CN104709273A - Vehicle control method - Google Patents
Vehicle control method Download PDFInfo
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- CN104709273A CN104709273A CN201410743711.8A CN201410743711A CN104709273A CN 104709273 A CN104709273 A CN 104709273A CN 201410743711 A CN201410743711 A CN 201410743711A CN 104709273 A CN104709273 A CN 104709273A
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- vehicle
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- wheel
- skidding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
- B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to, or preventing, skidding of wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/14—Central differentials for dividing torque between front and rear axles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
- B60K2023/043—Control means for varying left-right torque distribution, e.g. torque vectoring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/14—Electronic locking-differential
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/26—Wheel slip
- B60W2520/266—Slip values between left and right wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/30—Wheel torque
Abstract
There is provided a vehicle control method coordinating motor torque control and braking force control when a vehicle slips and spins. The vehicle control method comprises a step (S104) of slip determination, which serves to determine on the basis of vehicle information whether the vehicle (102) slips or not; a step (S106) for shifting to an automatically switched mode, which serves to switch a driving mode from a normal mode in which the torque is reduced when slips to a first torque reduction amount in an automatically switched mode in which the torque is lowered at slip by a second torque reduction amount smaller than the first torque reduction amount when it is determined that the vehicle is in a slip state; and a step (S108) for torque control, which conducts braking of the right wheel (134b) with a greater wheel speed than the left wheel (134a) and distributes the torque from the right wheel to the left wheel to control the torque of the left and the right wheels to obtain a slip ratio for a vehicle to exit from a slip state, the slip ratio being the wheel speed difference of the right and left wheels to the speed of the vehicle.
Description
Technical field
The present invention relates to the control method for vehicle of coordinating to carry out engine torque control and brake-power control when vehicle slip.
Background technology
As the control method of the vehicles such as automobile, be knownly called as Electronic StabilityProgram (electronic stability program), the vehicle attitude referred to as ESP (registered trade mark (RTM)) controls.ESP comprises TCS (Traction Control System: anti-slip regulation) and controls, be generally the propulsive effort making the braking force of the output of driving engine (torque) and each wheel coordinate to control each wheel, improve the riding stability of vehicle.Particularly, when occurring that crossing of wheel rotates (skiddings), left and right wheels produces wheel speed difference, utilize TCS to control to reduce motor torque, applying braking to wheel, to reduce wheel fast poor.
The control that applying braking reduces wheel speed difference is also referred to as braking LSD (LimitedSlip Differential: Limited slip differential) control.Such as when the coefficientoffrictionμ on the road surface contacted due to left and right wheels difference and when there occurs skidding, control a side wheel large to the wheel velocity in left and right wheels by braking LSD and apply the braking corresponding to wheel velocity, by modified roll mechanism, torque is assigned to the opposing party's wheel from side's wheel thus.At this, when side's wheel there occurs skidding on poor road, dark trail road etc., the opposing party's wheel wheel velocity compared with side's wheel is less, and the possibility that therefore high with coefficientoffrictionμ road surface contacts is high.Thus, if to the opposing party's wheel distribution of torque, then vehicle uprises from the possibility departed from of skidding.
In patent documentation 1, describe the driving-force control apparatus suppressing the skidding of drive wheel when drive wheel is absorbed in muddy, dark snow etc. and skids.Control as follows in the apparatus: according to drive wheel speed and the actual skidding rate of body speed of vehicle computing, if actual skidding rate exceedes specified value, then reduce propulsive effort, and forbid reducing propulsive effort according to the situation of vehicle.
In patent documentation 1, when the situation of vehicle and accelerator operation amount be more than specified value, body speed of vehicle be the state of below specified value have passed through specified time time, by forbidding that the control carrying out reducing propulsive effort to depart from from skidding with the propulsive effort corresponding to accelerator operation amount.
prior art document
patent documentation
Patent documentation 1: Unexamined Patent 1-145242 publication
Summary of the invention
the problem that invention will solve
In the control that patent documentation 1 is recorded, when attempting departing from from skidding, step on accelerator significantly, therefore the rotating speed of driving engine is easy to the upper limit exceeding allowed band, in addition, applies large torque without a break, and the load therefore applied to the drive system of vehicle increases.
