CN103373344B - Motor vehicle is drawn and turning performance is improved - Google Patents
Motor vehicle is drawn and turning performance is improved Download PDFInfo
- Publication number
- CN103373344B CN103373344B CN201310127397.6A CN201310127397A CN103373344B CN 103373344 B CN103373344 B CN 103373344B CN 201310127397 A CN201310127397 A CN 201310127397A CN 103373344 B CN103373344 B CN 103373344B
- Authority
- CN
- China
- Prior art keywords
- wheel
- motor vehicle
- rotary speed
- transverse movement
- turning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/12—Conjoint control of vehicle sub-units of different type or different function including control of differentials
- B60W10/16—Axle differentials, e.g. for dividing torque between left and right wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/26—Wheel slip
- B60W2520/266—Slip values between left and right wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/40—Torque distribution
- B60W2720/406—Torque distribution between left and right wheel
Abstract
The present invention relates to a kind of control method for being used for the motor vehicle with front-wheel drive and automatically controlled locking differential when turning.Its control based on vehicle driver pre-sets the motion model for calculating motor vehicle, and the transverse movement parameter of measurement motor vehicle.It is determined that measurement transverse movement parameter and motion model modelling transverse movement parameter deviation and during turning the rotary speed of inner side front-wheel and during turning on the outside of front-wheel rotary speed deviation, if the rotary speed of inner side front-wheel is not less than the rotary speed of outside front-wheel and if the transverse movement parameter of the transverse movement parameter drift-out modelling of measurement, reduces the deviation between rotary speed.According to the present invention, the deviation between rotary speed or the rotary speed of inner side front-wheel are reduced by applying the function of operating parameter of the motor vehicle determined when locking torque and/or single shoe brake motor vehicle are used as turning when turning positioned at least one wheel of inner side to locking differential.
Description
Technical field
It is used for the motor vehicles with front-wheel drive and automatically controlled locking differential when turning the present invention relates to a kind of
Control method.
Background technology
In the motor vehicles of the front-wheel drive with large driving force, due to the centrifugal force produced when turning, turning
When mitigate on the inside of driving wheel.In this context, as a result the driving wheel of inner side may produce in the earth-grasping force reduction to ground
Skid, that is to say, that in special time, the absolute value of the tracking speed for the point being arranged on lateral wheel face is higher than to be had with ground
The absolute value of the movement velocity of the wheel of pass and the contact surface on ground.Skidding causes earth-grasping force to reduce, and this is due to that wheel may
Applying power or seldom power is not applied to ground.In this context, add the bigger abrasion of wheel, this be it is problematic, specifically,
It is only capable of obtaining reduced motor vehicles transverse acceleration, thus motor vehicles follow the turning radius that accordingly increases and in the worst feelings
Depart from bend under condition.
Due to the problem it is well known that can find in the prior art a variety of for reducing or preventing inner side when turning
The method that front-wheel skids.For example, it is known to limit motor torque according to the skidding of appearance, but this accelerates machine with driver
The intention of motor-car runs in the opposite direction, and therefore undergoes the strength intervention to controllability.Further, it is well known that executable air exercise coaster
The braking of wheel.However, in this context, wasting kinergety, bigger abrasion and the engine power of brake are occurred in that
It is not fully converted into the acceleration of motor vehicle.Limitation distributes driving torque the equilibrium of the wheel simple differential to an axle
The mechanical restriction locking differential of effect is also known.However, under many circumstances, the negative shadow of mechanical locking formula differential mechanism
That rings motor vehicle automatically controls behavior, and needs behavior when breakking away and obtain between traditional driving behavior to trade off.
For this reason, it is thus proposed that a kind of more flexible solution, wherein it is possible to predefine lock by way of electronics
The only locking moment of torsion of formula differential mechanism.However, in this context, in many situations, when controlling torque to driver feedback
There is unexpected negative effect, driver utilizes the feedback control motor vehicle consciously or unconsciously.
