CN107472082B - driving torque distribution method and system of four-wheel drive electric automobile and electric automobile - Google Patents

driving torque distribution method and system of four-wheel drive electric automobile and electric automobile Download PDF

Info

Publication number
CN107472082B
CN107472082B CN201710596797.XA CN201710596797A CN107472082B CN 107472082 B CN107472082 B CN 107472082B CN 201710596797 A CN201710596797 A CN 201710596797A CN 107472082 B CN107472082 B CN 107472082B
Authority
CN
China
Prior art keywords
wheel
vehicle
driving torque
driving
torque
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.)
Active
Application number
CN201710596797.XA
Other languages
Chinese (zh)
Other versions
CN107472082A (en
Inventor
陆群
孙乃振
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Changcheng Huaguan Automobile Technology Development Co Ltd
Original Assignee
Beijing Changcheng Huaguan Automobile Technology Development Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Beijing Changcheng Huaguan Automobile Technology Development Co Ltd filed Critical Beijing Changcheng Huaguan Automobile Technology Development Co Ltd
Priority to CN201710596797.XA priority Critical patent/CN107472082B/en
Publication of CN107472082A publication Critical patent/CN107472082A/en
Application granted granted Critical
Publication of CN107472082B publication Critical patent/CN107472082B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/24—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/463—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/28—Four wheel or all wheel drive
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

the invention provides a driving torque distribution method and system of a four-wheel drive electric automobile and the electric automobile, wherein the method comprises the following steps: in the running process of the vehicle, respectively obtaining the total required driving torque of the vehicle corresponding to the target vehicle speed under the linear driving working condition of the vehicle, the adjusting yaw torque of the vehicle under the steering driving working condition of the vehicle and the additional adjusting driving torque of each wheel under the driving slip working condition of the wheels on the low-adhesion road surface; respectively acquiring the vertical load of each wheel and the total vertical load of the vehicle; and respectively distributing the driving torque of each wheel according to a preset torque distribution mode according to the total required driving torque, the adjusted yaw moment, the additionally adjusted driving torque of each wheel, the vertical load of each wheel and the total vertical load of the vehicle. The invention can reasonably distribute the driving torque to each wheel according to the dynamic driving condition of the vehicle and different loads of the wheels in real time, improves the energy utilization efficiency, can effectively prevent the driving wheels from slipping and improves the driving safety of the vehicle.