And in patent documentation 1, be only the reduction forbidding propulsive effort, and reduce about propulsive effort how many, using braking LSD to control to realize departing from this point from skidding to wheel distribution of torque does not thus have concrete record.That is, the technology described in patent documentation 1 controls different from TCS, does not consider to make engine torque control and brake-power control coordinate when vehicle slip.In addition, in the TCS coordinating to carry out both controls, also there is room for improvement.
The present invention, in view of this problem, its object is to make engine torque control and brake-power control coordinate, improve the control method for vehicle of cross-country traveling ability in a more effective manner when vehicle slip.
for the scheme of dealing with problems
In order to solve the problem, the representativeness of control method for vehicle of the present invention is formed, a side wheel larger to the wheel velocity in left and right wheels when vehicle slip applies the braking corresponding to wheel velocity, by modified roll mechanism, torque is assigned to the opposing party's wheel from side's wheel thus, the feature of above-mentioned control method for vehicle is, comprise: skid and judge process, judge whether vehicle is in slipping state according to information of vehicles; Automatic transfer mode transfer processing, when judging that vehicle is slipping state, automatic transfer mode is transferred to from normal mode, wherein, above-mentioned normal mode makes torque only reduce the 1st torque decrease specified when being and skidding, make torque only reduce the 2nd torque decrease less than the 1st torque decrease when above-mentioned automatic transfer mode is and skids; And direct torque process, by applying the torque of control for brake left and right wheels to side's wheel, obtain the skidding rate of the regulation that vehicle can be made to depart from from slipping state, skidding rate is that left and right wheels speed differs from the ratio with car speed.
According to above-mentioned formation, if be judged as that vehicle there occurs skidding, then the driving mode of vehicle shifts from normal mode automatically to automatic transfer mode.At this, under automatic transfer mode, make torque only reduce the 2nd torque decrease less than the 1st torque decrease of normal mode, therefore the total amount of motor torque becomes large with there occurs the situation of skidding under normal mode compared with.If the wheel of idle running when skidding is set to side's wheel, then its wheel velocity is certainly large than the wheel velocity of the opposing party wheel, with supposition compared with tackling the wheel velocity of side's wheel when skidding under normal mode, and also definitely can be larger.Its reason is, under automatic transfer mode compared with under normal mode, the total amount of torque is larger.Thus, under automatic transfer mode, set according to the wheel velocity of side's wheel and the braking force that side's wheel applies also is become large compared with under normal mode.
By modified roll mechanism by torque distribution to left and right wheels, therefore when a side wheel large to wheel velocity applies large braking force, torque is assigned to the little the opposing party's wheel of wheel velocity from side's wheel.This situation make use of braking LSD and controls.Further, under automatic transfer mode, carry out braking LSD control, therefore compared with under normal mode, under the automatic transfer mode after braking force improves, be easier to reach the skidding rate being suitable for vehicle and departing from from skidding.Its reason is, the torque total amount of automatic transfer mode is larger, therefore more substantial torque can be distributed to the opposing party's wheel, and the possibility reaching the skidding rate expected that to be beyond one's reach under normal mode is high.Or its reason is, compared with under normal mode, more promptly can reach the skidding rate of expectation.Like this, in the present invention, automatically shift to above-mentioned automatic transfer mode during skidding, thus compared with the situation utilizing normal mode to tackle to skid, more improve cross-country traveling ability.
