CN103182956A - Control method and control system for stability of electric four-wheel drive vehicle - Google Patents
Control method and control system for stability of electric four-wheel drive vehicle Download PDFInfo
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- CN103182956A CN103182956A CN2011104480108A CN201110448010A CN103182956A CN 103182956 A CN103182956 A CN 103182956A CN 2011104480108 A CN2011104480108 A CN 2011104480108A CN 201110448010 A CN201110448010 A CN 201110448010A CN 103182956 A CN103182956 A CN 103182956A
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Abstract
The invention provides a control method and a control system for stability of an electric four-wheel drive vehicle. The method comprises the following steps: determining the current working condition of the electric four-wheel drive vehicle; detecting operating parameters of the electric four-wheel drive vehicle; and controlling four drive motors of the electric four-wheel drive vehicle according to the current working condition and the operating parameters. According to the control method and the control system for the stability of the electric four-wheel drive vehicle, torque adjustment is respectively performed on the four motors through the current working condition and the operating parameters, and therefore, the stability of the vehicle is effectively improved, and the safety performance of the vehicle is promoted.
Description
Technical field
The present invention relates to an automobile technical field, particularly a kind of electric four-wheel drive vehicle stable control method and an electric four-wheel drive vehicle stabilizing control system.
Background technology
At present, electric four-wheeled individual drive vehicle uses four motors to control a wheel respectively, connect by change-speed box between motor and wheel, each motor outputting power all can be controlled separately and gather driver's operation signal and car load motoring condition by an entire car controller, distribute by presetting method calculating car load outputting power and to 4 motor outputting powers, electric machine controller receives the entire car controller command signal and controls each motor output.
Yet, might break away because of the suffered road surface load of each wheel difference during normal vehicle operation, ovdersteering and understeer might occur in the turning process, this moment, vehicle can not travel according to driver intention, the vehicle enforcement that will play pendulum has a strong impact on vehicle safety.
Summary of the invention
The present invention is intended to solve at least one of technical matters that exists in the prior art.
For this reason, one object of the present invention is to propose a kind of electric four-wheel drive vehicle stable control method, and this method is carried out the moment of torsion adjustment by current working and operational factor respectively to four motors, effectively improves the stationarity of vehicle, promotes the safety performance of vehicle.
Another object of the present invention is to propose a kind of electric four-wheel drive vehicle stabilizing control system.
To achieve these goals, first aspect present invention embodiment has proposed a kind of electric four-wheel drive vehicle stable control method, comprises the steps: to determine the current working of electric four-wheel drive vehicle; Detect the operational factor of described electric four-wheel drive vehicle; And according to described current working and operational factor four drive motor of described electric four-wheel drive vehicle are controlled.
According to an electric four-wheel drive vehicle stable control method of the embodiment of the invention, by the residing different current working of detection vehicle, as turn round or keep straight on.And by the condition in different operating modes, by detecting the operational factor of each motor, can recognize whether vehicle is in craspedodrome or ovdersteering or deficiency whether occurs at turning process, and be not in ovdersteering or the deficiency that craspedodrome or turning process occur, by the analysis to operational factor, and adjust the output torque of each motor according to analysis result, and and then revise the deviation that vehicle occurs in travelling, guarantee the stationarity of vehicle and improve safety in the vehicle driving process.
Second aspect present invention embodiment has proposed a kind of electric four-wheel drive vehicle stabilizing control system, comprising: the vehicle working condition determination module, be used for to determine the current working of electric four-wheel drive vehicle; The operational parameter detection module is for detection of the operational factor of described electric four-wheel drive vehicle; And vehicle control device, be used for according to described current working and operational factor four drive motor of described electric four-wheel drive vehicle being controlled.
According to an electric four-wheel drive vehicle stabilizing control system of the embodiment of the invention, by the residing different current working of detection vehicle, as turn round or keep straight on.And by the condition in different operating modes, by detecting the operational factor of each motor, can recognize whether vehicle is in craspedodrome or ovdersteering or deficiency whether occurs at turning process, and be not in ovdersteering or the deficiency that craspedodrome or turning process occur, by the analysis to operational factor, and adjust the output torque of each motor according to analysis result, and and then revise the deviation that vehicle occurs in travelling, guarantee the stationarity of vehicle and improve safety in the vehicle driving process.