Description

Driving torque distribution method and system of four-wheel drive electric automobile and electric automobile
Technical Field
The invention relates to the technical field of automobiles, in particular to a driving torque distribution method and system for a four-wheel drive electric automobile and the electric automobile.
background
The existing driving torque distribution mode of the electric automobile has the great defect that the driving torque distributed to each wheel is unreasonable when the electric automobile is steered, most of the torque distributed to each wheel is divided into four wheels equally, or the front wheel and the rear wheel are divided according to a certain proportion, the left wheel and the right wheel are equal, and the torque cannot be reasonably distributed according to the dynamic driving condition of the automobile and different loads of the wheels in real time, so that the driving torque cannot reasonably exert the effect of the driving torque in the acceleration driving or turning driving process of the automobile, the energy utilization efficiency is low, the driving wheel slipping phenomenon occurs, and even the automobile cannot drive according to the intention of a driver, and the safe driving of the automobile is influenced.
Disclosure of Invention
the present invention is directed to solving at least one of the above problems.
therefore, an object of the present invention is to provide a driving torque distribution method for a four-wheel drive electric vehicle, which can reasonably distribute driving torque to each wheel according to dynamic driving conditions of the vehicle and different loads of the wheels in real time, thereby improving energy utilization efficiency, effectively preventing driving wheels from slipping, and improving driving safety of the vehicle.
another object of the present invention is to provide a driving torque distribution system for a four-wheel drive electric vehicle.
the third purpose of the invention is to provide an electric automobile.
in order to achieve the above object, an embodiment of a first aspect of the present invention provides a driving torque distribution method for a four-wheel drive electric vehicle, including the steps of: in the running process of the vehicle, respectively obtaining the total required driving torque of the vehicle corresponding to the target vehicle speed under the linear driving working condition of the vehicle, the adjusting yaw torque of the vehicle under the steering driving working condition of the vehicle and the additional adjusting driving torque of each wheel under the driving slip working condition of the wheels on the low-adhesion road surface; respectively acquiring the vertical load of each wheel and the total vertical load of the vehicle; and respectively distributing the driving torque of each wheel according to the total required driving torque, the adjusting yaw moment, the additional adjusting driving torque of each wheel, the vertical load of each wheel and the total vertical load of the vehicle in a preset torque distribution mode.
According to the driving torque distribution method of the four-wheel-drive electric vehicle, the driving torque is qualitatively and independently distributed to each wheel based on the load condition of each wheel driven by the vehicle in a steering mode, namely, the driving torque is reasonably distributed to each wheel in real time according to the dynamic driving condition of the vehicle and different loads of the wheels, so that the energy utilization rate is improved, the driving intention of a driver is easily met, the driving wheels can be effectively prevented from slipping, and the driving safety of the vehicle is improved.
In addition, the driving torque distribution method of the four-wheel drive electric vehicle according to the above embodiment of the invention may further have the following additional technical features:
In some examples, the driving torque distribution for each wheel according to the preset torque distribution is as follows:
Wherein T 1 is a driving torque distributed to the left front wheel, T 2 is a driving torque distributed to the right front wheel, T 3 is a driving torque distributed to the left rear wheel, T 4 is a driving torque distributed to the right rear wheel, F Z is a total vertical load, F Z1 is a vertical load of the left front wheel, F Z2 is a vertical load of the right front wheel, F Z3 is a vertical load of the left rear wheel, F Z4 is a vertical load of the right rear wheel, T is the total required driving torque, Δ T is an adjustment yaw torque, T 11 is an additional adjustment driving torque of the left front wheel, T 22 is an additional adjustment torque of the right front wheel, T 33 is an additional adjustment driving torque of the left rear wheel, T 44 is an additional adjustment driving torque of the right rear wheel, r is an effective radius of the wheels, and B is a wheel distance.
In some examples, the method of obtaining the total required drive torque includes: under the condition of vehicle linear driving, acquiring the actual speed of the vehicle; and performing PI (proportional integral) control according to the difference value between the target vehicle speed and the actual vehicle speed to obtain the total required driving torque of the vehicle corresponding to the target vehicle speed.
In some examples, the method of obtaining the adjusted yaw moment includes: under the condition of vehicle steering driving, obtaining the equivalent turning angle of the front wheels of the vehicle, the actual vehicle speed and the actual yaw rate of the vehicle; obtaining the current ideal yaw velocity of the vehicle through a preset ideal vehicle model according to the equivalent corner of the front wheel and the actual speed; and performing PI control according to the difference value between the ideal yaw velocity and the actual yaw velocity to obtain the adjusted yaw moment.
In some examples, the ideal yaw rate is calculated as follows:
Wherein, ω d is the ideal yaw angular velocity, u is the actual vehicle speed, a is the distance from the center of mass to the front axle, b is the distance from the center of mass to the rear axle, L is the wheel base, K 1 and K 2 are the front and rear axle tire cornering stiffness, K is the stability factor, δ is the front wheel equivalent rotation angle, and m is the vehicle mass.
In some examples, the method of obtaining additional modified drive torque for each wheel includes: under the working condition of driving slip of wheels on a low-adhesion road surface, acquiring the wheel speed of each wheel and the actual speed of the vehicle; calculating the actual slip rate of each wheel according to the wheel speed of each wheel and the actual vehicle speed; and performing PI control according to the difference value of the actual slip ratio of each wheel and a preset target slip ratio to obtain additional adjustment driving torque of each wheel.
