CN104709273B - Control method for vehicle - Google Patents
Control method for vehicle Download PDFInfo
- Publication number
- CN104709273B CN104709273B CN201410743711.8A CN201410743711A CN104709273B CN 104709273 B CN104709273 B CN 104709273B CN 201410743711 A CN201410743711 A CN 201410743711A CN 104709273 B CN104709273 B CN 104709273B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- torque
- skidding
- wheel
- mode
- 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
- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000009467 reduction Effects 0.000 claims abstract description 35
- KJLPSBMDOIVXSN-UHFFFAOYSA-N 4-[4-[2-[4-(3,4-dicarboxyphenoxy)phenyl]propan-2-yl]phenoxy]phthalic acid Chemical compound C=1C=C(OC=2C=C(C(C(O)=O)=CC=2)C(O)=O)C=CC=1C(C)(C)C(C=C1)=CC=C1OC1=CC=C(C(O)=O)C(C(O)=O)=C1 KJLPSBMDOIVXSN-UHFFFAOYSA-N 0.000 claims description 28
- 238000011084 recovery Methods 0.000 claims description 4
- 230000002045 lasting effect Effects 0.000 claims 1
- 230000007246 mechanism Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 14
- 230000006870 function Effects 0.000 description 13
- 238000010009 beating Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
- B60W30/02—Control of vehicle driving stability
-
- 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
-
- 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
-
- 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
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Engine torque control and braking force control, the control method for vehicle for improving cross-country ability can be coordinated when vehicle slip in a more effective manner by providing.Control method for vehicle includes：Skidding judgement handles (S104), judges whether vehicle (102) is in slipping state according to information of vehicles；Automatic transfer mode transfer processing (S106), when being judged as in slipping state, the automatic transfer mode of the 2nd small torque reduction amount is measured than the 1st torque reduction shift to making torque only reduce when skidding from making torque only reduce the normal mode of the 1st torque reduction amount when skidding；And direct torque processing (S108), the right wheel (134a) big to the wheel velocity in left and right wheels applies braking, torque is assigned to left wheel (134b) to control the torque of left and right wheels from right wheel from there through differential mechanism (136), to obtain making vehicle from the skidding rate being detached from of skidding, which is the ratio between left and right wheels speed difference and car speed.
Description
Technical field
The present invention relates to the vehicle control sides for coordinating to carry out engine torque control and braking force control when vehicle slip
Method.
Background technology
Control method as vehicles such as automobiles, it is known that be referred to as Electronic Stability Program (electronics
Stability program), the vehicle attitude control of referred to as ESP (registered trademark).ESP includes TCS (Traction Control
System：Traction control system) it controls, the brake force of the output (torque) and each wheel that usually make engine is coordinated to control
The driving force for making each wheel improves the riding stability of vehicle.Specifically, rotation (skidding), left and right vehicle are crossed in generation wheel
It in the case that wheel generates wheel speed difference, is controlled using TCS and reduces motor torque, braking is applied to wheel to reduce wheel speed
Difference.
Apply braking and also referred to as brakes LSD (Limited Slip to reduce the control of wheel speed difference
Differential：Limited-slip differential) control.Such as when the road surface contacted due to left and right wheels friction coefficient μ difference and
When skidding has occurred, by braking the LSD controls side wheel application big to the wheel velocity in left and right wheels and wheel velocity
Corresponding braking, another party's wheel is assigned to from there through differential attachment by torque from side's wheel.Here, existing in side's wheel
In the case that skidding has occurred in poor road, deep trail road etc., another party's wheel wheel velocity compared with side's wheel is smaller, because
The possibility that this road surface high with friction coefficient μ contacts is high.Thus, if to another party's wheel distribution of torque, vehicle is from beating
Slip from possibility get higher.
In patent document 1, it describes and inhibits driving wheel in the case where driving wheel is absorbed in muddy, deep snow etc. and skids
The driving-force control apparatus of skidding.It carries out in the apparatus control as follows：It is practical according to driving wheel speed and body speed of vehicle operation
Skidding rate reduces driving force, and driven to forbid reducing according to the situation of vehicle if practical skidding rate is more than specified value
Power.
In patent document 1, when situation, that is, accelerator operation amount of vehicle is specified value or more, body speed of vehicle is specified value
When state below have passed through the stipulated time, can by forbid carrying out reducing the control of driving force come with accelerator operation amount phase
The driving force answered is detached from from skidding.
Existing technical literature
Patent document
Patent document 1：Unexamined Patent 1-145242 bulletins
Invention content
Problems to be solved by the invention
In control described in Patent Document 1, when attempting to be detached from from skidding, accelerator is significantly stepped on, therefore start
The rotating speed of machine is easy to the upper limit more than allowable range, in addition, applying big torque without a break, therefore is applied to the drive system of vehicle
The load added increases.
Moreover, in patent document 1, be only forbid the reduction of driving force, and about driving force reduce how much, thus use
Wheel distribution of torque is not recorded in braking LSD controls specifically to realize from disengaging this point of skidding.That is, 1 institute of patent document
The technology of record is different from TCS controls, does not account for coordinating engine torque control and braking force control when vehicle slip.
In addition, in coordinating to carry out the TCS controls of the two, there is also rooms for improvement.