The content of the invention
Turning this invention therefore provides a kind of motor vehicles for being used to have front-wheel drive and automatically controlled locking differential
Control method when curved.Methods described comprises at least following steps：
Control based on automobile driver pre-sets the motion model for calculating motor vehicles；
Measure the transverse movement parameter of motor vehicles；
It is determined that the transverse movement parameter and the deviation for modeling transverse movement parameter of motion model of measurement；
It is determined that when turning the rotary speed of inner side front-wheel and during turning on the outside of front-wheel rotary speed deviation, and be based on
This,
If the rotary speed of inner side front-wheel is not less than the rotary speed of outside front-wheel and if the transverse movement ginseng of measurement
Number deviates the transverse movement parameter of modelling, then reduces the deviation between rotary speed, or
If the rotary speed of inner side front-wheel is less than the rotary speed and if the transverse movement parameter of measurement of outside front-wheel
Deviate the transverse movement parameter of modelling, then the rotary speed of reduction inner side front-wheel.
According to the present invention, in this context, by motor-driven to locking differential application locking torque and/or single shoe brake
The function of the operating parameter for the motor vehicles that at least one wheel of vehicle when turning positioned at inner side is determined when being used as turning
Reduce the deviation between rotary speed.
The present invention has following benefit：It can select a kind of each suitable for reducing the step of skidding as environment
Function.However, only when the actual motion behavior of motor vehicle deviates model behavior, the measure is just effective.It therefore, it can reduce
The controllability to motor vehicle occurred according to prior art limitation and at the same time can be in the motion model pre-set
The turning behavior of motor vehicle is improved on direction.The operating parameter determined during turning can be, for example, transverse acceleration, driftage
Measurement（Namely rotation of the motor vehicles along vertical axis）, wheel rotary speed, single wheel transmission torque, motor vehicles
Speed, the gradient of passenger compartment, the deflection of steering wheel, environment temperature, air humidity, air pressure, tire pressure or above-mentioned
The combination of several parameters.Transverse movement parameter is preferably transverse acceleration, the measurement of driftage or in certain period of time it is motor-driven
The measurement for the distance laterally advanced on the transient motion direction of vehicle.
In the method, the preferential transverse acceleration for determining motor vehicle.In this context, under additional conditions, i.e., laterally
Acceleration applies locking torque to locking differential when being more than threshold acceleration.Except μ-separation（μ-split）Situation,
The rotation of inner side front-wheel only when the transmission of enough cross forces occurs and therefore transverse acceleration exceedes specific numerical value
Speed can just be more than the rotary speed of outside front-wheel.Therefore transverse acceleration contributes to the μ-separation situation distinguished when turning and beats
It is sliding, as a result make to be treated as possibility respectively.
Can under additional conditions, i.e., transverse acceleration be less than first threshold acceleration when, when can be to turning of motor vehicle at
At least one wheel in inner side performs single shoe brake.When less than threshold acceleration, with respect to locking differential
Control, for increase earth-grasping force and driftage, single shoe brake is more efficiently.However, when being higher than threshold acceleration, except locking is turned
Square is applied to locking differential, can also valuably perform single shoe brake.
Alternatively, or in addition, under additional conditions, i.e., inner side front-wheel rotary speed and the rotary speed of outside front-wheel
Between deviation when not reducing at least predetermined numerical value within a predetermined period of time, inner side is in when can also be to turning of motor vehicle
At least one wheel perform braking, wherein, in the predetermined time period by locking torque be applied to locking differential.This
Place's single shoe brake is considered the waste to the kinetic energy of motor vehicle and if only if when substantially not enough reducing skidding using locking differential
Preferentially used.Herein perform single shoe brake can be used as by locking torque applied to locking differential a kind of optional mode or
The addition thereto that locking torque is applied to locking differential can be used as.If locking torque is being applied into locking type differential
Single shoe brake is performed during device, when preferably to turning of motor vehicle on the inside of rear service brake.This can be performed under additional conditions, i.e.,
The transverse acceleration of motor vehicle is more than Second Threshold acceleration.Except using in addition to locking differential, single shoe brake herein
It can be used for for example increasing the driftage of vehicle.
At least one wheel during turning positioned at inner side is preferably the trailing wheel of motor vehicle.Braking rear-wheel not with before motor vehicle
Wheel drive is clashed.