In order to achieve the above object, an embodiment of a second aspect of the present invention provides a driving torque distribution system of a four-wheel drive electric vehicle, including: the calculation module is used for respectively acquiring the total required driving torque of the vehicle corresponding to the target vehicle speed under the condition of linear driving of the vehicle, the adjusting yaw torque of the vehicle under the condition of steering driving of the vehicle and the additional adjusting driving torque of each wheel under the condition of low-adhesion road surface wheel driving slip in the running process of the vehicle; the acquisition module is used for respectively acquiring the vertical load of each wheel and the total vertical load of the vehicle; and the torque distribution module is used for respectively distributing the driving torque of each wheel according to the total required driving torque, the adjustment yaw moment, the additional adjustment driving torque of each wheel, the vertical load of each wheel and the total vertical load of the vehicle in a preset torque distribution mode.
according to the driving torque distribution system of the four-wheel drive electric automobile, the driving torque is qualitatively and independently distributed to each wheel based on the load condition of each wheel driven by the vehicle in a steering mode, namely, the driving torque is reasonably distributed to each wheel in real time according to the dynamic driving condition of the vehicle and different loads of the wheels, so that the energy utilization rate is improved, the driving intention of a driver is easily met, the driving wheels can be effectively prevented from slipping, and the driving safety of the vehicle is improved.
In addition, the driving torque distribution system of the four-wheel drive electric vehicle according to the above embodiment of the invention may further have the following additional technical features:
In some examples, the driving torque distribution for each wheel according to the preset torque distribution is as follows:
wherein T 1 is a driving torque distributed to the left front wheel, T 2 is a driving torque distributed to the right front wheel, T 3 is a driving torque distributed to the left rear wheel, T 4 is a driving torque distributed to the right rear wheel, F Z is a total vertical load, F Z1 is a vertical load of the left front wheel, F Z2 is a vertical load of the right front wheel, F Z3 is a vertical load of the left rear wheel, F Z4 is a vertical load of the right rear wheel, T is the total required driving torque, Δ T is an adjustment yaw torque, T 11 is an additional adjustment driving torque of the left front wheel, T 22 is an additional adjustment torque of the right front wheel, T 33 is an additional adjustment driving torque of the left rear wheel, T 44 is an additional adjustment driving torque of the right rear wheel, r is an effective radius of the wheels, and B is a wheel distance.
in some examples, the computing module is to: under the condition of vehicle linear driving, acquiring the actual vehicle speed of the vehicle, and performing PI control according to the difference value of the target vehicle speed and the actual vehicle speed to obtain the total required driving torque of the vehicle corresponding to the target vehicle speed; under the condition of vehicle steering driving, obtaining a front wheel equivalent corner, an actual vehicle speed and an actual yaw rate of the vehicle, obtaining a current ideal yaw rate of the vehicle through a preset ideal vehicle model according to the front wheel equivalent corner and the actual vehicle speed, and performing PI control according to a difference value between the ideal yaw rate and the actual yaw rate to obtain the adjusted yaw moment; and under the working condition of driving slip of the wheels on the low-adhesion road surface, acquiring the wheel speed of each wheel and the actual vehicle speed of the vehicle, calculating the actual slip rate of each wheel according to the wheel speed of each wheel and the actual vehicle speed, and performing PI control according to the difference value between the actual slip rate of each wheel and a preset target slip rate to obtain additional adjustment driving torque of each wheel.
In order to achieve the above object, an embodiment of the third aspect of the present invention discloses an electric vehicle including the driving torque distribution system of the four-wheel drive electric vehicle according to the embodiment of the second aspect of the present invention.
According to the electric automobile provided by the embodiment of the invention, the driving torque is qualitatively and independently distributed to each wheel based on the load condition of each wheel during the steering driving of the vehicle, namely the driving torque is reasonably distributed to each wheel in real time according to the dynamic driving condition of the vehicle and different loads of the wheels, so that the energy utilization rate is improved, the driving intention of a driver is easily met, the driving wheel can be effectively prevented from slipping, and the driving safety is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a driving torque distribution method for a four-wheel drive electric vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a torque distribution strategy for a driving torque distribution method of a four-wheel drive electric vehicle according to an embodiment of the present invention;
Fig. 3 is a block diagram of a driving torque distribution system of a four-wheel drive electric vehicle according to an embodiment of the present invention.
Detailed Description
reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
in the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The driving torque distribution method and system of the four-wheel drive electric vehicle and the electric vehicle are described in the following with reference to the accompanying drawings.
Fig. 1 is a flowchart of a driving torque distribution method of a four-wheel drive electric vehicle according to an embodiment of the present invention. As shown in fig. 1, the method comprises the steps of:
Step S1: in the running process of the vehicle, the total required driving torque of the vehicle corresponding to the target vehicle speed under the linear driving working condition of the vehicle, the adjusting yaw torque of the vehicle under the steering driving working condition of the vehicle and the additional adjusting driving torque of each wheel under the driving slip working condition of the wheels on the low-adhesion road surface are respectively obtained. In other words, the total required driving torque, the adjusted yaw moment, and the additional adjusted driving torque of each wheel of the vehicle corresponding to the target vehicle speed are respectively obtained according to the running condition of the vehicle, wherein the running condition at least includes: the vehicle linear driving working condition, the vehicle steering driving working condition and the low-adhesion road wheel driving slip working condition. Specifically, under the condition of vehicle linear driving, acquiring total required driving torque of a vehicle corresponding to a target vehicle speed; acquiring an adjustment yaw moment of the vehicle at a total required driving moment of the vehicle corresponding to the target vehicle speed; and acquiring additional adjusting driving torque of the wheels under the driving slip working condition of the wheels with the low adhesion road surface.
