CN114633637B - Method and device for distributing wheel torque of vehicle - Google Patents

Method and device for distributing wheel torque of vehicle Download PDF

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Publication number
CN114633637B
CN114633637B CN202210309858.0A CN202210309858A CN114633637B CN 114633637 B CN114633637 B CN 114633637B CN 202210309858 A CN202210309858 A CN 202210309858A CN 114633637 B CN114633637 B CN 114633637B
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torque
wheels
wheel
front wheels
slip
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CN114633637A (en
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谢宏伟
耿鹏辉
李峰
曹阳
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Human Horizons Shandong Technology Co Ltd
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Human Horizons Shandong Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)

Abstract

The invention discloses a method and a device for distributing wheel torque of a vehicle. The method comprises the following steps: judging the current running states of front wheels and rear wheels of the vehicle; wherein the operating conditions include a slip condition and a non-slip condition; correcting the torque of the front wheels according to the running states of the front wheels and the rear wheels so as to calculate the target torque of the front wheels; after the target torque of the front wheels is obtained, calculating the target torque of the rear wheels according to the current total driving torque of the vehicle and the target torque of the front wheels; and adjusting the torque of the front wheels and the rear wheels according to the target torque of the front wheels and the rear wheels. By adopting the invention, the distribution of the total driving torque can be effectively realized, the total driving torque is ensured not to be lost, the slipping instability of the vehicle is effectively avoided, and the safety of the vehicle is improved.

Description

Method and device for distributing wheel torque of vehicle
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a method and an apparatus for distributing wheel torque of a vehicle.
Background
With the development of the automobile industry and economy, the use of automobiles is becoming more and more popular. When the automobile runs at a high speed, if road conditions or weather are severe, the wheels of the automobile are highly likely to slide severely, and stability and safety of the automobile in the running process are affected.
When the wheels slip, the vehicle controller cannot actively limit the driving torque of the slipping wheels, and the working condition usually requires intervention and intervention of an ESC (electronic stability control system) to limit the torque output of the slipping wheels. However, the inventors found that the prior art has at least the following problems: the ESC system is adopted to intervene the wheel torque, only the torque output of the slipping wheel can be limited, which is equivalent to losing the driving capability of the slipping wheel vehicle, and the effect that the total driving torque is not lost can not be simultaneously considered, so that the problem of distributing the total driving torque requested by a driver can not be solved.
Disclosure of Invention
The embodiment of the invention aims to provide a method and a device for distributing wheel torque of a vehicle, which can effectively distribute total driving torque, ensure that the total driving torque is not lost, effectively avoid slipping and unstability of the vehicle and improve the safety of the vehicle.
In order to achieve the above object, an embodiment of the present invention provides a wheel torque distribution method for a vehicle, including:
Judging the current running states of front wheels and rear wheels of the vehicle; wherein the operating conditions include a slip condition and a non-slip condition;
correcting the torque of the front wheels according to the running states of the front wheels and the rear wheels so as to calculate the target torque of the front wheels;
after the target torque of the front wheels is obtained, calculating the target torque of the rear wheels according to the current total driving torque of the vehicle and the target torque of the front wheels;
and adjusting the torque of the front wheels and the rear wheels according to the target torque of the front wheels and the rear wheels.
As an improvement of the above-mentioned solution, determining the current running states of the front wheels and the rear wheels of the vehicle specifically includes:
calculating front axle slip corresponding to front wheels and rear axle slip corresponding to rear wheels of the vehicle;
when the front axle slip is larger than a preset first front axle slip threshold, judging that the front wheel is in a slip state, otherwise, judging that the front wheel is in a non-slip state;
and when the rear axle slip is larger than a preset first rear axle slip threshold, judging that the rear wheel is in a slip state, otherwise, judging that the rear wheel is in a non-slip state.
As an improvement of the above aspect, the correcting the torque of the front wheel according to the running states of the front wheel and the rear wheel to calculate the target torque of the front wheel specifically includes:
when the front wheel is in a slipping state and the rear wheel is in a non-slipping state, acquiring a front axle correction coefficient corresponding to the current front axle slip according to the corresponding relation between the preset front axle slip and the front axle correction coefficient;
and correcting the initial torque of the front wheels according to the front axle correction coefficient to obtain the target torque of the front wheels.
As an improvement of the above aspect, the correcting the torque of the front wheel according to the running states of the front wheel and the rear wheel to calculate the target torque of the front wheel further includes:
when the rear wheels are in a slipping state and the front wheels are in a non-slipping state, acquiring a rear axle correction coefficient corresponding to the current rear axle slip according to the corresponding relation between the preset rear axle slip and the rear axle correction coefficient;
correcting the torque of the rear wheels at the current moment according to the rear axle correction coefficient to obtain the corrected torque of the rear wheels;
And calculating the difference value between the torque of the rear wheel at the previous moment and the correction torque, and calculating the sum of the difference value and the torque of the front wheel at the previous moment to obtain the target torque of the front wheel.
As an improvement of the above aspect, the correcting the torque of the front wheel according to the running states of the front wheel and the rear wheel to calculate the target torque of the front wheel further includes:
when the front wheels and the rear wheels are both in a non-slip state, or the front wheels and the rear wheels are both in a slip state, an initial torque of the front wheels is determined as a target torque of the front wheels.
As an improvement of the above scheme, the initial torque of the front wheel is determined by the following steps:
acquiring the current total driving torque, the current vehicle speed and the current driving mode of the vehicle;
determining the initial distribution coefficient of the front wheel corresponding to the total driving torque, the vehicle speed and the driving mode of the vehicle at present according to the corresponding relation between the preset total driving torque, the vehicle speed, the driving mode and the initial distribution coefficient of the front wheel;
and calculating the initial torque of the front wheels according to the total driving torque and the initial distribution coefficient of the front wheels.
