CN109941283A - Four-wheel drive cars and its torque distribution method, device, storage medium - Google Patents
Four-wheel drive cars and its torque distribution method, device, storage medium Download PDFInfo
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Abstract
This disclosure relates to a kind of four-wheel drive cars and its torque distribution method, device, storage medium.This method comprises: one attachment coefficient of setting；The slip rate of front and back wheel respectively is obtained according to the current operating parameter of the vehicle；Judge whether the difference between the slip rate of the front and back wheel is within the scope of preset difference value；When difference between the slip rate of the front and back wheel is not within the scope of the preset difference value, a new attachment coefficient is set again, and re-executes above method step until the difference between the slip rate of the front and back wheel is in the preset difference value range；When difference between the slip rate of the front and back wheel is within the scope of the preset difference value, bias ratio example is determined according to the attachment coefficient currently set, and distribute torque according to the front and back wheel that the bias ratio example is the vehicle.
Description
Technical field
This disclosure relates to field of vehicle drive, and in particular, to a kind of four-wheel drive cars and its torque distribution method, device,
Storage medium.
Background technique
With flourishing for auto industry, requirement of the people to the dynamic property and control stability of automobile is also increasingly
It is high.It is well known that four-wheel drive technology is by making full use of the adhesive force of tire, to obtain driving force as big as possible.However,
In the process of moving, in face of complicated road surface operating condition, the calculating of peak value of road adhesion coefficient is based in advance existing four-wheel drive cars
The data such as the adhesive rate and slip rate of Sampling hold are estimated, this evaluation method need to miscellaneous road surface respectively into
Row data sampling, calculating process is cumbersome and calculated result easily has deviation, and obtained result data is dfficult to apply to practical vehicle
Control, cause the dynamic property of existing four-wheel drive cars and control stability to be difficult to meet the drive demand of user.For example, in vehicle
In steering procedure, since the peak value of road adhesion coefficient deviation of estimation is larger, cause based on the peak value of road adhesion coefficient
Obtained fore-aft vehicle bias ratio example is unable to reach optimal, causes the driveability of vehicle and stability bad.
Summary of the invention
It is a general object of the present disclosure to provide a kind of four-wheel drive cars and its torque distribution method, device, storage mediums, to mention
The driveability of high four-wheel drive cars.
To achieve the goals above, the embodiment of the present disclosure in a first aspect, providing a kind of torque distribution side of four-wheel drive cars
Method, comprising:
Set an attachment coefficient；
The slip rate of front and back wheel respectively is obtained according to the current operating parameter of the vehicle；
Judge whether the difference between the slip rate of the front and back wheel is within the scope of preset difference value；
When difference between the slip rate of the front and back wheel is not within the scope of the preset difference value, it is new that one is set again
Attachment coefficient, and re-execute above method step until the difference between the slip rate of the front and back wheel is in described default
Difference range；
When difference between the slip rate of the front and back wheel is within the scope of the preset difference value, according to what is currently set
The attachment coefficient determines bias ratio example, and is distributed and turned round according to the front and back wheel that the bias ratio example is the vehicle
Square.
Optionally, the attachment coefficient that sets includes: attachment coefficient initially set as scheduled maximum grip coefficient；
It is described to set a new attachment coefficient again, comprising:
The attachment coefficient of setting is gradually reduced according to predetermined gradient.
Optionally, the operating parameter current according to the vehicle obtains the slip rate of front and back wheel respectively, comprising:
Obtain the rotational angular velocity of the current speed of the vehicle and front and back wheel respectively；
The cunning of the front and back wheel respectively is calculated according to the rotational angular velocity of the speed and the front and back wheel respectively
Shifting rate.
Optionally, described that the front and back is calculated according to the rotational angular velocity of the speed and the front and back wheel respectively
Take turns the slip rate of difference, comprising:
The slip rate of the front and back wheel respectively is calculated by following formula:
Wherein, sfFor the slip rate of front-wheel, ωfFor the rotational angular velocity of front-wheel, RfFor the rolling radius of front-wheel, srIt is rear
The slip rate of wheel, ωrFor the rotational angular velocity of rear-wheel, RrFor the rolling radius of rear-wheel, u is the current speed of the vehicle.