Locking torque has as the function of the deviation between the rotary speed of inner side front-wheel and the rotary speed of outside front-wheel
Select sharply.Therefore, intensity of the degree arrangement that can occur according to skidding to the intervention of motor vehicle driving behavior.
Method according to the invention it is possible to determine signal of keeping straight on, the straight trip signal has if motor vehicle straight trip is advanced
There is maximum value, if the angle of turn of motor vehicle is larger, it has relatively low absolute value all the time.According to the present invention,
The operating parameter that can be determined using signal of keeping straight on as transverse movement parameter and/or when being used as turning.It is preferably based at least following
One of them determines straight trip signal：Steering wheel is adjusted, the driftage of motor vehicle or the transverse acceleration of motor vehicle.
In multiple embodiments of the method determined according to the straight trip signal of the present invention, it is also possible to be used as the supplement of straight trip signal
The function selection locking torque of value.Therefore, locking torque becomes the function of angle of turn.Specifically, locking torque can be with
Straight trip signal diminishes and becomes big, therefore the turning of motor vehicle execution or the angle for the turning that will be performed become much larger.Herein
Supplement value refers to such a numerical value, and it diminishes if initial value becomes greatly, and it becomes big if initial value diminishes.If will
Straight trip signal is limited in the scope between 0 to 1, then can subtract straight trip signal by using 1 and obtain supplement value.
If the transverse movement parameter of the motor vehicle of measurement becomes bigger than modelling transverse movement parameter, preferred to reduce
Locking torque.In this case, motor vehicle actually the bend that is just crossing than modelling bend more drastically, therefore, on the one hand,
This to automotive occupant or other people can produce danger, but then, integrally reduce reduction skid the need for.If skidding hair
The raw front-wheel in outside when turning, this can be a kind of sign, for example, smooth ground is the reason for causing problem, then
Locking torque can also be reduced.
In a preferred embodiment of the invention, only under the conditions of further, i.e. the transverse movement ginseng of the measurement of motor vehicle
When number is less than the transverse movement parameter modeled, the wheel that inner side is in when being turned at least one performs braking.
When the wheel braking of inner side is in when being turned at least one, the rotation of the brake force of application preferably as inner side front-wheel
The function of deviation between the rotary speed of rotary speed and outside front-wheel is selected.Therefore the brake force applied is actually to send out
The function of raw skidding, it avoids the driving behavior of motor vehicle suddenly.In this context, brake force is preferably as inner side front-wheel
The monotone increasing function of deviation between rotary speed and the rotary speed of outside front-wheel is selected.
The computer that the second aspect of the present invention is related to the control program performed with the control unit by motor vehicle can
Storage medium is read, it performs the first aspect of the present invention.
The third aspect of the present invention is directed to the motor vehicle with front-wheel drive and automatically controlled locking differential.The motor vehicle bag
Control unit containing the method for being designed to carry out the present invention.
Brief description of the drawings
Fig. 1 represents the schematic diagram of motor vehicle.
Embodiment
The present invention is explained in more detail with reference to specific embodiment.Fig. 1 shows the schematic diagram of motor vehicle 1,
Wherein, some and in the prior art usual elements unrelated with this explaination have been omitted.Motor vehicle 1 in accompanying drawing has front-wheel
Driving, result is front-wheel 3 and front-wheel 4 is applied not only to the steering of motor vehicle and is also used for its driving.Pass through automatically controlled locking type
Differential mechanism 2 is by engine（Do not show）The driving torque of generation is distributed to two front-wheels, can apply locking torque to differential mechanism 2
To limit the equalizing effect of differential gear.Control unit 7 control locking differential 2, its also control be arranged on front-wheel 3,4 and
Brake block 8 to 11 on trailing wheel 5,6.Control unit 7 receives multiple input signals 12, and the input signal 12 includes multiple measurement letters
Number and the control of automobile driver pre-set and for producing the motion model of motor vehicle.Control unit 7 is designed to carry out
The method of the present invention, result is more preferable turning behavior, less tire wear and at the same time by more preferable driving comfort
The adjoint driving safety of degree increase is possibly realized.Alternatively, the second control unit separated with brake system can also control lock
Only formula differential mechanism 2, but both control units obtain identical motion model.
Although the present invention is set forth in or illustrated by exemplary embodiment, limited not by disclosed embodiment
The system present invention.Those skilled in the art can obtain many in the case of the protection domain that the claim for not departing from the present invention is limited
Plant mapping mode.
Claims (15)
1. one kind is used for control method of the motor vehicle (1) with front-wheel drive and automatically controlled locking differential (2) when turning,
With following step：
Control based on motor vehicle (1) driver pre-sets the motion model for calculating motor vehicle (1)；
Measure the transverse movement parameter of motor vehicle (1)；
It is determined that the transverse movement parameter and the deviation for modeling transverse movement parameter of motion model of measurement；
It is determined that when turning the rotary speed of inner side front-wheel (3) and during turning on the outside of front-wheel (4) rotary speed deviation；And
If the rotary speed of inner side front-wheel (3) is not less than the rotary speed of outside front-wheel (4) and if the transverse movement of measurement
The transverse movement parameter of parameter drift-out modelling, then reduce the deviation between rotary speed, or
If the rotary speed of inner side front-wheel is less than the rotary speed and if the transverse movement parameter drift-out of measurement of outside front-wheel
The rotary speed of the transverse movement parameter of modelling, then reduction inner side front-wheel, it is characterised in that
By applying locking torque and/or single shoe brake motor vehicle (1) when turning positioned at inner side to locking differential (2)
At least one wheel (3,5) is used as between the function of the operating parameter of the motor vehicle (1) determined during turning reduction rotary speed
Deviation or inner side front-wheel rotary speed；
Wherein, the deviation between the rotary speed of inner side front-wheel (3) and the rotary speed of outside front-wheel (4) is in the predetermined time
When not reducing at least predetermined numerical value in section, the locking torque is applied to the electricity in the predetermined time period
Locking differential (2) is controlled, and when not enough reducing skidding using the automatically controlled locking differential (2), is located to described
At least one wheel (3,5) of inner side applies the single shoe brake；
The locking torque is used as the deviation between the rotary speed of inner side front-wheel (3) and the rotary speed of outside front-wheel (4)
Function is selected.
2. the method according to preceding claims, it is characterised in that the transverse acceleration of motor vehicle (1) is also determined, in horizontal stroke
Under the additional conditions for being more than threshold acceleration to acceleration, locking torque is applied to locking differential (2).
3. the method according to preceding claims, it is characterised in that in transverse acceleration less than first threshold acceleration
Under additional conditions, at least one wheel (3,5) that the inner side of motor vehicle (1) is in during to turning performs single shoe brake.
4. method according to claim 1 or 2, it is characterised in that apply by locking torque to locking differential (2)
When, if the transverse acceleration of motor vehicle (1) be higher than Second Threshold acceleration, brake motor-car (1) turn when at including
The trailing wheel (5) of side.
5. the method according to foregoing any claim, it is characterised in that at least one wheel of inner side is in during turning
(3,5) be motor vehicle (1) trailing wheel (5).
6. the method according to foregoing any claim, it is characterised in that it is determined that straight trip signal, if motor vehicle (1) is straight
Every trade is entered, and the straight trip signal has maximum value, if the angle of turn of motor vehicle (1) is larger, and it has relative all the time
Low absolute value.
7. the method according to foregoing any claim, it is characterised in that based on one of them at least following determination straight trip
Signal：Steering wheel is adjusted, the driftage of motor vehicle (1) or the transverse acceleration of motor vehicle (1).
8. method according to claim 7, it is characterised in that locking torque is entered as the function of the supplement value of straight trip signal
Row selection.
9. the method according to foregoing any claim, it is characterised in that if the transverse movement of the measurement of motor vehicle (1)
Parameter becomes bigger than the transverse movement parameter of modelling, then reduces locking torque.
10. the method according to foregoing any claim, it is characterised in that if the front-wheel (4) in outside when turning
Generation, which is skidded, then reduces locking torque.
11. the method according to foregoing any claim, it is characterised in that only under the conditions of further, i.e. motor vehicle
(1) when the transverse movement parameter of measurement is less than the transverse movement parameter of modelling, inner side is in when being turned at least one
Wheel (3,5) performs braking.
12. the method according to foregoing any claim, it is characterised in that in order in braking and being in during at least one turning
The wheel (3,5) of side and the brake force that applies as inner side front-wheel (3) rotary speed and outside front-wheel (4) rotary speed it
Between the function of deviation selected.
13. the method according to foregoing any claim, it is characterised in that if the rotary speed of inner side front-wheel (3) is low
Rotary speed in outside front-wheel (4), can also perform single shoe brake intervention on inboard wheel (3,5).
14. the method according to foregoing any claim, it is characterised in that brake force as inner side front-wheel (3) rotation
The function of the monotone increasing of the difference of speed and the rotary speed of outside front-wheel (4) is selected.
15. one kind has the motor vehicle (1) of front-wheel drive, automatically controlled locking differential (2) and control unit (7), control unit
(7) it is designed to carry out any described method in claim 1 to 14.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102012206010.3 | 2012-04-12 | ||
| DE201210206010 DE102012206010A1 (en) | 2012-04-12 | 2012-04-12 | Method for controlling motor vehicle, involves calculating motion model of vehicle based on control requirement of driver of motor vehicle, where lateral movement parameter of vehicle is measured |
| DE1020122060103 | 2012-04-12 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103373344A CN103373344A (en) | 2013-10-30 |
| CN103373344B true CN103373344B (en) | 2017-10-03 |
Family
ID=49232183
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310127397.6A Expired - Fee Related CN103373344B (en) | 2012-04-12 | 2013-04-12 | Motor vehicle is drawn and turning performance is improved |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN103373344B (en) |
| DE (1) | DE102012206010A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3017095B1 (en) * | 2014-02-03 | 2017-05-12 | Renault Sas | METHOD FOR MONITORING THE TRACK OF A MOTOR VEHICLE AND VEHICLE THEREFOR |
| DE102017200551B4 (en) * | 2017-01-16 | 2018-10-04 | Ford Global Technologies, Llc | Method for operating a motor vehicle with shiftable four-wheel drive |
| CN111267853B (en) * | 2018-12-03 | 2021-06-18 | 广州汽车集团股份有限公司 | Adaptive vehicle curve auxiliary control method and device, computer equipment and storage medium |
| DE102019125420A1 (en) * | 2019-09-20 | 2021-03-25 | Bayerische Motoren Werke Aktiengesellschaft | Control unit and method for assisting a vehicle to drive through a curve |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5450919A (en) * | 1993-01-12 | 1995-09-19 | Mazda Motor Corporation | Differential action control system of a vehicle |
| JP4069921B2 (en) * | 2004-10-25 | 2008-04-02 | 三菱自動車工業株式会社 | Vehicle turning behavior control device |
| JP4696224B2 (en) * | 2005-07-19 | 2011-06-08 | 三菱自動車工業株式会社 | Differential restriction control device for four-wheel drive vehicle |
| US8265842B2 (en) * | 2009-07-23 | 2012-09-11 | Ford Global Technologies, Llc | Electronic locking differential |
| US9605740B2 (en) * | 2009-10-01 | 2017-03-28 | Ford Global Technologies, Llc | Control of an electronic locking differential |
| US8437914B2 (en) * | 2010-05-18 | 2013-05-07 | Ford Global Technologies | Electric motor enhanced driveability in vehicle handling and stability control events |
| US8454471B2 (en) * | 2010-07-21 | 2013-06-04 | Ford Global Technologies, Llc | Electronic locking differential |
-
2012
- 2012-04-12 DE DE201210206010 patent/DE102012206010A1/en not_active Ceased
-
2013
- 2013-04-12 CN CN201310127397.6A patent/CN103373344B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN103373344A (en) | 2013-10-30 |
| DE102012206010A1 (en) | 2013-10-17 |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20171003 Termination date: 20190412 |