The braking applied side's wheel in above-mentioned direct torque process carries out with the braking force of the regulation of skidding rate according to the rules and vehicle speed setting.Thus, when transferring to automatic transfer mode from normal mode, carrying out controlling torque by direct torque process and reaching the skidding rate corresponding to car speed, and controlling braking force to obtain the braking force of regulation.Thus, vehicle can be easier to reach for from the skidding rate departed from of skidding, and improves cross-country traveling ability further.
The control method of above-mentioned vehicle also comprises the lockdown mode transfer processing manually operated to lockdown mode transfer, under lockdown mode, torque is made only to reduce the 3rd torque decrease less than the 2nd torque decrease during skidding, and the braking force that the braking force applied side's wheel when skidding applies under being greater than normal mode.Thus, when vehicle also cannot be departed from from skidding by automatic transfer mode, by operating switch etc., driving mode is switched to lockdown mode.Under lockdown mode, compared with automatic transfer mode, torque decrease diminishes, braking force becomes large.Therefore, under lockdown mode, compared with automatic transfer mode, the better effects if that braking LSD controls, from side's wheel to the little the opposing party's wheel distribution of torque more of wheel velocity, therefore can improve cross-country traveling ability further.
Above-mentioned information of vehicles comprise left and right wheels speed difference and from produce wheel speed difference time length, skidding judge process in, when left and right wheels speed difference and time length be respectively more than defined threshold time, can be judged as skid generation.Reliably can judge that it is difficult for travelling under normal mode, can shift from normal mode automatically to automatic transfer mode by such setting threshold.Thus, chaufeur can note pavement state, can alleviate the burden of chaufeur.
Can be that above-mentioned control method for vehicle also comprises: depart from and judge process, whether the state not reaching defined threshold according to left and right wheels speed difference after direct torque process continue for specified time, to whether successfully judging of departing from; And normal mode Recovery processing, revert to normal mode when being judged as departing from success from automatic transfer mode.Thus, after transferring to automatic transfer mode from normal mode, automatic transfer mode continues until vehicle departs from from skidding, when being judged as successfully departing from from skidding, can revert to normal mode.Thus, the transfer from automatic transfer mode to normal mode can not be there is continually, therefore the increase etc. of the vibration of accompanying with the switching of driving mode can not occur continually, chaufeur incongruity operationally can be suppressed.
invention effect
According to the present invention, can provide and engine torque control and brake-power control can be made when vehicle slip in a more effective manner to coordinate, the control method for vehicle of cross-country traveling ability can be improved.
Accompanying drawing explanation
Fig. 1 is the figure of the vehicle that the controller of vehicle applying the control method for vehicle performing present embodiment is roughly shown.
Fig. 2 is the block diagram of the function of the controller of vehicle that Fig. 1 is shown.
Fig. 3 is the figure of the driving mode table that Fig. 2 is shown.
Fig. 4 is the diagram of circuit of the process of the control method for vehicle that present embodiment is shown.
Fig. 5 illustrates the skidding rate table of Fig. 2 and the figure of braking force table.
Fig. 6 is the figure compared relative to car speed the skidding rate under each driving mode and braking force.
description of reference numerals
100 ... controller of vehicle, 102 ... vehicle, 104 ... vehicle control section, 106 ... vehicle-wheel speed sensor, 108 ... skidding judging part, 110 ... driving mode instruction unit, 112 ... brake-power control portion, 114 ... information of vehicles efferent, 116 ... time meter, 118 ... storage part, 120 ... driving mode table, 122 ... engine torque control portion, 124 ... car speed sensor, 126 ... skidding rate table, 128 ... driving engine, 130 ... braking force table, 132 ... brake system, 134a ... right wheel, 134b ... left wheel, 136 ... diff, 138 ... switch
Detailed description of the invention
Below, reference accompanying drawing is while explain the preferred embodiment of the present invention.Size shown in this embodiment, material, other concrete numerical value etc. are only the illustrations for ease of understanding invention, except the situation of special provision, are not limit content of the present invention.In addition, in the present description and drawings, for having function identical in fact, the key element of formation, omitting further repeat specification by enclosing same Reference numeral, in addition, not having the omitting elements of direct relation to illustrate to the present invention.
