CN109955719A - 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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- CN109955719A CN109955719A CN201711405825.1A CN201711405825A CN109955719A CN 109955719 A CN109955719 A CN 109955719A CN 201711405825 A CN201711405825 A CN 201711405825A CN 109955719 A CN109955719 A CN 109955719A
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- 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
- B60K17/348—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having differential means for driving one set of wheels, e.g. the front, at one speed and the other set, e.g. the rear, at a different speed
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Abstract
This disclosure relates to which a kind of torque distribution method of four-wheel drive cars, device, storage medium, determine the slip rate of the first wheel shaft and the second wheel shaft of the vehicle respectively according to the current operating parameter of vehicle；Difference between the slip rate of first wheel shaft and the slip rate of second wheel shaft is inputted into PID controller, obtain the first bias ratio example, the first bias ratio example is the ratio between the greatest requirements torque that the vehicle allocation can be provided to the torque on first wheel shaft and the vehicle, the PID controller is for regulating and controlling the first bias ratio example, so that the difference between the slip rate of first wheel shaft and the slip rate of second wheel shaft is in preset difference value range；The greatest requirements torque that the vehicle can currently provide is determined according to total demand torque currently entered；The greatest requirements torque that can be currently provided according to the vehicle and the first bias ratio example are that first wheel shaft and second wheel shaft distribute torque.
Description
Technical field
This disclosure relates to technical field of vehicle, and in particular, to a kind of four-wheel drive cars and its driving torque distribution method, dress
It sets, storage medium.
Background technique
The optimization of torque distribution is to promote a key technology of four-wheel drive cars driving capability, and good torque distribution can make
Four-wheel drive cars make full use of road surface adhesive ability, reduce the vehicle acceleration time, improve the power performance of vehicle.Existing four-wheel drive cars
Driving strategy be based primarily upon the parameters such as pedal opening, speed, steering angle and pavement maximum attachment coefficient to calculate front and back vehicle
The ditribution coefficiency of wheel, wherein the evaluation method process of the real-time maximum grip coefficient in road surface is cumbersome and easily there is deviation, calculates
As a result it is dfficult to apply in the practical control process of vehicle.Thus vehicle is under different loads state, the distribution of front and back wheel torque
Robustness is bad, and the driveability of vehicle is caused to be difficult to meet actual demand.
Summary of the invention
It is a general object of the present disclosure to provide a kind of four-wheel drive cars and its driving torque distribution method, device, storage medium,
For solving existing four-wheel drive cars since front and back wheel torque distributes the unexcellent technical problem for causing vehicular drive capability bad.
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:
The slip rate of the first wheel shaft and the second wheel shaft of the vehicle respectively is determined according to the current operating parameter of vehicle；
Difference between the slip rate of first wheel shaft and the slip rate of second wheel shaft is inputted into PID controller,
The first bias ratio example is obtained, the first bias ratio example is the vehicle allocation to the torque on first wheel shaft
The ratio between greatest requirements torque that can be provided with the vehicle, the PID controller are used to distribute first torque
Ratio is regulated and controled, so that the difference between the slip rate of first wheel shaft and the slip rate of second wheel shaft is in default
Difference range；
The greatest requirements torque that the vehicle can currently provide is determined according to total demand torque currently entered；
The greatest requirements torque that can be currently provided according to the vehicle and the first bias ratio example are described the
One wheel shaft and second wheel shaft distribute torque.
Optionally, the greatest requirements for determining that the vehicle can currently be provided according to total demand torque currently entered
Torque, comprising:
The second bias ratio example is determined according to the optimal slip rate of first wheel shaft, wherein second torque point
With the ratio that ratio is between total demand torque of input and the greatest requirements torque that can provide of the vehicle, the optimal cunning
Shifting rate is institute when the respective maximum slip rate of front and back wheel is close and front-wheel maximum slip rate is greater than rear-wheel maximum slip rate
State the slip rate of front axle；
Determine that the vehicle is current with the second bias ratio example according to total demand torque currently entered
The greatest requirements torque that can be provided.