Optionally, the attachment coefficient that the basis is currently set determines bias ratio example, comprising:
The bias ratio example k is calculated by following formula:
Wherein, μ is the attachment coefficient currently set, Fz_f_minFor the minimum vertical force of the vehicle front-wheel, Fz_r_min
For the minimum vertical force of the vehicle rear wheel, Fy_f_maxThe maximum on the vehicle front-wheel is assigned to laterally for the lateral force of steering
Power, Fy_r_maxThe maximum lateral force in the vehicle rear wheel is assigned to for the lateral force of steering.
Disclosure second aspect provides a kind of torque distribution device of four-wheel drive cars, comprising:
Coefficient setting module, for setting an attachment coefficient；
Slip rate obtains module, for obtaining the slip rate of front and back wheel respectively according to the current operating parameter of the vehicle；
Whether judgment module, the difference between slip rate for judging the front and back wheel are within the scope of preset difference value；
The coefficient setting module is also used to, and the difference between the slip rate of the front and back wheel is not at the default difference
When being worth in range, a new attachment coefficient is set again, until the difference between the slip rate of the front and back wheel is in described pre-
If difference range；
Torque distribution module is within the scope of the preset difference value for the difference between the slip rate of the front and back wheel
When, bias ratio example is determined according to the attachment coefficient currently set, and be the vehicle according to the bias ratio example
Front and back wheel distribute torque.
Optionally, the coefficient setting module attachment coefficient initially set is scheduled maximum grip coefficient, is set again
The attachment coefficient of setting is gradually reduced when a fixed new attachment coefficient according to predetermined gradient.
Optionally, the slip rate acquisition module includes:
Acquisition submodule, for obtaining the rotational angular velocity of the current speed of the vehicle and front and back wheel respectively；
Computational submodule, it is described for being calculated according to the rotational angular velocity of the speed and the front and back wheel respectively
The slip rate of front and back wheel respectively.
Optionally, the computational submodule is used for:
The slip rate of the front and back wheel respectively is calculated by following formula:
Wherein, sfFor the slip rate of front-wheel, ωfFor the rotational angular velocity of front-wheel, RfFor the rolling radius of front-wheel, srIt is rear
The slip rate of wheel, ωrFor the rotational angular velocity of rear-wheel, RrFor the rolling radius of rear-wheel, u is the current speed of the vehicle.
Optionally, the torque distribution module is used for:
The bias ratio example k is calculated by following formula:
Wherein, μ is the attachment coefficient currently set, Fz_f_minFor the minimum vertical force of the vehicle front-wheel, Fz_r_min
For the minimum vertical force of the vehicle rear wheel, Fy_f_maxThe maximum on the vehicle front-wheel is assigned to laterally for the lateral force of steering
Power, Fy_r_maxThe maximum lateral force in the vehicle rear wheel is assigned to for the lateral force of steering.
The third aspect of the embodiment of the present disclosure provides a kind of computer readable storage medium, is stored thereon with computer journey
Sequence, when which is executed by processor the step of realization first aspect the method.
The fourth aspect of the embodiment of the present disclosure provides a kind of torque distribution device of four-wheel drive cars, comprising:
Computer readable storage medium described in the third aspect；And
One or more processor, for executing the program in the computer readable storage medium.
5th aspect of the embodiment of the present disclosure provides a kind of four-wheel drive cars, including described in second aspect or fourth aspect
The torque distribution device of four-wheel drive cars.
It is worth noting that vehicle front and back wheel attachment coefficient is identical and approaches optimal slip rate (optimal slip rate is to show the way
The slip rate of wheel when the attachment coefficient maximum of face) when, vehicle has maximum drive ability.And on same road surface, it is same
Slip rate corresponds to same attachment coefficient.It follows that allow front and back wheel slip rate level off to same vehicle be possible to have most
Big driving capability.Technical solution provided by the present disclosure makes front and back skidding by constantly adjusting the size of attachment coefficient of setting
Difference between shifting rate reduces, and is in the difference between front and back wheel slip rate in preset difference range, improves
The driveability of vehicle.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is a kind of flow chart of the torque distribution method of four-wheel drive cars shown according to an exemplary embodiment.