specifically, in one embodiment of the invention, the method for acquiring the total required driving torque comprises the steps of acquiring an actual vehicle speed of a vehicle under a vehicle linear driving working condition, performing PI control according to a difference value between a target vehicle speed and the actual vehicle speed to acquire the total required driving torque of the vehicle corresponding to the target vehicle speed, and as a specific example, referring to FIG. 2, for example, the target vehicle speed of a driver stepping on an accelerator pedal is u d, calculating the actual vehicle speed to be u by a vehicle speed slope method, inputting the difference value between the target vehicle speed and the actual vehicle speed into a speed following controller, generally performing PI control, wherein the PI controller has good tracking performance, the output of the speed following controller is the total required driving torque T reaching the target vehicle speed.
in one embodiment of the invention, the method for obtaining the adjusted yaw moment comprises the steps of obtaining the equivalent turning angle of the front wheels of the vehicle, the actual vehicle speed and the actual yaw rate of the vehicle under the condition of the steering driving of the vehicle, obtaining the current ideal yaw rate of the vehicle through a preset ideal vehicle model according to the equivalent turning angle of the front wheels and the actual vehicle speed, and carrying out PI control according to the difference value between the ideal yaw rate and the actual yaw rate to obtain the adjusted yaw moment, wherein the ideal yaw rate w d of the vehicle is calculated through an ideal vehicle model (a linear two-degree-of-freedom vehicle model in a vehicle theory) according to a vehicle speed signal (the actual vehicle speed) as a specific example shown in the combined graph of FIG. 2, and the adjusted yaw moment T is outputted by a yaw moment controller, wherein the adjusted yaw moment T does not exist, the adjusted yaw moment is generated by the front and rear wheels of the vehicle without equal driving force, the difference value between the ideal yaw rate w d and the actual yaw rate w is inputted into a yaw moment controller, and the adjusted yaw moment is distributed into an Electronic Stability system, and the vehicle body driving system is required to stabilize the vehicle.
The linear two-degree-of-freedom automobile model is mainly obtained by calculating the current actual speed and the equivalent rotation angle of a front wheel to obtain the ideal yaw angular velocity, and based on the ideal yaw angular velocity, the calculation formula of the ideal yaw angular velocity is as follows:
wherein, omega d is an ideal yaw velocity, u is an actual vehicle speed and has the unit of km/h, a is the distance from the center of mass to the front axle and has the unit of meter, b is the distance from the center of mass to the rear axle and has the unit of meter, L is the axle distance and has the unit of meter, K 1 and K 2 are respectively the lateral deflection rigidity of the front and rear axle tires and have the unit of N/rad, K is a stability factor and has the unit of s 2/m 2, delta is the equivalent rotation angle of the front wheels, and m is the mass of the whole vehicle.
In one embodiment of the present invention, the method for obtaining the additional adjusted driving torque of each wheel includes obtaining a wheel speed of each wheel and an actual vehicle speed of the vehicle under a low-adhesion road wheel slip condition, calculating an actual slip ratio of each wheel according to the wheel speed of each wheel and the actual vehicle speed, performing PI control according to a difference between the actual slip ratio of each wheel and a preset target slip ratio to obtain the additional adjusted driving torque of each wheel, as a specific example, as shown in fig. 2, for example, a Traction Control System (TCS) calculates an actual slip ratio of each wheel according to an estimated vehicle speed signal (actual vehicle speed) and a wheel speed signal (wheel speed) detected by a wheel speed sensor of each wheel, sets the target slip ratio to S opt (the target slip ratio is determined according to different road conditions), and inputs a difference between the target slip ratio and the actual slip ratio into a slip ratio controller, wherein the slip ratio controller outputs are the additional adjusted driving torques T 11, T35 12, T 33 and T 44 of each wheel under the low-adhesion road wheel slip condition.
Step S2: the vertical load of each wheel and the total vertical load of the vehicle are obtained separately.
Specifically, referring to fig. 2, the total vertical load F Z of the vehicle is F Z1 + F Z2 + F Z3 + F Z4, and F Z1, F Z2, F Z3 and F Z4 are the vertical loads of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel, respectively, and the total vertical load is the vehicle weight.
Step S3: and respectively distributing the driving torque of each wheel according to a preset torque distribution mode according to the total required driving torque, the adjusted yaw moment, the additionally adjusted driving torque of each wheel, the vertical load of each wheel and the total vertical load of the vehicle.
Specifically, in one embodiment of the present invention, in step S3, the driving torque distribution is performed for each wheel according to the preset torque distribution as follows:
where T 1 is the drive torque distributed to the left front wheel, T 2 is the drive torque distributed to the right front wheel, T 3 is the drive torque distributed to the left rear wheel, T 4 is the drive torque distributed to the right rear wheel, F Z is the total vertical load, F Z1 is the vertical load of the left front wheel, F Z2 is the vertical load of the right front wheel, F Z3 is the vertical load of the left rear wheel, F Z4 is the vertical load of the right rear wheel, T is the total required drive torque, Δ T is the adjustment yaw torque, T 11 is the additional adjustment drive torque of the left front wheel, T 22 is the additional adjustment torque of the right front wheel, T 33 is the additional adjustment drive torque of the left rear wheel, T 44 is the additional adjustment drive torque of the right rear wheel, r is the effective radius of the wheels in meters, B is the wheel base in meters.
