutch 38 of differential action limiting mechanism portion 30 is meshed.
In addition; If vehicle is in corresponding in second quadrant and the four-quadrant motoring condition and the combination control amount | T| is less than the predetermined control amount | Ta| and left and right wheels speed difference | V| is less than predetermined wheel speed difference | Va|; Promptly; If the motoring condition of vehicle be in be restricted to-Ta＜T＜Ta and-the regional A of Va＜V＜Va, B in, then propulsive effort control selection portion 70 is set to and keeps the propulsive effort control that has been performed recently.
Yet if the motoring condition of vehicle changes between regional A and area B, propulsive effort control selection portion 70 is set to selects differential action restriction control.Promptly; If the propulsive effort moving direction between second quadrant and four-quadrant among the combination control amount T reverses from left to right or reverse from right to left in; The direction of left and right wheels speed difference V reverses from left to right or reverses from right to left; Make propulsive effort control selection portion 70 select differential action restriction control, even if the right-left driving force regulating control is selected recently.
Below, with describing the function according to right-left driving force control system of the present invention that is configured is described by the front.
With reference to Fig. 8, the right-left driving force control flow of in right-left driving force control system according to the present invention, carrying out is shown in a flowchart, below, will be based on the function of flow chart description right-left driving force control system.
At first, like step S11, ECU 60 reads the testing result such as the various sensors of yaw rate sensor 46, steering angle sensor 48, vehicle body speed sensor 50, each wheel speed sensors 42L, 42R, 44L, 44R and throttle position switch 52.
In the step S12 of follows step S11, at combination control amount calculating part 68 places, first controlling quantity of calculating at the first controlling quantity calculating part, 62 places and the 3rd controlling quantity of calculating at the 3rd controlling quantity calculating part 66 places are added in together with calculation combination controlling quantity T.
In step S13, judge whether the propulsive effort moving direction be included in the combination control amount that (association) step S12 calculates is with identical than the direction of the wheel of bull wheel speed towards having of trailing wheel 6.That is whether the motoring condition of, judging vehicle is corresponding to first quartile in the control chart shown in Fig. 7 or third quadrant.
If the result who judges is true (being), then the right-left driving force control flow advances to step S14.
At step S14, carry out the right-left driving force regulating control according to the combination control amount T that calculates among the superincumbent step S12, and the flow process of being discussed is back to initial step.That is, in step S14, meshed if combination control amount T, then controls the right clutch 34 of right-left driving force regulating mechanism portion 28 for just, and if same amount for negative, then control left clutch 36 and meshed.
On the other hand; If the result of the detection of in step S13, implementing is false (denying); Promptly; If the propulsive effort moving direction among the combination control amount T is with identical towards the direction that has than the wheel of steamboat speed, and the motoring condition of vehicle is corresponding to second quadrant or the four-quadrant of the control chart shown in Fig. 7, and then flow process advances to step S15.
In step S 15, judge the combination controlling quantity | whether T| is equal to or greater than the predetermined control amount | Ta| or left and right wheels speed difference | whether V| is equal to or greater than predetermined wheel speed difference | Va|, that is, whether satisfy T＜-Ta or Ta＜T, or V＜-Va or Va＜V.
If the result who judges is true (being), then flow process advances to step S16.
In step S16, the differential action restriction power-transfer clutch 38 of controlling differential action limiting mechanism portion 30 according to the combination control amount of calculating among the superincumbent step S12 is meshed, and flow process is back to initial step.
On the other hand, if the result of determination among the superincumbent step S15 is false (denying), that is, if the motoring condition of vehicle corresponding to the regional A in the control chart shown in Fig. 7 or the motoring condition of area B, then flow process advances to step S17.
In step S17, whether the motoring condition of judging vehicle changes between the regional A in the control chart shown in Fig. 7 and the area B.
If the result who judges is true (being), then flow process advances to top step S16.That is, for instance, if the motoring condition of vehicle is from wherein taking turns fast difference V for negative; Be the wheel speed of the wheel speed of revolver greater than right side wheel, and combination control amount T is that positive motoring condition (regional A) moves to and wherein takes turns fast difference for just, promptly the wheel speed of right wheel is fast greater than the wheel of revolver; And combination control amount T is perhaps opposite during for negative motoring condition (area B), if the motoring condition of vehicle is when area B is changed into regional A; Flow process advances to step S16, to carry out differential action restriction control.
On the other hand; If the result of determination among the step S17 is false (denying); If promptly the motoring condition of vehicle does not change between regional A and area B but the motoring condition of vehicle is the motoring condition corresponding to regional A or area B, then flow process advances to step S18.
In step S18, selecteed recently propulsive effort control, the propulsive effort control of selecting in the propulsive effort control flow that promptly one-period before current flow process takes place is kept on the go, and current propulsive effort control flow is back to initial step.Promptly; When if the motoring condition of vehicle changes to the motoring condition corresponding to regional A or area B from the motoring condition corresponding to first quartile and third quadrant; Keep the right-left driving force regulating control; And if the motoring condition of vehicle is from the combination control amount second quadrant and four-quadrant wherein | T| is equal to or greater than the predetermined control amount | the wheel speed difference in the Ta| or second quadrant and the four-quadrant | V| is equal to or greater than predetermined wheel speed difference | during the area change of Va| to regional A or area B, keep differential action restriction control.