Fig. 2 is a kind of block diagram of the torque distribution device of four-wheel drive cars shown according to an exemplary embodiment.
Fig. 3 is the block diagram of the torque distribution device of another four-wheel drive cars shown according to an exemplary embodiment.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
Four-wheel drive (Four Wheel Drive, abbreviation 4WD), also known as a11wheel drive, this technology is by making full use of wheel
The adhesive force of tire can make vehicle front and back wheel all obtain power, and be exported motor or engine according to the different of pavement state
Torque is according in different pro rates to front and back wheel, to improve the driving capability and stability of vehicle.Four-wheel drive technology
All kinds of vehicles are widely used to, the embodiment of the present disclosure provides a kind of torque distribution method of four-wheel drive cars, and this method can mention
The driveability of vehicle is risen, and can estimate to obtain the maximum grip coefficient on road surface.
Fig. 1 is a kind of flow chart of the torque distribution method of four-wheel drive cars shown according to an exemplary embodiment, such as Fig. 1
It is shown, method includes the following steps:
Step 101, an attachment coefficient is set.
Wherein, attachment coefficient refers to tire in the adhesive ability size on different road surfaces, the size and road surface kind of attachment coefficient
Class, pavement state, the material of tire and Vehicle Speed have a relationship, dry, good pitch or concrete road surface
Attachment coefficient is larger, and the attachment coefficient of ice and snow road is smaller, and wheel-slip phenomenon easily occurs for vehicle.The size of attachment coefficient can
The torque distributed for vehicle front and back wheel can be influenced, for example, during Vehicular turn, in order to enable vehicle has preferably
Driveability, the lateral force that driver is inputted by steering wheel should be taken into account coefficient of road adhesion when being assigned in front and back wheel
Size.The attachment coefficient that step 101 is set is the torque for being used to adjust in vehicle allocation to fore-aft vehicle.
Step 102, the slip rate of front and back wheel respectively is obtained according to the current operating parameter of vehicle.
Wherein, the size of attachment coefficient directly or indirectly affects the size of the slip rate of front and back wheel.And pass through vehicle
Current operating parameter, for example, speed, the rotational angular velocity etc. of wheel, can be calculated the slip rate of wheel.
Step 103 judges whether the difference between the slip rate of vehicle front and back wheel is within the scope of preset difference value.
It is worth noting that allowing front and back wheel slip rate to level off to same vehicle is possible to have maximum driving capability.
Therefore, what difference range described in step 103 can be set is sufficiently small, while allowing certain error.
When step 104, the difference between the slip rate of vehicle front and back wheel are not within the scope of preset difference value, set again
One new attachment coefficient, and re-execute above method step until the difference between the slip rate of vehicle front and back wheel to be in this pre-
If difference range.
That is, when the difference between the slip rate of determining vehicle front and back wheel is not within the scope of preset difference value every time,
An attachment coefficient is reset, until under the attachment coefficient, the difference between the slip rate of vehicle front and back wheel is in default
Difference range.
When step 105, the difference between the slip rate of vehicle front and back wheel are within the scope of preset difference value, according to currently setting
Fixed attachment coefficient determines bias ratio example, and distributes torque according to the front and back wheel that the bias ratio example is vehicle.
Slip rate in vehicle front and back wheel is identical or levels off in identical situation, and the current attachment coefficient that sets is possible
For the maximum grip coefficient on road surface.The allocation proportion that vehicle front and back wheel torque is determined using maximum grip coefficient, according to the torque
Allocation proportion is that the front and back wheel of vehicle distributes torque, may make vehicle to have maximum driveability, to improve vehicle
Driveability.
Specifically, in a step 101, attachment coefficient initially set can be predetermined maximum grip coefficient, this is predetermined most
Big attachment coefficient is the maximum grip coefficient that vehicle samples the various road surfaces estimated based on variety classes road surface in advance.The reality on road surface
Border maximum grip coefficient is less than the scheduled maximum grip coefficient.It is set in this way, being sequentially reduced since predetermined maximum grip coefficient
Fixed attachment coefficient may make vehicle front and back wheel slip rate gradually to approach identical optimal slip rate, ensure that vehicle can
Has maximum drive performance.