As an improvement of the above, after the torque adjustment is performed on the front wheels and the rear wheels, the method further includes:
when the front axle slip is smaller than or equal to the preset first front axle slip threshold and larger than or equal to the preset second front axle slip threshold, acquiring a front axle correction coefficient corresponding to the front axle slip at the previous moment according to the corresponding relation between the preset front axle slip and the front axle correction coefficient; wherein the second front axle slip threshold is less than the first front axle slip threshold;
correcting the initial torque of the front wheels according to the front axle correction coefficient to obtain the target torque of the front wheels;
after the target torque of the front wheels is obtained, calculating the target torque of the rear wheels according to the total driving torque and the target torque of the front wheels;
and adjusting the torque of the front wheels and the rear wheels according to the target torque of the front wheels and the rear wheels.
As an improvement of the above, after the torque adjustment is performed on the front wheels and the rear wheels, the method further includes:
when the rear axle slip is smaller than or equal to the preset first rear axle slip threshold and larger than or equal to a preset second rear axle slip threshold, acquiring a rear axle correction coefficient corresponding to the rear axle slip at the last moment according to the corresponding relation between the preset rear axle slip and the rear axle correction coefficient; wherein the second rear axle slip threshold is less than the first rear axle slip threshold;
Correcting the torque of the rear wheels at the current moment according to the rear axle correction coefficient to obtain the corrected torque of the rear wheels;
calculating the difference value between the torque of the rear wheel at the previous moment and the correction torque, and calculating the sum of the difference value and the torque of the front wheel at the previous moment to obtain the target torque of the front wheel;
after the target torque of the front wheels is obtained, calculating the target torque of the rear wheels according to the total driving torque and the target torque of the front wheels;
and adjusting the torque of the front wheels and the rear wheels according to the target torque of the front wheels and the rear wheels.
As an improvement of the above-described aspect, the calculating of the front axle slip corresponding to the front wheels and the rear axle slip corresponding to the rear wheels of the vehicle includes:
acquiring the current speed of the vehicle, the motor rotation speed of the front wheels and the motor rotation speed of the rear wheels;
calculating the wheel speed of the front wheel according to the motor rotating speed of the front wheel, and calculating the front axle slip corresponding to the front wheel according to the difference value between the wheel speed of the front wheel and the vehicle speed;
and calculating the wheel speed of the rear wheel according to the motor rotating speed of the rear wheel, and calculating the rear axle slip corresponding to the rear wheel according to the difference value between the wheel speed of the rear wheel and the vehicle speed.
The embodiment of the invention also provides a wheel torque distribution device of the vehicle, which comprises the following components:
the running state judging module is used for judging the running states of the front wheels and the rear wheels of the vehicle at present; wherein the operating conditions include a slip condition and a non-slip condition;
the front wheel target torque calculation module is used for correcting the torque of the front wheels according to the running states of the front wheels and the rear wheels so as to calculate the target torque of the front wheels;
a rear wheel target torque calculation module, configured to calculate, after obtaining the target torque of the front wheel, the target torque of the rear wheel according to the current total driving torque of the vehicle and the target torque of the front wheel;
and the torque adjustment module is used for adjusting the torque of the front wheels and the rear wheels according to the target torque of the front wheels and the rear wheels.
Compared with the prior art, the method and the device for distributing the wheel torque of the vehicle, disclosed by the embodiment of the invention, determine the torque distribution strategy of the front wheel by judging whether the front wheel and the rear wheel of the vehicle are in a slip state or a non-slip state in real time, and correct the torque of the front wheel so as to calculate the target torque of the front wheel; after the target torque of the front wheels is obtained, the target torque of the rear wheels is calculated according to the current total driving torque of the vehicle and the target torque of the front wheels, so that the torque adjustment is performed on the front wheels and the rear wheels. By adopting the technical means of the embodiment of the invention, the distribution of the total driving torque can be effectively realized, when the front wheels or the rear wheels of the vehicle are in a slipping state, the vehicle is effectively prevented from slipping and unstably under the condition that a driver does not need to deeply tread the pedal, the safety of the vehicle is improved, the total driving torque is not lost, and the capability of the vehicle for rapidly getting rid of poverty is improved.
Drawings
Fig. 1 is a schematic flow chart of a wheel torque distribution method of a vehicle according to an embodiment of the present invention in a first embodiment;
fig. 2 is a schematic flow chart of a wheel torque distribution method of a vehicle according to an embodiment of the present invention in a second implementation manner;
fig. 3 is a schematic flow chart of a wheel torque distribution method of a vehicle according to an embodiment of the present invention in a third implementation manner;
fig. 4 is a schematic structural view of a wheel torque distribution device for a vehicle according to an embodiment of the present invention in a first embodiment.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a schematic flow chart of a wheel torque distribution method of a vehicle according to an embodiment of the present invention is shown in a first embodiment. The embodiment of the invention provides a wheel torque distribution method of a vehicle, which is specifically implemented through steps S11 to S14:
S11, judging the running states of the front wheels and the rear wheels of the vehicle; wherein the operating conditions include a slip condition and a non-slip condition;
s12, correcting the torque of the front wheels according to the running states of the front wheels and the rear wheels so as to calculate the target torque of the front wheels;
s13, after the target torque of the front wheels is obtained, calculating the target torque of the rear wheels according to the current total driving torque of the vehicle and the target torque of the front wheels;
and S14, adjusting the torque of the front wheels and the rear wheels according to the target torque of the front wheels and the rear wheels.
During the use of the vehicle, the vehicle may distribute the driving torques of the front wheels and the rear wheels according to the total driving torque input by the driver, so as to drive the vehicle to run. In the prior art, when it is detected that the front wheels or the rear wheels are in a slip state, the driving torque of the slipping wheels is reduced to avoid the slip of the vehicle.
