CN108349383A - 用于具有独立从动桥的车辆的牵引管理控制系统 - Google Patents

用于具有独立从动桥的车辆的牵引管理控制系统 Download PDF

Info

Publication number
CN108349383A
CN108349383A CN201680066148.2A CN201680066148A CN108349383A CN 108349383 A CN108349383 A CN 108349383A CN 201680066148 A CN201680066148 A CN 201680066148A CN 108349383 A CN108349383 A CN 108349383A
Authority
CN
China
Prior art keywords
vehicle
wheel
bridge
bridge system
group
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.)
Pending
Application number
CN201680066148.2A
Other languages
English (en)
Inventor
E.E.克吕格尔
X.毛
K.A.奥迪
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.)
GM Global Technology Operations LLC
Original Assignee
GM Global Technology Operations LLC
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 GM Global Technology Operations LLC filed Critical GM Global Technology Operations LLC
Publication of CN108349383A publication Critical patent/CN108349383A/zh
Pending legal-status Critical Current

Links

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
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
    • 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
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
    • 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
    • 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
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/48—Parallel type
    • 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
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • 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
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/15—Control strategies specially adapted for achieving a particular effect
    • 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
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/15—Control strategies specially adapted for achieving a particular effect
    • B60W20/19—Control strategies specially adapted for achieving a particular effect for achieving enhanced acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • B60W30/18172—Preventing, or responsive to skidding of wheels
    • 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
    • B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
    • B60K23/0808—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles for varying torque distribution between driven axles, e.g. by transfer clutch
    • 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
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/30—ESP control system
    • B60T2270/303—Stability control with active acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • 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
    • 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
    • B60W2520/263—Slip values between front and rear axle
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—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
    • B60W2720/40—Torque distribution
    • B60W2720/403—Torque distribution between front and rear axle
    • 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
    • B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
    • 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
    • Y02T10/62—Hybrid vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

一种车辆包括：第一车桥系统，其可操作地连接至第一组车轮；第二车桥系统，其可操作地连接至第二组车轮；第一驱动系统，其可操作地连接至第一组车轮；第二驱动系统，其独立于第一组车轮可操作地连接至第二组车轮；和牵引管理控制模块，其电气地联接至第一和第二驱动系统中的至少一个。牵引管理控制模块计算第一和第二车桥系统中的对应一个车桥系统的扭矩能力，并基于扭矩能力将车桥扭矩命令选择性地传送至第一和第二车桥系统中的对应一个车桥系统。