Therefore; Described like the front; In right-left driving force control system according to the present invention; Right-left driving force allocation units 20 comprise right-left driving force regulating mechanism portion 28 and differential action limiting mechanism portion 30; Combination control amount T corresponding to right-left driving force regulating mechanism portion 28 and differential action limiting mechanism portion 30 is calculated, and any one in right-left driving force regulating mechanism portion 28 and the differential action limiting mechanism portion 30 is selected, and according to the single controlling quantity T control quilt portion of selecting of mechanism like this.
The result; Use when not only can prevent right-left driving force regulating mechanism portion 28 and differential action limiting mechanism portion 30, can also suppress when the right-left driving force regulating control with differential action restriction control during by switching in addition with the acute variation of the propulsive effort difference of generation.
In addition, implement the selection between right-left driving force regulating control and the differential action restriction control based on combination control amount T shown in the control chart that shows among Fig. 7 and left and right wheels speed difference V.
Because selecteed propulsive effort control recently is maintained among regional A in the control chart shown in Fig. 7, the B, therefore can reduce the right-left driving force regulating mechanism portion that takes place owing to the variation of the motoring condition of the vehicle between regional A and area B and the frequent switching between the differential action limiting mechanism portion.
In addition; If the motoring condition of vehicle changes between regional A and area B, make differential action restriction control be selected the result; When attempting to keep straight state to overtake; Do not implement therein that propulsive effort is assigned to any one the propulsive effort regulating control in the left and right wheels, but, can improve the straight stability to overtake of vehicle through select differential action restriction control with the mode of insurance.
In addition; Through second and four-quadrant in select differential action limiting mechanism portion 30 in corresponding to the motoring condition in the zone that is different from regional A, B, can on than scope wideer when only carrying out propulsive efforts control, carry out propulsive effort control by right-left driving force regulating mechanism portion 28.
In addition, when the turning of vehicle is suppressed, replace right-left driving force regulating mechanism portion 28, can suppress energy consumption, thereby can also realize the raising of fuel efficiency through using the less differential action limiting mechanism portion 30 of energy consumption.
Therefore; Second embodiment according to right-left driving force control system of the present invention; Owing to can reduce the swing between right-left driving force regulating control and differential action restriction control; And can suppress when the propulsive effort control operation when being switched in addition with the acute variation of the propulsive effort difference that takes place, therefore can suppress the discountinuity of the behavior of vehicle.
By this way, in right-left driving force control system according to the present invention, can independently as required use propulsive effort regulating mechanism portion and differential action limiting mechanism portion, the behavior that the while is kept vehicle according to the motoring condition of vehicle is stable.
So, the description according to second embodiment of right-left driving force control system of the present invention is finished.
Notice that though in first embodiment and second embodiment, vehicle 1 is described to 4Wdvehicle, the present invention also can be applied to the two-wheel drive vehicle.
In addition; Though in first embodiment and second embodiment; In right-left driving force allocation units 20; Right-left driving force regulating mechanism portion 28 be positioned in modified roll mechanism portion 26 to the right and differential action limiting mechanism portion 30 is positioned in modified roll mechanism portion 26 to the left, but the configuration that right-left driving force allocation units 20 are not limited to describe among the embodiment.In right-left driving force control system according to the present invention, can adopt other any configurations, as long as right-left driving force regulon and differential action limiting unit are included in the configuration of employing like this.
In addition; Though in first embodiment and second embodiment; The combination control amount is described to calculated by the testing result of yaw rate sensor 46, steering angle sensor 48, vehicle body speed sensor 50, wheel speed sensors 42L, 42R, 44L, 44R and throttle position switch 52; But the combination control amount just must be corresponding to the controlling quantity of right-left driving force regulating mechanism portion 28 and differential action limiting mechanism portion 30, the invention is not restricted to the configuration of describing among second embodiment.
In addition, though in first embodiment and second embodiment, the combination control amount be described to through with the 3rd controlling quantity and first controlling quantity in fact mutually the Calais calculate, the invention is not restricted to this.For instance, the weight of the 3rd controlling quantity and first controlling quantity for a change, the first or the 3rd controlling quantity the two one of them or the two can multiply by a coefficient, and consequent controlling quantity is by calculation combination controlling quantity in addition mutually.
