CN107117171A - The 4 wheel driven control method that slope road recognizes and compensated - Google Patents
The 4 wheel driven control method that slope road recognizes and compensated Download PDFInfo
- Publication number
- CN107117171A CN107117171A CN201710268942.1A CN201710268942A CN107117171A CN 107117171 A CN107117171 A CN 107117171A CN 201710268942 A CN201710268942 A CN 201710268942A CN 107117171 A CN107117171 A CN 107117171A
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- China
- Prior art keywords
- vehicle
- wheel
- compensation
- control method
- torque
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- B60W30/18—Propelling the vehicle
-
- 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
- B60W20/00—Control systems specially adapted for hybrid vehicles
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
Abstract
The present invention relates to the 4 wheel driven control method of a kind of identification of slope road and compensation, belong to the technical field of electric automobile.The slope road identification of the present invention and the 4 wheel driven control method of compensation, vehicle is motor vehicle driven by mixed power, and vehicle includes vehicle speed sensor, gravity sensor, control unit and entire car controller；Vehicle speed sensor is used for the speed for detecting the vehicle, gravity sensor is used to detect longitudinal acceleration, and control unit obtains the angle of inclination of vehicle and road according to the speed and longitudinal acceleration of the vehicle, compensation torque is then calculated according to turning moment diagram according to angle of inclination；Entire car controller calculates aggregate demand torque according to compensation torque and demand torque meter.The 4 wheel driven control method of the present invention can lift the ride comfort and operational stability that motor vehicle driven by mixed power travels process on slope road.
Description
Technical field
The present invention relates to the technical field of electric automobile, it is more particularly related to a kind of identification of slope road and compensation
4 wheel driven control method.
Background technology
As the worsening shortages of the non-renewable resources such as petrochemical industry, and various countries' environmental protective measure are increasingly strict, due to pure
The relatively conventional automobile of electric automobile effect on environment is smaller, and its prospect is had an optimistic view of extensively, but is currently limited by battery capacity, and it continues
It is shorter in boat.Hybrid vehicle has turned at present as a kind of transition scheme from traditional energy automobile to pure electric automobile
Automotive research and an emphasis of exploitation, and commercialization is had begun to, wherein four-wheel driven hybrid power automobile is because with good
Dynamic property, economy and ride comfort receive the favor of many consumers.In the prior art, as shown in figure 1,4 wheel driven is controlled
The distribution of 4 wheel driven moment of torsion and stability control are generally realized by center differential and limited-slip differential, but do not related to wherein
And to the compensated torque function for the gradient.
The content of the invention
In order to solve above-mentioned technical problem of the prior art, it is an object of the invention to provide a kind of identification of slope road and benefit
The 4 wheel driven control method repaid.
In order to solve the technical problem described in invention and realize goal of the invention, present invention employs following technical scheme：
A kind of 4 wheel driven control method of the identification of slope road and compensation, it is characterised in that：Vehicle is motor vehicle driven by mixed power, and institute
Stating vehicle includes vehicle speed sensor, gravity sensor, control unit and entire car controller；The vehicle speed sensor is used to detect institute
The speed of vehicle is stated, the gravity sensor is used to detect longitudinal acceleration, and described control unit is according to the vehicle
Speed and longitudinal acceleration obtain the angle of inclination of vehicle and road, are then calculated according to the angle of inclination according to turning moment diagram
Compensate torque；The entire car controller calculates aggregate demand torque according to compensation torque and demand torque meter.
Wherein, according to angle of inclination and speed and check turning moment diagram calculate compensation torque.
Wherein, the motor vehicle driven by mixed power is the vehicle with two or more power sources, such as fuel and electric motor car
.
Wherein, vehicle speed sensor is provided with each wheel of the vehicle, and described control unit is according to each
The speed of wheel calculates the compensation torque of each wheel.
Wherein, compensation torque and demand torque meter of the entire car controller according to each wheel calculates the total of each wheel
Demand torque, and the power torque of vehicle is distributed to each wheel according to the aggregate demand torque of each wheel.
Compared with immediate prior art, the 4 wheel driven control method of the of the invention identification of slope road and compensation has and following had
Beneficial effect：
The 4 wheel driven control method of the present invention can lift ride comfort and the operation that motor vehicle driven by mixed power travels process on slope road
Stability.