Fig. 1 is the figure of the vehicle 102 that the controller of vehicle 100 applying the control method for vehicle performing present embodiment is roughly shown.Fig. 2 is the block diagram of the function of the controller of vehicle 100 that Fig. 1 is shown.In addition, in FIG, the vehicle control section 104 included by controller of vehicle 100 and vehicle-wheel speed sensor 106 are only shown, and illustrate other formation with Fig. 2.
In vehicle 102, as shown in Figure 1, controller of vehicle 100 is equipped with.Controller of vehicle 100 has: vehicle control section 104, and it is arranged near the engine room of vehicle front side, performs the vehicle attitude being called as ESP (Electronic Stability Program) and controls; And vehicle-wheel speed sensor 106, it detects the wheel velocity of each wheel.ESP comprises TCS (Traction Control System) and controls, and coordinates the brake-power control carrying out engine torque control and each wheel, improves the riding stability of vehicle.In addition, vehicle 102 premised on 4 wheel drive, but is not limited thereto, as long as coordinate to carry out engine torque control and brake-power control, also can be f-w-d or back-wheel drive.
Vehicle control section 104 possesses as shown in Figure 2: skidding judging part 108, driving mode instruction unit 110, brake-power control portion 112.According to information of vehicles, skidding judging part 108 judges whether vehicle 102 is in slipping state.Information of vehicles herein comprises: the left and right wheels speed detected by the vehicle-wheel speed sensor 106 of information of vehicles efferent 114 is poor; And the time length measured by time meter 116 from generation wheel speed difference.
Driving mode instruction unit 110 reads the driving mode table 120 (with reference to Fig. 3) preserved by storage part 118 according to the judged result of skidding judging part 108, brake-power control portion 112 and engine torque control portion 122 are indicated to the switching of driving mode.In addition, the car speed such as detected by the car speed sensor 124 of information of vehicles efferent 114, except the switching instruction of driving mode, also exports to brake-power control portion 112 and engine torque control portion 122 by driving mode instruction unit 110.
Engine torque control portion 122 reads the skidding rate table 126 (with reference to Fig. 5 (a)) of storage part 118, adjusts the throttle opening etc. of driving engine 128, make torque only reduce the torque decrease corresponding to driving mode based on this.Brake-power control portion 112 reads the braking force table 130 (with reference to Fig. 5 (b)) of storage part 118, carries out the adjustment etc. of the braking oil pressure of brake system 132, control the braking force applied left and right wheels 134a, 134b based on this.The control of this braking force controls to carry out according to the braking LSD of the wheel speed difference reducing left and right wheels 134a, 134b.
That is, the torque after being reduced according to driving mode by engine torque control portion 122 is distributed to left and right wheels 134a, 134b via the diff 136 as modified roll mechanism.As an example, when a side wheel (such as right wheel 134a) large to wheel velocity applies large braking force, torque is assigned to the little the opposing party's wheel of wheel velocity (such as left wheel 134b) from right wheel 134a.In addition, driving mode also can be, not only automatically indicate switching according to the judged result of skidding judging part 108 by driving mode instruction unit 110, the M/C also by employing switch 138 suitably switches.
Fig. 3 is the figure of the driving mode table 120 that Fig. 2 is shown.In vehicle 102, set multiple driving mode as shown in the figure.According to being the torque decrease making torque only reduce much degree when vehicle 102 skids, or braking force wheel being applied to much degree is to distinguish these driving modes.