Optionally, the embodiment of the present disclosure can be gradually reduced the attachment coefficient of setting according to predetermined gradient.
It is worth noting that the gradient value successively decreased can be set according to actual needs, for example, in order to improve precision and
The cycle-index for calculating step is reduced, the gradient value successively decreased can be set as the numerical value between 0.1~0.2.
Illustratively, preset difference value range is 0~0.15, and the decreasing gradient of attachment coefficient is preset as 0.1, if in the attached of setting
Coefficient be 0.9 when, the slip rate s of front-wheelfWith rear wheel slip rate srBetween difference sf-r=0.25, then one is being set again
Reduce when new attachment coefficient according to preset gradient, i.e., new attachment coefficient is set as 0.8；If being 0.8 in attachment coefficient
In the case of, the slip rate s of front-wheelfWith rear wheel slip rate srBetween difference sf-sr=0.20, then continue to set a new attachment
Coefficient 0.7；In the case where attachment coefficient is 0.7, the slip rate s of front-wheelfWith rear wheel slip rate srBetween difference sf-sr=
0.02, at this point, vehicle currently has maximum drive ability and control stability.
Optionally, the preset difference value range is the difference range that vehicle front axle slip rate subtracts rear wheel slip rate, and
The preset difference value range is positive number range.That is, the difference when vehicle front and back wheel slip rate is in the preset difference value
When in range, the front wheel slip rate of vehicle is equal to rear wheel slip rate, and vehicle front wheel slip rate is greater than rear wheel slip rate, to guarantee
Vehicle whipping phenomenon will not occur because rear wheel slip rate is greater than front-wheel.
It how is specifically described below according to operating parameter acquisition wheel slip.
Optionally, the rotational angular velocity of the current speed of the available vehicle of the embodiment of the present disclosure and front and back wheel respectively,
And the slip rate of front and back wheel respectively is calculated according to the rotational angular velocity of the speed and front and back wheel respectively.
For example, calculating the slip rate of the front and back wheel respectively by following formula:
Wherein, sfFor the slip rate of front-wheel, ωfFor the rotational angular velocity of front-wheel, RfFor the rolling radius of front-wheel, srIt is rear
The slip rate of wheel, ωrFor the rotational angular velocity of rear-wheel, RrFor the rolling radius of rear-wheel, u is the current speed of the vehicle.Its
In, the rotational angular velocity of car speed and vehicle can be obtained by the related sensor real-time detection arranged on vehicle.
In a kind of possible implementation of the embodiment of the present disclosure, it is contemplated that between two front-wheels of left and right vehicle wheel, and
Slip rate between two rear-wheels in left and right may be different, therefore, in the specific implementation, can calculate separately the front-wheel of left and right two
Slip rate, and slip rate of the greater as front-wheel is taken, similarly, the slip rate of two rear-wheels in left and right can be calculated separately, and
Take slip rate of the greater as rear-wheel.
In addition, in the specific implementation, can set between attachment coefficient and bias ratio example according to different requirements, not
Same mapping relations, so that setting different size of attachment coefficient, front and back wheel bias ratio example also changes therewith, and then plays
Adjust the effect of front and back wheel slip rate.
Illustratively, during Vehicular turn, above-mentioned steps 105 can be by following formula according to the attachment currently set
Coefficient determines bias ratio example k:
Wherein, μ is the attachment coefficient that currently sets (i.e. so that difference between vehicle front and back wheel slip rate is in default poor
The attachment coefficient being worth in range), Fz_f_minFor the minimum vertical force of vehicle front-wheel, Fz_r_minFor the minimum vertical force of vehicle rear wheel,
Fy_f_maxThe maximum lateral force on vehicle front-wheel, F are assigned to for the lateral force of steeringy_r_maxVehicle is assigned to for the lateral force of steering
Maximum lateral force on rear-wheel.Wherein, wheel vertical force and lateral force can be by being arranged corresponding pass on vehicle
Sensor measures in real time.
