CN110435657B - 车辆的漂移行驶状态实现控制方法 - Google Patents

车辆的漂移行驶状态实现控制方法 Download PDF

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CN110435657B
CN110435657B CN201811299318.9A CN201811299318A CN110435657B CN 110435657 B CN110435657 B CN 110435657B CN 201811299318 A CN201811299318 A CN 201811299318A CN 110435657 B CN110435657 B CN 110435657B
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vehicle
drift
state
torque
slip
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CN110435657A (zh
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林成根
李志雄
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Hyundai Motor Co
Hyundai Wia Corp
Kia Corp
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    • B60—VEHICLES IN GENERAL
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    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
    • B60K23/0808—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles for varying torque distribution between driven axles, e.g. by transfer clutch
    • B60K2023/0816—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles for varying torque distribution between driven axles, e.g. by transfer clutch for varying front-rear torque distribution with a central differential
    • B60K2023/0825—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles for varying torque distribution between driven axles, e.g. by transfer clutch for varying front-rear torque distribution with a central differential for adding torque to the front wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
    • B60K2023/085—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles automatically actuated
    • B60K2023/0858—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles automatically actuated with electric means, e.g. electro-hydraulic means
    • 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
    • B60K5/00—Arrangement or mounting of internal-combustion or jet-propulsion units
    • B60K5/02—Arrangement or mounting of internal-combustion or jet-propulsion units with the engine main axis, e.g. crankshaft axis, substantially in or parallel to the longitudinal centre line of the vehicle
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18072—Coasting
    • B60W2030/18081—With torque flow from driveshaft to engine, i.e. engine being driven by vehicle
    • 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
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/82—Four wheel drive systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract

本发明提供一种车辆的漂移行驶状态实现控制方法，其包括以下的步骤构成：滑移引导步骤，在选择漂移模式的状态下，如果车辆进入转弯行驶且处于有动力状态，则由控制器使AWD的前轮分配扭矩比漂移模式以外的情况减小；滑移扭矩控制步骤，如果发生车辆的后轮滑移，则由上述控制器对上述前轮分配扭矩加上基于车辆的横向加速度的滑移控制扭矩，从而允许车辆进入漂移；和漂移维持步骤，如果确认到由驾驶员引起的反转向状态，则由上述控制器将前轮分配扭矩全部解除，从而维持车辆的漂移状态。