Optionally, the optimal slip rate according to first wheel shaft determines the second bias ratio example, comprising:
The second bias ratio example k is determined by following formula1
Wherein, s1bestFor the optimal slip rate of first wheel shaft, TrequestIt is turned round for total demand currently entered
Square,The greatest requirements torque that can be currently provided for the vehicle.
Optionally, first wheel shaft is the front axle of the vehicle, and second wheel shaft is the hind axle of the vehicle,
It is described when difference between the slip rate of the front axle and the slip rate of the hind axle is within the scope of the preset difference value
The slip rate of front axle is greater than the slip rate of the hind axle.
Optionally, the operating parameter current according to vehicle determines the first wheel shaft and the second wheel shaft difference of the vehicle
Slip rate, comprising:
Obtain the speed of the vehicle and the rotational angular velocity of first wheel shaft and second wheel shaft；
The cunning of first wheel shaft and second wheel shaft respectively is determined according to the speed and the rotational angular velocity
Shifting rate.
Optionally, the rotational angular velocity of first wheel shaft is the maximum rotation angle speed of the first wheel shaft left and right wheels
Degree, the rotational angular velocity of second wheel shaft are the maximum rotation angular speed of the second wheel shaft left and right wheels.
Optionally, the slip rate of first wheel shaft is the maximum slip rate of the first wheel shaft left and right wheels, described the
The slip rate of great wheel arbor is the maximum slip rate of the second wheel shaft left and right wheels；
The slip rate that first wheel shaft is determined according to the speed and the rotational angular velocity, comprising: pass through
Following formula calculates the slip rate of the first wheel shaft left and right wheels respectively:
Wherein, s1_rFor the slip rate of the right wheel of first wheel shaft, ω1_rFor turn of the right wheel of first wheel shaft
Dynamic angular speed, R1For the rolling radius of first wheel shaft, s1_lFor the slip rate of the left wheel of first wheel shaft, ω1_lFor
The rotational angular velocity of first wheel shaft, u are the speed of the vehicle；
By the slip rate of the right wheel of first wheel shaft with it is larger in the slip rate of the left wheel of first wheel shaft
It is worth the slip rate as first wheel shaft.
Optionally, the greatest requirements torque and first bias ratio that can be currently provided according to the vehicle
Example is that first wheel shaft and second wheel shaft distribute torque, comprising:
For the torque of first wheel shaft distribution
For the torque of second wheel shaft distribution
Wherein, k is the first bias ratio example,It is turned round for the greatest requirements that the vehicle can currently provide
Square.
The second aspect of the embodiment of the present disclosure provides a kind of torque distribution device of four-wheel drive cars, comprising:
Slip rate determining module, for determining the first wheel shaft and second of the vehicle according to the current operating parameter of vehicle
The slip rate of wheel shaft respectively；
Pid control module, for by the difference between the slip rate of first wheel shaft and the slip rate of second wheel shaft
Value input PID controller, obtains the first bias ratio example, and the first bias ratio example is the vehicle allocation to described
The ratio between greatest requirements torque that torque and the vehicle on first wheel shaft can provide, the PID controller for pair
The first bias ratio example is regulated and controled so that the slip rate of the slip rate of first wheel shaft and second wheel shaft it
Between difference be in preset difference value range；
Torque determination module can provide most for determining the vehicle currently according to total demand torque currently entered
Big demand torque；
Torque distribution module, greatest requirements torque and first torque for can currently be provided according to the vehicle
Allocation proportion is that first wheel shaft and second wheel shaft distribute torque.
Optionally, the torque determination module is used for:
Ratio-dependent submodule, for determining the second bias ratio example according to the optimal slip rate of first wheel shaft,
Wherein, the second bias ratio example be input total demand torque and the greatest requirements torque that can provide of the vehicle it
Between ratio, after the optimal slip rate is that the respective maximum slip rate of front and back wheel is close and front-wheel maximum slip rate is greater than
The slip rate of front axle when wheel maximum slip rate；
Torque determines submodule, for according to total demand torque currently entered and second bias ratio
Example determines the greatest requirements torque that the vehicle can currently provide.