In the embodiment of the invention, the running states of the front wheels and the rear wheels of the vehicle are detected in real time so as to judge whether the front wheels and the rear wheels are in a slip state or not. After determining the running states of the front wheels and the rear wheels, the torque of the front wheels is corrected according to the running states of the front wheels and the rear wheels so as to calculate the target torque of the front wheels. After the target torque of the front wheels is calculated, determining the target torque of the rear wheels according to the total driving torque of the vehicle and the target torque of the front wheels. Further, torque adjustment is performed on the front wheels and the rear wheels according to target torques of the front wheels and the rear wheels.
The method for detecting the running state of the wheels of the vehicle may be a detection method in the prior art, and is not particularly limited herein.
For example, when it is detected that the front wheels are in a slip state, it is necessary to reduce the driving torque of the front wheels, and the driving torque of the front wheels is reduced by a certain torque adjustment means, thereby determining the target torque of the front wheels after the torque reduction. When the rear wheels are detected to be in a slip state, the driving torque of the rear wheels needs to be reduced, and the driving torque of the front wheels is increased through a certain torque adjustment means, so that the target torque of the front wheels after the torque is increased is determined. And after the target torque of the front wheels is obtained, the target torque of the rear wheels can be obtained by subtracting the target torque of the front wheels from the total driving torque of the vehicle, so that the total driving torque is redistributed, and the front wheels and the rear wheels are controlled to operate according to the redistributed torque.
That is, when the rear wheels or the front wheels of the electric four-wheel drive vehicle are on a road surface with a low attachment coefficient, the whole vehicle controller can judge the severity of the slipping wheels, timely reduce the torque of the slipping wheels, and rapidly transfer the torque distributed to the slipping wheel ends to the non-slipping wheels so as to redistribute the total driving torque.
The embodiment of the invention provides a wheel torque distribution method of a vehicle, which is used for determining a torque distribution strategy of a front wheel of the vehicle by judging whether the front wheel and a rear wheel of the vehicle are in a slip state or a non-slip state in real time, and correcting the torque of the front wheel to calculate the target torque of the front wheel; after the target torque of the front wheels is obtained, the target torque of the rear wheels is calculated according to the current total driving torque of the vehicle and the target torque of the front wheels, so that the torque adjustment is performed on the front wheels and the rear wheels. By adopting the technical means of the embodiment of the invention, the distribution of the total driving torque can be effectively realized, when the front wheels or the rear wheels of the vehicle are in a slipping state, the vehicle is effectively prevented from slipping and unstably under the condition that a driver does not need to deeply tread the pedal, the safety of the vehicle is improved, the total driving torque is not lost, and the capability of the vehicle for rapidly getting rid of poverty is improved.
As a preferred implementation, the embodiment of the present invention is further implemented on the basis of the above embodiment, specifically, step S11 is performed by the following steps S111 to S113:
S111, calculating front axle slip corresponding to front wheels and rear axle slip corresponding to rear wheels of the vehicle;
s112, when the front axle slip is larger than a preset first front axle slip threshold, judging that the front wheel is in a slip state, otherwise, judging that the front wheel is in a non-slip state;
and S113, when the rear axle slip is larger than a preset first rear axle slip threshold, judging that the rear wheel is in a slip state, otherwise, judging that the rear wheel is in a non-slip state.
In the embodiment of the invention, a first front axle slip threshold value Thrd1 and a first rear axle slip threshold value Thrd2 are predetermined, and a front axle slip S1 corresponding to a front wheel and a rear axle slip S2 corresponding to a rear wheel of the vehicle are calculated. Comparing the front axle slip S1 with the first front axle slip threshold value Thrd1, and if S1 > Thrd1 is satisfied, indicating that the front wheels are in a slip state; if S1 is less than or equal to Thrd1, the front wheel is in a non-skid state. Similarly, comparing the rear axle slip S2 with the first rear axle slip threshold Thrd2, if S2 > Thrd2 is satisfied, indicating that the rear wheel is in a slip state; and if S2 is less than or equal to Thrd2, indicating that the rear wheel is in a non-skid state.
Preferably, step S111, that is, the calculation of the front axle slip corresponding to the front wheel and the rear axle slip corresponding to the rear wheel of the vehicle is performed specifically through steps S1111 to S1113:
s1111, acquiring the current speed of the vehicle, the motor rotation speed of the front wheels and the motor rotation speed of the rear wheels;
s1112, calculating the wheel speed of the front wheel according to the motor rotation speed of the front wheel, and calculating the front axle slip corresponding to the front wheel according to the difference between the wheel speed of the front wheel and the vehicle speed;
s1113, calculating the wheel speed of the rear wheel according to the motor rotation speed of the rear wheel, and calculating the rear axle slip corresponding to the rear wheel according to the difference between the wheel speed of the rear wheel and the vehicle speed.
Specifically, the overall speed of the vehicle, that is, the current speed input by the driver, is obtained in real time. And the motor rotating speed of the front wheel and the motor rotating speed of the rear wheel are obtained in real time, the wheel speed of the front wheel and the wheel speed of the rear wheel are obtained according to the motor rotating speed back calculation, the front axle slip S1 corresponding to the front wheel is calculated to be the difference value between the wheel speed of the front wheel and the vehicle speed, and the rear axle slip S2 corresponding to the rear wheel is calculated to be the difference value between the wheel speed of the rear wheel and the vehicle speed, so that the judgment of the running state of the wheels is realized.
By adopting the technical means of the embodiment of the invention, the judgment of the wheel slip state can be effectively realized, and the accuracy of monitoring the wheel slip is improved.
As a preferred embodiment, referring to fig. 2, a schematic flow chart of a wheel torque distribution method of a vehicle according to an embodiment of the present invention is shown in a second embodiment. Step S12, namely, correcting the torque of the front wheel according to the running states of the front wheel and the rear wheel to calculate the target torque of the front wheel, specifically includes steps S121 to S122:
s121, when the front wheels are in a slipping state and the rear wheels are in a non-slipping state, acquiring a front axle correction coefficient corresponding to the current front axle slip according to the corresponding relation between the preset front axle slip and the front axle correction coefficient;
and S122, correcting the initial torque of the front wheels according to the front axle correction coefficient to obtain the target torque of the front wheels.
Specifically, a corresponding relation between the front axle slip and the front axle correction coefficient is preset, and the corresponding front axle correction coefficient is determined according to a real-time value of the front axle slip when the front wheels are in a slip state, so that the torque of the front wheels is corrected. In the correspondence between the front-axis slip and the front-axis correction coefficient, the larger the front-axis slip, the smaller the front-axis correction coefficient, that is, the front-axis slip and the front-axis correction coefficient are in a negative correlation.
As an example, the correspondence between the front axle slip and the front axle correction coefficient is shown in table 1:
TABLE 1
Front axle slip S1 Front axle correction factor T1
0 1
20 0.9
40 0.8
60 0.7
80 0.6
100 0.5
The above-mentioned numerical values and scenes related to the correspondence between the front-axis slip and the front-axis correction coefficient are merely examples, and in practical application, the correspondence between the front-axis slip and the front-axis correction coefficient may be set according to practical situations, and calibration optimization may be performed, which is not limited herein specifically.
Further, when the front wheel is in a slip state and the rear wheel is in a non-slip state, that is, the front axle slip satisfies S1 > Thrd1 and the rear axle slip satisfies S2 less than or equal to Thrd2, the front axle correction coefficient T1 corresponding to the current front axle slip S1 is searched according to the corresponding relation between the front axle slip and the front axle correction coefficient. An initial torque to the front wheels according to the front axle correction coefficient T1Correcting to obtain the target torque F of the front wheels trq ：
Then, the target torque F of the front wheel is calculated trq Then, the total driving torque W input by the driver trq Calculating the target torque R of the rear wheels trq ：
R trq ＝W trq -F trq .
According to the currently calculated target torque F of the front wheels trq And target torque R of rear wheels trq For the front wheel andand the rear wheels correspondingly carry out torque adjustment, so that the torque of the slipping wheels is reduced, the reduced torque is transferred to the non-slipping wheels, and the total driving torque is ensured to be unchanged.
Preferably, the initial torque of the front wheelsSpecifically, the method is determined by the following steps S01 to S03:
s01, acquiring the total driving torque, the vehicle speed and the driving mode of the vehicle;
s02, determining initial distribution coefficients of front wheels corresponding to the total driving torque, the vehicle speed and the driving mode of the vehicle according to the corresponding relation between the preset total driving torque, the vehicle speed, the driving mode and the initial distribution coefficients of the front wheels;
s03, calculating the initial torque of the front wheels according to the total driving torque and the initial distribution coefficient of the front wheels.
In the embodiment of the invention, the initial distribution coefficient of the front wheels is determined by three parameters of total driving torque, vehicle speed and driving mode. Presetting a corresponding relation between total driving torque, vehicle speed, driving mode and initial distribution coefficient of front wheels, and acquiring the total driving torque, vehicle speed and selected driving mode input by a current driver in real time so as to determine the initial distribution coefficient T of the front wheels base 。
Alternatively, the driving mode includes an ECO mode, a Sport mode, and a Comfort mode, of course, not limited thereto.
As an example, when the driving mode is the ECO mode, the correspondence of the total driving torque, the vehicle speed, the driving mode, and the initial distribution coefficient of the front wheels is as shown in table 2:
TABLE 2
It should be noted that, the above-mentioned values and scenarios related to the correspondence between the total driving torque, the vehicle speed, the driving mode and the initial distribution coefficient of the front wheel are merely taken as examples, and in practical application, the correspondence between the total driving torque, the vehicle speed, the driving mode and the initial distribution coefficient of the front wheel may be set according to practical situations, and calibration optimization may be performed, which is not limited herein specifically.
Further, in determining the initial distribution coefficient T of the front wheel base Thereafter, according to the total driving torque W trq Calculating to obtain the initial torque of the front wheels
By adopting the technical means of the embodiment of the invention, when the front wheel slips and the rear wheel does not slip, the front axle correction coefficient T1 is determined to realize the torque reduction control of the front wheel, and the target torque of the rear wheel is determined according to the target torque and the total driving torque of the front wheel, so that the instability of the vehicle slipping is effectively avoided, the safety and the stability of the vehicle are ensured, the total driving torque is not lost, and the driving safety of a user is improved.
As a preferred embodiment, referring to fig. 3, a schematic flow chart of a wheel torque distribution method of a vehicle according to an embodiment of the present invention is shown in a third embodiment. The embodiment of the invention is further supplementary control on the situation that the front wheels slip and the rear wheels do not slip.
When the front wheels are in a slip state and the rear wheels are in a non-slip state, the method further includes steps S21 to S24 after step S14, that is, after the torque adjustment is performed on the front wheels and the rear wheels:
s21, when the front axle slip is smaller than or equal to the preset first front axle slip threshold and larger than or equal to the preset second front axle slip threshold, acquiring a front axle correction coefficient corresponding to the front axle slip at the previous moment according to the corresponding relation between the preset front axle slip and the front axle correction coefficient; wherein the second front axle slip threshold is less than the first front axle slip threshold;
s22, correcting the initial torque of the front wheels according to the front axle correction coefficient to obtain the target torque of the front wheels;
s23, after the target torque of the front wheels is obtained, calculating the target torque of the rear wheels according to the total driving torque and the target torque of the front wheels;
And S24, adjusting the torque of the front wheels and the rear wheels according to the target torque of the front wheels and the rear wheels.
In the embodiment of the invention, a front axle hysteresis interval [ Thrd1', thrd1] is formed by setting a second front axle slip threshold Thrd1', wherein Thrd1' < Thrd 1.
When the front wheel slips and the rear wheel does not slip, namely the front axle slip meets S1 & gtThrd 1, and the rear axle slip meets S2 & ltoreq Thrd2, the torque of the front wheel begins to be reduced through the redistribution of the torques of the front wheel and the rear wheel, the front axle slip S1 is also gradually reduced until the front axle slip is reduced to be less than or equal to Thrd1, and the front wheel is judged not to slip.
When the front axle slip satisfies Thrd1 '. Ltoreq.s1.ltoreq.thrd1, that is, is in the front axle hysteresis zone, and the rear wheel still satisfies the non-slip state, although the front wheel is already in the non-slip state after the torque is redistributed, in order to avoid larger fluctuation of the torque adjustment of the front wheel, at this time, according to the corresponding relationship between the preset front axle slip and the front axle correction coefficient, the front axle slip at the last moment, that is, the front axle correction coefficient T1 corresponding to s1=thrd1 is obtained, so as to correct the initial torque of the front wheel, obtain the target torque of the front wheel, and further calculate the target torque of the rear wheel, so as to realize further torque adjustment of the front wheel and the rear wheel, until the front axle slip S1 is reduced to be smaller than the second front axle slip threshold Thrd1', and the torque of the front wheel is not reduced continuously.
By adopting the technical means of the embodiment of the invention, when the front wheel is detected to be in the slipping state, the torque of the wheel is redistributed and adjusted, the hysteresis interval of the front axle slip is considered, the torque demand fluctuation at the front wheel end is effectively prevented, and the running stability and safety of the vehicle are improved.
Further, referring to fig. 2, step S12, that is, correcting the torque of the front wheel according to the running states of the front wheel and the rear wheel to calculate the target torque of the front wheel, further includes steps S123 to S125:
s123, when the rear wheels are in a slipping state and the front wheels are in a non-slipping state, acquiring a rear axle correction coefficient corresponding to the current rear axle slip according to the corresponding relation between the preset rear axle slip and the rear axle correction coefficient;
s124, correcting the torque of the rear wheel at the current moment according to the rear axle correction coefficient to obtain the corrected torque of the rear wheel;
and S125, calculating a difference value between the torque of the rear wheel at the previous moment and the corrected torque, and calculating a sum of the difference value and the torque of the front wheel at the previous moment to obtain the target torque of the front wheel.
Specifically, a corresponding relation between the rear axle slip and the rear axle correction coefficient is preset, so that when the rear wheel is in a slip state, the corresponding rear axle correction coefficient is determined according to the real-time value of the rear axle slip, and the torque of the rear wheel is corrected. In the correspondence between the rear axle slip and the rear axle correction coefficient, the larger the rear axle slip, the smaller the rear axle correction coefficient, that is, the rear axle slip and the rear axle correction coefficient are in a negative correlation.
Further, when the rear wheel is in a slip state and the front wheel is in a non-slip state, that is, the rear axle slip satisfies S2 > Thrd2 and the front axle slip satisfies S1 less than or equal to Thrd1, the rear axle correction coefficient T2 corresponding to the current rear axle slip S2 is searched according to the correspondence between the rear axle slip and the rear axle correction coefficient. According to the rear axle correction coefficient T2, correcting the torque of the rear wheel at the current moment to obtain the correction torque R of the rear wheel trq_r . The torque of the rear wheels at the present moment can be equal to the total required torque and the torque F of the front wheels at the present moment trq Is a difference in (c). Then the first time period of the first time period,
R trq_r ＝(W trq -F trq )×T2.
further, the torque variation from the last moment to the current moment of the rear wheel is added to the front wheel end, so that the target torque of the front wheel can be obtained:
Then, the target torque F of the front wheel is calculated trq Then, the total driving torque W input by the driver trq And the currently determined rear axle correction coefficient T2, calculating to obtain the target torque R of the rear wheels trq ：
R trq ＝(W trq -F trq )×T2.
According to the currently calculated target torque F of the front wheels trq And target torque R of rear wheels trq And correspondingly performing torque adjustment on the front wheels and the rear wheels, so that the torque of the slipping wheels is reduced, the reduced torque is transferred to the non-slipping wheels, and the total driving torque is ensured to be unchanged.
By adopting the technical means of the embodiment of the invention, when the rear wheel slips and the front wheel does not slip, the torque reduction control of the rear wheel is realized by determining the rear axle correction coefficient T2, and the torque variation of the rear wheel is added to the front wheel, so that the target torque of the front wheel is determined, and then the target torque of the rear wheel is further determined according to the target torque and the total driving torque of the front wheel, thereby effectively avoiding the slip instability of the vehicle, ensuring the safety and the stability of the vehicle, ensuring the total driving torque not to be lost and improving the driving safety of a user.
As a preferred embodiment, see fig. 3, the present embodiment is a further supplementary control of the case where the rear wheels slip while the front wheels do not slip.
When the front wheels are in a slip state and the rear wheels are in a non-slip state, the method further includes steps S31 to S35 after step S14, that is, after the torque adjustment is performed on the front wheels and the rear wheels:
s31, when the rear axle slip is smaller than or equal to the preset first rear axle slip threshold and larger than or equal to a preset second rear axle slip threshold, acquiring a rear axle correction coefficient corresponding to the rear axle slip at the last moment according to the corresponding relation between the preset rear axle slip and the rear axle correction coefficient; wherein the second rear axle slip threshold is less than the first rear axle slip threshold;
s32, correcting the torque of the rear wheel at the current moment according to the rear axle correction coefficient to obtain the corrected torque of the rear wheel;
s33, calculating a difference value between the torque of the rear wheel at the previous moment and the correction torque, and calculating a sum of the difference value and the torque of the front wheel at the previous moment to obtain a target torque of the front wheel;
s34, after the target torque of the front wheels is obtained, calculating the target torque of the rear wheels according to the total driving torque and the target torque of the front wheels;
And S35, performing torque adjustment on the front wheels and the rear wheels according to the target torques of the front wheels and the rear wheels.
In the present embodiment, a rear-axle hysteresis interval [ Thrd2', thrd2] is formed by setting a second rear-axle slip threshold Thrd2', wherein Thrd2' < Thrd 2.
When the rear wheel slips and the front wheel does not slip, namely the rear axle slip meets S2 & gtThrd 2, and the front axle slip meets S1 & ltoreq.Thrd1, the torque variation of the rear wheel is transferred to the front wheel through the redistribution of the torques of the front wheel and the rear wheel, the torque of the rear wheel starts to be reduced, the rear axle slip S2 is also gradually reduced until the rear axle slip is reduced to be less than or equal to Thrd2, and the rear wheel is judged not to slip.
When the rear axle slip satisfies thrd2 '. Ltoreq.s2.ltoreq.thrd2, that is, is in the rear axle hysteresis zone, and the front wheel still satisfies the non-slip state, although the rear wheel is already in the non-slip state after the torque is redistributed, in order to avoid the larger fluctuation of the torque adjustment of the rear wheel, at this time, according to the corresponding relationship between the preset rear axle slip and the rear axle correction coefficient, the rear axle slip at the last moment, that is, the rear axle correction coefficient T1 corresponding to the case of s2=thrd2 is obtained, so as to correct the torque of the rear wheel at the current moment, to obtain the correction torque, further calculate the difference between the torque of the rear wheel and the correction torque at the last moment, and add the difference to the torque of the front wheel at the last moment, to obtain the target torque of the front wheel, further calculate the target torque of the rear wheel, realize the further torque adjustment of the front wheel and the rear wheel until the rear axle slip S2 is reduced to be smaller than the second rear axle slip threshold d2', and the torque of the rear wheel is not reduced.
By adopting the technical means of the embodiment of the invention, when the rear wheel is detected to be in the slipping state, the torque of the wheel is redistributed and adjusted, the hysteresis interval of the slip of the rear axle is considered, the torque demand fluctuation of the rear wheel end is effectively prevented, and the running stability and the running safety of the vehicle are improved.
Further, referring to fig. 2, step S12, that is, correcting the torque of the front wheel according to the running states of the front wheel and the rear wheel to calculate the target torque of the front wheel, further includes step S126:
and S126, determining the initial torque of the front wheel as the target torque of the front wheel when the front wheel and the rear wheel are both in a non-skid state or the front wheel and the rear wheel are both in a skid state.
Specifically, in one case, when the front axle slip satisfies S1 > Thrd1 and the rear axle slip satisfies S2 > Thrd2, it indicates that both the front wheel and the rear wheel are in a slip state, and at this time, the rationality of torque distribution cannot be determined, so that in order to avoid the negative effects caused by the dynamic torque distribution, the initial torque distribution strategy is kept unchanged. I.e. determining the front wheel Is set to the initial torque of (1)As the target torque F of the front wheels trq Then, the target torque R of the rear wheels is calculated trq ＝W trq -F trq 。
As can be appreciated, the initial torque of the front wheelsI.e. in this case, the initial torque distribution coefficient T is maintained base 。
It should be noted that, the vehicle is originally configured with an ESC system, and the wheel torque distribution method according to the embodiment of the present invention and the control strategy of the ESC system are complementary.
Therefore, when both the front wheel and the rear wheel are in a slip state, the wheel torque distribution method according to the embodiment of the present invention maintains the initial torque distribution strategy unchanged, and at this time, the ESC system acts to perform operations such as torque reduction on the slipping wheels, so as to further prevent the vehicle from slipping and maintain the safety of the vehicle.
In another case, when the front axle slip satisfies S1 less than or equal to Thrd1 and the rear axle slip satisfies S2 less than or equal to Thrd2, it indicates that both the front wheel and the rear wheel are in a non-slip state, and torque redistribution is not required at this time, and the initial torque distribution strategy is kept unchanged.
By adopting the technical means of the embodiment of the invention, when the front wheel and the rear wheel are in the slipping state, the torque of the front wheel and the rear wheel is not redistributed according to the total driving torque, but the torque of the slipping wheel is controlled through the ESC system originally configured by the vehicle, so that the slipping of the vehicle is prevented, the influence on the rationality of the torque distribution of the wheels is avoided, and the safety of the vehicle is maintained.
The slip state and the non-slip state of the front wheels and the rear wheels of the vehicle are analyzed, and the calculation means of the target torque of the corresponding front wheels are determined for each condition, so that the target torque of the rear wheels is determined according to the total driving torque and the target torque of the front wheels, the safety and the stability of the vehicle are ensured, the total driving torque is not lost, and the driving safety of a user is improved.
Referring to fig. 4, a schematic structural diagram of a wheel torque distribution device of a vehicle according to an embodiment of the present invention is shown in the first embodiment. The embodiment of the present invention also provides a wheel torque distribution device 40 of a vehicle, including: an operation state determination module 41, a front wheel target torque calculation module 42, a rear wheel target torque calculation module 43, and a torque adjustment module 44. Wherein,
the running state judging module 41 is configured to judge the running states of the front wheels and the rear wheels of the vehicle; wherein the operating conditions include a slip condition and a non-slip condition;
the front wheel target torque calculation module 42 is configured to correct the torque of the front wheel according to the running states of the front wheel and the rear wheel, so as to calculate a target torque of the front wheel;
The rear wheel target torque calculation module 43 is configured to calculate a target torque of the rear wheel based on a current total driving torque of the vehicle and the target torque of the front wheel after the target torque of the front wheel is obtained;
the torque adjustment module 44 is configured to perform torque adjustment on the front wheels and the rear wheels according to target torques of the front wheels and the rear wheels.
The embodiment of the invention provides a wheel torque distribution device of a vehicle, which can effectively distribute total driving torque by adopting the technical means of the embodiment of the invention, and can effectively avoid the slipping instability of the vehicle under the condition that a driver does not need to step on a pedal deeply when the front wheel or the rear wheel of the vehicle is in a slipping state, thereby improving the safety of the vehicle, ensuring the total driving torque not to be lost and improving the capability of the vehicle to get rid of poverty rapidly.
As a preferred embodiment, the operation state determining module 41 is specifically configured to:
calculating front axle slip corresponding to front wheels and rear axle slip corresponding to rear wheels of the vehicle;
when the front axle slip is larger than a preset first front axle slip threshold, judging that the front wheel is in a slip state, otherwise, judging that the front wheel is in a non-slip state;
And when the rear axle slip is larger than a preset first rear axle slip threshold, judging that the rear wheel is in a slip state, otherwise, judging that the rear wheel is in a non-slip state.
The calculating the front axle slip corresponding to the front wheel and the rear axle slip corresponding to the rear wheel of the vehicle specifically includes:
acquiring the current speed of the vehicle, the motor rotation speed of the front wheels and the motor rotation speed of the rear wheels;
calculating the wheel speed of the front wheel according to the motor rotating speed of the front wheel, and calculating the front axle slip corresponding to the front wheel according to the difference value between the wheel speed of the front wheel and the vehicle speed;
and calculating the wheel speed of the rear wheel according to the motor rotating speed of the rear wheel, and calculating the rear axle slip corresponding to the rear wheel according to the difference value between the wheel speed of the rear wheel and the vehicle speed.
In one embodiment, the front wheel target torque calculation module 42 is specifically configured to:
when the front wheel is in a slipping state and the rear wheel is in a non-slipping state, acquiring a front axle correction coefficient corresponding to the current front axle slip according to the corresponding relation between the preset front axle slip and the front axle correction coefficient;
And correcting the initial torque of the front wheels according to the front axle correction coefficient to obtain the target torque of the front wheels.
Preferably, the initial torque of the front wheels is determined in particular by:
acquiring the current total driving torque, the current vehicle speed and the current driving mode of the vehicle;
determining the initial distribution coefficient of the front wheel corresponding to the total driving torque, the vehicle speed and the driving mode of the vehicle at present according to the corresponding relation between the preset total driving torque, the vehicle speed, the driving mode and the initial distribution coefficient of the front wheel;
and calculating the initial torque of the front wheels according to the total driving torque and the initial distribution coefficient of the front wheels.
By adopting the technical means of the embodiment of the invention, when the front wheel slips and the rear wheel does not slip, the front axle correction coefficient T1 is determined to realize the torque reduction control of the front wheel, and the target torque of the rear wheel is determined according to the target torque and the total driving torque of the front wheel, so that the instability of the vehicle slipping is effectively avoided, the safety and the stability of the vehicle are ensured, the total driving torque is not lost, and the driving safety of a user is improved.
Further, the apparatus 40 further includes a first hysteresis interval processing module, configured to:
When the front axle slip is smaller than or equal to the preset first front axle slip threshold and larger than or equal to the preset second front axle slip threshold, acquiring a front axle correction coefficient corresponding to the front axle slip at the previous moment according to the corresponding relation between the preset front axle slip and the front axle correction coefficient; wherein the second front axle slip threshold is less than the first front axle slip threshold;
correcting the initial torque of the front wheels according to the front axle correction coefficient to obtain the target torque of the front wheels;
after the target torque of the front wheels is obtained, calculating the target torque of the rear wheels according to the total driving torque and the target torque of the front wheels;
and adjusting the torque of the front wheels and the rear wheels according to the target torque of the front wheels and the rear wheels.
By adopting the technical means of the embodiment of the invention, when the front wheel is detected to be in the slipping state, the torque of the wheel is redistributed and adjusted, the hysteresis interval of the front axle slip is considered, the torque demand fluctuation at the front wheel end is effectively prevented, and the running stability and safety of the vehicle are improved.
In another embodiment, the front wheel target torque calculation module 42 is further configured to:
When the rear wheels are in a slipping state and the front wheels are in a non-slipping state, acquiring a rear axle correction coefficient corresponding to the current rear axle slip according to the corresponding relation between the preset rear axle slip and the rear axle correction coefficient;
correcting the torque of the rear wheels at the current moment according to the rear axle correction coefficient to obtain the corrected torque of the rear wheels;
and calculating the difference value between the torque of the rear wheel at the previous moment and the correction torque, and calculating the sum of the difference value and the torque of the front wheel at the previous moment to obtain the target torque of the front wheel.
By adopting the technical means of the embodiment of the invention, when the rear wheel slips and the front wheel does not slip, the torque reduction control of the rear wheel is realized by determining the rear axle correction coefficient T2, and the torque variation of the rear wheel is added to the front wheel, so that the target torque of the front wheel is determined, and then the target torque of the rear wheel is further determined according to the target torque and the total driving torque of the front wheel, thereby effectively avoiding the slip instability of the vehicle, ensuring the safety and the stability of the vehicle, ensuring the total driving torque not to be lost and improving the driving safety of a user.
Further, the apparatus 40 further includes a second hysteresis interval processing module, configured to:
When the rear axle slip is smaller than or equal to the preset first rear axle slip threshold and larger than or equal to a preset second rear axle slip threshold, acquiring a rear axle correction coefficient corresponding to the rear axle slip at the last moment according to the corresponding relation between the preset rear axle slip and the rear axle correction coefficient; wherein the second rear axle slip threshold is less than the first rear axle slip threshold;
correcting the torque of the rear wheels at the current moment according to the rear axle correction coefficient to obtain the corrected torque of the rear wheels;
calculating the difference value between the torque of the rear wheel at the previous moment and the correction torque, and calculating the sum of the difference value and the torque of the front wheel at the previous moment to obtain the target torque of the front wheel;
after the target torque of the front wheels is obtained, calculating the target torque of the rear wheels according to the total driving torque and the target torque of the front wheels;
and adjusting the torque of the front wheels and the rear wheels according to the target torque of the front wheels and the rear wheels.