Description

用于具有独立从动桥的车辆的牵引管理控制系统
相关申请的交叉引用
该申请要求2015年9月12日提交的美国临时专利申请No.62/217,845的优先权。美国临时专利申请No.62/217,845的全部内容并入本文作为参考。
技术领域
本发明涉及机动车辆的技术，并且更具体地涉及用于具有独立从动桥的机动车辆的牵引管理控制系统。
背景技术
各种型号的机动车辆包括多轮驱动系统。在特定情况下，机动车辆可具有全轮或四轮驱动系统(AWD或4WD)。这样的车辆典型地包括将所有四个车轮联接至单个功率源的一个或多个齿轮箱。偶尔地，在AWD系统的一个或多个车轮处的扭矩可与车轮中的其他车轮不同。例如，在冰上行驶的车辆可经历在一个或多个车轮上的或大或小的扭矩。相似地，进行转弯操纵的车辆可经历在一个或多个车轮上的扭矩变化。特定车辆可设置有牵引控制系统，所述牵引控制系统操作以修正操作，以更好地建立满足所有四个车轮的牵引需求的期望的扭矩分配。
一些更现代的车辆包括具有电动驱动部件和燃料驱动部件的混合动力系统。在这样的车辆中，电动驱动部件可联接至一个车桥，并且燃料驱动部件可联接至另一车桥。如果有可发生在电动驱动部件与燃料驱动部件之间的功率差异，可能难以建立至特定所有四个车轮的期望的扭矩分配，以满足在各种行驶状况下的牵引要求。例如，耗尽的电池可能不能产生足够的扭矩以驱动联接至电动驱动部件的车桥，所述电动驱动部件在特定行驶状况下向由燃料驱动的部件驱动的车桥补充扭矩输出。因此，期望提供一种用于具有独立从动桥的机动车辆的牵引控制系统。
发明内容
根据示例性实施例的方面，车辆包括：第一车桥系统，其可操作地连接至第一组车轮；第二车桥系统，其可操作地连接至第二组车轮；第一驱动系统，其可操作地连接至第一组车轮；第二驱动系统，其独立于第一组车轮可操作地连接至第二组车轮；和牵引管理控制模块，其电气地联接至第一和第二驱动系统中的至少一个驱动系统。牵引管理控制模块计算第一和第二车桥系统中的对应一个车桥系统的扭矩能力，并基于扭矩能力将车桥扭矩命令选择性地传送至第一和第二车桥系统中的对应一个车桥系统。
根据示例性实施例的另一方面，选择性地调整连接至第一驱动系统的第一车桥系统和独立于第一驱动系统连接至第二驱动系统的第二车桥系统中的至少一个车桥系统的扭矩的方法包括：计算与第一车桥系统相关的第一和第二车轮中的至少一个车轮的第一扭矩能力；计算与第二车桥系统相关的第一和第二车轮中的至少一个车轮的第二扭矩能力；计算与第一车桥系统相关的第一和第二车轮中的至少一个车轮和与第二车桥系统相关的第一和第二车轮中的至少一个车轮的车轮滑移误差和横摆速率误差；基于与第一车桥系统相关的第一和第二车轮和与第二车桥系统相关的第一和第二车轮中的对应车轮的车轮滑移误差和横摆速率误差确定第一调整的扭矩能力和第二调整的扭矩能力；和基于第一和第二调整的扭矩能力中的至少一个扭矩能力将驾驶员期望的扭矩动态地分配至第一和第二车桥系统中的每个车桥系统。
根据示例性实施例的又一方面，车辆包括：第一车桥系统，其可操作地连接至第一组车轮；第二车桥系统，其可操作地连接至第二组车轮；第一驱动系统，其可操作地连接至第一组车轮；第二驱动系统，其独立于第一组车轮可操作地连接至第二组车轮；和牵引管理控制模块，其电气地联接至第一和第二驱动系统中的至少一个驱动系统。牵引管理控制模块计算第一和第二车桥系统中的对应一个车桥系统的扭矩能力，并基于扭矩能力将车桥扭矩命令选择性地传送至第一和第二车桥系统中的对应一个车桥系统。牵引管理控制模块基于与第一车桥系统相关的第一组车轮和与第二车桥系统相关的第二组车轮中的对应车轮的车轮滑移误差和横摆速率误差确定第一调整的扭矩能力和第二调整的扭矩能力。
本发明以上的特征和优点及其他的特征和优点当结合附图理解时将容易地从本发明以下的详细说明显而易见。
附图说明
仅作为示例，其他的特征、优点和细节在实施例的以下详细说明中显现，详细说明参考附图，其中：
图1是根据示例性实施例的具有独立从动桥和牵引管理控制系统的车辆的示意俯视图；
图2是图示根据示例性实施例的牵引管理控制系统的方框图；
图3是图示根据示例性实施例的方面的动态分配车桥扭矩的方法的流程图；
图4是图示根据示例性实施例的另一方面的动态分配车桥扭矩的方法的流程图；
图5是图示根据示例性实施例的方面的扭矩分配选择的图；和
图6是图示根据示例性实施例的另一方面的扭矩分配选择的图。
具体实施方式
以下的说明本质上仅是示例性的，并且不旨在限制本公开、其应用或用途。应理解的是，贯穿附图，相应的附图标记指示相同的或相应的部件和特征。如本文所使用的，术语“模块”或“单元”指的是专用集成电路(ASIC)、现场可编程门阵列(FPGA)、电子电路、执行一个或多个软件或固件程序的电子计算机处理器(共享的、专用的或分组的)和存储器、硬件微控制器、组合逻辑电路和/或提供所描述的功能性的其他合适的部件。当以软件实现时，模块能在存储器中具体化为可由处理电路和存储指令读取的非暂时性机器可读存储介质，用于由执行方法的处理电路执行。
根据示例性实施例的机动车辆在图1中总的以2指示。车辆2包括支撑第一驱动系统8和第二驱动系统10的底盘4。第一驱动系统8可采取内燃机14的形式，并且第二驱动系统10可采取电动马达或电驱动（eDrive）系统16的形式。第一驱动系统8可操作地连接至变速器20。变速器20可操作地连接至具有第一前车桥22和第二前车桥23的第一或前车桥系统21。第一前车桥22支撑第一前车轮30，并且第二前车桥23支撑第二前车轮31。根据示例性实施例的方面，在邻近第一前车轮30的第一前车桥22处可布置第一传感器34，并且在第二前车轮31处的第二前车桥23处可布置第二传感器35。第一和第二传感器34和35可检测与每个前车轮30和31相关的滑移和/或横摆速率。
进一步根据示例性实施例，电驱动系统16可包括具有壳体42的电动车桥（eAxle）40。电动车桥40可操作地联接至第二或后车桥系统44。更具体地说，第一车桥套管45可在第一方向上从电动车桥40延伸，并且第二车桥套管46可在第二方向上从电动车桥40延伸。第二车桥系统44可包括延伸通过第一车桥套管45的第一后车桥49和延伸通过第二车桥套管46的第二后车桥50。第一后车桥49支撑第一后车轮54，并且第二后车桥50支撑第二后车轮55。根据示例性实施例的方面，在邻近第一后车轮54的第一后车桥49处可布置第一传感器63，并且在第二后车轮55处的第二后车桥50处可布置第二传感器64。第一和第二传感器63和64可检测与每个后车轮54和55相关的滑移和/或横摆速率。车辆2还可包括通过功率控制模块70可操作地连接至电动车桥40的电池68。功率控制模块70将功率选择性地输送至电动车桥40，以确定在第一和第二后车轮54和55处的期望的输出。
根据示例性实施例的方面，车辆2包括牵引管理控制模块80，所述牵引管理控制模块80基于行驶状况、驾驶员需求以及第一与第二前车轮30、31和第一与第二后车轮54、55中的一个或多个的扭矩能力将扭矩选择性地分配至第一和第二车桥系统21和44中的每个。如图2所示，牵引管理控制模块80包括可操作地连接至牵引管理模块84和存储器86的中央处理单元(CPU)82。存储器86可存储一套指令，如以下更充分地详述的，其可向牵引管理控制模块80提供一套指令，以将扭矩选择性地分配至第一和第二车桥系统21和44中的每个。
现在将参考图3描述方法100，所述方法100在尽可能实际地维持运动行驶模式的同时分配驾驶员期望的扭矩。在方框102中，计算第一与第二前车轮30、31和第一与第二后车轮54、55中的一个或多个车轮的最小扭矩能力(Fz、Fy和Fx)，其中Fx=sqrt(Fz^2-Fy^2)，并且其中，Fx_frt=min(Fx_LF,Fx_RF)并且Fx_rr=min(Fx_LR,Fx_RR)。术语“能力”应被理解为包括驱动系统输送期望的扭矩的能力，并且还包括轮胎/车轮支撑分配的扭矩的能力。
在方框104中，可为设置有电子限滑差速器(eLSD)的车辆2计算第一与第二前车轮30、31(M_frt)和第一与第二后车轮54、55(M_rr)中的一个或多个车轮的平均扭矩能力，其中，M_frt=2*Fx_frt*R_frt+M_frt_elsd并且M_rr=2*Fx_rr*R_rr+M_rr_elsd。在方框106中，计算车轮滑移和横摆速率(YR)误差，其中，YR_err=|DYR|-|YR|；WSL_frt=max(WS_LF-WRS_LF,WS_RF-WRS_RF)-Thrd1；WSL_rr=max(WS_LR-WRS_LR,WS_RR-WRS_RR)-Thrd2。在方框108中，基于车轮滑移和横摆速率误差动态地调整第一与第二前车轮30、31(M_frt_md)和第一与第二后车轮54、55(M_rr_md)中的一个或多个车轮的扭矩能力，其中，M_frt_md=M_frt-Cal1*YR_err-Cal2*WSL_frt+Cal3*WSL_rr，并且M_rr_md=M_rr+Cal4*YR_err+Cal5*WSL_frt-Cal6*WSL_rr。