In this way, vehicle is to execute above-mentioned steps 101 in steering procedure to step 105, it may make vehicle in steering procedure
In have maximum driveability.
In addition it is worth noting that, the difference between the slip rate of vehicle front and back wheel is within the scope of the preset difference value
When, the attachment coefficient currently set can be determined as the maximum grip coefficient on vehicle current driving road surface.
That is, if the difference being calculated between the slip rate of front and back wheel is in the case where attachment coefficient is 0.7
0.02, it is located in preset difference value range 0~0.15, then it is believed that the attachment coefficient 0.7 currently set is vehicle current driving road
The maximum grip coefficient in face.In this way, based on the technical solution that the embodiment of the present disclosure provides, it can be with the maximum adhesion system of road pavement
Number is demarcated, and needs to be estimated again by sampling in advance compared with prior art, the technical solution that the embodiment of the present disclosure provides
Easy to calculating, deviation is small, more meets practical application request, and versatility is stronger.
Fig. 2 is a kind of block diagram of the torque distribution device 200 of four-wheel drive cars shown according to an exemplary embodiment, the dress
Setting 200 can be implemented in combination with by software, hardware or both as some or all of of four-wheel drive cars drive system.Such as figure
Shown in 2, which includes:
Coefficient setting module 201, for setting an attachment coefficient；
Slip rate obtains module 202, for obtaining the sliding of front and back wheel respectively according to the current operating parameter of the vehicle
Rate；
Whether judgment module 203, the difference between slip rate for judging the front and back wheel are in preset difference value range
It is interior；
The coefficient setting module 201 is also used to, and the difference between the slip rate of the front and back wheel is not at described pre-
If when in difference range, setting a new attachment coefficient again, until the difference between the slip rate of the front and back wheel is in institute
State preset difference value range；
Torque distribution module 204 is in the preset difference value model for the difference between the slip rate of the front and back wheel
When enclosing interior, bias ratio example is determined according to the attachment coefficient currently set, and be institute according to the bias ratio example
State the front and back wheel distribution torque of vehicle.
Optionally, the coefficient setting module 201 attachment coefficient initially set is scheduled maximum grip coefficient, again
The attachment coefficient of setting is gradually reduced when setting a new attachment coefficient according to predetermined gradient.
Optionally, the slip rate acquisition module 202 includes:
Acquisition submodule, for obtaining the rotational angular velocity of the current speed of the vehicle and front and back wheel respectively；
Computational submodule, it is described for being calculated according to the rotational angular velocity of the speed and the front and back wheel respectively
The slip rate of front and back wheel respectively.
Optionally, the computational submodule is used for:
The slip rate of the front and back wheel respectively is calculated by following formula:
Wherein, sfFor the slip rate of front-wheel, ωfFor the rotational angular velocity of front-wheel, RfFor the rolling radius of front-wheel, srIt is rear
The slip rate of wheel, ωrFor the rotational angular velocity of rear-wheel, RrFor the rolling radius of rear-wheel, u is the current speed of the vehicle.
Optionally, the torque distribution module 204 is used for:
The bias ratio example k is calculated by following formula:
Wherein, μ is the attachment coefficient currently set, Fz_f_minFor the minimum vertical force of the vehicle front-wheel, Fz_r_min
For the minimum vertical force of the vehicle rear wheel, Fy_f_maxThe maximum on the vehicle front-wheel is assigned to laterally for the lateral force of steering
Power, Fy_r_maxThe maximum lateral force in the vehicle rear wheel is assigned to for the lateral force of steering.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
Fig. 3 is a kind of block diagram of the torque distribution device 300 of four-wheel drive cars shown according to an exemplary embodiment.Such as figure
Shown in 3, the torque distribution device 300 of the four-wheel drive cars may include: processor 301, memory 302, multimedia component 303,
Input/output (I/O) interface 304 and communication component 305.
Wherein, processor 301 is used to control the integrated operation of the torque distribution device 300 of the four-wheel drive cars, on completing
State all or part of the steps in the torque distribution method of four-wheel drive cars.Memory 302 for store various types of data with
Support that these data for example may include in the four-wheel drive cars in the operation of the torque distribution device 300 of the four-wheel drive cars
Torque distribution device 300 on the instruction and the relevant data of application program of any application or method that operate.