Additional aspect of the present invention and advantage part in the following description provide, and part will become obviously from the following description, or recognize by practice of the present invention.
Description of drawings
Above-mentioned and/or additional aspect of the present invention and advantage are from obviously and easily understanding becoming the description of embodiment in conjunction with following accompanying drawing, wherein:
Fig. 1 is the overall flow figure of an electric four-wheel drive vehicle stable control method of this embodiment of the invention;
Fig. 2 is the particular flow sheet of an electric four-wheel drive vehicle stable control method of one embodiment of the invention;
Fig. 3 is the particular flow sheet of an electric four-wheel drive vehicle stable control method of another embodiment of the present invention; And
Fig. 4 is the constructional drawing of an electric four-wheel drive vehicle stabilizing control system of the embodiment of the invention.
The specific embodiment
Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, and wherein identical or similar label is represented identical or similar elements or the element with identical or similar functions from start to finish.Be exemplary below by the embodiment that is described with reference to the drawings, only be used for explaining the present invention, and can not be interpreted as limitation of the present invention.
In description of the invention, it will be appreciated that, term " vertically ", " laterally ", " on ", close the orientation of indications such as D score, " preceding ", " back ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward " or position is based on orientation shown in the drawings or position relation, only be that the present invention for convenience of description and simplification are described, rather than indication or the hint device of indication or element must have specific orientation, with specific orientation structure and operation, therefore can not be interpreted as limitation of the present invention.
In addition, term " first ", " second " only are used for describing purpose, and can not be interpreted as indication or hint relative importance.
In description of the invention, unless otherwise prescribed and limit, need to prove that term " installation ", " linking to each other ", " connection " should be done broad understanding, for example, can be mechanical connection or electrical connection, also can be the connection of two element internals, can be directly to link to each other, and also can link to each other indirectly by intermediary, for the ordinary skill in the art, can understand the concrete implication of above-mentioned term as the case may be.
Below in conjunction with accompanying drawing 1-3 an electric four-wheel drive vehicle stable control method according to the embodiment of the invention is described at first.
With reference to figure 1, the electric four-wheel drive vehicle stable control method according to the embodiment of the invention comprises the steps:
Step S101 determines the current working of electric four-wheel drive vehicle.In one embodiment of the invention, current working is straight-line travelling operating mode or turning driving operating mode.
Step S102 detects the operational factor of electric four-wheel drive vehicle.
Step S103 controls four drive motor of described electric four-wheel drive vehicle according to described current working and operational factor.
According to an electric four-wheel drive vehicle stable control method of the embodiment of the invention, by the residing different current working of detection vehicle, as turn round or keep straight on.And by the condition in different operating modes, by detecting the operational factor of each motor, can recognize whether vehicle is in craspedodrome or ovdersteering or deficiency whether occurs at turning process, and be not in ovdersteering or the deficiency that craspedodrome or turning process occur, by the analysis to operational factor, and adjust the output torque of each motor according to analysis result, and and then revise the deviation that vehicle occurs in travelling, guarantee the stationarity of vehicle and improve safety in the vehicle driving process.
When electric four-wheel drive vehicle during in the straight-line travelling operating mode, the operational factor of electric four-wheel drive vehicle comprises the actual shifts information of the acceleration/accel of described four motors and described electric four-wheel drive vehicle.
As shown in Figure 2, at this moment, according to current working and operational factor four drive motor of electric four-wheel drive vehicle are controlled and to be comprised the steps:
After the acceleration/accel of certain motor surpasses predetermined threshold value, then judge the tyre skidding of described electric machine control.