Optionally, the ratio-dependent submodule is used for:
The second bias ratio example k is determined by following formula1
Wherein, s1bestFor the optimal slip rate of first wheel shaft, TrequestIt is turned round for total demand currently entered
Square,The greatest requirements torque that can be currently provided for the vehicle.
Optionally, first wheel shaft is the front axle of the vehicle, and second wheel shaft is the hind axle of the vehicle,
It is described when difference between the slip rate of the front axle and the slip rate of the hind axle is within the scope of the preset difference value
The slip rate of front axle is greater than the slip rate of the hind axle.
Optionally, the slip rate determining module includes:
Acquisition submodule, for obtaining the speed of the vehicle and the rotation of first wheel shaft and second wheel shaft
Angular speed；
Slip rate determines submodule, for according to the speed and the rotational angular velocity determine first wheel shaft and
The slip rate of second wheel shaft respectively.
Optionally, the rotational angular velocity of first wheel shaft is the maximum rotation angle speed of the first wheel shaft left and right wheels
Degree, the rotational angular velocity of second wheel shaft are the maximum rotation angular speed of the second wheel shaft left and right wheels.
Optionally, the slip rate of first wheel shaft is the maximum slip rate of the first wheel shaft left and right wheels, described the
The slip rate of great wheel arbor is the maximum slip rate of the second wheel shaft left and right wheels；
The slip rate determines that submodule is used for:
It is calculated by the following formula the slip rate of the first wheel shaft left and right wheels respectively:
Wherein, s1_rFor the slip rate of the right wheel of first wheel shaft, ω1_rFor turn of the right wheel of first wheel shaft
Dynamic angular speed, R1For the rolling radius of first wheel shaft, s1_lFor the slip rate of the left wheel of first wheel shaft, ω1_lFor
The rotational angular velocity of first wheel shaft, u are the speed of the vehicle；
By the slip rate of the right wheel of first wheel shaft with it is larger in the slip rate of the left wheel of first wheel shaft
It is worth the slip rate as first wheel shaft.
The embodiment of the present disclosure third aspect provides a kind of computer readable storage medium, is stored thereon with computer program,
The step of first aspect the method is realized when the program is executed by processor.
Embodiment of the present disclosure fourth aspect 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.
The 5th aspect of the embodiment of the present disclosure provides a kind of four-wheel drive cars, including four described in second aspect or fourth aspect
The torque distribution device driven.
It is worth noting that vehicle front and back wheel attachment coefficient is identical on same road surface, corresponding slip rate is also identical,
And vehicle front and back wheel slip rate it is identical and approach optimal slip rate when, vehicle have maximum drive ability.What the disclosure provided
The difference of the slip rate of wheel shaft before and after vehicle is inputted PID controller, to export suitable first bias ratio by technical solution
Example, and the greatest requirements torque that can be provided according to vehicle and the first bias ratio example are that vehicle front and back wheel distributes torque,
So that the slip rate of front and back wheel shaft levels off to identical optimal slip rate, it is attached by estimation road surface maximum compared in the related technology
Coefficient calculate the bias ratio example of front and back wheel, technical solution provided by the present disclosure algorithm is succinct, without many experiments into
Row data sampling has enhanced the robustness of vehicle traction torque distribution using PID controller, has improved the driven nature of vehicle
Energy.
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 flow chart of the torque distribution method of four-wheel drive cars shown according to an exemplary embodiment.
Fig. 3 is a kind of block diagram of the torque distribution device of four-wheel drive cars shown according to an exemplary embodiment.
Fig. 4 is a kind of block diagram of the torque distribution device of four-wheel drive cars shown according to an exemplary embodiment.
Fig. 5 is a kind of block diagram of the torque distribution device of four-wheel drive cars shown according to an exemplary embodiment.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
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:
The cunning of step 101, the first wheel shaft that the vehicle is determined according to the current operating parameter of vehicle and the second wheel shaft respectively
Shifting rate.