Normal mode is the pattern as benchmark, is also referred to as AUTO (automatically) pattern.Under normal mode, the 1st torque decrease (being " normally " in the drawings) making torque only reduce to specify when vehicle 102 skids, and wheel is applied to the braking force (being " normally " in the drawings) of regulation.Snow field mode is institute's preferred pattern when travelling on the road surface that coefficientoffrictionμ is low, torque decrease when vehicle 102 skids is maximum (being " greatly " in the drawings) in driving mode, and the braking force of braking-force ratio normal mode is little (being " little " in the drawings).Mode of motion is institute's preferably pattern when motion travels on dry pavement.Mode of motion makes torque only reduce the 2nd torque decrease less than the 1st torque decrease under normal mode (being " little " in the drawings), the braking force of braking-force ratio normal mode large (be in the drawings " in ").
Lockdown mode is the pattern paying attention to cross-country traveling ability, uses when cannot obtain the propulsive effort of each wheel fully when such as rising and falling and the poor road such as many concavo-convex slope roads or dark trail road travelling.Under lockdown mode, make torque only reduce the 3rd torque decrease (be in the drawings " minimum ") less than the 2nd torque decrease when vehicle 102 skids, braking force is maximum (being " maximum " in the drawings) in driving mode.3rd torque decrease is minimum in driving mode.In addition, the braking force under lockdown mode and the braking force of normal mode be in a ratio of double more than.M/C by the switch 138 employing controller of vehicle 100 suitably selects this 4 driving modes.
Automatic transfer mode is different from 4 driving modes, is when have selected the pattern except lockdown mode, the pattern (aftermentioned) automatically shifted when vehicle 102 skids.Automatic transfer mode makes torque only reduce the 2nd torque decrease (being " little " in the drawings) in the same manner as mode of motion when vehicle 102 skids, braking force is the large braking force (being " greatly " in the drawings) being only second to lockdown mode.
Below, the control method for vehicle when the vehicle 102 in travelling on poor road with normal mode there occurs skidding is described.Fig. 4 is the diagram of circuit of the process of the control method for vehicle that present embodiment is shown.Fig. 5 illustrates the skidding rate table 126 of Fig. 2 and the figure of braking force table 130.
First, vehicle 102 travels (step S100) with normal mode, if produce poor (step S102) in the wheel velocity of left and right, then skidding judging part 108 judges whether to be regarded as skidding (step S104 skids and judges process).Judge process by skidding, when being measured as by time meter 116, the left and right wheels speed difference detected by vehicle-wheel speed sensor 106 is about more than 3.0km/h, this wheel speed difference continues more than 500ms, being then judged as skidding, ("Yes") occurs.In addition, if left and right wheels speed difference and time length do not reach above-mentioned each threshold value respectively, then skidding judging part 108 is not considered as skidding ("No"), again returns step S102.
If judge that by skidding process is judged as skidding to occur, then driving mode instruction unit 110 pairs of engine torque control portions 122 and brake-power control portion 112 export the instruction (step S106, automatic transfer mode transfer processing) shifted to automatic transfer mode from normal mode.At this, by automatic transfer mode transfer processing, transfer to the automatic transfer mode making torque only reduce the 2nd torque decrease less than the 1st torque decrease of normal mode.Therefore, the total amount of motor torque becomes large compared with there occurs the situation of skidding under normal mode.That is, by automatic transfer mode transfer processing, transfer to automatic transfer mode, allow larger skidding thus.
Then, engine torque control portion 122 and brake-power control portion 112 control the torque (step S108, direct torque process) of left and right wheels 134a, 134b in phase.In direct torque process, based on the skidding rate table 126 of Fig. 5 (a), in order to obtain the skidding rate corresponding to car speed, the such as right wheel 134a large to the wheel velocity in left and right wheels 134a, 134b applies the braking corresponding to wheel velocity, by diff 136, torque is assigned to left wheel 134b from right wheel 134a thus.