Description

车辆的漂移行驶状态实现控制方法
技术领域
本发明涉及一种用于实现车辆的漂移行驶状态的控制方法，更详细而言，是涉及能够使同时具备AWD(全轮驱动，All Wheel Drive)功能和LSD(防滑差速器，Limited SlipDifferential)功能的车辆进行漂移行驶的车辆的控制方法的技术。
背景技术
漂移(DRIFT)，是指利用车辆的驱动力使驱动轮滑移从而对车辆向过多转向方向进行引导，对前轮的转向角方向向车辆转弯的相反方向进行操作并持续行驶的驾驶状态。
如sedan车、coupe车、跑车(sportscar)等高性能车辆和基于后轮驱动的具有竞技倾向的车辆中，能否进行用于增大驾驶乐趣的漂移行驶成为非常重要的营销点。
然而，即使再高性能的车辆，如果其具有AWD(全轮驱动，All Wheel Drive)驱动系统，则会因为由AWD得到的滑移抑制功能导致无法进行漂移行驶。
因此，消费者在购买车辆时，有时纠结是购买虽然是能够进行漂移的有趣车辆但平时行驶时车辆的稳定性不好的FR(前置发动机后轮驱动，Front Engine Rear Drive)2WD(轮驱动，Wheel Drive)车辆，还是购买虽然不能漂移但是行驶稳定性和牵引性能优异的FRBASE AWD车辆。
另一方面，上述AWD虽然实现了车辆的前轮与后轮之间的扭矩分配功能，但是无法进行左右扭矩分配，相比于此，LSD对左右驱动轮的扭矩进行分配，从而使车辆变得容易脱离险道，在车辆转弯时抑制内轮的滑移并向外轮传递扭矩，从而抑制转向不足(understeering)现象，由此，提高车辆的操纵性能，特别是不妨碍车辆实现漂移行驶。
作为上述的发明的背景技术所说明的事项仅用于增进对本发明的背景的理解，不应认为承认其属于本领域技术人员公知的现有技术。
现有技术文献
专利文献
(专利文献1)KR 1020070047574A
发明内容
发明要解决的技术问题
本发明的目的在于提供一种车辆的漂移行驶状态实现控制方法，其中基本上，后轮由LSD驱动，并具备依据车辆的行驶状况来对分配给前轮的分配扭矩进行调节的AWD驱动系统，在通常的行驶状况下行驶稳定性和牵引性能优异，并且，能够依据驾驶员的选择进行漂移行驶，从而还能够享受驾驶的乐趣地进行行驶，由此，最终大大提高车辆的市销性。
用于解决技术问题的技术方案
用于实现如上述目的的本发明的车辆的漂移行驶状态实现控制方法的特征在于，包括以下的步骤：
滑移引导步骤，在选择漂移模式的状态下，如果车辆进入转弯行驶且处于有动力状态，则由控制器使AWD的前轮分配扭矩比漂移模式以外的情况减小；
滑移扭矩控制步骤，如果发生车辆的后轮滑移，则由上述控制器对上述前轮分配扭矩加上基于车辆的横向加速度的滑移控制扭矩，从而允许车辆进入漂移；和
漂移维持步骤，如果确认到由驾驶员引起的反转向状态，则由上述控制器将前轮分配扭矩全部解除，从而维持车辆的漂移状态。
车辆的横向加速度越大，上述滑移控制扭矩可以确定为相对越小的值。
可以配置为车辆的横向加速度越大，上述滑移控制扭矩确定为相对越小的值，
车辆的横向加速度超过规定的基准横向加速度时，解除滑移控制扭矩。
可以通过将基于后轮的滑移和滑移变化率确定的基本滑移控制扭矩乘以基于车辆的横向加速度的增益，来确定上述滑移控制扭矩；
横向加速度越大，上述增益设为具有越小的值。
可以还包括稳定化步骤，该稳定化步骤中，车辆的横摆角加速度超过规定的基准角加速度时，将用于减小车辆的横摆角加速度的阻尼扭矩施加于前轮侧。
发明的效果
本发明中，同时具备LSD和AWD驱动系统，在通常的行驶状况下提供优异的行驶稳定性和牵引性能，并且能够依据驾驶员的选择使车辆进入漂移行驶状态，在进入漂移行驶状态后也能够维持稳定的漂移状态，从而能够对驾驶员提供有趣的驾驶经验。
附图说明
图1为能够应用本发明的同时具备LSD和AWD驱动系统的车辆的示意图，
图2为说明依据本发明的车辆的漂移行驶状态实现控制方法的实施例的流程图，
图3为说明依据本发明实现车辆的漂移行驶状态的情况的图。
附图标记说明
E：发动机、TM：变速器、TF：分动器、CLR：控制器、
S10：滑移引导步骤、S20：滑移扭矩控制步骤、
S30：漂移维持步骤、S40：稳定化步骤。
具体实施方式
参照图1，车辆的后轮与LSD连接，配置为不仅通过上述LSD向左右车轮之间提供差速功能，还能够依据行驶状况对左右车轮之间的驱动扭矩进行分配，AWD驱动系统包括：以能够将从发动机(E)经变速器(TM)向后轮提供的动力的一部分进行调节并传递给前轮侧的方式具备的分动器(transfer case)(TF)；和对其进行控制的控制器(CLR)。
如果上述控制器(CLR)接收如前后车轮的轮速和变速器输出扭矩等的信息，而在作为主要的驱动轮发挥作用的后轮与路面之间发生滑移，则增加向前轮提供的前轮分配扭矩，从而抑制滑移，由此，提高车辆的行驶稳定性和牵引力。
将本发明应用于如上所述的车辆，从而能够依据驾驶员的选择来使车辆进行漂移。
参照图2和图3，本发明车辆的漂移行驶状态实现控制方法包括以下的步骤：滑移引导步骤(S10)，在选择漂移模式的状态下，如果车辆进入转弯行驶且处于有动力(poweron)状态，则由控制器(CLR)使AWD的前轮分配扭矩比漂移模式以外的情况减小；滑移扭矩控制步骤(S20)，如果发生车辆的后轮滑移，则由上述控制器(CLR)对上述前轮分配扭矩加上基于车辆的横向加速度的滑移控制扭矩，从而允许车辆进入漂移；和漂移维持步骤(S30)，如果确认到由驾驶员引起的反转向状态，则由上述控制器(CLR)将前轮分配扭矩全部解除，从而维持车辆的漂移状态。
即，上述控制器(CLR)将在驾驶员选择漂移模式的状态下车辆进入转弯行驶且踏入加速踏板的状况判断为驾驶员有主动造成漂移行驶状态的意愿的状况，利用AWD驱动系统减小分配给前轮的前轮分配扭矩，由此，与通常的AWD搭载车辆不同，引导后轮的滑移，从而使车辆能够进入漂移状态。
其中，可以配置为上述控制器(CLR)通过另外设置于车辆的开关等来掌握是否处于驾驶员选择了漂移模式的状况，通过转向角传感器的信号和加速踏板传感器的信号来判断车辆是否正在转弯并且处于有动力状态。
另外，在上述滑移引导步骤(S10)中使前轮分配扭矩比漂移模式以外的情况减小，是指：使前轮分配扭矩比在道路条件和转弯半径车速等其他行驶条件全部相同且没有选择漂移模式的通常转弯行驶状况下为了防止车轮的滑移而确定由AWD驱动系统应当提供给前轮的前轮分配扭矩减小，这意味着结果是，使前轮分配扭矩减小至允许发生后轮的滑移的水准。
在如上所述减小前轮分配扭矩的状态下，如果驾驶员增加加速踏板踏入量，则容易引导后轮的滑移。
如果如上所述发生后轮的滑移，则由上述控制器(CLR)执行上述滑移扭矩控制步骤(S20)，从而使得能够实质上进入漂移状态。
即，车辆的横向加速度越大，上述滑移控制扭矩被确定为相对越小的值，被加到上述减小了的前轮分配扭矩上，并供给到前轮，这是为了在车辆横向加速度比较大的高摩擦路的情况下，几乎不向前轮提供滑移控制扭矩，从而作为结果允许漂移行驶，并在横向加速度示出小的值的雪地或冰面等情况下，即使选择了漂移模式，也为了确保车辆行驶的稳定性而将滑移控制扭矩追加地施加于前轮，实质上抑制进入漂移状态。
结果，如上所述的滑移控制扭矩控制步骤中，仅在实质上车辆能够以稳定的状态进入漂移状态的道路条件下，使其能够进行漂移行驶，而即使在由于驾驶员的误操作等选择了漂移模式的情况下，如果判断道路条件为需要将车辆的稳定性确保放在首位的状况，则抑制进入漂移状态，从而确保车辆行驶的稳定性。
因此，车辆的横向加速度越大，上述滑移控制扭矩被确定为相对越小的值，如果车辆的横向加速度超过规定的基准横向加速度，则也能够解除滑移控制扭矩，在通常的高摩擦道路转弯行驶的情况下，由于车辆的横向加速度大体上示出0.6G以上的值，所以上述基准横向加速度例如可以设为0.6G这样的值。
作为参考，图2中示出：如果通过上述滑移引导步骤(S10)而后轮滑移开始，则开始滑移扭矩控制步骤(S20)，在车辆的横向加速度为基准横向加速度以下的情况下，将基于横向加速度的滑移控制扭矩加到通过上述滑移引导步骤(S10)确定的减小了的前轮分配扭矩上，来控制分动器(TF)，在上述横向加速度超过基准横向加速度的情况下，解除滑移控制扭矩，从而使车辆能够进入漂移模式。
另外，能够通过基于后轮的滑移和滑移变化率来确定基本滑移控制扭矩、并将其乘以基于车辆的横向加速度的增益来进行确定的方式，计算上述滑移控制扭矩，其中，可以设为横向加速度越大，上述增益具有越小的值。
如上所述，通过滑移扭矩控制步骤(S20)车辆开始漂移，而且确认到驾驶员将转向盘向转弯相反方向进行操作的反转向状态时，由上述控制器(CLR)判断为正式进行漂移行驶状态的状况，将原本提供给前轮的前轮分配扭矩全部解除，从而持续地维持漂移状态。
如上所述，在持续的漂移状态下，出现驾驶员的过度的加速踏板操作等失误时，车辆有可能无法维持漂移状态而进行旋转。
为了针对这样的情况，本发明中，车辆的横摆角加速度(Yaw AngularAcceleration)超过规定的基准角加速度时，还能够执行将用于减小车辆的横摆角加速度的阻尼扭矩施加于前轮侧的稳定化步骤(S40)。
即，在漂移状态持续的期间，通过横摆角加速度的变化来感测因驾驶员的失误等导致车辆发生旋转的情况，将与其对应的扭矩分配给前轮侧，最终防止车辆的旋转，由此可以稳定地维持漂移状态。
由此，驾驶员能够更加容易且安全地维持车辆的漂移行驶状态。
参照图3，说明通过如上所述的本发明实现车辆的漂移行驶的情况，A状态示出车辆开始转弯行驶的状况，B状态示出在转弯中因加速而发生后轮滑移并且发生过多转向(over-steering)的状况。因此，该状态是通过上述滑移引导步骤(S10)发生后轮滑移从而上述滑移扭矩控制步骤(S20)开始的状态，且是车辆正在进入漂移行驶状态的状况。
C状态是驾驶员开始以反转向状态操作转向盘的状态，而在D状态中，可确认到前轮被完全以反转向状态操作，示出实现实质上的漂移状态且正在持续的状况。
在上述C状态和D状态中，通过上述漂移维持步骤(S30)将前轮分配扭矩全部解除，后轮持续滑移并维持漂移状态，通过执行上述稳定化步骤(S40)防止因驾驶员的失误等导致的车辆的旋转，维持稳定的漂移状态。
E的状态示出：由于驾驶员沿着车辆的转弯方向的正常方向进行转向，从而解除本发明的漂移控制，回到正常行驶状况的状况。
虽然本发明关于特定实施例进行图示和说明，但本领域技术人员应当理解，在不超出通过请求保护的范围所提供的本发明的技术构思的范围内，本发明能够进行各式各样的改良和变化。