in other words, referring to fig. 2, the driving torque distribution process of the driving torque distribution method for the four-wheel-drive electric vehicle according to the embodiment of the present invention can be divided into an upper controller and a lower controller, where the upper controller includes a vehicle speed following controller, a yaw moment controller and a slip rate controller, and the main task is to select the corresponding controller to operate according to the control mode determined by the instability determination module, and calculate the driving torque, adjust the yaw moment and additionally adjust the driving torque required for stable operation of the vehicle according to the driver's instruction, and meanwhile, ensure that the slip rate of each wheel does not exceed the limit value; the lower layer controller mainly comprises a torque distribution controller, and mainly simultaneously inputs driving torque, adjusting yaw torque and additionally adjusting driving torque required by the stable operation of the vehicle into the torque distribution controller, the torque distribution controller reasonably distributes the torques to four hub motor controllers by adopting a reasonable distribution method, namely the torque required by each wheel, and the motor controllers output proper voltage and current to adjust the actual torque and the rotating speed of the motors, so that the safe running of the vehicle is ensured.
in summary, the main implementation principle of the driving torque distribution method of the four-wheel drive electric vehicle according to the embodiment of the present invention can be summarized as follows: through real-time monitoring of the running state of the vehicle, various sensors send collected signals to the central control unit, various controllers in the central control unit calculate and send optimal target torques to hub motor controllers of various wheels according to the signals, and finally drive the vehicle to run, so that the driving torques are reasonably distributed according to the running state of the vehicle in real time, the energy utilization rate is improved, the driving intention of a driver is easy to meet, and the phenomenon of slipping of a driving wheel is effectively prevented.
According to the driving torque distribution method of the four-wheel-drive electric vehicle, the driving torque is qualitatively and independently distributed to each wheel based on the load condition of each wheel driven by the vehicle in a steering mode, namely, the driving torque is reasonably distributed to each wheel in real time according to the dynamic driving condition of the vehicle and different loads of the wheels, so that the energy utilization rate is improved, the driving intention of a driver is easily met, the driving wheels can be effectively prevented from slipping, and the driving safety of the vehicle is improved.
The invention further provides a driving torque distribution system of the four-wheel-drive electric automobile.
Fig. 3 is a block diagram of a driving torque distribution system of a four-wheel drive electric vehicle according to an embodiment of the present invention. As shown in fig. 3, the system 100 includes: a calculation module 110, an acquisition module 120, and a torque distribution module 130.
The calculating module 110 is configured to, during a driving process of a vehicle, respectively obtain a total required driving torque of the vehicle corresponding to a target vehicle speed under a vehicle linear driving condition, an adjusted yaw torque of the vehicle under a vehicle steering driving condition, and an additional adjusted driving torque of each wheel under a low-adhesion road surface wheel driving slip condition. In other words, the total required driving torque, the adjusted yaw moment, and the additional adjusted driving torque of each wheel of the vehicle corresponding to the target vehicle speed are respectively obtained according to the running condition of the vehicle, wherein the running condition at least includes: the vehicle linear driving working condition, the vehicle steering driving working condition and the low-adhesion road wheel driving slip working condition. Specifically, under the condition of vehicle linear driving, acquiring total required driving torque of a vehicle corresponding to a target vehicle speed; acquiring an adjustment yaw moment of the vehicle at a total required driving moment of the vehicle corresponding to the target vehicle speed; and acquiring additional adjusting driving torque of the wheels under the driving slip working condition of the wheels with the low adhesion road surface.
Specifically, in one embodiment of the present invention, the calculation module 110 is configured to:
Under the condition of vehicle linear driving, the actual vehicle speed of the vehicle is obtained, PI control is carried out according to the difference value between the target vehicle speed and the actual vehicle speed, so that the total required driving torque of the vehicle corresponding to the target vehicle speed is obtained, and the process is the process of obtaining the total required driving torque.
Under the condition of vehicle steering driving, obtaining the front wheel equivalent corner, the actual speed and the actual yaw rate of the vehicle, obtaining the current ideal yaw rate of the vehicle through a preset ideal automobile model according to the front wheel equivalent corner and the actual speed, carrying out PI control according to the difference value of the ideal yaw rate and the actual yaw rate to obtain an adjusting yaw moment, and obtaining the process of adjusting the yaw moment in the process.
The preset ideal automobile model is, for example, a linear two-degree-of-freedom automobile model. The linear two-degree-of-freedom automobile model is mainly obtained by calculating the current actual speed and the equivalent rotation angle of a front wheel to obtain the ideal yaw angular velocity, and based on the ideal yaw angular velocity, the calculation formula of the ideal yaw angular velocity is as follows:
Wherein, omega d is an ideal yaw velocity, u is an actual vehicle speed and has the unit of km/h, a is the distance from the center of mass to the front axle and has the unit of meter, b is the distance from the center of mass to the rear axle and has the unit of meter, L is the axle distance and has the unit of meter, K 1 and K 2 are respectively the lateral deflection rigidity of the front and rear axle tires and have the unit of N/rad, K is a stability factor and has the unit of s 2/m 2, delta is the equivalent rotation angle of the front wheels, and m is the mass of the whole vehicle.
Under the working condition of the driving slip of the wheels on the low-adhesion road surface, the wheel speed of each wheel and the actual vehicle speed of the vehicle are obtained, the actual slip rate of each wheel is calculated according to the wheel speed of each wheel and the actual vehicle speed, PI control is carried out according to the difference value of the actual slip rate of each wheel and a preset target slip rate, additional adjustment driving torque of each wheel is obtained, and the process is the process of obtaining the additional adjustment driving torque of each wheel.