Step S21 gathers the position of each motor and calculates the rotating speed of corresponding wheel, the position of the motor of inscribing when gathering difference, thus calculate corresponding wheel at difference rotating speed constantly, thus, can calculate the acceleration/accel of wheel.In an example of the present invention, the acceleration/accel of four motors is put the sensor acquisition by revolving displacement, namely put sensor and gather corresponding motor position by revolving displacement, (revolve displacement puts sensor and constantly gathers the generalized time amount, therefore, can calculate the acceleration/accel of wheel by difference vehicle wheel rotational speed constantly) calculate corresponding vehicle wheel rotational speed, and calculate the vehicle wheel rotational speed acceleration/accel.
Step S22 demarcates wheel acceleration limit value (predetermined threshold value) in theory, namely tests motor peak acceleration under the condition of loading of different road surfaces by experiment, when the critical acceleration/accel when skidding of wheel is thought wheel acceleration limit value (predetermined threshold value) in theory.If demarcation wheel acceleration limit value in theory then is judged to be corresponding tyre skidding less than the vehicle wheel rotational speed acceleration/accel.
Step S23, the output torque of controlling described motor reduces, so that described motor is consistent with described motor output torque in the same way.
Particularly, after judging tyre skidding, judge the tyre skidding order of severity and calculate the coefficient that skids according to each wheel acceleration, in an example of the present invention, the coefficient that skids demarcate to obtain by motor acceleration, and acceleration/accel skids coefficient for maximum 100% when low, and the acceleration/accel coefficient that skids when surpassing certain critical value begins less than 100%, the coefficient that skids when acceleration/accel is excessive is 0%), the coefficient that skids when more serious is more low.
Calculate the corresponding motor output torque of wheel, the motor output torque is the former target torque * coefficient that skids.Its Central Plains target torque obtains according to calculated signals such as chaufeur throttle, brakes.Behind certain tyre skidding, for preventing that the vehicle laterally offset from causing breakking away, progressively reduce and the equidirectional motor output torque of slip wheel.
Need to understand, when the vehicle straight-line travelling, make homonymy two wheel electrical machines (equidirectional motor) output torque identical, work as Ackermann steer angle, calculate homonymy wheel electrical machine (equidirectional motor) output torque according to 4 motor output torque ratios.
According to the actual shifts information of described electric four-wheel drive vehicle the motor of the wheel correspondence of not skidding is adjusted.
Step S24, when skidding appears in wheel, the actual shifts information of electric four-wheel drive vehicle obtains by lateral acceleration sensor and yaw angular transducer, i.e. direction and the size of the transverse acceleration that detects by lateral acceleration sensor, and the detected yaw angle of yaw angular transducer can be judged an electric four-wheel drive vehicle skew left or skew to the right.
Step S25 is if the judgement vehicle breaks away left (skew left).
Step S26 reduces the right motor output torque, up to the vehicle straight-line travelling.
Step S27 is if the judgement vehicle breaks away to the right (skew to the right).
Step S28 reduces the left motor output torque, up to the vehicle straight-line travelling.
When electric four-wheel drive vehicle during in the turning driving operating mode, the operational factor of electric four-wheel drive vehicle comprise the actual shifts information of described electric four-wheel drive vehicle and described electric four-wheel drive vehicle chaufeur turn to intent information.
As shown in Figure 3, at this moment, according to current working and operational factor four drive motor of described electric four-wheel drive vehicle are controlled and to be comprised the steps:
Step S31, the initial output torque of four motors of distribution when initial.
Step S32 is according to described actual shifts information with turn to intent information to judge whether described electric four-wheel drive vehicle ovdersteering or understeer occur.In an example of the present invention, the intent information that turns to of the chaufeur of electric four-wheel drive vehicle obtains by steering wheel angle sensor.Namely gather steering wheel angle by steering wheel angle sensor, and go out the ideally side-play amount of the car load of the different steering wheel angle correspondence of steering wheel angle sensor collection according to experimental test, and according to the demarcation of above-mentioned observed data to vehicle travel direction dish corner and car load side-play amount corresponding relation, namely calibrate the car load side-play amount of the different steering wheel angle correspondence of different directions dish rotary angle transmitter collection in the ideal case.