For the present invention in view of the problem, its object is to can make motor torque control in a more effective manner when vehicle slip
The control method for vehicle of cross-country ability is coordinated, improved to system and braking force control.
The solution to the problem
To solve the above-mentioned problems, the representative structure of control method for vehicle of the invention is, when vehicle slip to a left side
The larger side's wheel of wheel velocity in right wheel apply it is corresponding with wheel velocity brake, from there through differential attachment will turn
Square is assigned to another party's wheel from side's wheel, and above-mentioned control method for vehicle is characterised by comprising：Skidding judgement is handled, root
Judge whether vehicle is in slipping state according to information of vehicles；Automatic transfer mode transfer processing, when judging vehicle for slipping state
When, it is transferred to automatic transfer mode from normal mode, wherein above-mentioned normal mode is that torque is made only to reduce defined the when skidding
1 torque reduction amount, above-mentioned automatic transfer mode are to make torque only reduce when skidding to measure the 2nd small torque than the 1st torque reduction and subtract
In a small amount；And direct torque processing, by applying the torque of control for brake left and right wheels to side's wheel, obtain can making vehicle from
The defined skidding rate that slipping state is detached from, skidding rate is the ratio between left and right wheels speed difference and car speed.
According to the above configuration, if it is determined that vehicle is skidded, then the driving mode of vehicle is from normal mode to certainly
Turn mode shifter shifts automatically.Here, under automatic transfer mode, torque is made only to reduce the 1st torque reduction than normal mode
The 2nd small torque reduction amount is measured, therefore the total amount of motor torque becomes compared with the case where skidding has occurred under normal mode
Greatly.If the wheel to dally when skidding is set as side's wheel, wheel velocity is certainly than the wheel velocity of another party wheel
It greatly, also absolutely can bigger compared with the wheel velocity for assuming to cope with side's wheel when skidding under normal mode.Its reason
It is, under automatic transfer mode compared under normal mode, the total amount bigger of torque.Thus, under automatic transfer mode, according to one
The wheel velocity of square wheel is set and the brake force applied to side's wheel also becomes larger compared under normal mode.
Left and right wheels are distributed torque to by differential attachment, therefore when a side wheel big to wheel velocity applies big
When brake force, torque is assigned to the small another party's wheel of wheel velocity from side's wheel.Braking LSD controls are utilized in the situation
System.Also, braking LSD controls are carried out under automatic transfer mode, therefore compared under normal mode, brake force improve after from
It is easier to reach the skidding rate from disengaging of skidding suitable for vehicle under turn mode shifter.The reason is that the torque of automatic transfer mode
Total amount bigger, therefore a greater amount of torques can be distributed to another party's wheel, reach the expectation being unable to reach under normal mode
Skidding rate possibility it is high.Alternatively, the reason is that, compared under normal mode, it can more quickly achieve desired skidding rate.
In this way, in the present invention, when skidding, shifts automatically to above-mentioned automatic transfer mode, thus with skidded using normal mode reply
Situation is compared, and cross-country ability is more improved.
It is with according to the skidding rate and vehicle of regulation speed to the braking that side's wheel applies in the processing of above-mentioned direct torque
The defined brake force of setting is spent to carry out.As a result, when being transferred to automatic transfer mode from normal mode, by turning
Square control process reaches skidding rate corresponding with car speed to control torque, and controls brake force to obtain defined system
Power.Thus, vehicle can be easier to reach for from the skidding rate being detached from of skidding, further increasing cross-country ability.
The control method of above-mentioned vehicle further includes the lockdown mode transfer processing shifted to lockdown mode by manual operation,
Under lockdown mode, when skidding, makes torque only reduce to measure the 3rd small torque reduction amount than the 2nd torque reduction, and when skidding pair
The brake force that one side's wheel applies is more than the brake force applied under normal mode.As a result, in vehicle by shifting mould automatically
Formula also can not from skid be detached from the case of, driving mode can be switched to lockdown mode by Operation switch etc..In locking mould
Under formula, compared with automatic transfer mode, torque reduction amount becomes smaller, brake force becomes larger.Therefore, under lockdown mode, and from turn
Mode shifter is compared, and the effect of braking LSD controls is more preferable, is more distributed from side's wheel to the small another party's wheel of wheel velocity
Torque, therefore cross-country ability can be further increased.
Above-mentioned information of vehicles includes left and right wheels speed difference and the duration from generating wheel speed difference, at skidding judgement
In reason, when left and right wheels speed difference and duration are respectively defined threshold or more, it can be determined that be skidding.In this way
Given threshold can reliably judge to be difficult in normal mode downward driving, can be from normal mode to automatic transfer mode from turn
It moves.Thus, driver can not have to pay attention to pavement state, can mitigate the burden of driver.
Can be that above-mentioned control method for vehicle further includes：It is detached from judgement processing, left and right wheels after being handled according to direct torque
Whether the state that speed difference does not reach defined threshold continue for the stipulated time, to whether successfully judging for disengaging；And it is logical
Normal pattern recovery processing, normal mode is reverted to when being judged as being detached from successfully from automatic transfer mode.As a result, from usual mould
After formula is transferred to automatic transfer mode, automatic transfer mode lasts up to vehicle and is detached from from skidding, when being judged as from skidding successfully
When disengaging, normal mode can be reverted to.Thus, the transfer from automatic transfer mode to normal mode will not continually occur, because
The increase etc. with the associated vibration of switching of driving mode will not continually occurs in this, can inhibit driver's not assisting operationally
Adjust sense.
Invention effect
According to the present invention it is possible to which engine torque control and braking can be made in a more effective manner in vehicle slip by providing
Power control is coordinated, and the control method for vehicle of cross-country ability can be improved.
Description of the drawings
Fig. 1 is the vehicle for roughly showing to apply the controller of vehicle for the control method for vehicle for executing present embodiment
Figure.
Fig. 2 is the block diagram of the function for the controller of vehicle for showing Fig. 1.
Fig. 3 is the figure for the driving mode table for showing Fig. 2.
Fig. 4 is the flow chart of the processing for the control method for vehicle for showing present embodiment.
Fig. 5 is the figure of the skidding rate table and brake force table that show Fig. 2.
Fig. 6 is to the skidding rate and the figure that is compared relative to car speed of brake force under each driving mode.
Reference sign
100 ... controller of vehicle, 102 ... vehicles, 104 ... vehicle control sections, 106 ... vehicle-wheel speed sensors, 108 ...
Skidding judging part, 110 ... driving mode instruction units, 112 ... braking force control portions, 114 ... information of vehicles output sections, 116 ... meters
When device, 118 ... storage parts, 120 ... driving mode tables, 122 ... engine torque control portions, 124 ... vehicle speed sensor, 126 ...
Skidding rate table, 128 ... engines, 130 ... brake force tables, 132 ... braking systems, the right wheels of 134a ..., 134b ... left wheels,
136 ... differential mechanisms, 138 ... switches
Specific implementation mode
Hereinafter, explaining the preferred embodiment of the present invention in detail while with reference to attached drawing.Shown in the embodiment
Size, material, other specific numerical value etc. are only for ease of understanding the illustration of invention, the case where in addition to special provision, no
It is to limit present disclosure.In addition, in the present description and drawings, for having the function of substantially the same, wanting of constituting
Element omits further repeated explanation by enclosing same reference numeral, in addition, pair with the present invention be not directly dependent upon want
Plain illustration omitted.
Fig. 1 is the controller of vehicle 100 for roughly showing to apply the control method for vehicle for executing present embodiment
The figure of vehicle 102.Fig. 2 is the block diagram of the function for the controller of vehicle 100 for showing Fig. 1.In addition, in Fig. 1, only showing vehicle
Vehicle control section 104 included by control device 100 and vehicle-wheel speed sensor 106 are used in combination Fig. 2 to illustrate other compositions.
In vehicle 102, as shown in Figure 1, equipped with controller of vehicle 100.Controller of vehicle 100 has：Vehicle
Control unit 104 is arranged near the engine room of vehicle front side, and execution is referred to as ESP (Electronic Stability
Program vehicle attitude control)；And vehicle-wheel speed sensor 106, detect the wheel velocity of each wheel.ESP includes
TCS (Traction Control System) is controlled, and coordinates the braking force control for carrying out engine torque control and each wheel,
Improve the riding stability of vehicle.In addition, vehicle 102 is premised on 4 wheel drives, but not limited to this, as long as coordinating to be started
Machine direct torque and braking force control can also be front-wheel drive or rear wheel drive.
Vehicle control section 104 has as shown in Figure 2：Skidding judging part 108, driving mode instruction unit 110, braking force control
Portion 112.Skidding judging part 108 judges whether vehicle 102 is in slipping state according to information of vehicles.Information of vehicles packet herein
It includes：The left and right wheels speed difference detected by the vehicle-wheel speed sensor 106 of information of vehicles output section 114；And from generate wheel
The duration measured by timer 116 that speed difference rises.
Driving mode instruction unit 110 reads the traveling preserved by storage part 118 according to the judging result of skidding judging part 108
Pattern table 120 (with reference to Fig. 3), indicates braking force control portion 112 and engine torque control portion 122 switching of driving mode.
In addition, driving mode instruction unit 110 in addition to driving mode switching instruction other than, will also be for example by information of vehicles output section 114
The car speed that detects of vehicle speed sensor 124 exported to braking force control portion 112 and engine torque control portion 122.
Engine torque control portion 122 reads the skidding rate table 126 (with reference to Fig. 5 (a)) of storage part 118, is adjusted based on this
The throttle opening etc. of motivation of haircuting 128 makes torque only reduce torque reduction amount corresponding with driving mode.Braking force control portion
112 read the brake force table 130 (with reference to Fig. 5 (b)) of storage part 118, the tune of the braking oil pressure based on this progress braking system 132
It is whole etc., control the brake force applied to left and right wheels 134a, 134b.The control of the brake force is according to reduction left and right wheels
What the braking LSD controls of the wheel speed difference of 134a, 134b carried out.
That is, being distributed by engine torque control via the differential mechanism 136 as differential attachment left and right wheels 134a, 134b
Portion 122 reduced according to driving mode after torque.As an example, when to the big side's wheel of wheel velocity (such as right wheel
When 134a) applying big brake force, torque is assigned to the small another party's wheel of wheel velocity (such as left vehicle from right wheel 134a
Take turns 134b).In addition, driving mode can also be, not only according to the judging result of skidding judging part 108 by driving mode instruction unit
110 automatically indicate that switching, are also suitably switched by using the manual operation of switch 138.
Fig. 3 is the figure for the driving mode table 120 for showing Fig. 2.In vehicle 102, multiple driving modes are set as shown in the figure.
Apply much degree according to being the torque reduction amount for making torque only reduce much degree when vehicle 102 skids, or to wheel
Brake force distinguish these driving modes.
Normal mode is the pattern as benchmark, also referred to as AUTO (automatic) pattern.Under normal mode, work as vehicle
102 make torque only reduce defined 1st torque reduction amount (being " normal " in figure) when skidding, and apply defined system to wheel
Power (being " normal " in figure).Snow field mode be on the low road surface of friction coefficient μ when driving preferred pattern, vehicle
Torque reduction amount when 102 skidding is maximum (being " big " in figure), the braking of braking-force ratio normal mode in driving mode
Power is small (being " small " in figure).Motor pattern be moved on dry pavement when driving preferred pattern.Motor pattern makes to turn
Square only reduces measures the 2nd small torque reduction amount (being " small " in figure) than the 1st torque reduction under normal mode, and braking-force ratio is logical
The brake force of norm formula is big (in figure for " in ").
Lockdown mode is the pattern for paying attention to cross-country ability, in the poor roads such as more concave-convex slope roads or deep trail road that for example rise and fall
On obtain using in the case of the driving force of each wheel with being unable to fully when driving.Under lockdown mode, when vehicle 102 skids
So that torque is only reduced and measure the 3rd small torque reduction amount (being " minimum " in figure) than the 2nd torque reduction, brake force is in driving mode
In be maximum (being " maximum " in figure).3rd torque reduction amount is minimum in driving mode.In addition, the system under lockdown mode
The brake force of power and normal mode is comparably more than double.It can be by using the hand of the switch 138 of controller of vehicle 100
Dynamic operation properly selects this 4 driving modes.
Automatic transfer mode and 4 driving mode differences, be in the case where having selected the pattern in addition to lockdown mode,
The pattern (aftermentioned) that vehicle 102 shifts automatically when skidding.Automatic transfer mode is when vehicle 102 skids in the same manner as motor pattern
Torque is set only to reduce the 2nd torque reduction amount (in figure be " small "), brake force is to be only second to the big brake force of lockdown mode (scheming
In be " big ").
In the following, explanation has occurred in the vehicle 102 in being travelled on poor road in the case of skidding with normal mode
Control method for vehicle.Fig. 4 is the flow chart of the processing for the control method for vehicle for showing present embodiment.Fig. 5 is to show beating for Fig. 2
The figure of sliding rate table 126 and brake force table 130.
First, vehicle 102 travels (step S100) with normal mode, if generation is poor in the wheel velocity of left and right
(step S102), the then judging part 108 that skids judge whether to be regarded as skidding (step S104, skidding judgement processing).By beating
Sliding judgement processing, when the left and right wheels speed difference for being measured as being detected by vehicle-wheel speed sensor 106 by timer 116 is about
3.0km/h or more, the wheel speed difference continue 500ms or more, then being judged as skidding occurs ("Yes").In addition, if left and right wheels
Speed difference and duration do not reach above-mentioned each threshold value respectively, then the judging part 108 that skids is not intended as skidding ("No"), again returns to
Step S102.
If being judged as skidding by skidding judgement processing, driving mode instruction unit 110 is to motor torque control
Instruction that portion 122 and braking force control portion 112 processed output are shifted from from normal mode to automatic transfer mode (step S106, automatically
Transfer mode transfer processing).Here, by automatic transfer mode transfer processing, being transferred to, which makes torque only reduce, compares normal mode
The 1st torque reduction measure the automatic transfer mode of the 2nd small torque reduction amount.Therefore, the total amount of motor torque and usual mould
The case where skidding has occurred under formula, which is compared, to become larger.That is, by automatic transfer mode transfer processing, it is transferred to automatic transfer mode,
Thus allow the skidding of bigger.
Then, engine torque control portion 122 and braking force control portion 112 control left and right wheels 134a, 134b in phase
Torque (step S108, direct torque processing).In direct torque processing, it is based on the skidding rate table 126 of Fig. 5 (a), is terrible
To skidding rate corresponding with car speed, for example right wheel 134a big to the wheel velocity in left and right wheels 134a, 134b is applied
Add it is corresponding with wheel velocity brake, torque is assigned to left wheel 134b from right wheel 134a from there through differential mechanism 136.
Here, as shown in Fig. 5 (a), skidding rate table 126, which is preserved, to be based on horizontal axis X being set as car speed, sets longitudinal axis Y
For skidding rate when the obtained approximate functions of each point A, preserve the power function (Y=9.6X of 1/X as an example-1.2).In addition,
It is left and right wheels speed difference and the vehicle for vehicle 102 from disengaging of skidding with skidding rate corresponding with the car speed shown in power function
The ratio between speed.Each point A shows the skidding rate corresponding with car speed when actually vehicle 102 is detached from from skidding.Therefore, it sends out
Motivation torque control division 122 can be by obtaining suitably setting in the way of the skidding rate shown in power function corresponding with car speed
Engine control threshold of the usual practice such as the throttle opening for adjusting engine.In addition, motor pattern also shifts mould with automatic
Formula similarly makes torque only reduce the 2nd torque reduction amount when skidding.Therefore, in the sport mode, it can set and be based on beating
The engine control threshold of skidding rate shown in sliding rate table 126.
Moreover, in direct torque processing, it is corresponding from the car speed of disengaging that skids with for vehicle 102 in order to obtain
Skidding rate, such as brake force table 130 shown in Fig. 5 (b) can be based on and determine the braking applied to right wheel 134a.As schemed
Show, brake force table 130 is preserved based on each when horizontal axis X being set as car speed, longitudinal axis Y being set as to the change multiplying power of brake force
The approximate function that point B is obtained, preserves the power function (Y=66.2X of 1/X as an example- 0.8).In addition, being shown with power function
The change multiplying power of brake force be multiplying power when brake force when will be usual is set as " 1 ", according to the inertia force for acting on vehicle 102
It is suitably set with the relationship for being detached from required driving force (torque), indicates that the car speed the low more needs big brake force.Respectively
Point B shows to actually get the change multiplying power of the brake force of skidding rate shown in Fig. 5 (a).Therefore, braking force control portion 112 can
Control for brake threshold value to suitably adjust the braking oil pressure for example for adjusting braking system 132 is used and car speed
The change multiplying power for the brake force that corresponding power function indicates.
That is, in direct torque processing, above-mentioned braking LSD controls are carried out under automatic transfer mode.Here, if will be
The wheel to dally when skidding under automatic transfer mode is set as right wheel 134a, then wheel speed of its wheel velocity than left wheel 134b
Degree is big.In addition, the wheel velocity of the right wheel 134a under transfer mode is compared under normal mode automatically, under automatic transfer mode
Torque total amount bigger, therefore with assume under normal mode cope with skid when right wheel 134a wheel velocity compared with,
It also absolutely can bigger.Thus, under automatic transfer mode, according to the setting of the wheel velocity of right wheel 134a to right wheel 134a
The brake force of application also bigger compared under normal mode.
Also, automatic transfer mode is compared with normal mode, the total amount bigger of torque, therefore can be by a greater amount of torque point
It is fitted on left wheel 134b, the possibility that can reach the desired skidding rate being unable to reach under normal mode is got higher.In addition, automatic
Transfer mode can more quickly reach desired skidding rate compared with normal mode.Thus, in direct torque processing, with it is logical
Under automatic transfer mode after being improved compared to brake force under norm formula, vehicle 102 is easy to reach the skidding suitable for from disengaging of skidding
Rate.Thus, according to control method for vehicle, when skidding, shifts automatically to automatic transfer mode, is thus coped with under normal mode
The case where skidding, is compared, and cross-country ability can be more improved.In other words, according to control method for vehicle, in vehicle slip with more effective
Mode coordinates engine torque control and braking force control, improves cross-country ability.
Then, after the processing of the direct torque of step S108, skidding judging part 108 is not reached as left and right wheels speed difference
When continue for 2500ms or more to the state of 3.0km/h, it is judged as being detached from succeed (step S110 is detached from judgement and handles).When
When being judged as being detached from successfully by being detached from judgement processing ("Yes"), driving mode instruction unit 110 is to engine torque control portion 122
The instruction (normal mode recovery processing) that normal mode is reverted to from automatic transfer mode is exported with braking force control portion 112.
On the other hand, when being judged as being detached from not successful by being detached from judgement processing ("No"), driving mode instruction unit
110 judge whether to generate the driving mode switching signal (step S112) associated with the manual operation of switch 138.When in step
When generating driving mode switching signal in S112 ("Yes"), driving mode instruction unit 110 is to engine torque control portion 122 and system
Force control section 112 exports instruction (the step S114, at lockdown mode transfer shifted from automatic transfer mode to lockdown mode
Reason).
Under lockdown mode, when as described above skid, torque is made only to reduce than under automatic transfer mode and motor pattern
The 2nd torque reduction measure the 3rd small torque reduction amount.Moreover, under lockdown mode, system that when skidding applies right wheel 134a
Power is maximum in each driving mode.Therefore, under lockdown mode, compared with automatic transfer mode, the effect of braking LSD controls
Fruit is more preferable, and the right wheel 134a big from wheel velocity is to the small left wheel 134b more distribution of torque, therefore energy of wheel velocity
Further increase cross-country ability.Also, after being transferred to lockdown mode, vehicle 102, which can be realized from skidding, is detached from (step S116).
Fig. 6 is to the skidding rate and the figure that is compared relative to car speed of brake force under each driving mode.Fig. 6 (a)
Shown in coordinate diagram C be to replace the obtained approximate functions of each point A shown in the skidding rate table 126 based on Fig. 5 (a), by each point A that
Coordinate diagram obtained from this connection.Coordinate diagram C shows the skidding rate under automatic transfer mode and motor pattern.Shown in Fig. 6 (a)
The skidding rate under normal mode, lockdown mode and snow field mode is shown respectively in coordinate diagram D, E and F, is each point that will be drawn
Coordinate diagram obtained from being connected to each other.
Compare each coordinate diagram C, D, E and F, as an example, when car speed be 15 left and right (km/h) when, skidding rate it is big
It is small to become " the automatic transfer modes of snow field mode ＜ normal modes ＜=motor pattern ＜ lockdown modes ".According to the content, skid
The torque reduction amount correspondence of each driving mode of the magnitude relationship of rate as shown in figure 3 is obvious.
Coordinate diagram G shown in Fig. 6 (b) is to replace the approximation that each point B is obtained shown in the brake force table 130 based on Fig. 5 (b)
Function, coordinate diagram obtained from each point B is connected to each other.Coordinate diagram G shows the brake force under automatic transfer mode.Fig. 6 (b) institutes
The brake force under motor pattern, normal mode, lockdown mode and snow field mode is shown respectively in coordinate diagram H, I, J and K for showing,
It is coordinate diagram obtained from each point that will be drawn is connected to each other.
Comparing each coordinate diagram G, H, I, J and K, the magnitude relationship of the brake force of the size of brake force as shown in figure 3 corresponds to,
As " the automatic transfer mode ＜ lockdown modes of snow field mode ＜ normal mode ＜ motor patterns ＜ ".
In this way according to control method for vehicle, if it is determined that vehicle 102 is skidded, then driving mode can be from usual mould
Formula shifts automatically to automatic transfer mode, and coordinates to start in a more effective manner based on skidding rate table 126 and brake force table 130
Machine direct torque and braking force control control the torque of left and right wheels 134a, 134b.Thus, in control method for vehicle, if
Fixed automatic transfer mode, thus not only improves cross-country ability with normal mode compared with, but also need not driver is in person in skidding
Manual operation switch 138 switches driving mode, can reduce the burden of driver.
In addition, according to control method for vehicle, judge that vehicle 102 is skidded based on defined threshold, therefore can be reliably
Judge to be difficult in normal mode downward driving, driver can mitigate the burden of driver without pavement state is paid attention to.
In addition, according to control method for vehicle, the case where vehicle 102 can not be also detached from by automatic transfer mode from skidding
Under, can manual operation switch 138 be switched to lockdown mode.Therefore, braking LSD controls can be improved by control method for vehicle
Effect and improve cross-country ability, can from skid be detached from.
In addition, according to control method for vehicle, after being transferred to automatic transfer mode from normal mode, automatic transfer mode is held
It is continuous until vehicle 102 is detached from from skidding, when be judged as from skid successfully be detached from when, normal mode can be automatically restored to.Thus,
The transfer from automatic transfer mode to normal mode will not continually occur, therefore the switching of driving mode will not continually occur
The increase etc. of the vibration brought can inhibit the incongruity of driver operationally.
Moreover, according to control method for vehicle, automatic transfer mode is different from the lockdown mode of cross-country ability is paid attention to, and brake force is more
It is small, therefore influence or the load for bringing drive system can be reduced, and also the vibration that brake band comes will not further increase, and can press down
Make operational incongruity.
More than, the preferred embodiment of the present invention is illustrated while with reference to attached drawing, the present invention is not limited to the examples certainly.
If it is those skilled in the art, then in the scope that claim is recorded it is contemplated that various modifications or modification be it is aobvious and
It is clear to, and understands that these modifications or modification also belong to the technical scope of the present invention certainly.
Industrial utilizability
Present invention can apply to coordinate to carry out the vehicle control of engine torque control and braking force control when vehicle slip
Method processed.
Claims (7)
1. a kind of control method for vehicle, when vehicle slip a side wheel larger to the wheel velocity in left and right wheels apply with
The wheel velocity is braked accordingly, and torque is assigned to another party's wheel from the side wheel from there through differential attachment, above-mentioned
Control method for vehicle is characterised by comprising：
Skidding judgement is handled, and the duration according to the difference of the wheel velocity of left and right and from the difference for generating the wheel velocity judges
Whether vehicle is in slipping state；
Automatic transfer mode transfer processing is transferred to automatic transfer mould when judging that vehicle is in slipping state from normal mode
Formula, wherein above-mentioned normal mode is that torque is made only to reduce defined 1st torque reduction amount, above-mentioned automatic transfer mode when skidding
The 2nd small torque reduction amount is measured than the 1st torque reduction to make torque only reduce when skidding；And
Direct torque processing is coordinated with above-mentioned automatic transfer mode transfer processing, by applying braking control to one side wheel
The torque of left and right wheels processed, obtains the defined skidding rate that vehicle can be made to be detached from from slipping state, and above-mentioned skidding rate is left and right
The ratio between the difference of wheel velocity and car speed.
2. control method for vehicle according to claim 1, which is characterized in that
The braking applied to one side wheel in the processing of above-mentioned direct torque is with according to above-mentioned defined skidding rate and vehicle
The defined brake force of speed setting carries out.
3. control method for vehicle according to claim 1, which is characterized in that
The control method for vehicle further includes the lockdown mode transfer processing shifted to lockdown mode by manual operation,
Under above-mentioned lockdown mode, when skidding, makes torque only reduce to measure the 3rd small torque reduction amount than the 2nd torque reduction, and
The brake force applied under above-mentioned normal mode is more than to the brake force that one side wheel applies when skidding.
4. control method for vehicle according to claim 2, which is characterized in that
The control method for vehicle further includes the lockdown mode transfer processing shifted to lockdown mode by manual operation,
Under above-mentioned lockdown mode, when skidding, makes torque only reduce to measure the 3rd small torque reduction amount than the 2nd torque reduction, and
The brake force applied under above-mentioned normal mode is more than to the brake force that one side wheel applies when skidding.
5. control method for vehicle according to any one of claims 1 to 4, which is characterized in that
Above-mentioned skidding judgement processing in, when left and right wheel velocity difference and from generate the wheel velocity difference it is lasting when
Between be respectively defined threshold more than when, be judged as being skidded.
6. control method for vehicle according to any one of claims 1 to 4, which is characterized in that further include：
It is detached from judgement processing, the difference of the wheel velocity of left and right does not reach the shape of defined threshold after being handled according to above-mentioned direct torque
Whether state continue for the stipulated time, to whether successfully judging for disengaging；And
Normal mode recovery is handled, and when being judged as being detached from successfully, above-mentioned normal mode is reverted to from above-mentioned automatic transfer mode.
7. control method for vehicle according to claim 5, which is characterized in that further include：
It is detached from judgement processing, the difference of the wheel velocity of left and right does not reach the shape of defined threshold after being handled according to above-mentioned direct torque
Whether state continue for the stipulated time, to whether successfully judging for disengaging；And
Normal mode recovery is handled, and when being judged as being detached from successfully, above-mentioned normal mode is reverted to from above-mentioned automatic transfer mode.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013255613A JP6241248B2 (en) | 2013-12-11 | 2013-12-11 | Vehicle control method |
| JP2013-255613 | 2013-12-11 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104709273A CN104709273A (en) | 2015-06-17 |
| CN104709273B true CN104709273B (en) | 2018-08-24 |
Family
ID=53185598
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410743711.8A Expired - Fee Related CN104709273B (en) | 2013-12-11 | 2014-12-08 | Control method for vehicle |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6241248B2 (en) |
| CN (1) | CN104709273B (en) |
| DE (1) | DE102014225490A1 (en) |
Families Citing this family (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2993769C (en) * | 2015-07-27 | 2018-09-25 | Nissan Motor Co., Ltd. | Braking control device and braking control method |
| JP6031166B1 (en) | 2015-09-11 | 2016-11-24 | 富士重工業株式会社 | Vehicle automatic operation control device |
| CN105946852B (en) * | 2016-06-07 | 2019-03-08 | 东风汽车公司 | Automobile anti-skid system and its control method |
| KR101846678B1 (en) * | 2016-06-08 | 2018-04-06 | 현대자동차주식회사 | Lane keeping assist method for vehicle |
| JP6498368B2 (en) * | 2016-12-02 | 2019-04-10 | 三菱電機株式会社 | Automatic operation control plan formulation device and automatic operation control plan formulation method |
| DE102017203362A1 (en) | 2017-03-01 | 2018-09-06 | Audi Ag | Setting a torque distribution between wheels of an axle of a motor vehicle by operating a control unit |
| US10486664B2 (en) * | 2017-05-31 | 2019-11-26 | Ford Global Technologies, Llc | Traction and stability control system |
| CN107264285B (en) * | 2017-06-16 | 2020-06-19 | 北京新能源汽车股份有限公司 | Driving motor detection method and device |
| CN107512262B (en) * | 2017-08-14 | 2018-12-21 | 吉林大学 | A kind of vehicle stability control system tire force distribution method when the driving limited space for execution |
| CA3076149A1 (en) | 2017-09-19 | 2019-03-28 | Bombardier Recreational Products Inc. | Control of a limited slip differential based on an accelerator control position |
| CA3076158A1 (en) | 2017-09-19 | 2019-03-28 | Bombardier Recreational Products Inc. | Control of a limited slip differential optimized for slippery driving conditions |
| CN111094043B (en) | 2017-09-19 | 2023-10-27 | 庞巴迪动力产品公司 | Control of limited slip differential based on engine torque |
| RU2769167C2 (en) | 2017-09-19 | 2022-03-28 | Бомбардье Рекриэйшенел Продактс Инк. | Limited slip differential control based on vehicle turning angle |
| CN110386190A (en) * | 2018-04-20 | 2019-10-29 | 北京智行者科技有限公司 | Control method for vehicle |
| CN110745123A (en) * | 2018-07-24 | 2020-02-04 | 长城汽车股份有限公司 | Differential limited slip locking mechanism based on electronic parking and vehicle slip escaping method |
| KR102051312B1 (en) * | 2018-08-17 | 2019-12-03 | 현대위아 주식회사 | AWD Vehicle bump road surface escape control method |
| DE102018215701A1 (en) | 2018-09-14 | 2020-03-19 | Robert Bosch Gmbh | Method for operating a motor vehicle in an autonomous parking process, computer program, electrical storage medium and control and regulating device for a motor vehicle |
| CN112440979B (en) * | 2019-08-15 | 2022-04-22 | 华为技术有限公司 | Method and equipment for controlling vehicle stability |
| 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 |
| CN111086500B (en) * | 2020-03-23 | 2020-07-31 | 盛瑞传动股份有限公司 | Vehicle slip protection method and system and vehicle |
| CN112693448B (en) * | 2021-01-06 | 2022-10-11 | 恒大新能源汽车投资控股集团有限公司 | Automobile torque steering control method and electronic equipment |
| CN114001141B (en) * | 2021-11-02 | 2024-03-05 | 北京汽车集团越野车有限公司 | Electronic differential lock control method and device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08108776A (en) * | 1994-10-14 | 1996-04-30 | Nippondenso Co Ltd | Acceleration slip control device for vehicle |
| JP2005146913A (en) * | 2003-11-12 | 2005-06-09 | Toyota Motor Corp | Traction controlling device |
| JP2006306205A (en) * | 2005-04-27 | 2006-11-09 | Nissan Motor Co Ltd | Stack escape device for vehicle |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6185248A (en) * | 1984-10-02 | 1986-04-30 | Toyota Motor Corp | Acceleration slip controlling apparatus for vehicle |
| JPH07108633B2 (en) * | 1987-11-30 | 1995-11-22 | 日産自動車株式会社 | Vehicle drive force control device |
| JP2756503B2 (en) * | 1989-06-28 | 1998-05-25 | 本田技研工業株式会社 | Vehicle braking hydraulic control method |
| JPH0466338A (en) * | 1990-07-05 | 1992-03-02 | Mazda Motor Corp | Traction controlling device of vehicle |
| JPH0481331A (en) * | 1990-07-23 | 1992-03-16 | Mazda Motor Corp | Traction control device for vehicle |
| JP3206224B2 (en) * | 1993-06-30 | 2001-09-10 | 日産自動車株式会社 | Traction control device for vehicles |
| JPH08119005A (en) * | 1994-10-27 | 1996-05-14 | Nippondenso Co Ltd | Vehicle control device |
| US6882921B2 (en) * | 2000-07-06 | 2005-04-19 | Kelsey-Hayes Company | Traction control algorithm for vehicle operation upon deformable road surfaces |
| JP2004322923A (en) * | 2003-04-25 | 2004-11-18 | Toyota Motor Corp | Traction control device |
| JP2007023979A (en) * | 2005-07-21 | 2007-02-01 | Nissan Motor Co Ltd | Vehicle driving slip control system |
| JP5025361B2 (en) * | 2007-07-18 | 2012-09-12 | 株式会社アドヴィックス | Slip control device and slip control method |
| DE102010003076A1 (en) * | 2009-08-05 | 2011-08-18 | Continental Automotive GmbH, 30165 | Method for controlling a wheel brake slip and wheel brake slip control system for a vehicle with an electric drive |
-
2013
- 2013-12-11 JP JP2013255613A patent/JP6241248B2/en active Active
-
2014
- 2014-12-08 CN CN201410743711.8A patent/CN104709273B/en not_active Expired - Fee Related
- 2014-12-10 DE DE102014225490.6A patent/DE102014225490A1/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08108776A (en) * | 1994-10-14 | 1996-04-30 | Nippondenso Co Ltd | Acceleration slip control device for vehicle |
| JP2005146913A (en) * | 2003-11-12 | 2005-06-09 | Toyota Motor Corp | Traction controlling device |
| JP2006306205A (en) * | 2005-04-27 | 2006-11-09 | Nissan Motor Co Ltd | Stack escape device for vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102014225490A1 (en) | 2015-06-11 |
| JP6241248B2 (en) | 2017-12-06 |
| JP2015112978A (en) | 2015-06-22 |
| CN104709273A (en) | 2015-06-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104709273B (en) | Control method for vehicle | |
| CN105683018B (en) | The improvement of car speed control | |
| JP4920054B2 (en) | Vehicle motion control device | |
| JP4560761B2 (en) | Method and apparatus for monitoring a vehicle brake of an electronically controlled braking system of a vehicle or vehicle combination for overload | |
| US7159954B2 (en) | ABS control system for off-road driving conditions | |
| EP2729334B1 (en) | Method of and apparatus for braking a tractor-trailer combination | |
| US10029677B2 (en) | Vehicle control system and method | |
| US9604624B2 (en) | Method for controlling four wheel driving of vehicle | |
| US10988121B2 (en) | Braking control system | |
| KR101732832B1 (en) | Vehicle movement dynamics control method | |
| JP2008516843A (en) | All-wheel drive system | |
| CN101068702B (en) | Control system for the braking and/or the driving of a wheel | |
| KR20210071133A (en) | Electronic stability control method for vehicle | |
| WO2016092586A1 (en) | Braking/driving force control device and braking/driving force control method | |
| JP2003291793A (en) | Device and method for controlling drive slip | |
| JP6152705B2 (en) | Vehicle control device | |
| JP2003104186A (en) | Acceleration slip control device for four-wheel drive vehicle | |
| US20070080583A1 (en) | Vehicle and control method for changing control mode of driving and braking force based on change rate of wheel vertical load | |
| EP1134138B1 (en) | Device for controlling braking force distribution in a motor vehicle | |
| JP2004528231A (en) | Driving stability control method | |
| KR101317156B1 (en) | Control method and control device of vehicle for escaping stuck situation | |
| JP2006177166A (en) | Traction control device | |
| WO2016157049A1 (en) | System and method for the distribution of the braking action between front-axle and rear-axle of a three-wheeled vehicle | |
| JP5304502B2 (en) | Vehicle behavior control device | |
| JPH1035460A (en) | Brake controller for vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180824 Termination date: 20201208 |