Wherein, which may include the rotational angular velocity of the current speed of vehicle and front and back wheel shaft respectively.
It is worth noting that first wheel shaft can be front axle (the second wheel shaft is hind axle), it is also possible to rear-wheel
Axis (the first wheel shaft is front axle), the embodiment of the present disclosure does not limit this.
Difference between the slip rate of the second wheel shaft of the slip rate of the first wheel shaft of vehicle and vehicle is inputted PID by step 102
Controller obtains the first bias ratio example.
Wherein, which is the maximum that vehicle allocation can be provided to the torque on the first wheel shaft with vehicle
Ratio between demand torque, the PID controller is for regulating and controlling the first bias ratio example, so that first wheel shaft
Slip rate and second wheel shaft slip rate between difference be in preset difference value range.
Wherein, PID (Proportion Integration Differentiation, proportional-integral-differential) is controlled
Device is made of proportional unit, integral unit and differentiation element, based on PID control principle to substantially linear and dynamic characteristic not with
The system of time change carries out bias adjustment, keeps the actual value of controlled variable consistent with the predetermined value of industrial requirements.PID controller
The proportional COEFFICIENT K of parameterp, integral coefficient KiWith differential coefficient Kd.For the parameter of above-mentioned PID controller, theory can be passed through
It calculates or practical tuning method is adjusted, it in practical applications, can also be according to the slip rate and the second wheel shaft of the first wheel shaft
Slip rate between difference size to the parameter of PID be adjusted with it is perfect.The PID controller is used for distributing to first
The ratio between greatest requirements torque that the torque and vehicle of wheel shaft can provide is regulated and controled so that the slip rate of the first wheel shaft with
Difference between the slip rate of second wheel shaft is within the scope of preset difference value.It is worth noting that due to the sliding of front and back wheel shaft
When rate is equal, vehicle is likely to maximum drive ability, and therefore, in the specific implementation, which can preset
It obtains suitably, so that front-wheel is first optimal slip rate, prevents vehicle unstability.
Step 103 determines the greatest requirements torque that vehicle can currently provide according to total demand torque currently entered.
Wherein, total demand torque of the input refer to driver when driving vehicle, vehicle drive system according to plus
The driving torque of the corresponding output of the parameters such as speed pedal aperture, speed, steering angle, the greatest requirements torque that vehicle can provide, which refers to, to be examined
Situations such as considering load and the current operating conditions of vehicle, vehicle convert to obtain based on total demand torque that driver inputs
The current greatest requirements torque that can provide of vehicle.For example, in order to avoid front and back wheel occurred before being optimal slip rate
Degree trackslips, and when total demand torque of driver's input is excessive, can be scaled lesser torque and reallocated to vehicle
Front and back wheel.
For example, total demand torque of definition input isThe greatest requirements torque that vehicle can provide is
Trequest, total demand torque and the greatest requirements torque that can be provided meet relationship k1's
Value range is 0~1, and specific value can be set according to actual needs.
Step 104, the greatest requirements torque that can be currently provided according to vehicle and the first bias ratio example are first
Wheel shaft and the second wheel shaft distribute torque.
Specifically, if the first bias ratio example is k, for the torque of the first wheel shaft of vehicle distribution
For the torque of the second wheel shaft distributionIt is needed for the maximum that vehicle can currently provide
Seek torque.
Using the above method, the difference of the slip rate of wheel shaft before and after vehicle is inputted into PID controller, to export suitable the
One bias ratio example, and the greatest requirements torque that can be provided according to vehicle and the first bias ratio example are vehicle front and back
Wheel distribution torque, so that the slip rate of front and back wheel shaft levels off to identical optimal slip rate, compared in the related technology by estimating
Pavement maximum attachment coefficient is calculated to calculate the bias ratio example of front and back wheel, technical solution provided by the present disclosure algorithm is succinct, nothing
It needs many experiments to carry out data sampling, has enhanced the robustness of vehicle traction torque distribution using PID controller, improved vehicle
Driveability.
For the technical solution for making those skilled in the art more understand that the embodiment of the present disclosure provides, below to the above method
Step is described in detail.