The obtaining module 120 is configured to obtain a vertical load of each wheel and a total vertical load of the vehicle, specifically, the total vertical load of the vehicle is F Z ═ F Z1 + F Z2 + F Z3 + F Z4, and F Z1, F Z2, F Z3, and F Z4 are vertical loads of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel, respectively, where the total vertical load is a vehicle weight.
the torque distribution module 130 is configured to distribute the driving torque to the wheels according to a preset torque distribution manner, based on the total required driving torque, the adjusted yaw torque, the additional adjusted driving torque of the wheels, the vertical load of the wheels, and the total vertical load of the vehicle.
Specifically, in one embodiment of the present invention, the torque distribution module 130 distributes the driving torque to each wheel according to a preset torque distribution manner as follows:
Where T 1 is the drive torque distributed to the left front wheel, T 2 is the drive torque distributed to the right front wheel, T 3 is the drive torque distributed to the left rear wheel, T 4 is the drive torque distributed to the right rear wheel, F Z is the total vertical load, F Z1 is the vertical load of the left front wheel, F Z2 is the vertical load of the right front wheel, F Z3 is the vertical load of the left rear wheel, F Z4 is the vertical load of the right rear wheel, T is the total required drive torque, Δ T is the adjustment yaw torque, T 11 is the additional adjustment drive torque of the left front wheel, T 22 is the additional adjustment torque of the right front wheel, T 33 is the additional adjustment drive torque of the left rear wheel, T 44 is the additional adjustment drive torque of the right rear wheel, r is the effective radius of the wheels in meters, B is the wheel base in meters.
In other words, the driving torque distribution process of the driving torque distribution system of the four-wheel-drive electric vehicle can be divided into an upper layer controller and a lower layer controller, wherein the upper layer controller comprises a vehicle speed following controller, a yaw moment controller and a slip rate controller, and the main task is to select the corresponding controller to work according to the control mode determined by the instability judgment module, calculate the driving torque, adjust the yaw moment and additionally adjust the driving torque required by the stable running of the vehicle according to the instruction of a driver, and simultaneously ensure that the slip rate of each wheel does not exceed a limit value; the lower layer controller mainly comprises a torque distribution controller, and mainly simultaneously inputs driving torque, adjusting yaw torque and additionally adjusting driving torque required by the stable operation of the vehicle into the torque distribution controller, the torque distribution controller reasonably distributes the torques to four hub motor controllers by adopting a reasonable distribution method, namely the torque required by each wheel, and the motor controllers output proper voltage and current to adjust the actual torque and the rotating speed of the motors, so that the safe running of the vehicle is ensured.
In summary, the main implementation principle of the driving torque distribution system of the four-wheel drive electric vehicle according to the embodiment of the present invention can be summarized as follows: through real-time monitoring of the running state of the vehicle, various sensors send collected signals to the central control unit, various controllers in the central control unit calculate and send optimal target torques to hub motor controllers of various wheels according to the signals, and finally drive the vehicle to run, so that the driving torques are reasonably distributed according to the running state of the vehicle in real time, the energy utilization rate is improved, the driving intention of a driver is easy to meet, and the phenomenon of slipping of a driving wheel is effectively prevented.
It should be noted that a specific implementation manner of the driving torque distribution system of the four-wheel drive electric vehicle according to the embodiment of the present invention is similar to a specific implementation manner of the driving torque distribution method of the four-wheel drive electric vehicle according to the embodiment of the present invention, and please refer to the description of the method part specifically, and details are not described here again in order to reduce redundancy.
according to the driving torque distribution system of the four-wheel drive electric automobile, the driving torque is qualitatively and independently distributed to each wheel based on the load condition of each wheel driven by the vehicle in a steering mode, namely, the driving torque is reasonably distributed to each wheel in real time according to the dynamic driving condition of the vehicle and different loads of the wheels, so that the energy utilization rate is improved, the driving intention of a driver is easily met, the driving wheels can be effectively prevented from slipping, and the driving safety of the vehicle is improved.
The invention further provides an electric automobile. The electric automobile comprises the driving torque distribution system of the four-wheel drive electric automobile described in any one of the above embodiments of the invention.
it should be noted that the specific implementation manner of the electric vehicle according to the embodiment of the present invention is similar to the specific implementation manner of the driving torque distribution system of the four-wheel drive electric vehicle according to the embodiment of the present invention, and please refer to the description of the system part specifically, and details are not described here again in order to reduce redundancy.
In conclusion, according to the electric automobile provided by the embodiment of the invention, the driving torque is qualitatively and independently distributed to each wheel based on the load condition of each wheel during the turning running of the vehicle, namely, the driving torque is reasonably distributed to each wheel in real time according to the dynamic running condition of the vehicle and different loads of the wheels, so that the energy utilization rate is improved, the driving intention of a driver is easily met, the driving wheels can be effectively prevented from slipping, and the running safety is improved.
In addition, other structures and functions of the electric vehicle according to the embodiment of the present invention are known to those skilled in the art, and are not described in detail for reducing redundancy.
in the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (8)