Claims (5)

1.一种车辆的漂移行驶状态实现控制方法，其特征在于，包括以下的步骤：
滑移引导步骤，在选择漂移模式的状态下，如果车辆进入转弯行驶且处于有动力状态，则由控制器使AWD的前轮分配扭矩比漂移模式以外的情况减小；
滑移扭矩控制步骤，如果发生车辆的后轮滑移，则由所述控制器对所述前轮分配扭矩加上基于车辆的横向加速度的滑移控制扭矩，从而允许车辆进入漂移；
漂移维持步骤，如果确认到由驾驶员引起的反转向状态，则由所述控制器将前轮分配扭矩全部解除，从而维持车辆的漂移状态。
2.如权利要求1所述的车辆的漂移行驶状态实现控制方法，其特征在于：
车辆的横向加速度越大，所述滑移控制扭矩确定为相对越小的值。
3.如权利要求1所述的车辆的漂移行驶状态实现控制方法，其特征在于：
车辆的横向加速度越大，所述滑移控制扭矩确定为相对越小的值，
车辆的横向加速度超过规定的基准横向加速度时，解除滑移控制扭矩。
4.如权利要求1所述的车辆的漂移行驶状态实现控制方法，其特征在于：
通过将基于后轮的滑移和滑移变化率确定的基本滑移控制扭矩乘以基于车辆的横向加速度的增益，来确定所述滑移控制扭矩；
横向加速度越大，所述增益具有越小的值。
5.如权利要求1所述的车辆的漂移行驶状态实现控制方法，其特征在于，还包括以下的步骤：
稳定化步骤，车辆的横摆角加速度超过规定的基准角加速度时，将用于减小车辆的横摆角加速度的阻尼扭矩施加于前轮侧。
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