Optionally, step 101 may include: the speed for obtaining vehicle and the angle of rotation speed of the first wheel shaft and the second wheel shaft
Degree, and the slip rate of the first wheel shaft and the second wheel shaft respectively is determined according to the speed and the rotational angular velocity.
In the specific implementation, it is contemplated that the model of two tires in left and right on same wheel shaft, the degree of wear, traveling road conditions etc. can
Can be different, therefore the rotational angular velocity of the first wheel shaft of embodiment of the present disclosure acquisition can be the first wheel shaft left and right wheels
Maximum rotation angular speed, the rotational angular velocity of the second wheel shaft of acquisition are the maximum rotation angle speed of the second wheel shaft left and right wheels
Degree.
Illustratively, the slip rate of front and back wheel shaft respectively can be calculated using following formula:
Wherein, s1For the slip rate of the first wheel shaft, ω1It is the maximum rotation angular speed of the first wheel shaft left and right wheels, R1It is
The rolling radius of one wheel shaft, s2For the slip rate of the second wheel shaft, ω2It is the maximum rotation angular speed of the second wheel shaft left and right wheels, R2
It is the rolling radius of the second wheel shaft, u is speed.
In alternatively possible implementation, the slip rate of left and right wheels can also be calculated respectively, and will be left
Slip rate of the maximum slip rate of right wheel as wheel shaft.That is, the slip rate of the first wheel shaft and the second wheel shaft respectively can
To be the maximum slip rate of the first wheel shaft left and right wheels and the maximum slip rate of the second wheel shaft left and right wheels.
It is illustrated with calculating the slip rate of the first wheel shaft, the embodiment of the present disclosure can be calculated by the following formula the
The slip rate of one wheel shaft left and right wheels respectively:
Wherein, s1_rFor the slip rate of the right wheel of first wheel shaft, ω1_rFor turn of the right wheel of first wheel shaft
Dynamic angular speed, R1For the rolling radius of first wheel shaft, s1_lFor the slip rate of the left wheel of first wheel shaft, ω1_lFor
The rotational angular velocity of the left wheel of first wheel shaft is the speed of the vehicle.By the cunning of the right wheel of first wheel shaft
Slip rate of the larger value as first wheel shaft in the slip rate of the left wheel of shifting rate and first wheel shaft.Similarly, may be used
The slip rate of second wheel shaft left and right wheels respectively is calculated using aforesaid way, and chooses cunning of the greater as the second wheel shaft
Shifting rate.
Optionally, first wheel shaft is the front axle of the vehicle, and second wheel shaft is the hind axle of the vehicle,
It is described when difference between the slip rate of the front axle and the slip rate of the hind axle is within the scope of the preset difference value
The slip rate of front axle is greater than the slip rate of the hind axle.That is, the preset difference value range is sliding for vehicle front axle
Shifting rate subtracts the difference range of hind axle slip rate, and the preset difference value range is positive number range, in this way, working as vehicle front and back wheel
When the difference of axis slip rate is within the scope of the preset difference value, vehicle front axle slip rate is greater than hind axle slip rate, thus
It ensure that vehicle whipping phenomenon will not occur because hind axle slip rate is greater than front axle.
Fig. 2 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. 2
It is shown, method includes the following steps:
Step 201, the speed of vehicle and the rotational angular velocity of the first wheel shaft and the second wheel shaft are obtained.
Step 202, the slip rate of the first wheel shaft and the second wheel shaft respectively is determined according to speed and rotational angular velocity.
Step 203, the difference between the slip rate of the first wheel shaft and the slip rate of the second wheel shaft is inputted into PID controller,
Obtain the first bias ratio example.
Step 204, the second bias ratio example is determined according to the optimal slip rate of the first wheel shaft.
Wherein, the second bias ratio example is that the maximum that the total demand torque inputted and the vehicle can provide needs
Seek the ratio between torque.Also, the optimal slip rate is that the respective maximum slip rate of front and back wheel is close and front-wheel is maximum
The slip rate of front axle when slip rate is greater than rear-wheel maximum slip rate.