1. A driving torque distribution method of a four-wheel drive electric automobile is characterized by comprising the following steps:
In the running process of the vehicle, respectively obtaining the total required driving torque of the vehicle corresponding to the target vehicle speed under the linear driving working condition of the vehicle, the adjusting yaw torque of the vehicle under the steering driving working condition of the vehicle and the additional adjusting driving torque of each wheel under the driving slip working condition of the wheels on the low-adhesion road surface;
Respectively acquiring the vertical load of each wheel and the total vertical load of the vehicle;
According to the total required driving torque, the adjusting yaw moment, the additional adjusting driving torque of each wheel, the vertical load of each wheel and the total vertical load of the vehicle, respectively distributing the driving torque to each wheel according to a preset torque distribution mode, wherein the driving torque distribution mode to each wheel according to the preset torque distribution mode is as follows:
Wherein T 1 is a driving torque distributed to the left front wheel, T 2 is a driving torque distributed to the right front wheel, T 3 is a driving torque distributed to the left rear wheel, T 4 is a driving torque distributed to the right rear wheel, F Z is a total vertical load, F Z1 is a vertical load of the left front wheel, F Z2 is a vertical load of the right front wheel, F Z3 is a vertical load of the left rear wheel, F Z4 is a vertical load of the right rear wheel, T is the total required driving torque, Δ T is an adjustment yaw torque, T 11 is an additional adjustment driving torque of the left front wheel, T 22 is an additional adjustment torque of the right front wheel, T 33 is an additional adjustment driving torque of the left rear wheel, T 44 is an additional adjustment driving torque of the right rear wheel, r is an effective radius of the wheels, and B is a wheel distance.
2. The driving torque distribution method of a four-wheel drive electric vehicle according to claim 1, wherein the method of obtaining the total required driving torque includes:
Under the condition of vehicle linear driving, acquiring the actual speed of the vehicle;
and performing PI control according to the difference value between the target vehicle speed and the actual vehicle speed to obtain the total required driving torque of the vehicle corresponding to the target vehicle speed.
3. The driving torque distribution method of a four-wheel drive electric vehicle according to claim 1, wherein the method of obtaining the adjusted yaw moment comprises:
Under the condition of vehicle steering driving, obtaining the equivalent turning angle of the front wheels of the vehicle, the actual vehicle speed and the actual yaw rate of the vehicle;
Obtaining the current ideal yaw velocity of the vehicle through a preset ideal vehicle model according to the equivalent corner of the front wheel and the actual speed;
and performing PI control according to the difference value between the ideal yaw velocity and the actual yaw velocity to obtain the adjusted yaw moment.
4. The driving torque distribution method for a four-wheel drive electric vehicle according to claim 3, wherein the ideal yaw rate is calculated as follows:
Wherein ω d is the ideal yaw rate, u is the actual vehicle speed, a is the distance from the center of mass to the front axle, b is the distance from the center of mass to the rear axle, L is the wheel base, K 1 and K 2 are the front and rear axle tire cornering stiffness, K is the stability factor, δ is the front wheel equivalent rotation angle, and m is the vehicle mass.
5. The driving torque distribution method for a four-wheel drive electric vehicle according to claim 1, wherein the method of obtaining the additional adjusted driving torque of each wheel includes:
Under the working condition of driving slip of wheels on a low-adhesion road surface, acquiring the wheel speed of each wheel and the actual speed of the vehicle;
Calculating the actual slip rate of each wheel according to the wheel speed of each wheel and the actual vehicle speed;
and performing PI control according to the difference value of the actual slip ratio of each wheel and a preset target slip ratio to obtain additional adjustment driving torque of each wheel.
6. A drive torque distribution system for a four-wheel drive electric vehicle, comprising:
The calculation module is used for respectively acquiring the total required driving torque of the vehicle corresponding to the target vehicle speed under the condition of linear driving of the vehicle, the adjusting yaw torque of the vehicle under the condition of steering driving of the vehicle and the additional adjusting driving torque of each wheel under the condition of low-adhesion road surface wheel driving slip in the running process of the vehicle;
the acquisition module is used for respectively acquiring the vertical load of each wheel and the total vertical load of the vehicle;
The moment distribution module is used for respectively distributing the driving moment to each wheel according to the total required driving moment, the adjustment yaw moment, the additional adjustment driving moment of each wheel, the vertical load of each wheel and the total vertical load of the vehicle in a preset moment distribution mode, wherein the driving moment distribution mode of each wheel according to the preset moment distribution mode is as follows:
Wherein T 1 is a driving torque distributed to the left front wheel, T 2 is a driving torque distributed to the right front wheel, T 3 is a driving torque distributed to the left rear wheel, T 4 is a driving torque distributed to the right rear wheel, F Z is a total vertical load, F Z1 is a vertical load of the left front wheel, F Z2 is a vertical load of the right front wheel, F Z3 is a vertical load of the left rear wheel, F Z4 is a vertical load of the right rear wheel, T is the total required driving torque, Δ T is an adjustment yaw torque, T 11 is an additional adjustment driving torque of the left front wheel, T 22 is an additional adjustment torque of the right front wheel, T 33 is an additional adjustment driving torque of the left rear wheel, T 44 is an additional adjustment driving torque of the right rear wheel, r is an effective radius of the wheels, and B is a wheel distance.
7. The drive torque distribution system for a four-wheel drive electric vehicle according to claim 6, wherein the calculation module is configured to:
under the condition of vehicle linear driving, acquiring the actual vehicle speed of the vehicle, and performing PI control according to the difference value of the target vehicle speed and the actual vehicle speed to obtain the total required driving torque of the vehicle corresponding to the target vehicle speed; and
Under the condition of vehicle steering driving, obtaining a front wheel equivalent corner, an actual vehicle speed and an actual yaw rate of the vehicle, obtaining a current ideal yaw rate of the vehicle through a preset ideal vehicle model according to the front wheel equivalent corner and the actual vehicle speed, and performing PI control according to a difference value between the ideal yaw rate and the actual yaw rate to obtain the adjusted yaw moment; and
Under the working condition of driving slip of wheels on a low-adhesion road surface, obtaining the wheel speed of each wheel and the actual vehicle speed of the vehicle, calculating the actual slip rate of each wheel according to the wheel speed of each wheel and the actual vehicle speed, and performing PI control according to the difference value of the actual slip rate of each wheel and a preset target slip rate to obtain additional adjustment driving torque of each wheel.
8. an electric vehicle characterized by comprising the drive torque distribution system of the four-wheel-drive electric vehicle according to claim 6 or 7.
CN201710596797.XA 2017-07-20 2017-07-20 driving torque distribution method and system of four-wheel drive electric automobile and electric automobile Active CN107472082B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710596797.XA CN107472082B (en) 2017-07-20 2017-07-20 driving torque distribution method and system of four-wheel drive electric automobile and electric automobile