Claims (6)
1. a right-left driving force control system is characterized in that, comprising:
Regulon, the distribution of the propulsive effort between the left and right wheels of adjusting vehicle;
Limiting unit is regulated the differential action limiting force be applied between the said left and right wheels to limit the differential action between the said left and right wheels;
Detecting unit, the wheel that detects said left and right wheels is fast;
Calculating unit comes the calculation control amount according to the motoring condition of said vehicle;
Selected cell:
When moving direction is identical with the first direction than a wheel of bull wheel speed in said left and right wheels, having said left and right wheels speed; Select said regulon, the above propulsive effort of said moving direction between said left and right wheels, move and said moving direction related with said controlling quantity;
When said moving direction is identical with the second direction than a wheel of steamboat speed in said left and right wheels, having said left and right wheels speed, and the difference between the said left and right wheels speed is selected said limiting unit when being equal to or greater than first threshold; And
When said moving direction is identical with said second direction, and the difference between the said left and right wheels speed is kept selecteed said regulon or said limiting unit during less than said first threshold; And
Control unit is controlled said regulon or the said limiting unit of being selected or keeping by said selected cell according to said controlling quantity.
2. right-left driving force control system as claimed in claim 1 is characterized in that,
When the state identical with said second direction reverses from left to right or reverses from right to left by said moving direction at said moving direction; Reverse from left to right or reverse from right to left by the said difference indicated direction between the said left and right wheels speed; And the said difference between the said left and right wheels speed is during less than said first threshold, and said selected cell is selected said limiting unit.
3. right-left driving force control system as claimed in claim 1 is characterized in that,
Said selected cell is set at said first threshold can be by the boundary value of said regulon control.
4. right-left driving force control system as claimed in claim 1 is characterized in that,
Said selected cell:
When said moving direction is identical with said second direction, and said controlling quantity is selected said limiting unit when being equal to or greater than second threshold value; And
When said moving direction is identical with said second direction, and said controlling quantity is kept selecteed said regulon or said limiting unit during less than said second threshold value.
5. right-left driving force control system as claimed in claim 4 is characterized in that,
When the state identical with said second direction reverses from left to right or reverses from right to left by said moving direction at said moving direction; Reverse from left to right or reverse from right to left by the difference indicated direction between the said left and right wheels speed; And said controlling quantity is during less than said second threshold value, and said selected cell is selected said limiting unit.
6. right-left driving force control system as claimed in claim 4 is characterized in that,
Said selected cell is can be by the boundary value of said regulon control with said second threshold setting.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2008188608 | 2008-07-22 | ||
| JP2008188608A JP4513993B2 (en) | 2008-07-22 | 2008-07-22 | Left / right driving force control device |
| JP2008188609A JP5013118B2 (en) | 2008-07-22 | 2008-07-22 | Left / right driving force control device |
| JP2008188609 | 2008-07-22 | ||
| JP2008-188608 | 2008-07-22 | ||
| JP2008-188609 | 2008-07-22 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101633316A CN101633316A (en) | 2010-01-27 |
| CN101633316B true CN101633316B (en) | 2012-09-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101511713A Expired - Fee Related CN101633316B (en) | 2008-07-22 | 2009-07-22 | Right-left driving force control system |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP4513993B2 (en) |
| CN (1) | CN101633316B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012005259A1 (en) * | 2010-07-09 | 2012-01-12 | 日産自動車株式会社 | Device for controlling torque distribution to left and right wheels on a vehicle |
| JP6020514B2 (en) * | 2014-05-29 | 2016-11-02 | トヨタ自動車株式会社 | Control device for four-wheel drive vehicle |
| DE102017114494A1 (en) | 2017-06-29 | 2019-01-03 | Thyssenkrupp Ag | Steer-by-wire steering system with torque vectoring and integrated anti-slip control |
| CN112109557B (en) * | 2019-06-20 | 2022-05-24 | 长城汽车股份有限公司 | Method and system for controlling rotating speed of driving wheel |
| DE102019209460A1 (en) * | 2019-06-28 | 2020-12-31 | Zf Friedrichshafen Ag | Gearbox with a torque vectoring superposition unit |
| CN111232051B (en) * | 2020-02-25 | 2021-05-14 | 东南大学 | Steering control method for wheeled mobile robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2894403B2 (en) * | 1991-11-07 | 1999-05-24 | 三菱自動車工業株式会社 | Differential limited right and left wheel drive force distribution control device |
| JPH10166884A (en) * | 1996-12-04 | 1998-06-23 | Fuji Heavy Ind Ltd | Vehicular right and left driving force distributing device |
| JPH10157483A (en) * | 1996-12-03 | 1998-06-16 | Tochigi Fuji Ind Co Ltd | Differential gear |
| JP2003048446A (en) * | 2001-08-08 | 2003-02-18 | Hitachi Unisia Automotive Ltd | Driving force distribution control device |
-
2008
- 2008-07-22 JP JP2008188608A patent/JP4513993B2/en not_active Expired - Fee Related
-
2009
- 2009-07-22 CN CN2009101511713A patent/CN101633316B/en not_active Expired - Fee Related
Non-Patent Citations (4)
| Title |
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| JP特开2003-48446A 2003.02.18 |
| JP特开平10-157483A 1998.06.16 |
| JP特开平10-166884A 1998.06.23 |
| JP特开平5-208623A 1993.08.20 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101633316A (en) | 2010-01-27 |
| JP2010025257A (en) | 2010-02-04 |
| JP4513993B2 (en) | 2010-07-28 |
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