At this, as shown in Fig. 5 (a), the approximate function that skidding rate table 126 preserves based on transverse axis X being set to car speed, each point A when longitudinal axis Y being set to skidding rate obtains, preserves the power function (Y=9.6X of 1/X as an example
-1.2).In addition, corresponding to the car speed shown in power function skidding rate is that left and right wheels speed differs from the ratio with the car speed departed from from skidding for vehicle 102.Each point A illustrates that in fact vehicle 102 is from the skidding rate corresponding to car speed of skidding when departing from.Therefore, engine torque control portion 122 can by obtaining suitably setting such as adjusting the engine control threshold value of the throttle opening of driving engine by the mode of the skidding rate shown in the power function corresponding to car speed.In addition, mode of motion also makes torque only reduce the 2nd torque decrease in the same manner as automatic transfer mode when skidding.Therefore, in the sport mode, the engine control threshold value based on the skidding rate shown in skidding rate table 126 can be set.
And, in direct torque process, in order to the skidding rate that the car speed obtained to depart from from skidding for vehicle 102 is corresponding, such as, can determine based on the braking force table 130 shown in Fig. 5 (b) braking that right wheel 134a is applied.As shown in the figure, the approximate function that braking force table 130 preserves based on transverse axis X being set to car speed, each point B when longitudinal axis Y being set to the change multiplying power of braking force obtains, preserves the power function (Y=66.2X of 1/X as an example
-0.8).In addition, by the multiplying power that the change multiplying power of the braking force shown in power function is when braking force time usual being set to " 1 ", force of inertia according to acting on vehicle 102 suitably sets with the relation of the propulsive effort (torque) needed for disengaging, represents that car speed is more low and more needs large braking force.Each point B illustrates the change multiplying power of the braking force in fact obtaining the skidding rate shown in Fig. 5 (a).Therefore, the brake-power control portion 112 control for brake threshold value that can suitably adjust such as adjusting the braking oil pressure of brake system 132 obtains the change multiplying power of the braking force represented by the power function corresponding to car speed.
That is, in direct torque process, under automatic transfer mode, carry out above-mentioned braking LSD control.At this, if the wheel of idle running when skidding under automatic transfer mode is set to right wheel 134a, then its wheel velocity is larger than the wheel velocity of left wheel 134b.In addition, the wheel velocity of the right wheel 134a under automatic transfer mode is compared with under normal mode, the total amount of the torque under automatic transfer mode is larger, therefore with supposition compared with tackling the wheel velocity of right wheel 134a when skidding under normal mode, also definitely can be larger.Thus, under automatic transfer mode, also larger compared with under normal mode according to the braking force applied right wheel 134a that the wheel velocity of right wheel 134a sets.
Further, automatic transfer mode is compared with normal mode, and the total amount of torque is larger, therefore can by more substantial torque distribution to left wheel 134b, and the possibility that can reach the skidding rate of the expectation that to be beyond one's reach under normal mode uprises.In addition, automatic transfer mode more promptly can reach the skidding rate of expectation compared with normal mode.Thus, in direct torque process, under the automatic transfer mode after braking force compared with under normal mode improves, vehicle 102 is easy to reach and is suitable for from the skidding rate departed from of skidding.Thus, according to control method for vehicle, automatically shift to automatic transfer mode during skidding, thus with tackle the situation of skidding under normal mode compared with, more can improve cross-country traveling ability.In other words, according to control method for vehicle, coordinate engine torque control and brake-power control in a more effective manner when vehicle slip, improve cross-country traveling ability.
Then, after the direct torque process of step S108, skidding judging part 108, when not reaching the state continuance of 3.0km/h more than 2500ms as left and right wheels speed difference, is judged as departing from successfully (step S110 departs from and judges process).When judging that process is judged as departing from successful by disengaging ("Yes"), driving mode instruction unit 110 pairs of engine torque control portions 122 and brake-power control portion 112 export the instruction (normal mode Recovery processing) reverting to normal mode from automatic transfer mode.