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710596797.XA CN107472082B (en) 2017-07-20 2017-07-20 driving torque distribution method and system of four-wheel drive electric automobile and electric automobile

Publications (2)

Publication Number Publication Date
CN107472082A CN107472082A (en) 2017-12-15
CN107472082B true CN107472082B (en) 2019-12-10

Family

ID=60595966

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710596797.XA Active CN107472082B (en) 2017-07-20 2017-07-20 driving torque distribution method and system of four-wheel drive electric automobile and electric automobile

Country Status (1)

Country Link
CN (1) CN107472082B (en)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109835317B (en) * 2017-11-29 2021-04-02 长城汽车股份有限公司 Steering control method, steering control device, vehicle and storage medium
CN108146294B (en) * 2018-01-09 2019-10-01 武汉理工大学 Pure electric automobile Driving Antiskid Control System and method based on hub motor
CN108327577B (en) * 2018-02-23 2020-07-28 北京新能源汽车股份有限公司 Torque determination method and device and electric automobile
CN110435628B (en) * 2018-05-04 2021-01-08 长城汽车股份有限公司 Automobile four-wheel drive control system and method
CN108437978B (en) * 2018-05-14 2019-10-25 武汉理工大学 Four wheel hub electricity drive vehicle running surface automatic identification and stability integrated control method
CN109017759B (en) * 2018-07-31 2022-04-08 大连民族大学 Desired path vehicle yaw control method
CN109017760B (en) * 2018-07-31 2022-04-12 大连民族大学 Vehicle expected trajectory tracking method and device and rolling time domain optimization algorithm
CN109017778B (en) * 2018-07-31 2022-04-15 大连民族大学 Active steering control method for expected path of four-wheel independent drive vehicle
CN109017804B (en) * 2018-07-31 2022-01-18 大连民族大学 Method for distributing driving torque for each hub motor of vehicle by torque distribution controller
CN109466338B (en) * 2018-09-29 2020-06-02 同济大学 Motor torque energy consumption optimization control distribution method for six-wheel independent drive vehicle
CN110228375B (en) * 2019-04-30 2023-03-21 南京航空航天大学 Control method for in-situ steering of non-steering wheel of distributed driving vehicle
CN110329346A (en) * 2019-06-24 2019-10-15 东风汽车集团有限公司 The difference for improving four-wheel In-wheel motor driving steering behaviour turns round yaw moment distribution method
CN110395119A (en) * 2019-07-05 2019-11-01 大连理工大学 The method that the Torque distribution of wheel determines constraint condition
CN111645665B (en) * 2019-09-20 2021-10-01 摩登汽车有限公司 Driving torque control method and system for vehicle and automobile
CN113561788A (en) * 2020-04-28 2021-10-29 北京新能源汽车股份有限公司 Traction control method, device and equipment for electric automobile and electric automobile
JP7310703B2 (en) * 2020-05-18 2023-07-19 トヨタ自動車株式会社 Four-wheel drive power distribution device
CN112224036B (en) * 2020-10-28 2022-08-05 北京理工大学 Four-wheel driving torque distribution method and system for distributed driving electric vehicle
JP7471517B2 (en) * 2020-11-18 2024-04-19 浙江極▲け▼智能科技有限公司 Electric vehicle four-wheel drive torque distribution method, system and vehicle
CN113002320B (en) * 2021-02-08 2023-02-10 南京航空航天大学 Electric vehicle self-adaptive motor driving device matched with different tires and control method thereof
CN113771856B (en) * 2021-10-15 2023-05-02 上海洛轲智能科技有限公司 Control method, device, equipment and medium for vehicle
CN115179755B (en) * 2022-07-14 2023-12-08 江苏徐工工程机械研究院有限公司 Engineering vehicle driving system, driving method and engineering vehicle

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20140053701A (en) * 2012-10-26 2014-05-08 현대자동차주식회사 System for controlling of e-4wd hybrid electricity vehicle and method thereof
CN103303157B (en) * 2013-06-19 2015-04-08 电子科技大学 Torque distribution method of four-wheel drive electric vehicle
CN103448716B (en) * 2013-09-12 2015-10-07 清华大学 Distributed electro-motive vehicle indulges-horizontal stroke-vertical force cooperative control method
CN105691403B (en) * 2014-11-27 2018-08-24 沈阳工业大学 The full drive electric automobile coefficient of road adhesion method of estimation of four-wheel
CN104787039B (en) * 2015-04-13 2017-03-22 电子科技大学 Car body stable control method of four-wheel independent drive electric car
CN106184207B (en) * 2016-07-12 2018-06-12 大连理工大学 Four motorized wheels electric vehicle adaptive cruise control system Torque distribution method
CN106585425B (en) * 2016-12-15 2019-03-01 西安交通大学 A kind of hierarchical system and control method for four hub motor driven electric vehicles

Also Published As

Publication number Publication date
CN107472082A (en) 2017-12-15

Similar Documents

Publication Publication Date Title
CN107472082B (en) driving torque distribution method and system of four-wheel drive electric automobile and electric automobile
CN105015363B (en) A kind of distributed driving automotive control system and method based on hierarchical coordinative
CN108237950B (en) Vehicle control method and system and vehicle
CN105691381B (en) A kind of four motorized wheels electric automobile stability control method and system
CN112644457B (en) Distributed driving vehicle steering stability control system and control method thereof
US10967870B2 (en) Hill descent system for vehicle and control method thereof
CN106467111B (en) Vehicle body stable control method, system and automobile
CN104175902B (en) The torque distribution control method of electric wheel truck wheel hub motor torque-split system
CN109291803B (en) Stability control method based on four-wheel all-wheel-drive electric vehicle virtual wheel
CN107953801A (en) A kind of driving force control method of full wheel-hub motor driven vehicle
CN108859862B (en) Self-adaptive drive control system of distributed drive cross-country vehicle
CN102267459B (en) Driving antiskid adjustment and control method for motor-driven vehicle
CN109606133A (en) Distributed-driving electric automobile torque vector control method based on bilayer control
CN108248454B (en) Vehicle body stability control system and method and automobile
US20140379220A1 (en) Vehicle with independently driven multiple axes, and controller which independently drives multiple axles
US20140229072A1 (en) Methods of controlling four-wheel steered vehicles
US20130211678A1 (en) Vehicle with independently driven multiple axes, and controller which independently drives multiple axles
CN107416021A (en) Four-wheel steering control method, device and the vehicle of vehicle
CN109263483A (en) Consider the distributed-driving electric automobile antiskid control system and method for body roll
CN111152661A (en) Failure control method for electric drive system of four-wheel distributed drive passenger car
WO2006093241A1 (en) Braking-driving force control device of vehicle
JPH05328542A (en) Driving force control method for electric vehicle
CN114407673B (en) Torque control method of electric four-wheel drive vehicle based on slip ratio
CN108944911B (en) Vehicle control method and device
CN109733400A (en) For distributing the method, apparatus and equipment of driving torque in the car

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant