CN109204303A - A kind of the torque distribution method and device of four-wheel drive cars - Google Patents
A kind of the torque distribution method and device of four-wheel drive cars Download PDFInfo
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- CN109204303A CN109204303A CN201710518232.XA CN201710518232A CN109204303A CN 109204303 A CN109204303 A CN 109204303A CN 201710518232 A CN201710518232 A CN 201710518232A CN 109204303 A CN109204303 A CN 109204303A
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- wheel drive
- drive cars
- slip angle
- acceleration
- torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
-
- 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
- B60W10/119—Conjoint control of vehicle sub-units of different type or different function including control of all-wheel-driveline means, e.g. transfer gears or clutches for dividing torque 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
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
- B60W2030/043—Control of vehicle driving stability related to roll-over prevention about the roll axis
-
- 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
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral 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
- B60W2520/30—Wheel 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
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- 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
Abstract
The present invention provides the torque distribution method and device of a kind of four-wheel drive cars, particular content includes: the driving torque demand for obtaining the four-wheel drive cars；Monitor the side acceleration and side slip angle of the four-wheel drive cars；Judge whether the side acceleration and the side slip angle meet prerequisite；If the side acceleration and the side slip angle meet prerequisite, the bias ratio example of the four-wheel drive cars is adjusted；According to the driving torque demand and the bias ratio example, output torque.In four-wheel drive cars torque distribution method of the present invention, in the four-wheel drive cars when encountering more complicated road conditions will turn on one's side, bias ratio example can dynamically be adjusted according to the side acceleration and the side slip angle, the stability for improving the four-wheel drive cars avoids the four-wheel drive cars from turning on one's side.
Description
Technical field
The present invention relates to automobile technical field, in particular to the torque distribution method and device of a kind of four-wheel drive cars.
Background technique
The user of ultimate attainment pursuit with to(for) usage experience, four-wheel drive cars, can be out of office due to superior cross-country ability
It is driven under the road conditions such as outer hillside, beach, muddy ground, desert freely, therefore, four-wheel drive cars receive liking for users.
In existing four-wheel drive cars, vehicle can keep the form of four-wheel drive in the process of moving, and engine output is turned round
For square with fixed pro rate to front and back wheel, this drive mode can possess preferable cross-country and handling, still, due to
The adjustment that bias ratio example can not be made according to surface conditions, encountering more complicated road conditions i.e. in four-wheel drive cars will send out
When raw rollover, four-wheel drive cars can not keep stablizing, avoiding the rollover of vehicle by adjusting bias ratio example.
Summary of the invention
In view of this, the present invention is directed to propose a kind of torque distribution method of four-wheel drive cars, it can not to solve four-wheel drive cars
Keep stablizing, avoiding the problem that the rollover of vehicle by adjusting bias ratio example.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of torque distribution method of four-wheel drive cars, comprising:
Obtain the driving torque demand of the four-wheel drive cars；
Monitor the side acceleration and side slip angle of the four-wheel drive cars；
Judge whether the side acceleration and the side slip angle meet prerequisite；
If the side acceleration and the side slip angle meet prerequisite, the torque of the four-wheel drive cars is adjusted
Allocation proportion；
According to the driving torque demand and the bias ratio example, output torque.
Further, the prerequisite includes:
The difference of the side acceleration and side acceleration critical value less than the first preset value, and the side slip angle with
The difference of side slip angle critical value is less than the second preset value.
Further, the torque distribution method of the four-wheel drive cars, further includes:
If the side acceleration and the side slip angle do not meet prerequisite, needed according to the driving torque
It asks, output torque.
Further, if the side acceleration and the side slip angle meet prerequisite, described in adjustment
The step of bias ratio example of four-wheel drive cars, comprising:
If the side acceleration and the side slip angle meet prerequisite, according to the side acceleration and institute
The direction for stating side slip angle judges the rollover direction of the four-wheel drive cars；
If the rollover direction of the four-wheel drive cars is left-side rollovers, the bias ratio example of left side wheel is reduced；
If the rollover direction of the four-wheel drive cars is right-side rollovers, the bias ratio example of right side wheels is reduced.
Further, the driving torque demand for obtaining the four-wheel drive cars, comprising:
According to the accelerator pedal aperture, brake pedal aperture and turning angle of steering wheel of the four-wheel drive cars obtained in real time
It obtains, obtains the driving torque demand.
Compared with the existing technology, the torque distribution method of four-wheel drive cars of the present invention has the advantage that
In four-wheel drive cars torque distribution method of the present invention, the driving torque by obtaining the four-wheel drive cars is needed
It asks, monitors the side acceleration and side slip angle of the four-wheel drive cars, and judge the side acceleration and described
Whether side slip angle meets prerequisite, if the side acceleration and the side slip angle meet prerequisite, adjusts
The bias ratio example of the whole four-wheel drive cars；According to the driving torque demand and the bias ratio example, output torque.
In this way, in embodiments of the present invention, the four-wheel drive cars will be when encountering more complicated road conditions will turn on one's side, Ke Yigen
The bias ratio example is dynamically adjusted according to the side acceleration and the side slip angle of the four-wheel drive cars
Section, improves the stability of the four-wheel drive cars, the four-wheel drive cars is avoided to turn on one's side.
It, can not to solve four-wheel drive cars another object of the present invention is to propose a kind of torque distribution device of four-wheel drive cars
Keep stablizing, avoiding the problem that the rollover of vehicle by adjusting bias ratio example.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of torque distribution device of four-wheel drive cars, comprising:
Torque demand obtains module, for obtaining the driving torque demand of the four-wheel drive cars；
Monitoring modular, for monitoring the side acceleration and side slip angle of the four-wheel drive cars；
Judgment module, for judging whether the side acceleration and the side slip angle meet prerequisite；
Bias ratio example adjusts module, if meeting preset item for the side acceleration and the side slip angle
Part then adjusts the bias ratio example of the 4-wheel driven car amount；
First torque output module, for according to the driving torque demand and the bias ratio example, output torque.
Further, the prerequisite includes:
The difference of the side acceleration and side acceleration critical value less than the first preset value, and the side slip angle with
The difference of side slip angle critical value is less than the second preset value.
Further, the torque distribution device of the four-wheel drive cars, further includes:
Second torque output module, if not meeting prerequisite for the side acceleration and the side slip angle,
Then according to the driving torque demand, output torque.
Further, the bias ratio example adjustment module includes:
Rollover walking direction unit, if meeting prerequisite for the side acceleration and the side slip angle,
According to the direction of the side acceleration and the side slip angle, the rollover direction of the four-wheel drive cars is judged；
First torque allocation unit reduces left side vehicle if the rollover direction for the four-wheel drive cars is left-side rollovers
The bias ratio example of wheel；
Second torque allocation unit reduces right side vehicle if the rollover direction for the four-wheel drive cars is right-side rollovers
The bias ratio example of wheel.
Further, the torque demand obtains in module, according to the accelerator pedal of the four-wheel drive cars obtained in real time
Aperture, brake pedal aperture and turning angle of steering wheel obtain, obtain the driving torque demand.
The torque distribution method of the torque distribution device of the four-wheel drive cars and above-mentioned four-wheel drive cars is compared with the existing technology
Possessed advantage is identical, and details are not described herein.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of torque distribution method flow chart of steps of four-wheel drive cars described in the embodiment of the present invention；
Fig. 2 is the torque distribution method flow chart of steps of another four-wheel drive cars described in the embodiment of the present invention；
Fig. 3 is a kind of structural block diagram of the torque distribution device of four-wheel drive cars described in the embodiment of the present invention；
Fig. 4 is the structural block diagram of the torque distribution device of another four-wheel drive cars described in the embodiment of the present invention.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
In addition, the left side or right side of the four-wheel drive cars being previously mentioned in an embodiment of the present invention, facing for referring to is described
The direction of advance of four-wheel drive cars, the left and right side of the four-wheel drive cars.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Embodiment one
Referring to Fig.1, a kind of torque distribution method flow chart of steps of four-wheel drive cars described in the embodiment of the present invention is shown,
It can specifically include following steps:
Step 101: obtaining the driving torque demand of the four-wheel drive cars.
In the embodiment of the present invention, the driving torque demand for obtaining four-wheel drive cars can be according to obtaining the four-wheel drive cars in real time
Accelerator pedal aperture, brake pedal aperture and turning angle of steering wheel, obtain the driving torque demand.
Step 102: monitoring the side acceleration and side slip angle of the four-wheel drive cars.
In the embodiment of the present invention, the side acceleration of the four-wheel drive cars refers to the vertical four-wheel drive cars direction of motion
Acceleration, in practical applications, can by reduce yaw moment, reduction yaw velocity, to reach described in reduction
The purpose of the side acceleration of four-wheel drive cars.The side slip angle of the four-wheel drive cars refers to the center of mass motion of four-wheel drive cars
Y direction angle direction (i.e. the direction of speed at that time) and be defined on vehicle body.It in a step 102, can be by monitoring institute
The side acceleration and side slip angle of four-wheel drive cars are stated, to realize the judgement to four-wheel drive cars rollover tendency.
Step 103: judging whether the side acceleration and the side slip angle meet prerequisite.
In the embodiment of the present invention, the prerequisite can be the difference of the side acceleration and side acceleration critical value
Less than the first preset value, and the difference of the side slip angle and side slip angle critical value is less than the second preset value.
Specifically, the side acceleration critical value and the side slip angle critical value, the vehicle with the four-wheel drive cars
Minimum wheelspan and vehicle center are highly relevant, the four-wheel drive cars of same model, due to its vehicle minimum wheelspan and vehicle center
Height is consistent, and side acceleration and side slip angle are also consistent.
In practical applications, first preset value and described can be arranged in those skilled in the art according to the actual situation
The occurrence of two preset values, so that the side acceleration is close to the side acceleration critical value, and the mass center lateral deviation
The closely described side slip angle critical value of corner connection, the embodiment of the present invention is for first preset value and second preset value
Occurrence without limitation.
Step 104: if the side acceleration and the side slip angle meet prerequisite, adjusting the 4-wheel driven car
Bias ratio example.
In the embodiment of the present invention, if the side acceleration and the side slip angle meet prerequisite, i.e., the described side
To the difference of acceleration and side acceleration critical value less than the first preset value, and the side slip angle and side slip angle are critical
The difference of value is less than the second preset value, it may be considered that the four-wheel drive cars have rollover tendency, therefore, the adjustable 4 wheel driven
The bias ratio example of vehicle reduces the yaw moment of the four-wheel drive cars, and then reduces yaw velocity, reduces the 4 wheel driven
The side acceleration and side slip angle of vehicle, so that the side acceleration of the four-wheel drive cars is less than the side acceleration and faces
Dividing value, and the side slip angle of the four-wheel drive cars is less than the side slip angle critical value.In this way, in the embodiment of the present invention
In, dynamic is carried out to the bias ratio example according to the side acceleration of the four-wheel drive cars and the side slip angle
Adjusting, the state of the four-wheel drive cars held stationary form can be made, the four-wheel drive cars is avoided to turn on one's side.
Step 105: according to the driving torque demand and the bias ratio example, output torque.
In the embodiment of the present invention, the torsion that the driving torque obtained according to step 101 needs summation step 104 to obtain
Square allocation proportion exports the torque of the four-wheel drive cars.
In four-wheel drive cars torque distribution method provided in an embodiment of the present invention, the driving by obtaining the four-wheel drive cars is turned round
Square demand, monitors the side acceleration and side slip angle of the four-wheel drive cars, and judge the side acceleration and
Whether the side slip angle meets prerequisite, if the side acceleration and the side slip angle meet prerequisite,
Then adjust the bias ratio example of the four-wheel drive cars；According to the driving torque demand and the bias ratio example, output
Torque.In this way, in embodiments of the present invention, the four-wheel drive cars when encountering more complicated road conditions will turn on one's side,
The bias ratio example can be moved according to the side acceleration and the side slip angle of the four-wheel drive cars
The adjusting of state improves the stability of the four-wheel drive cars, and the four-wheel drive cars is avoided to turn on one's side.
Embodiment two
Referring to Fig. 2, the torque distribution method steps flow chart of another four-wheel drive cars described in the embodiment of the present invention is shown
Figure, can specifically include following steps:
Step 201: obtaining the driving torque demand of the four-wheel drive cars.
Step 202: monitoring the side acceleration and side slip angle of the four-wheel drive cars.
Step 203: judging whether the side acceleration and the side slip angle meet prerequisite.
In the embodiment of the present invention, if the side acceleration and the side slip angle do not meet prerequisite, enter
Step 204, if the side acceleration and the side slip angle meet prerequisite, 205 are entered step.
Step 204: if the side acceleration and the side slip angle do not meet prerequisite, according to the driving
Torque demand, output torque.
It, can be with if the side acceleration and the side slip angle do not meet prerequisite in the embodiment of the present invention
Think the tendency that the four-wheel drive cars are not turned on one's side, in this manner it is possible to according to the driving torque demand that step 201 obtains,
Output torque.
Step 205: if the side acceleration and the side slip angle meet prerequisite, laterally adding according to described
The direction of speed and the side slip angle judges the rollover direction of the four-wheel drive cars.
In practical applications, the side acceleration and the side slip angle are all vectors, have size and Orientation, because
This, can judge the rollover direction of the four-wheel drive cars according to the direction of the side acceleration and the side slip angle, if
The direction of the side acceleration and the side slip angle is all to the left, it may be considered that the rollover direction of the four-wheel drive cars
For left-side rollovers, if the direction of the side acceleration and the side slip angle is all to the right, it may be considered that the 4 wheel driven
The rollover direction of vehicle is right-side rollovers.
Step 206: if the rollover direction of the four-wheel drive cars is left-side rollovers, reducing the bias ratio of left side wheel
Example.
In the embodiment of the present invention, if the rollover direction of the four-wheel drive cars is left-side rollovers, left side wheel can be reduced
Bias ratio example, in this manner it is possible to reduce the yaw moment of the four-wheel drive cars to the left, and then reduce yaw angle to the left
Speed reduces the side acceleration and side slip angle of the four-wheel drive cars, so that the side acceleration of the four-wheel drive cars
Less than the side acceleration critical value
Step 207: if the rollover direction of the four-wheel drive cars is right-side rollovers, reducing the bias ratio of right side wheels
Example.
In the embodiment of the present invention, if the rollover direction of the four-wheel drive cars is right-side rollovers, right side wheels can be reduced
Bias ratio example, in this manner it is possible to reduce the yaw moment of the four-wheel drive cars to the right, and then reduce yaw angle to the right
Speed reduces the side acceleration and side slip angle of the four-wheel drive cars, so that the side acceleration of the four-wheel drive cars
Less than the side acceleration critical value
Step 208: according to the driving torque demand and the bias ratio example, output torque.
In four-wheel drive cars torque distribution method provided in an embodiment of the present invention, first by judge the side acceleration with
Whether the side slip angle meets prerequisite, come judge the four-wheel drive cars whether have rollover tendency, then again according to
According to the direction of the side acceleration and the side slip angle, the rollover direction of the four-wheel drive cars is judged, if the 4 wheel driven
The rollover direction of vehicle is left-side rollovers, then the bias ratio example of left side wheel is reduced, if the rollover side of the four-wheel drive cars
To for right-side rollovers, then the bias ratio example of right side wheels is reduced.In this way, not only may determine that institute in the embodiment of the present invention
It states whether four-wheel drive cars may turn on one's side, can also be sentenced according to the direction of the side acceleration and the side slip angle
Break the rollover directions of the four-wheel drive cars, and carries out the adjusting of bias ratio example according to the rollover direction, in this manner it is possible to
So that improving the progress of the bias ratio example, the stability of the four-wheel drive cars is further increased, avoids the 4-wheel driven car
It turns on one's side.
Embodiment three
Referring to Fig. 3, a kind of structural block diagram of the torque distribution device of four-wheel drive cars described in the embodiment of the present invention is shown,
It can specifically include:
Torque demand obtains module 301, for obtaining the driving torque demand of the four-wheel drive cars
Monitoring modular 302, for monitoring the side acceleration and side slip angle of the four-wheel drive cars.
Judgment module 303, for judging whether the side acceleration and the side slip angle meet prerequisite.
Bias ratio example adjusts module 304, if meeting for the side acceleration and the side slip angle preset
Condition then adjusts the bias ratio example of the 4-wheel driven car amount.
First torque output module 305, for according to the driving torque demand and the bias ratio example, output to be turned round
Square.
In four-wheel drive cars torque distribution device provided in an embodiment of the present invention, the driving by obtaining the four-wheel drive cars is turned round
Square demand, monitors the side acceleration and side slip angle of the four-wheel drive cars, and judge the side acceleration and
Whether the side slip angle meets prerequisite, if the side acceleration and the side slip angle meet prerequisite,
Then adjust the bias ratio example of the four-wheel drive cars；According to the driving torque demand and the bias ratio example, output
Torque.In this way, in embodiments of the present invention, the four-wheel drive cars when encountering more complicated road conditions will turn on one's side,
The bias ratio example can be moved according to the side acceleration and the side slip angle of the four-wheel drive cars
The adjusting of state improves the stability of the four-wheel drive cars, and the four-wheel drive cars is avoided to turn on one's side.
Example IV
Referring to Fig. 4, the structural frames of the torque distribution device of another four-wheel drive cars described in the embodiment of the present invention are shown
Figure, can specifically include:
Torque demand obtains module 401, for obtaining the driving torque demand of the four-wheel drive cars；
Monitoring modular 402, for monitoring the side acceleration and side slip angle of the four-wheel drive cars；
Judgment module 403, for judging whether the side acceleration and the side slip angle meet prerequisite；
Second torque output module 404, if not meeting preset item for the side acceleration and the side slip angle
Part, then according to the driving torque demand, output torque.
Rollover walking direction unit 405, if meeting prerequisite for the side acceleration and the side slip angle,
The then direction according to the side acceleration and the side slip angle judges the rollover direction of the four-wheel drive cars；
First torque allocation unit 406 reduces left side if the rollover direction for the four-wheel drive cars is left-side rollovers
The bias ratio example of wheel；
Second torque allocation unit 407 reduces right side if the rollover direction for the four-wheel drive cars is right-side rollovers
The bias ratio example of wheel.
First torque output module 408, for according to the driving torque demand and the bias ratio example, output to be turned round
Square.
In four-wheel drive cars torque distribution device provided in an embodiment of the present invention, first by judge the side acceleration with
Whether the side slip angle meets prerequisite, come judge the four-wheel drive cars whether have rollover tendency, then again according to
According to the direction of the side acceleration and the side slip angle, the rollover direction of the four-wheel drive cars is judged, if the 4 wheel driven
The rollover direction of vehicle is left-side rollovers, then the bias ratio example of left side wheel is reduced, if the rollover side of the four-wheel drive cars
To for right-side rollovers, then the bias ratio example of right side wheels is reduced.In this way, not only may determine that institute in the embodiment of the present invention
It states whether four-wheel drive cars may turn on one's side, can also be sentenced according to the direction of the side acceleration and the side slip angle
Break the rollover directions of the four-wheel drive cars, and carries out the adjusting of bias ratio example according to the rollover direction, in this manner it is possible to
So that improving the progress of the bias ratio example, the stability of the four-wheel drive cars is further increased, avoids the 4-wheel driven car
It turns on one's side.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of torque distribution method of four-wheel drive cars characterized by comprising
Obtain the driving torque demand of the four-wheel drive cars；
Monitor the side acceleration and side slip angle of the four-wheel drive cars；
Judge whether the side acceleration and the side slip angle meet prerequisite；
If the side acceleration and the side slip angle meet prerequisite, the torque distribution of the four-wheel drive cars is adjusted
Ratio；
According to the driving torque demand and the bias ratio example, output torque.
2. the torque distribution method of four-wheel drive cars according to claim 1, which is characterized in that the prerequisite includes:
The difference of the side acceleration and side acceleration critical value is less than the first preset value, and the side slip angle and mass center
The difference of side drift angle critical value is less than the second preset value.
3. the torque distribution method of four-wheel drive cars according to claim 1, which is characterized in that the judgement is described laterally to be added
After the step of whether speed and the side slip angle meet prerequisite, further includes:
It is defeated according to the driving torque demand if the side acceleration and the side slip angle do not meet prerequisite
Torque out.
4. the torque distribution method of four-wheel drive cars according to claim 1, which is characterized in that if the lateral acceleration
The step of degree and the side slip angle meet prerequisite, then adjust the bias ratio example of the four-wheel drive cars, comprising:
If the side acceleration and the side slip angle meet prerequisite, according to the side acceleration and the matter
The direction of heart side drift angle judges the rollover direction of the four-wheel drive cars；
If the rollover direction of the four-wheel drive cars is left-side rollovers, the bias ratio example of left side wheel is reduced；
If the rollover direction of the four-wheel drive cars is right-side rollovers, the bias ratio example of right side wheels is reduced.
5. the torque distribution method of four-wheel drive cars according to claim 1, which is characterized in that described to obtain the 4-wheel driven car
Driving torque demand, comprising:
It is obtained according to the accelerator pedal aperture, brake pedal aperture and turning angle of steering wheel of the four-wheel drive cars obtained in real time
Out, the driving torque demand is obtained.
6. a kind of torque distribution device of four-wheel drive cars characterized by comprising
Torque demand obtains module, for obtaining the driving torque demand of the four-wheel drive cars；
Monitoring modular, for monitoring the side acceleration and side slip angle of the four-wheel drive cars；
Judgment module, for judging whether the side acceleration and the side slip angle meet prerequisite；
Bias ratio example adjusts module, if meeting prerequisite for the side acceleration and the side slip angle,
Adjust the bias ratio example of the 4-wheel driven car amount；
First torque output module, for according to the driving torque demand and the bias ratio example, output torque.
7. the torque distribution device of four-wheel drive cars according to claim 6, which is characterized in that the prerequisite includes:
The difference of the side acceleration and side acceleration critical value is less than the first preset value, and the side slip angle and mass center
The difference of side drift angle critical value is less than the second preset value.
8. the torque distribution device of four-wheel drive cars according to claim 6, which is characterized in that further include:
Second torque output module, if not meeting prerequisite for the side acceleration and the side slip angle, according to
According to the driving torque demand, output torque.
9. the torque distribution device of four-wheel drive cars according to claim 6, which is characterized in that the bias ratio example tune
Mould preparation block includes:
Rollover walking direction unit, if meeting prerequisite, foundation for the side acceleration and the side slip angle
The direction of the side acceleration and the side slip angle judges the rollover direction of the four-wheel drive cars；
First torque allocation unit reduces left side wheel if the rollover direction for the four-wheel drive cars is left-side rollovers
Bias ratio example；
Second torque allocation unit reduces right side wheels if the rollover direction for the four-wheel drive cars is right-side rollovers
Bias ratio example.
10. the torque distribution device of four-wheel drive cars according to claim 6, which is characterized in that the torque demand obtains
In module, according to the accelerator pedal aperture, brake pedal aperture and turning angle of steering wheel of the four-wheel drive cars obtained in real time
It obtains, obtains the driving torque demand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710518232.XA CN109204303A (en) | 2017-06-29 | 2017-06-29 | A kind of the torque distribution method and device of four-wheel drive cars |
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| CN112172788A (en) * | 2020-09-30 | 2021-01-05 | 东风汽车集团有限公司 | Distributed three-motor driving force distribution strategy for improving vehicle steering stability |
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