Memory 302 can realize by any kind of volatibility or non-volatile memory device or their combination,
Such as static random access memory (Static Random Access Memory, abbreviation SRAM), electrically erasable is only
It reads memory (Electrically Erasable Programmable Read-Only Memory, abbreviation EEPROM), it is erasable
Except programmable read only memory (Erasable Programmable Read-Only Memory, abbreviation EPROM), may be programmed only
It reads memory (Programmable Read-Only Memory, abbreviation PROM), read-only memory (Read-Only Memory,
Abbreviation ROM), magnetic memory, flash memory, disk or CD.
Multimedia component 303 may include screen and audio component, wherein screen for example can be touch screen, audio group
Part is used for output and/or input audio signal.The received audio signal can be further stored in memory 302 or pass through
Communication component 305 is sent.Audio component further includes at least one loudspeaker, is used for output audio signal.
I/O interface 304 provides interface between processor 301 and other interface modules, other above-mentioned interface modules can be with
For keyboard, button etc..These buttons can be virtual push button or entity button.
Communication component 305 is for carrying out wired or nothing between the torque distribution device 300 and other equipment of the four-wheel drive cars
Line communication.Wireless communication, such as Wi-Fi, bluetooth, near-field communication (Near Field Communication, abbreviation NFC), 2G,
3G or 4G or they one or more of combination, therefore the corresponding communication component 305 may include: Wi-Fi module,
Bluetooth module, NFC module.
In one exemplary embodiment, the torque distribution device 300 of four-wheel drive cars can be dedicated by one or more application
Integrated circuit (Application Specific Integrated Circuit, abbreviation ASIC), digital signal processor
(Digital Signal Processor, abbreviation DSP), digital signal processing appts (Digital Signal Processing
Device, abbreviation DSPD), programmable logic device (Programmable Logic Device, abbreviation PLD), field-programmable
Gate array (Field Programmable Gate Array, abbreviation FPGA), controller, microcontroller, microprocessor or other
Electronic component is realized, for executing the torque distribution method of above-mentioned four-wheel drive cars.
The embodiment of the present disclosure provides a kind of computer readable storage medium including program instruction, refers to for example including program
The memory 302 of order, is stored thereon with one or more computer program, and above-mentioned computer program can be by the torsion of four-wheel drive cars
The processor 301 of square distributor 300 is executed to complete the torque distribution method of the four-wheel drive cars of embodiment of the present disclosure offer.
The embodiment of the present disclosure also provides a kind of electric four-wheel drive vehicle, which includes four provided by embodiment disclosed above
The torque distribution device driven, referring in particular to above-mentioned corresponding description, details are not described herein again.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (10)
1. a kind of torque distribution method of four-wheel drive cars characterized by comprising
Set an attachment coefficient；
The slip rate of front and back wheel respectively is obtained according to the current operating parameter of the vehicle；
Judge whether the difference between the slip rate of the front and back wheel is within the scope of preset difference value；
When difference between the slip rate of the front and back wheel is not within the scope of the preset difference value, it is new attached that one is set again
Coefficient, and re-execute above method step until the front and back wheel slip rate between difference be in the preset difference value
Range；
When difference between the slip rate of the front and back wheel is within the scope of the preset difference value, according to currently setting
Attachment coefficient determines bias ratio example, and distributes torque according to the front and back wheel that the bias ratio example is the vehicle.
2. the method according to claim 1, wherein one attachment coefficient of the setting includes: initially set attached
Coefficient be scheduled maximum grip coefficient；
It is described to set a new attachment coefficient again, comprising:
The attachment coefficient of setting is gradually reduced according to predetermined gradient.