在方框110中，向变速器20和/或电动车桥40发送扭矩命令，以将驾驶员期望的扭矩分配至第一和第二车桥系统21和44中的一个或多个，以实现运动的感觉，其中，前车桥扭矩命令=DDAT*M_frt_md/(M_frt_md+M_rr_md)，并且后车桥扭矩命令=DDAT*M_rr_md/(M_frt_md+M_rr_md)。在方框112中，可基于摩擦圆理论将扭矩命令限制在无滑移区域内。以这种方式，可在不牺牲运动乘坐的情况下尽可能维持基于行驶速度、转弯速度等的驾驶员期望的扭矩。应理解的是，DDAT=驾驶员期望的车桥扭矩；DYR=期望的横摆速率；YR=横摆速率；WSL=车轮滑移；WS=车轮速度；并且WRS=车轮基准速度。所有的Cal和Thrd基于与车辆运动状态相关的查询表。
根据示例性实施例的方面，如果轮胎不能支撑向其输送的扭矩(诸如可通过基于经验轮胎数据和道路表面知识估计每个轮胎的能力和被输送的扭矩的量来确定)，则能将扭矩重新分配至另一车桥。在一个或两个车桥上存在可控的扭矩分离装置(例如，电子限滑差速器)的情况下，能将扭矩重新分配至在同一车桥上的车轮。此外，在电动车桥不具有输送期望的和/或需求的扭矩量的情况下，重新分配扭矩可以是特别有利的。
图4描述了实时分配驾驶员期望的扭矩的方法140。在方框142中，计算第一与第二前车轮30、31和第一与第二后车轮54、55中的一个或多个车轮的最小扭矩能力(Fz、Fy和Fx)，其中Fx=sqrt(Fz^2-Fy^2)，并且其中，Fx_frt=min(Fx_LF,Fx_RF)并且Fx_rr=min(Fx_LR,FX_RR)。在方框144中，可为设置有电子限滑差速器(eLSD)的车辆2计算第一与第二前车轮30、31和第一与第二后车轮54、55中的一个或多个车轮的平均扭矩能力(M_frt,M_rr)，其中，M_frt=2*Fx_frt*R_frt+M_frt_elsd并且M_rr=2*Fx_rr*R_rr+M_rr_elsd。
在方框146中，向变速器20和/或电动车桥40发送扭矩命令(M_frt_md,M_rr_md)，以与车桥扭矩能力成比例地在第一与第二前车轮30、31和第一与第二后车轮54、55中的一个或多个车轮之间分配驾驶员期望的扭矩，其中，M_frt_md=DDAT*M_frt/(M_frt+M_rr)并且M_rr_md=DDAT*M_rr/M_frt+M_rr)。在方框148中，计算车轮滑移和横摆速率误差(YR_err)，其中，YR_err=|DYR|-|YR|；WSL_frt=max(WS_LF-WRS_LF,WS_RF-WRS_RF)-Thrd1；WSL_rr=max(WS_LR-WRS_LR,WS_RR-WRS_RR)-Thrd2。在方框150中，计算至前车桥的扭矩命令M_frt_md-Cal1*YR_err-Cal2*WSL_frt+Cal3*WSL_rr并计算至后车桥的扭矩命令M_rr_md+Cal4*YR_err+Cal5*WSL_frt-Cal6*WSL_rr，对于第一与第二前车轮30、31和第一与第二后车轮54、55中的一个或多个车轮基于车轮滑移和横摆速率误差动态地调整。在方框160中，可基于摩擦圆理论将扭矩命令限制在无滑移区域内。
在这一点上，应理解的是，示例性实施例描述了一个系统，用于控制连接至被独立驱动的车桥的一个或多个驱动车轮的牵引。如图5中200处所示，系统使驾驶员期望的扭矩与可用扭矩平衡，以提供更运动的乘坐。替代性地，如图5中210处所示，系统可通过车桥能力限制车桥扭矩命令。此外，系统可如图5中220处所示简单地维持扭矩分配比率。图6图示了当驾驶员要求由虚线240标识的太多扭矩时的牵引控制情形。另外，应理解的是，为了输送驾驶员(从加速踏板)的请求扭矩，如果一个或多个轮胎正在自旋或滑移，则可能希望在车桥之间重新平衡扭矩。例如，如果驾驶员转弯并加速，则车辆将向后纵倾并侧倾。在该情况下，内侧前车轮将变轻并且可能不能支撑向其输送的扭矩。在这样的情形下，可通过将扭矩转移至较重并且能支撑更多的推进扭矩的后车桥来重新平衡扭矩。此外，在驾驶员期望的车桥扭矩超过最大前车桥扭矩能力和最大后车桥扭矩能力的和的情况下，牵引管理控制模块可限制分配的扭矩，以将输送的扭矩维持至每个车桥的扭矩能力。
尽管已参考示例性实施例描述了本发明，但本领域的技术人员应理解的是，在不偏离本发明的范围的情况下，可作出各种变化，并且等同物可代替其元件。另外，在不偏离本发明的实质范围的情况下，可作出许多变型，以使特定的情形或材料适合于本发明的教导。因此，意图于本发明不应局限于公开的特定的实施例，而是本发明将包括落入本申请的范围内的所有实施例。

Claims (8)

1.一种车辆，包括：
第一车桥系统，其可操作地连接至第一组车轮；
第二车桥系统，其可操作地连接至第二组车轮；
第一驱动系统，其可操作地连接至所述第一组车轮；
第二驱动系统，其独立于所述第一组车轮可操作地连接至所述第二组车轮；和
牵引管理控制模块，其电气地联接至所述第一和第二驱动系统中的至少一个，所述牵引管理控制模块计算所述第一和第二车桥系统中的对应一个车桥系统的扭矩能力，并基于所述扭矩能力将车桥扭矩命令选择性地传送至所述第一和第二车桥系统中的对应一个车桥系统。
2.根据权利要求1所述的车辆，其中，所述第一驱动系统包括内燃机。
3.根据权利要求1所述的车辆，其中，所述第二驱动系统包括电动马达。
4.根据权利要求1所述的车辆，还包括：至少一个第一传感器，其联接至所述第一车桥系统并可操作地连接至所述牵引管理控制模块。
5.根据权利要求4所述的车辆，还包括：至少一个第二传感器，其联接至所述第二车桥系统并可操作地连接至所述牵引管理控制模块。
6.根据权利要求1所述的车辆，其中，所述牵引管理控制模块基于与所述第一车桥系统相关的所述第一组车轮和与所述第二车桥系统相关的所述第二组车轮中的对应车轮的车轮滑移误差和横摆速率误差确定第一调整的扭矩能力和第二调整的扭矩能力。
7.一种选择性地调整连接至第一驱动系统的第一车桥系统和独立于所述第一驱动系统连接至第二驱动系统的第二车桥系统中的至少一个车桥系统的扭矩的方法，所述方法包括：
计算与所述第一车桥系统相关的第一和第二车轮中的至少一个车轮的第一扭矩能力；
计算与所述第二车桥系统相关的第一和第二车轮中的至少一个车轮的第二扭矩能力；
计算与所述第一车桥系统相关的所述第一和第二车轮中的至少一个车轮和与所述第二车桥系统相关的所述第一和第二车轮中的至少一个车轮的车轮滑移误差和横摆速率误差；
基于与所述第一车桥系统相关的第一和第二车轮和与所述第二车桥系统相关的第一和第二车轮中的对应车轮的车轮滑移误差和横摆速率误差确定第一调整的扭矩能力和第二调整的扭矩能力；和
基于所述第一和第二调整的扭矩能力将驾驶员期望的扭矩动态地分配至所述第一和第二车桥系统中的每个车桥系统。
8.一种车辆，包括：
第一车桥系统，其可操作地连接至第一组车轮；
第二车桥系统，其可操作地连接至第二组车轮；
第一驱动系统，其可操作地连接至所述第一组车轮；
第二驱动系统，其独立于所述第一组车轮可操作地连接至所述第二组车轮；和
牵引管理控制模块，其电气地联接至所述第一和第二驱动系统中的至少一个，所述牵引管理控制模块计算所述第一和第二车桥系统中的对应一个车桥系统的扭矩能力，并基于所述扭矩能力将车桥扭矩命令选择性地传送至所述第一和第二车桥系统中的对应一个车桥系统，其中，所述牵引管理控制模块基于与所述第一车桥系统相关的所述第一组车轮和与所述第二车桥系统相关的所述第二组车轮中的对应车轮的车轮滑移误差和横摆速率误差确定第一调整的扭矩能力和第二调整的扭矩能力。
CN201680066148.2A 2015-09-12 2016-09-09 用于具有独立从动桥的车辆的牵引管理控制系统 Pending CN108349383A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562217845P 2015-09-12 2015-09-12
US62/217845 2015-09-12
PCT/US2016/050858 WO2017044679A1 (en) 2015-09-12 2016-09-09 Traction management control system for vehicle having independently driven axles

Publications (1)

Publication Number Publication Date
CN108349383A true CN108349383A (zh) 2018-07-31

Family

ID=58240841

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201680066148.2A Pending CN108349383A (zh) 2015-09-12 2016-09-09 用于具有独立从动桥的车辆的牵引管理控制系统

Country Status (4)

Country Link
US (1) US20180257477A1 (zh)
EP (1) EP3337683A4 (zh)
CN (1) CN108349383A (zh)
WO (1) WO2017044679A1 (zh)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112440979B (zh) * 2019-08-15 2022-04-22 华为技术有限公司 一种控制车辆稳定性的方法及设备
US11485211B2 (en) 2019-11-08 2022-11-01 DoorDash, Inc. Powertrain assembly and systems for autonomous and automated delivery vehicles
KR20210142057A (ko) * 2020-05-15 2021-11-24 현대자동차주식회사 차량 선회 제어 장치, 그를 포함한 시스템 및 그 방법

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009029459A1 (de) * 2009-09-15 2011-03-24 Robert Bosch Gmbh Verfahren zur Einstellung des Antriebsmoments in einem Fahrzeug
US20110114408A1 (en) * 2009-11-17 2011-05-19 Farley Herbert M Work machine including hydrostatic ground drive which automatically provides increased propulsion torque when the mechanical transmission is in a high gear
US20110257826A1 (en) * 2010-04-16 2011-10-20 Ford Global Technologies, Llc Vehicle Stability And Steerability Control Via Electronic Torque Distribution
CN103373357A (zh) * 2012-04-30 2013-10-30 通用汽车环球科技运作有限责任公司 用于全轮电驱动车辆的扭矩控制的系统和方法
CN104228815A (zh) * 2013-06-24 2014-12-24 通用汽车环球科技运作有限责任公司 用于控制多模式动力总成系统中的变速器换挡的方法和装置
CN104369734A (zh) * 2013-08-15 2015-02-25 通用汽车环球科技运作有限责任公司 用于控制多模式动力系系统以避免操作区域的方法和设备
US20150120106A1 (en) * 2013-10-31 2015-04-30 Ford Global Technologies, Llc Vehicle Dynamic Controls Coordination System for Dual-Axle Driven Electric Vehicles