Brief description of the drawings
Fig. 1 is the structured flowchart of four-wheel-driven control system of the prior art.
Slope road identifications and the four-wheel-driven control system structured flowchart of compensation of the Fig. 2 for the present invention.
Fig. 3 is that the schematic flow sheet for compensating torque is calculated according to weight sensor and speed.
Embodiment
The 4 wheel driven control method for recognizing and compensating to slope road of the present invention below with reference to specific embodiment is done into one
The elaboration of step, to make more complete and clear explanation to technical scheme.
Embodiment 1
Vehicle described in the present invention refers to motor vehicles, for example can include car, SUV, bus, bus,
The motor vehicles of the diversified forms such as commercial vehicle, truck, offroad vehicle.The motor vehicle driven by mixed power refer to have two kinds or two kinds with
The vehicle of upper power source, such as fuel and electric motor vehicle, such as common gasoline-electric locomotive, or diesel electric railway car.
As Figure 2-3, the four-wheel-driven control system of the identification of slope road and compensation of the present embodiment includes vehicle speed sensor, gravity
Sensor, control unit and entire car controller (HCU).The vehicle speed sensor is used for the speed for detecting the vehicle, described heavy
Force snesor is used to detect longitudinal acceleration, and described control unit is obtained according to the speed and longitudinal acceleration of the vehicle
The angle of inclination of vehicle and road is obtained, compensation torque is then calculated according to turning moment diagram according to the angle of inclination；The vehicle control
Device processed calculates aggregate demand torque according to compensation torque and demand torque meter.Preferably, on each wheel of the vehicle
Vehicle speed sensor is provided with, and described control unit calculates the compensation torque of each wheel according to the speed of each wheel.Institute
The aggregate demand torque that compensation torque and demand torque meter of the entire car controller according to each wheel calculate each wheel is stated, and will be whole
The power torque of car is distributed to each wheel according to the aggregate demand torque of each wheel.The 4 wheel driven control method of the present invention can be carried
Rise ride comfort and operational stability that motor vehicle driven by mixed power travels process on slope road.
For the ordinary skill in the art, simply the present invention is exemplarily described for specific embodiment,
The obvious present invention, which is implemented, to be not subject to the restrictions described above, and is entered as long as employing the inventive concept and technical scheme of the present invention
The improvement of capable various unsubstantialities, or it is not improved by the present invention design and technical scheme directly apply to other occasions
, within protection scope of the present invention.
Claims (5)
1. a kind of slope road identification and the 4 wheel driven control method of compensation, it is characterised in that：Vehicle is motor vehicle driven by mixed power, and described
Vehicle includes vehicle speed sensor, gravity sensor, control unit and entire car controller；The vehicle speed sensor is used to detect described
The speed of vehicle, the gravity sensor is used to detect longitudinal acceleration, and described control unit is according to the speed of the vehicle
Degree and longitudinal acceleration obtain the angle of inclination of vehicle and road, are then calculated and mended according to turning moment diagram according to the angle of inclination
Repay torque；The entire car controller calculates aggregate demand torque according to compensation torque and demand torque meter.
2. slope road identification according to claim 1 and the 4 wheel driven control method of compensation, it is characterised in that：According to angle of inclination
With speed and check turning moment diagram calculate compensation torque.
3. slope road identification according to claim 1 and the 4 wheel driven control method of compensation, it is characterised in that：The hybrid power
Vehicle is the vehicle with two or more power sources.
4. slope road identification according to claim 1 and the 4 wheel driven control method of compensation, it is characterised in that：The vehicle it is every
Vehicle speed sensor is provided with individual wheel, and described control unit calculates the benefit of each wheel according to the speed of each wheel
Repay torque.
5. slope road identification according to claim 1 and the 4 wheel driven control method of compensation, it is characterised in that：The full-vehicle control
Compensation torque and demand torque meter of the device according to each wheel calculate the aggregate demand torque of each wheel, and the power of vehicle is turned
Square is distributed to each wheel according to the aggregate demand torque of each wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710268942.1A CN107117171A (en) | 2017-04-21 | 2017-04-21 | The 4 wheel driven control method that slope road recognizes and compensated |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710268942.1A CN107117171A (en) | 2017-04-21 | 2017-04-21 | The 4 wheel driven control method that slope road recognizes and compensated |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107117171A true CN107117171A (en) | 2017-09-01 |
Family
ID=59725390
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710268942.1A Pending CN107117171A (en) | 2017-04-21 | 2017-04-21 | The 4 wheel driven control method that slope road recognizes and compensated |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107117171A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583369A (en) * | 2018-05-02 | 2018-09-28 | 珠海格力节能环保制冷技术研究中心有限公司 | Control method and device, the system of motor torque |
| CN109291930A (en) * | 2018-09-28 | 2019-02-01 | 上汽通用五菱汽车股份有限公司 | Speed adjusting method, automobile and the readable storage medium storing program for executing of autonomous driving vehicle |
| CN111994063A (en) * | 2020-08-26 | 2020-11-27 | 一汽解放青岛汽车有限公司 | Control method and device of hybrid power system, computer equipment and storage medium |
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|---|---|---|---|---|
| CN201583271U (en) * | 2009-09-18 | 2010-09-15 | 上海通用汽车有限公司 | Machine for continuously measuring slope rating of road |
| CN102224048A (en) * | 2008-11-20 | 2011-10-19 | 丰田自动车株式会社 | Controller of power transmission device for vehicle |
| JP2013001228A (en) * | 2011-06-15 | 2013-01-07 | Kubota Corp | Work vehicle |
| CN103909925A (en) * | 2014-03-21 | 2014-07-09 | 北京理工大学 | Hybrid car torque recovery coordinate controlling method and system based on motor torque compensation |
| KR101639152B1 (en) * | 2015-01-28 | 2016-07-12 | 한양대학교 산학협력단 | Method and Device for Estimating position of Vehicle Using Road Slope |
| CN105818712A (en) * | 2016-03-17 | 2016-08-03 | 电子科技大学 | Self-adaptive starting control method for four-wheel hub electric automobile |
| CN106828504A (en) * | 2017-02-22 | 2017-06-13 | 重庆长安汽车股份有限公司 | A kind of four-wheel drive system and its control method for automobile |
-
2017
- 2017-04-21 CN CN201710268942.1A patent/CN107117171A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102224048A (en) * | 2008-11-20 | 2011-10-19 | 丰田自动车株式会社 | Controller of power transmission device for vehicle |
| CN201583271U (en) * | 2009-09-18 | 2010-09-15 | 上海通用汽车有限公司 | Machine for continuously measuring slope rating of road |
| JP2013001228A (en) * | 2011-06-15 | 2013-01-07 | Kubota Corp | Work vehicle |
| CN103909925A (en) * | 2014-03-21 | 2014-07-09 | 北京理工大学 | Hybrid car torque recovery coordinate controlling method and system based on motor torque compensation |
| KR101639152B1 (en) * | 2015-01-28 | 2016-07-12 | 한양대학교 산학협력단 | Method and Device for Estimating position of Vehicle Using Road Slope |
| CN105818712A (en) * | 2016-03-17 | 2016-08-03 | 电子科技大学 | Self-adaptive starting control method for four-wheel hub electric automobile |
| CN106828504A (en) * | 2017-02-22 | 2017-06-13 | 重庆长安汽车股份有限公司 | A kind of four-wheel drive system and its control method for automobile |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583369A (en) * | 2018-05-02 | 2018-09-28 | 珠海格力节能环保制冷技术研究中心有限公司 | Control method and device, the system of motor torque |
| CN109291930A (en) * | 2018-09-28 | 2019-02-01 | 上汽通用五菱汽车股份有限公司 | Speed adjusting method, automobile and the readable storage medium storing program for executing of autonomous driving vehicle |
| CN111994063A (en) * | 2020-08-26 | 2020-11-27 | 一汽解放青岛汽车有限公司 | Control method and device of hybrid power system, computer equipment and storage medium |
| CN111994063B (en) * | 2020-08-26 | 2021-11-12 | 一汽解放青岛汽车有限公司 | Control method and device of hybrid power system, computer equipment and storage medium |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170901 |