Illustratively, step 204 can determine the second bias ratio example k by following formula1
Wherein, s1bestFor the optimal slip rate of first wheel shaft, TrequestIt is turned round for total demand currently entered
Square,The greatest requirements torque that can be currently provided for the vehicle.
It is above-mentioned to be merely illustrative, in the specific implementation, the second bias ratio example can be set according to actual needs, this
It is open not limit this.
Step 205, determine that the vehicle is current according to total demand torque currently entered and the second bias ratio example
The greatest requirements torque that can be provided.
Step 206, the greatest requirements torque and the first bias ratio example that can be currently provided according to vehicle are the first round
Axis and the second wheel shaft distribute torque.
It is worth noting that for simple description, therefore, it is stated as a series of dynamic for above method embodiment
It combines, but those skilled in the art should understand that, the disclosure is not limited by the described action sequence.For example, Fig. 2
Shown in step 203 executed after step 202 with step 204, but in the specific implementation, the execution of the two steps is suitable
Sequence can be configured according to actual needs, be can be and executed step 204 again after first carrying out step 203, can also first carry out
Step 204 executes step 203 again.
Using the above method, the greatest requirements that can be provided by total demand torque to driver's operation input with vehicle
Ratio (above-mentioned second driving torque allocation proportion) between torque is configured, and is avoided since torque is excessive, and front and back is caused
It takes turns while occurring any the case where excessively trackslipping appearance before being optimal slip rate, and prevent rear axle wheel from first skidding, promoted
The stability of vehicle driving.
Fig. 2 provides a kind of possible mode for calculating the second bias ratio example, those skilled in the art should understand that,
In the range of the technology design of the disclosure, it is also conceivable to which other calculate the mode of the second bias ratio example, for example, by first
Difference between the slip rate of wheel shaft and the optimal slip rate of the first wheel shaft inputs a PID controller, obtains the distribution of the second torque
Ratio to guarantee front and back wheel under the second bias ratio example while tend to most by designing reasonable PID controller
The front and back wheel of excellent slip rate is not in skid.Such simple variant belongs to the protection scope of the disclosure.
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, the dress
Setting 300 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 3, which includes:
Slip rate determining module 310, for determined according to the current operating parameter of vehicle the vehicle the first wheel shaft and
The slip rate of second wheel shaft respectively；
Pid control module 320, for will be between the slip rate of first wheel shaft and the slip rate of second wheel shaft
Difference inputs PID controller, obtains the first bias ratio example, the first bias ratio example is the vehicle allocation to institute
The ratio between the greatest requirements torque that the torque on the first wheel shaft and the vehicle can provide is stated, the PID controller is used for
The first bias ratio example is regulated and controled, so that the slip rate of the slip rate of first wheel shaft and second wheel shaft
Between difference be in preset difference value range；
Torque determination module 330 can be provided for determining the vehicle currently according to total demand torque currently entered
Greatest requirements torque；
Torque distribution module 340, the greatest requirements torque and described first for can currently be provided according to the vehicle
Bias ratio example is that first wheel shaft and second wheel shaft distribute torque.
Using above-mentioned apparatus, the difference of the slip rate of wheel shaft before and after vehicle is inputted into PID controller, to export suitable the
One bias ratio example, and the greatest requirements torque that can be provided according to vehicle and the first bias ratio example are vehicle front and back
Wheel distribution torque, so that the slip rate of front and back wheel shaft levels off to identical optimal slip rate, compared in the related technology by estimating
Pavement maximum attachment coefficient is calculated to calculate the bias ratio example of front and back wheel, technical solution provided by the present disclosure algorithm is succinct, nothing
It needs many experiments to carry out data sampling, has enhanced the robustness of vehicle traction torque distribution using PID controller, improved vehicle
Driveability.