Step S33 is if the actual yaw side-play amount of car load then is judged to be ovdersteering greater than the theoretical car load side-play amount of demarcating under the steering wheel angle this moment.Detect car load actual shifts information (actual yaw side-play amount) by the yaw angular transducer.And the actual yaw side-play amount of car load and the theoretical car load side-play amount of demarcating under the steering wheel angle this moment compared.
Step S34, if described electric four-wheel drive vehicle ovdersteering occurs, the output torque of then controlling the motor of outboard wheels correspondence reduces.Particularly, calculating according to the vehicle current working on each wheel export target moment of torsion basis (by the theoretical car load side-play amount of demarcating under the steering wheel angle, can calculate the moment of torsion of each wheel, be target torque), if judge that vehicle is in non-braking mode, then reduce the outside two wheel output torques gradually until arriving target torque, all the other wheel output torques are constant.If vehicle is in braking mode, then increase the outside two wheel braking moments of torsion gradually.
Continue to detect whether wheel is ovdersteering, recover normal if turn to, then no longer reduce output torque or increase brake torque, keep current each motor output torque, otherwise continue to reduce the motor output torque or increase brake torque.
Step S35 is if the actual yaw side-play amount of car load then is judged to be understeer less than the theoretical car load side-play amount of demarcating under the steering wheel angle this moment.
Step S36, if described electric four-wheel drive vehicle understeer occurs, the output torque of then controlling the motor of inboard wheel correspondence reduces.Particularly, calculating according to the vehicle current working on each wheel export target moment of torsion basis (by the theoretical car load side-play amount of demarcating under the steering wheel angle, can calculate the moment of torsion of each wheel, be target torque), if judge that vehicle is in non-braking mode, then reduce inboard two wheel output torques gradually until arriving target torque, all the other wheel output torques are constant.If vehicle is in braking mode, then increase inboard two wheel braking moments of torsion gradually.
Detect wheel and whether continue as understeer, recover normal if turn to, then no longer increase the inboard wheel moment of torsion or reduce brake torque, otherwise continue to increase moment of torsion or reduce brake torque.
Electric four-wheel drive vehicle stable control method according to the embodiment of the invention, gather the turning to intent information (the theoretic vehicle shift amount of driver's operation steering wheel angle) and gather car load actual steering (vehicle real offset) by the yaw angular transducer of chaufeur of 4Wdvehicle by steering wheel angle sensor, judge according to both whether vehicle ovdersteering and understeer occur, when understeer, suitably reduce the inboard wheel outputting power, suitably reduce the outboard wheels outputting power during ovdersteering, by motor outputting power on the output of expection motor and four wheels of vehicle present case dynamic adjustments, realize the car load smooth-ride.In addition, when the vehicle straight-line travelling, put acceleration/accel that sensor obtains four wheels and judge wheel whether occur skidding (lateral deviation) and the coefficient that skids by revolving displacement, when lateral deviation appears in judgement, obtain vehicle lateral acceleration and obtain the vehicle real offset by the yaw angular transducer by lateral acceleration sensor, judge the offset direction of car load according to both, and according to the coefficient calculations target torque of skidding, regulate motor outputting power on four wheels to adjust, realize the car load smooth-ride.
The present invention detects by various sensors in addition, it is fast to have detection speed, and the advantage that processing speed is fast is fast to four real-time dispensing rate of motor output torque, further keep the car load travel direction consistent with driver intention, effectively raise the safety that vehicle travels.
With reference to figure 4, comprise vehicle working condition determination module 410, operational parameter detection module 420 and vehicle control device 430 according to the electric four-wheel drive vehicle stabilizing control system 400 of the embodiment of the invention.
Vehicle working condition determination module 410 is used for determining the current working of electric four-wheel drive vehicle.In one embodiment of the invention, current working is straight-line travelling operating mode or turning driving operating mode.Operational parameter detection module 420 is for detection of the operational factor of electric four-wheel drive vehicle.Vehicle control device 430 is used for according to described current working and operational factor four drive motor of described electric four-wheel drive vehicle being controlled.
According to an electric four-wheel drive vehicle stabilizing control system of the embodiment of the invention, by the residing different current working of detection vehicle, as turn round or keep straight on.And by the condition in different operating modes, by detecting the operational factor of each motor, can recognize whether vehicle is in craspedodrome or ovdersteering or deficiency whether occurs at turning process, and be not in ovdersteering or the deficiency that craspedodrome or turning process occur, by the analysis to operational factor, and adjust the output torque of each motor according to analysis result, and and then revise the deviation that vehicle occurs in travelling, guarantee the stationarity of vehicle and improve safety in the vehicle driving process.
In an example of the present invention, when electric four-wheel drive vehicle during in the straight-line travelling operating mode, the operational factor of electric four-wheel drive vehicle comprises the actual shifts information of the acceleration/accel of described four motors and described electric four-wheel drive vehicle.
In conjunction with shown in Figure 2, at this moment, vehicle control device 430 is controlled four drive motor of electric four-wheel drive vehicle according to current working and operational factor and is comprised:
Vehicle control device 430 is then judged the tyre skidding of described electric machine control after the acceleration/accel of judging certain motor surpasses predetermined threshold value.
Particularly, step S21 gathers the position of each motor and calculates the rotating speed of corresponding wheel, the position of the motor of inscribing when gathering difference, thus calculate corresponding wheel at difference rotating speed constantly, thus, can calculate the acceleration/accel of wheel.In an example of the present invention, an electric four-wheel drive vehicle stabilizing control system 400 comprises that revolving displacement puts the sensor (not shown), the acceleration/accel of four motors is put the sensor acquisition by revolving displacement, namely put sensor and gather corresponding motor position by revolving displacement, (revolve displacement puts sensor and constantly gathers the generalized time amount, therefore, can calculate the acceleration/accel of wheel by difference vehicle wheel rotational speed constantly) calculate corresponding vehicle wheel rotational speed, and calculate the vehicle wheel rotational speed acceleration/accel.
Step S22 demarcates wheel acceleration limit value (predetermined threshold value) in theory, namely tests motor peak acceleration under the condition of loading of different road surfaces by experiment, when the critical acceleration/accel when skidding of wheel is thought wheel acceleration limit value (predetermined threshold value) in theory.If demarcation wheel acceleration limit value in theory then is judged to be corresponding tyre skidding less than the vehicle wheel rotational speed acceleration/accel.
Step S23, the output torque of controlling described motor reduces, so that described motor is consistent with described motor output torque in the same way.
Particularly, after judging tyre skidding, judge the tyre skidding order of severity and calculate the coefficient that skids according to each wheel acceleration, in an example of the present invention, the coefficient that skids demarcate to obtain by motor acceleration, and acceleration/accel skids coefficient for maximum 100% when low, and the acceleration/accel coefficient that skids when surpassing certain critical value begins less than 100%, the coefficient that skids when acceleration/accel is excessive is 0%), the coefficient that skids when more serious is more low.
Calculate the corresponding motor output torque of wheel, the motor output torque is the former target torque * coefficient that skids.Its Central Plains target torque obtains according to calculated signals such as chaufeur throttle, brakes.Behind certain tyre skidding, for preventing that the vehicle laterally offset from causing breakking away, progressively reduce and the equidirectional motor output torque of slip wheel.
Need to understand, when the vehicle straight-line travelling, make homonymy two wheel electrical machines (equidirectional motor) output torque identical, work as Ackermann steer angle, calculate homonymy wheel electrical machine (equidirectional motor) output torque according to 4 motor output torque ratios.
According to the actual shifts information of described electric four-wheel drive vehicle the motor of the wheel correspondence of not skidding is adjusted.
Embodiments of the invention also comprise lateral acceleration sensor (not shown) and yaw angular transducer (not shown).Particularly, step S24, when skidding appears in wheel, gather by lateral acceleration sensor (not shown) and yaw angular transducer (not shown), the actual shifts information that is electric four-wheel drive vehicle obtains by lateral acceleration sensor and yaw angular transducer, i.e. direction and the size of the transverse acceleration that detects by lateral acceleration sensor, and the detected yaw angle of yaw angular transducer can be judged an electric four-wheel drive vehicle skew left or skew to the right.
Step S25 is if the judgement vehicle breaks away left (skew left).
Step S26 reduces the right motor output torque, up to the vehicle straight-line travelling.
Step S27 is if the judgement vehicle breaks away to the right (skew to the right).
Step S28 reduces the left motor output torque, up to the vehicle straight-line travelling.
In another example of the present invention, when electric four-wheel drive vehicle during in the turning driving operating mode, the operational factor of electric four-wheel drive vehicle comprise the actual shifts information of described electric four-wheel drive vehicle and described electric four-wheel drive vehicle chaufeur turn to intent information.
As shown in Figure 3, at this moment, vehicle control device 430 is controlled four drive motor of described electric four-wheel drive vehicle according to current working and operational factor and is comprised:
Step S31, the initial output torque of four motors of distribution when initial.
Step S32 is according to described actual shifts information with turn to intent information to judge whether described electric four-wheel drive vehicle ovdersteering or understeer occur.In an example of the present invention, also comprise the steering wheel angle sensor (not shown), the intent information that turns to of the chaufeur of electric four-wheel drive vehicle obtains by steering wheel angle sensor.Namely gather steering wheel angle by steering wheel angle sensor, and go out the ideally side-play amount of the car load of the different steering wheel angle correspondence of steering wheel angle sensor collection according to experimental test, and according to the demarcation of above-mentioned observed data to vehicle travel direction dish corner and car load side-play amount corresponding relation, namely calibrate the car load side-play amount of the different steering wheel angle correspondence of different directions dish rotary angle transmitter collection in the ideal case.
Step S33 is if the actual yaw side-play amount of car load then is judged to be ovdersteering greater than the theoretical car load side-play amount of demarcating under the steering wheel angle this moment.Detect car load actual shifts information (actual yaw side-play amount) by the yaw angular transducer.And the actual yaw side-play amount of car load and the theoretical car load side-play amount of demarcating under the steering wheel angle this moment compared.
Step S34, if described electric four-wheel drive vehicle ovdersteering occurs, the output torque of then controlling the motor of outboard wheels correspondence reduces.Particularly, calculating according to the vehicle current working on each wheel export target moment of torsion basis (by the theoretical car load side-play amount of demarcating under the steering wheel angle, can calculate the moment of torsion of each wheel, be target torque), if judge that vehicle is in non-braking mode, then reduce the outside two wheel output torques gradually until arriving target torque, all the other wheel output torques are constant.If vehicle is in braking mode, then increase the outside two wheel braking moments of torsion gradually.
Continue to detect whether wheel is ovdersteering, recover normal if turn to, then no longer reduce output torque or increase brake torque, keep current each motor output torque, otherwise continue to reduce the motor output torque or increase brake torque.
Step S35 is if the actual yaw side-play amount of car load then is judged to be understeer less than the theoretical car load side-play amount of demarcating under the steering wheel angle this moment.
Step S36, if described electric four-wheel drive vehicle understeer occurs, the output torque of then controlling the motor of inboard wheel correspondence reduces.Particularly, calculating according to the vehicle current working on each wheel export target moment of torsion basis (by the theoretical car load side-play amount of demarcating under the steering wheel angle, can calculate the moment of torsion of each wheel, be target torque), if judge that vehicle is in non-braking mode, then reduce inboard two wheel output torques gradually until arriving target torque, all the other wheel output torques are constant.If vehicle is in braking mode, then increase inboard two wheel braking moments of torsion gradually.
Detect wheel and whether continue as understeer, recover normal if turn to, then no longer increase the inboard wheel moment of torsion or reduce brake torque, otherwise continue to increase moment of torsion or reduce brake torque.
Electric four-wheel drive vehicle stabilizing control system according to the embodiment of the invention, gather the turning to intent information (the theoretic vehicle shift amount of driver's operation steering wheel angle) and gather car load actual steering (vehicle real offset) by the yaw angular transducer of chaufeur of 4Wdvehicle by steering wheel angle sensor, judge according to both whether vehicle ovdersteering and understeer occur, when understeer, suitably reduce the inboard wheel outputting power, suitably reduce the outboard wheels outputting power during ovdersteering, by motor outputting power on the output of expection motor and four wheels of vehicle present case dynamic adjustments, realize the car load smooth-ride.In addition, when the vehicle straight-line travelling, put acceleration/accel that sensor obtains four wheels and judge wheel whether occur skidding (lateral deviation) and the coefficient that skids by revolving displacement, when lateral deviation appears in judgement, obtain vehicle lateral acceleration and obtain the vehicle real offset by the yaw angular transducer by lateral acceleration sensor, judge the offset direction of car load according to both, and according to the coefficient calculations target torque of skidding, regulate motor outputting power on four wheels to adjust, realize the car load smooth-ride.
The present invention detects by various sensors in addition, it is fast to have detection speed, and the advantage that processing speed is fast is fast to four real-time dispensing rate of motor output torque, further keep the car load travel direction consistent with driver intention, effectively raise the safety that vehicle travels.
In the description of this specification sheets, concrete feature, structure, material or characteristics that the description of reference term " embodiment ", " some embodiment ", " example ", " concrete example " or " some examples " etc. means in conjunction with this embodiment or example description are contained at least one embodiment of the present invention or the example.In this manual, the schematic statement to above-mentioned term not necessarily refers to identical embodiment or example.And concrete feature, structure, material or the characteristics of description can be with the suitable manner combination in any one or more embodiment or example.
Although illustrated and described embodiments of the invention, those having ordinary skill in the art will appreciate that: can carry out multiple variation, modification, replacement and modification to these embodiment under the situation that does not break away from principle of the present invention and aim, scope of the present invention is limited by claim and equivalent thereof.
Claims (20)
1. an electric four-wheel drive vehicle stable control method is characterized in that, may further comprise the steps:
Determine the current working of electric four-wheel drive vehicle;
Detect the operational factor of described electric four-wheel drive vehicle; And
According to described current working and operational factor four drive motor of described electric four-wheel drive vehicle are controlled.
2. an electric four-wheel drive vehicle as claimed in claim 1 stable control method is characterized in that, described current working is the straight-line travelling operating mode.
3. an electric four-wheel drive vehicle as claimed in claim 2 stable control method is characterized in that, the operational factor of described electric four-wheel drive vehicle comprises the actual shifts information of the acceleration/accel of described four motors and described electric four-wheel drive vehicle.
4. an electric four-wheel drive vehicle as claimed in claim 3 stable control method is characterized in that, according to described current working and operational factor four drive motor of electric four-wheel drive vehicle is controlled further to comprise:
After the acceleration/accel of certain motor surpasses predetermined threshold value, then judge the tyre skidding of described electric machine control;
The output torque of controlling described motor reduces, so that described motor is consistent with described motor output torque in the same way; And
According to the actual shifts information of described electric four-wheel drive vehicle the motor of the wheel correspondence of not skidding is adjusted.
5. an electric four-wheel drive vehicle as claimed in claim 1 stable control method is characterized in that, described current working is the turning driving operating mode.
6. an electric four-wheel drive vehicle as claimed in claim 5 stable control method, it is characterized in that, the operational factor of described electric four-wheel drive vehicle comprise the actual shifts information of described electric four-wheel drive vehicle and described electric four-wheel drive vehicle chaufeur turn to intent information.
7. an electric four-wheel drive vehicle as claimed in claim 6 stable control method is characterized in that, described four drive motor of described electric four-wheel drive vehicle controls further according to current working and operational factor comprises:
According to described actual shifts information with turn to intent information to judge whether described electric four-wheel drive vehicle ovdersteering or understeer occur;
If described electric four-wheel drive vehicle ovdersteering occurs, the output torque of then controlling the motor of outboard wheels correspondence reduces; And
If described electric four-wheel drive vehicle understeer occurs, the output torque of then controlling the motor of inboard wheel correspondence reduces.
8. as claim 3 or 6 a described electric four-wheel drive vehicle stable control method, it is characterized in that the actual shifts information of described electric four-wheel drive vehicle obtains by lateral acceleration sensor and yaw angular transducer.
9. an electric four-wheel drive vehicle as claimed in claim 3 stable control method is characterized in that, the acceleration/accel of described four motors is put the sensor acquisition by revolving displacement.
10. an electric four-wheel drive vehicle as claimed in claim 6 stable control method is characterized in that, the intent information that turns to of the chaufeur of described electric four-wheel drive vehicle obtains by steering wheel angle sensor.
11. an electric four-wheel drive vehicle stabilizing control system is characterized in that, comprising:
The vehicle working condition determination module be used for to be determined the current working of electric four-wheel drive vehicle;
The operational parameter detection module is for detection of the operational factor of described electric four-wheel drive vehicle; And
Vehicle control device is used for according to described current working and operational factor four drive motor of described electric four-wheel drive vehicle being controlled.
12. an electric four-wheel drive vehicle as claimed in claim 11 stabilizing control system is characterized in that, described current working is the straight-line travelling operating mode.
13. an electric four-wheel drive vehicle as claimed in claim 12 stabilizing control system is characterized in that, the operational factor of described electric four-wheel drive vehicle comprises the actual shifts information of the acceleration/accel of described four motors and described electric four-wheel drive vehicle.
A 14. electric four-wheel drive vehicle as claimed in claim 13 stabilizing control system, it is characterized in that, described vehicle control device further comprises according to described current working and operational factor four drive motor to electric four-wheel drive vehicle: after the acceleration/accel of judging certain motor surpasses predetermined threshold value, then judge the tyre skidding of described electric machine control, and the output torque of controlling described motor reduces, so that described motor is consistent with described motor output torque in the same way, and according to the actual shifts information of described electric four-wheel drive vehicle the motor of the wheel correspondence of not skidding is adjusted.
15. an electric four-wheel drive vehicle as claimed in claim 11 stabilizing control system is characterized in that, described current working is the turning driving operating mode.
A 16. electric four-wheel drive vehicle as claimed in claim 15 stabilizing control system, it is characterized in that, the operational factor of described electric four-wheel drive vehicle comprise the actual shifts information of described electric four-wheel drive vehicle and described electric four-wheel drive vehicle chaufeur turn to intent information.
A 17. electric four-wheel drive vehicle as claimed in claim 16 stabilizing control system, it is characterized in that, described vehicle control device is controlled four drive motor of described electric four-wheel drive vehicle according to current working and operational factor and is further comprised according to described actual shifts information and turn to intent information to judge whether described electric four-wheel drive vehicle ovdersteering or understeer occur, ovdersteering appears if judge described electric four-wheel drive vehicle, the output torque of then controlling the motor of outboard wheels correspondence reduces, if described electric four-wheel drive vehicle understeer occurs, the output torque of then controlling the motor of inboard wheel correspondence reduces.
18. as claim 13 or 16 a described electric four-wheel drive vehicle stabilizing control system, it is characterized in that, also comprise: lateral acceleration sensor and yaw angular transducer, described lateral acceleration sensor and yaw angular transducer be used for to be gathered the actual shifts information of described electric four-wheel drive vehicle.
19. an electric four-wheel drive vehicle as claimed in claim 13 stabilizing control system is characterized in that, also comprises:
Revolve displacement and put sensor, describedly revolve displacement and put the acceleration/accel that sensor be used for to be gathered described four motors.
20. an electric four-wheel drive vehicle as claimed in claim 16 stabilizing control system is characterized in that, also comprises:
Steering wheel angle sensor, described steering wheel angle sensor be used for to gather described electric four-wheel drive vehicle chaufeur turn to intent information.
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