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6909959B2 (en) * 2003-03-07 2005-06-21 Stephen James Hallowell Torque distribution systems and methods for wheeled vehicles
JP4625632B2 (ja) * 2003-12-25 2011-02-02 日立オートモティブシステムズ株式会社 車両駆動装置
JP4135682B2 (ja) * 2004-06-07 2008-08-20 日産自動車株式会社 車両の駆動力制御装置
US8061464B2 (en) * 2008-04-09 2011-11-22 Ford Global Technologies, Llc Traction and stability control system and method for a vehicle with mechanically independent front and rear traction wheels
GB2480852A (en) * 2010-06-03 2011-12-07 Mira Ltd Yaw motion control of a vehicle

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009029459A1 (de) * 2009-09-15 2011-03-24 Robert Bosch Gmbh Verfahren zur Einstellung des Antriebsmoments in einem Fahrzeug
US20110114408A1 (en) * 2009-11-17 2011-05-19 Farley Herbert M Work machine including hydrostatic ground drive which automatically provides increased propulsion torque when the mechanical transmission is in a high gear
US20110257826A1 (en) * 2010-04-16 2011-10-20 Ford Global Technologies, Llc Vehicle Stability And Steerability Control Via Electronic Torque Distribution
CN103373357A (zh) * 2012-04-30 2013-10-30 通用汽车环球科技运作有限责任公司 用于全轮电驱动车辆的扭矩控制的系统和方法
CN104228815A (zh) * 2013-06-24 2014-12-24 通用汽车环球科技运作有限责任公司 用于控制多模式动力总成系统中的变速器换挡的方法和装置
CN104369734A (zh) * 2013-08-15 2015-02-25 通用汽车环球科技运作有限责任公司 用于控制多模式动力系系统以避免操作区域的方法和设备
US20150120106A1 (en) * 2013-10-31 2015-04-30 Ford Global Technologies, Llc Vehicle Dynamic Controls Coordination System for Dual-Axle Driven Electric Vehicles

Also Published As

Publication number Publication date
EP3337683A1 (en) 2018-06-27
US20180257477A1 (en) 2018-09-13
WO2017044679A1 (en) 2017-03-16
EP3337683A4 (en) 2019-05-01

Similar Documents

Publication Publication Date Title
CN108216240B (zh) 用于控制四轮驱动车辆的前轮和后轮扭矩分配的方法和装置
US7909126B2 (en) System and method for integrating a torque vectoring differential with a stability control system
US10442310B1 (en) Vehicle yaw and energy efficiency control apparatus to dynamically assign torque among independently powered drive wheels
JP3956693B2 (ja) 統合型車両運動制御装置
CN107921937B (zh) 界定再生制动的系统和方法
KR101305124B1 (ko) 차량 동적 성능 향상 장치 및 방법
JP2016210416A (ja) 車両のヨーモーメントを制御する方法
JP2014524863A (ja) 車両動作制御装置及び方法
US20160236589A1 (en) Four motor propulsion system and yaw vectoring control circuit
US20140046564A1 (en) Control device for four-wheel drive vehicle
US11318924B1 (en) Torque distribution system for redistributing torque between axles of a vehicle
CN108216222A (zh) 改善前方碰撞回避性能的集成控制方法以及相关的车辆
CN103153675A (zh) 具有全轮驱动装置的机动车
US11142077B2 (en) Method and device for operating a motor vehicle, and motor vehicle
US8285465B2 (en) Cooperative traction control system using dual slip controllers
CN108349383A (zh) 用于具有独立从动桥的车辆的牵引管理控制系统
WO2024012089A1 (zh) 分布式三电机车辆的控制方法、装置、电动车和介质
CN105774458A (zh) 用于控制悬架系统的方法
CN108973985B (zh) 基于组合滑移的驾驶员命令解释器
US20190276008A1 (en) Method and system for enhanced yaw response for a vehicle
JP2019064415A (ja) 車両の駆動力制御方法
CN109895845A (zh) 机动车辆的全轮转向系统和操作全轮转向系统的方法
JP2009517271A (ja) 車両の動力学特性を調整する方法及びシステム
JP2009061888A (ja) 車両の駆動力配分制御装置
CN112805193B (zh) 用于将驾驶员所请求的制动力矩分配到机动车的车桥上的方法

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
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20180731

WD01 Invention patent application deemed withdrawn after publication