On the other hand, when judging that process is judged as that disengaging does not have successful by disengaging ("No"), driving mode instruction unit 110 judges whether to produce the driving mode switching signal (step S112) accompanied with the M/C of switch 138.When producing driving mode switching signal in step S112 ("Yes"), driving mode instruction unit 110 pairs of engine torque control portions 122 and brake-power control portion 112 export the instruction (step S114, lockdown mode transfer processing) shifted from automatic transfer mode to lockdown mode.
Under lockdown mode, when skidding as mentioned above, torque is made only to reduce the 3rd torque decrease less than the 2nd torque decrease under automatic transfer mode and mode of motion.And under lockdown mode, the braking force applied right wheel 134a during skidding is maximum in each driving mode.Therefore, under lockdown mode, compared with automatic transfer mode, the better effects if that braking LSD controls, from the large right wheel 134a of wheel velocity to the little left wheel 134b distribution of torque more of wheel velocity, therefore can improve cross-country traveling ability further.Further, after transferring to lockdown mode, vehicle 102 can realize departing from (step S116) from skidding.
Fig. 6 is the figure compared relative to car speed the skidding rate under each driving mode and braking force.Coordinate diagram C shown in Fig. 6 (a) replaces the approximate function that obtains of each point A based on shown in the skidding rate table 126 of Fig. 5 (a), is connected to each other by each point A and the coordinate diagram that obtains.Coordinate diagram C illustrates the skidding rate under automatic transfer mode and mode of motion.Coordinate diagram D shown in Fig. 6 (a), E and F illustrate the skidding rate under normal mode, lockdown mode and snow field mode respectively, are the coordinate diagram being connected to each other by each point drawn and obtaining.
More each coordinate diagram C, D, E and F, as an example, when car speed is 15 (km/h) left and right, the size of skidding rate becomes " the automatic transfer mode of snow field mode < normal mode <=mode of motion < lockdown mode ".According to this content, the magnitude relationship of skidding rate is corresponding with the torque decrease of each driving mode shown in Fig. 3 is apparent.
Coordinate diagram G shown in Fig. 6 (b) replaces the approximate function that obtains of each point B based on shown in the braking force table 130 of Fig. 5 (b), is connected to each other by each point B and the coordinate diagram that obtains.Coordinate diagram G illustrates the braking force under automatic transfer mode.Coordinate diagram H shown in Fig. 6 (b), I, J and K illustrate the braking force under mode of motion, normal mode, lockdown mode and snow field mode respectively, are the coordinate diagram being connected to each other by each point drawn and obtaining.
More each coordinate diagram G, H, I, J and K, the size of braking force is corresponding with the magnitude relationship of the braking force shown in Fig. 3, becomes " the automatic transfer mode < lockdown mode of snow field mode < normal mode < mode of motion < ".
Like this according to control method for vehicle, if be judged as that vehicle 102 there occurs skidding, then driving mode can shift from normal mode automatically to automatic transfer mode, and coordinates based on skidding rate table 126 and braking force table 130 torque that engine torque control and brake-power control control left and right wheels 134a, 134b in a more effective manner.Thus, in control method for vehicle, set automatic transfer mode, not only improve cross-country traveling ability thus compared with normal mode, and do not need skid time chaufeur in person manual operation switch 138 to switch driving mode, the burden of chaufeur can be reduced.
In addition, according to control method for vehicle, judge that vehicle 102 there occurs skidding based on defined threshold, therefore reliably can judge that it is difficult for travelling under normal mode, chaufeur, also without the need to noting pavement state, can alleviate the burden of chaufeur.
In addition, according to control method for vehicle, when vehicle 102 also cannot be departed from from skidding by automatic transfer mode, lockdown mode can be switched to by manual operation switch 138.Therefore, improve the effect of braking LSD control by control method for vehicle and improve cross-country traveling ability, can depart from from skidding.
In addition, according to control method for vehicle, after transferring to automatic transfer mode from normal mode, automatic transfer mode continues until vehicle 102 departs from from skidding, when being judged as successfully departing from from skidding, can be automatically restored to normal mode.Thus, the transfer from automatic transfer mode to normal mode can not occur continually, the increase etc. of the vibration that the switching that therefore driving mode can not occur continually brings, can suppress chaufeur incongruity operationally.
And according to control method for vehicle, automatic transfer mode is different from the lockdown mode paying attention to cross-country traveling ability, braking force is less, therefore can reduce the impact or the load that bring drive system, and the vibration that braking brings also can not increase further, can suppress operational incongruity.
Above, with reference to accompanying drawing while describe the preferred embodiment of the present invention, certainly the invention is not restricted to this example.If those skilled in the art, then can expect that various modification or modification are apparent in the category that claim is recorded, and understand these modifications or modification also belongs to technical scope of the present invention certainly.
industrial utilizability
The present invention can be applied to the control method for vehicle of coordinating to carry out engine torque control and brake-power control when vehicle slip.
Claims (5)
1. a control method for vehicle, a side wheel larger to the wheel velocity in left and right wheels when vehicle slip applies the braking corresponding to this wheel velocity, by modified roll mechanism, torque is assigned to the opposing party's wheel from this side wheel thus, the feature of above-mentioned control method for vehicle is, comprising:
Skid and judge process, judge whether vehicle is in slipping state according to information of vehicles;
Automatic transfer mode transfer processing, when judging that vehicle is slipping state, automatic transfer mode is transferred to from normal mode, wherein, above-mentioned normal mode makes torque only reduce the 1st torque decrease specified when being and skidding, make torque only reduce the 2nd torque decrease less than the 1st torque decrease when above-mentioned automatic transfer mode is and skids; And
Direct torque process, by applying the torque of control for brake left and right wheels to one side wheel, obtains the skidding rate of the regulation that vehicle can be made to depart from from slipping state, and above-mentioned skidding rate is that left and right wheels speed differs from the ratio with car speed.
2. control method for vehicle according to claim 1, is characterized in that,
The braking applied one side wheel in above-mentioned direct torque process is to carry out according to the braking force of the skidding rate of afore mentioned rules and the regulation of vehicle speed setting.
3. control method for vehicle according to claim 1 and 2, is characterized in that,
This control method for vehicle also comprises the lockdown mode transfer processing manually operated to lockdown mode transfer,
Under above-mentioned lockdown mode, torque during skidding, is made only to reduce the 3rd torque decrease less than the 2nd torque decrease, and the braking force that the braking force applied one side wheel when skidding applies under being greater than above-mentioned normal mode.
4. the control method for vehicle according to any one in claims 1 to 3, is characterized in that,
Above-mentioned information of vehicles comprises left and right wheels speed difference and the time length from this wheel speed difference of generation,
Judge in process in above-mentioned skidding, when left and right wheels speed difference and time length are respectively more than defined threshold, being judged as skidding occurs.
5. the control method for vehicle according to any one in Claims 1-4, is characterized in that, also comprises:
Depart from and judge process, whether the state not reaching defined threshold according to left and right wheels speed difference after above-mentioned direct torque process continue for specified time, to whether successfully judging of departing from; And
Normal mode Recovery processing, when being judged as departing from successful, reverts to above-mentioned normal mode from above-mentioned automatic transfer mode.
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| JP2013255613A JP6241248B2 (en) | 2013-12-11 | 2013-12-11 | Vehicle control method |
| JP2013-255613 | 2013-12-11 |
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| CN110514863A (en) * | 2019-09-23 | 2019-11-29 | 北京智行者科技有限公司 | A kind of differentiation and compensation method for unmanned vehicle wheel-slip |
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| Publication number | Publication date |
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| JP2015112978A (en) | 2015-06-22 |
| CN104709273B (en) | 2018-08-24 |
| JP6241248B2 (en) | 2017-12-06 |
| DE102014225490A1 (en) | 2015-06-11 |
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