3. the method according to claim 1, wherein before the operating parameter current according to the vehicle obtains
The slip rate of rear-wheel respectively, comprising:
Obtain the rotational angular velocity of the current speed of the vehicle and front and back wheel respectively；
The slip rate of the front and back wheel respectively is calculated by following formula:
Wherein, sfFor the slip rate of front-wheel, ωfFor the rotational angular velocity of front-wheel, RfFor the rolling radius of front-wheel, srFor the cunning of rear-wheel
Shifting rate, ωrFor the rotational angular velocity of rear-wheel, RrFor the rolling radius of rear-wheel, u is the current speed of the vehicle.
4. according to the method in any one of claims 1 to 3, which is characterized in that the basis is currently set described attached
Coefficient determine bias ratio example, comprising:
The bias ratio example k is calculated by following formula:
Wherein, μ is the attachment coefficient currently set, Fz_f_minFor the minimum vertical force of the vehicle front-wheel, Fz_r_minFor institute
State the minimum vertical force of vehicle rear wheel, Fy_f_maxIt is assigned to the maximum lateral force on the vehicle front-wheel for the lateral force of steering,
Fy_r_maxThe maximum lateral force in the vehicle rear wheel is assigned to for the lateral force of steering.
5. a kind of torque distribution device of four-wheel drive cars characterized by comprising
Coefficient setting module, for setting an attachment coefficient；
Slip rate obtains module, for obtaining the slip rate of front and back wheel respectively according to the current operating parameter of the vehicle；
Whether judgment module, the difference between slip rate for judging the front and back wheel are within the scope of preset difference value；
The coefficient setting module is also used to, and the difference between the slip rate of the front and back wheel is not at the preset difference value model
When enclosing interior, a new attachment coefficient is set again, until the difference between the slip rate of the front and back wheel is in the default difference
It is worth range；
Torque distribution module, when being within the scope of the preset difference value for the difference between the slip rate of the front and back wheel,
Bias ratio example is determined according to the attachment coefficient currently set, and is the vehicle according to the bias ratio example
Front and back wheel distributes torque.
6. device according to claim 5, which is characterized in that the coefficient setting module attachment coefficient initially set is
Scheduled maximum grip coefficient is gradually reduced the attachment system of setting according to predetermined gradient when setting a new attachment coefficient again
Number.
7. device according to claim 5, which is characterized in that the slip rate obtains module and includes:
Acquisition submodule, for obtaining the rotational angular velocity of the current speed of the vehicle and front and back wheel respectively；
Computational submodule, for calculating the slip rate of the front and back wheel respectively by following formula:
Wherein, sfFor the slip rate of front-wheel, ωfFor the rotational angular velocity of front-wheel, RfFor the rolling radius of front-wheel, srFor the cunning of rear-wheel
Shifting rate, ωrFor the rotational angular velocity of rear-wheel, RrFor the rolling radius of rear-wheel, u is the current speed of the vehicle.
8. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
The step of any one of claims 1 to 4 the method is realized when row.
9. a kind of torque distribution device of four-wheel drive cars characterized by comprising
Computer readable storage medium described in claim 8；And
One or more processor, for executing the program in the computer readable storage medium.
10. a kind of four-wheel drive cars, which is characterized in that the torque including four-wheel drive cars described in claim 5 or 7 or 9 distributes dress
It sets.
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| CN (1) | CN109941283A (en) |
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| CN111634284A (en) * | 2020-06-08 | 2020-09-08 | 上海元城汽车技术有限公司 | Torque distribution method and device, storage medium and equipment |
| CN116278813A (en) * | 2023-05-19 | 2023-06-23 | 成都赛力斯科技有限公司 | Attachment coefficient-based request torque control method and device and new energy automobile |
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| CN111634284A (en) * | 2020-06-08 | 2020-09-08 | 上海元城汽车技术有限公司 | Torque distribution method and device, storage medium and equipment |
| CN111634284B (en) * | 2020-06-08 | 2022-02-08 | 上海元城汽车技术有限公司 | Torque distribution method and device, storage medium and equipment |
| CN116278813A (en) * | 2023-05-19 | 2023-06-23 | 成都赛力斯科技有限公司 | Attachment coefficient-based request torque control method and device and new energy automobile |
| CN116278813B (en) * | 2023-05-19 | 2023-07-21 | 成都赛力斯科技有限公司 | Attachment coefficient-based request torque control method and device and new energy automobile |
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