Fig. 4 is the block diagram of the torque distribution device 300 of another four-wheel drive cars shown according to an exemplary embodiment, should
Device 300 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
Shown in Fig. 4, the torque determination module 330 is used for:
Ratio-dependent submodule 331, for determining the second bias ratio according to the optimal slip rate of first wheel shaft
Example, wherein the second bias ratio example is total demand torque of input and the greatest requirements torsion that the vehicle can provide
Ratio between square, the optimal slip rate are that the respective maximum slip rate of front and back wheel is close and front-wheel maximum slip rate is greater than
The slip rate of front axle when rear-wheel maximum slip rate；
Torque determines submodule 332, for according to total demand torque currently entered and second torque point
The greatest requirements torque that can be currently provided with vehicle described in ratio-dependent.
Optionally, the ratio-dependent submodule 331 is used for:
The second bias ratio example k is determined by following formula1
Wherein, s1bestFor the optimal slip rate of first wheel shaft, TrequestIt is turned round for total demand currently entered
Square,The greatest requirements torque that can be currently provided for the vehicle.
Optionally, first wheel shaft is the front axle of the vehicle, and second wheel shaft is the hind axle of the vehicle,
It is described when difference between the slip rate of the front axle and the slip rate of the hind axle is within the scope of the preset difference value
The slip rate of front axle is greater than the slip rate of the hind axle.
Optionally, the slip rate determining module 310 includes:
Acquisition submodule 311, for obtaining the speed and first wheel shaft and second wheel shaft of the vehicle
Rotational angular velocity；
Slip rate determines submodule 312, for determining the first round according to the speed and the rotational angular velocity
The slip rate of axis and second wheel shaft respectively.
Optionally, the rotational angular velocity of first wheel shaft is the maximum rotation angle speed of the first wheel shaft left and right wheels
Degree, the rotational angular velocity of second wheel shaft are the maximum rotation angular speed of the second wheel shaft left and right wheels.
Optionally, the slip rate of first wheel shaft is the maximum slip rate of the first wheel shaft left and right wheels, described the
The slip rate of great wheel arbor is the maximum slip rate of the second wheel shaft left and right wheels；
The slip rate determines that submodule 312 is used for:
It is calculated by the following formula the slip rate of the first wheel shaft left and right wheels respectively:
Wherein, s1_rFor the slip rate of the right wheel of first wheel shaft, ω1_rFor turn of the right wheel of first wheel shaft
Dynamic angular speed, R1For the rolling radius of first wheel shaft, s1_lFor the slip rate of the left wheel of first wheel shaft, ω1_lFor
The rotational angular velocity of first wheel shaft, u are the speed of the vehicle；
By the slip rate of the right wheel of first wheel shaft with it is larger in the slip rate of the left wheel of first wheel shaft
It is worth the slip rate as first wheel shaft.
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. 5 is a kind of block diagram of the torque distribution device 500 of four-wheel drive cars shown according to an exemplary embodiment.Such as figure
Shown in 5, the torque distribution device 500 of the four-wheel drive cars may include: processor 501, memory 502, multimedia component 503,
Input/output (I/O) interface 504 and communication component 505.
Wherein, processor 501 is used to control the integrated operation of the torque distribution device 500 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 502 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 500 of the four-wheel drive cars
Torque distribution device 500 on the instruction and the relevant data of application program of any application or method that operate.
Memory 502 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 503 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 502 or pass through
Communication component 505 is sent.Audio component further includes at least one loudspeaker, is used for output audio signal.
I/O interface 504 provides interface between processor 501 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 505 is for carrying out wired or nothing between the torque distribution device 500 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 505 may include: Wi-Fi module,
Bluetooth module, NFC module.
In one exemplary embodiment, the torque distribution device 500 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 502 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 501 of square distributor 500 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
The slip rate of the first wheel shaft and the second wheel shaft of the vehicle respectively is determined according to the current operating parameter of vehicle；
Difference between the slip rate of first wheel shaft and the slip rate of second wheel shaft is inputted into PID controller, is obtained
First bias ratio example, the first bias ratio example give torque and institute on first wheel shaft for the vehicle allocation
The ratio between the greatest requirements torque that vehicle can provide is stated, the PID controller is used for the first bias ratio example
Regulated and controled, so that the difference between the slip rate of first wheel shaft and the slip rate of second wheel shaft is in preset difference value
Range；
The greatest requirements torque that the vehicle can currently provide is determined according to total demand torque currently entered；
The greatest requirements torque that can be currently provided according to the vehicle and the first bias ratio example are the first round
Axis and second wheel shaft distribute torque.
2. the method according to claim 1, wherein described determine institute according to total demand torque currently entered
State the greatest requirements torque that vehicle can currently provide, comprising:
The second bias ratio example is determined according to the optimal slip rate of first wheel shaft, wherein second bias ratio
Example is the ratio between the greatest requirements torque that the total demand torque inputted and the vehicle can provide, the optimal slip rate
Before being that the respective maximum slip rate of front and back wheel is close and described when front-wheel maximum slip rate is greater than rear-wheel maximum slip rate
The slip rate of wheel shaft；
Determining the vehicle currently with the second bias ratio example according to total demand torque currently entered can mention
The greatest requirements torque of confession.
3. according to the method described in claim 2, it is characterized in that, described determine according to the optimal slip rate of first wheel shaft
Second bias ratio example, comprising:
The second bias ratio example k is determined by following formula1
Wherein, s1bestFor the optimal slip rate of first wheel shaft, TrequestFor total demand torque currently entered,The greatest requirements torque that can be currently provided for the vehicle.
4. the method according to claim 1, wherein front axle of first wheel shaft for the vehicle, described
Second wheel shaft is the hind axle of the vehicle, at the difference between the slip rate of the front axle and the slip rate of the hind axle
When within the scope of the preset difference value, the slip rate of the front axle is greater than the slip rate of the hind axle.
5. method according to claim 1 to 4, which is characterized in that the operation ginseng current according to vehicle
Number determines the slip rate of the first wheel shaft and the second wheel shaft of the vehicle respectively, comprising:
Obtain the speed of the vehicle and the rotational angular velocity of first wheel shaft and second wheel shaft；
The slip rate of first wheel shaft and second wheel shaft respectively is determined according to the speed and the rotational angular velocity.
6. according to the method described in claim 5, it is characterized in that, the rotational angular velocity of first wheel shaft is the first round
The maximum rotation angular speed of axis left and right wheels, the rotational angular velocity of second wheel shaft be the second wheel shaft left and right wheels most
Big rotational angular velocity.
7. a kind of torque distribution device of four-wheel drive cars characterized by comprising
Slip rate determining module, for determining the first wheel shaft and the second wheel shaft of the vehicle according to the current operating parameter of vehicle
Slip rate respectively；
Pid control module, for the difference between the slip rate of first wheel shaft and the slip rate of second wheel shaft is defeated
Enter PID controller, obtain the first bias ratio example, the first bias ratio example is the vehicle allocation to described first
The ratio between greatest requirements torque that torque and the vehicle on wheel shaft can provide, the PID controller are used for described
First bias ratio example is regulated and controled, so that between the slip rate of first wheel shaft and the slip rate of second wheel shaft
Difference is in preset difference value range；
Torque determination module, for determining the current maximum need that can be provided of the vehicle according to total demand torque currently entered
Seek torque；
Torque distribution module, greatest requirements torque and first torque distribution for can currently be provided according to the vehicle
Ratio is that first wheel shaft and second wheel shaft distribute torque.
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 6 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 distribution device including four-wheel drive cars described in claim 7 or 9.
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Denomination of invention: 4WD vehicle and its torque distribution method, device and storage medium Effective date of registration: 20211213 Granted publication date: 20201215 Pledgee: BEIJING AUTOMOTIVE GROUP Co.,Ltd. Pledgor: Borgward Automotive (China) Co., Ltd. Registration number: Y2021990001167 |
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Date of cancellation: 20231201 Granted publication date: 20201215 Pledgee: BEIJING AUTOMOTIVE GROUP Co.,Ltd. Pledgor: Beijing baowo Automobile Co.,Ltd.|Borgward Automotive (China) Co., Ltd. Registration number: Y2021990001167 |