By adopting the technical means of the embodiment of the invention, when the rear wheel is detected to be in the slipping state, the torque of the wheel is redistributed and adjusted, the hysteresis interval of the slip of the rear axle is considered, the torque demand fluctuation of the rear wheel end is effectively prevented, and the running stability and the running safety of the vehicle are improved.
In yet another embodiment, the front wheel target torque calculation module 42 is further configured to:
when the front wheels and the rear wheels are both in a non-slip state, or the front wheels and the rear wheels are both in a slip state, an initial torque of the front wheels is determined as a target torque of the front wheels.
By adopting the technical means of the embodiment of the invention, when the front wheel and the rear wheel are in the slipping state, the torque of the front wheel and the rear wheel is not redistributed according to the total driving torque, but the torque of the slipping wheel is controlled through the ESC system originally configured by the vehicle, so that the slipping of the vehicle is prevented, the influence on the rationality of the torque distribution of the wheels is avoided, and the safety of the vehicle is maintained.
The slip state and the non-slip state of the front wheels and the rear wheels of the vehicle are analyzed, and the calculation means of the target torque of the corresponding front wheels are determined for each condition, so that the target torque of the rear wheels is determined according to the total driving torque and the target torque of the front wheels, the safety and the stability of the vehicle are ensured, the total driving torque is not lost, and the driving safety of a user is improved.
It should be noted that, the wheel torque distribution device for a vehicle provided by the embodiment of the present invention is used for executing all the flow steps of the wheel torque distribution method for a vehicle in the foregoing embodiment, and the working principles and beneficial effects of the two correspond one to one, so that the description is omitted.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-only memory (ROM), a random access memory (RandomAccessMemory, RAM), or the like.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.

Claims (8)

1. A wheel torque distribution method of a vehicle, characterized by comprising:
judging the current running states of front wheels and rear wheels of the vehicle; wherein the operating conditions include a slip condition and a non-slip condition;
correcting the torque of the front wheels according to the running states of the front wheels and the rear wheels so as to calculate the target torque of the front wheels;
After the target torque of the front wheels is obtained, calculating the target torque of the rear wheels according to the current total driving torque of the vehicle and the target torque of the front wheels;
torque adjustment is performed on the front wheels and the rear wheels according to target torques of the front wheels and the rear wheels;
the method for correcting the torque of the front wheels according to the running states of the front wheels and the rear wheels so as to calculate the target torque of the front wheels specifically comprises the following steps:
when the front wheels are in a slipping state and the rear wheels are in a non-slipping state, acquiring a front axle correction coefficient corresponding to the front axle slip of the front wheels of the vehicle at present according to the corresponding relation between the preset front axle slip and the front axle correction coefficient;
correcting the initial torque of the front wheels according to the front axle correction coefficient to obtain the target torque of the front wheels;
after said torque adjustment of said front wheels and said rear wheels, said method further comprises:
when the front axle slip is smaller than or equal to a preset first front axle slip threshold value and larger than or equal to a preset second front axle slip threshold value, acquiring a front axle correction coefficient corresponding to the front axle slip at the previous moment according to the corresponding relation between the preset front axle slip and the front axle correction coefficient; the second front axle slip threshold is smaller than the first front axle slip threshold, and when the front axle slip is larger than the first front axle slip threshold, the front wheels are judged to be in a slip state, otherwise, the front wheels are judged to be in a non-slip state;
Correcting the initial torque of the front wheels according to the front axle correction coefficient to obtain the target torque of the front wheels;
after the target torque of the front wheels is obtained, calculating the target torque of the rear wheels according to the total driving torque and the target torque of the front wheels;
and adjusting the torque of the front wheels and the rear wheels according to the target torque of the front wheels and the rear wheels.
2. The method for distributing wheel torque of a vehicle according to claim 1, wherein determining the current operating states of the front wheels and the rear wheels of the vehicle, specifically comprises:
calculating front axle slip corresponding to front wheels and rear axle slip corresponding to rear wheels of the vehicle;
when the front axle slip is larger than a preset first front axle slip threshold, judging that the front wheel is in a slip state, otherwise, judging that the front wheel is in a non-slip state;
and when the rear axle slip is larger than a preset first rear axle slip threshold, judging that the rear wheel is in a slip state, otherwise, judging that the rear wheel is in a non-slip state.
3. The wheel torque distribution method of a vehicle according to claim 2, wherein the correcting the torque of the front wheels to calculate the target torque of the front wheels according to the operating states of the front wheels and the rear wheels further comprises:
When the rear wheels are in a slipping state and the front wheels are in a non-slipping state, acquiring a rear axle correction coefficient corresponding to the current rear axle slip according to the corresponding relation between the preset rear axle slip and the rear axle correction coefficient;
correcting the torque of the rear wheels at the current moment according to the rear axle correction coefficient to obtain the corrected torque of the rear wheels;
and calculating the difference value between the torque of the rear wheel at the previous moment and the correction torque, and calculating the sum of the difference value and the torque of the front wheel at the previous moment to obtain the target torque of the front wheel.
4. The wheel torque distribution method of a vehicle according to claim 2, wherein the correcting the torque of the front wheels to calculate the target torque of the front wheels according to the operating states of the front wheels and the rear wheels further comprises:
when the front wheels and the rear wheels are both in a non-slip state, or the front wheels and the rear wheels are both in a slip state, an initial torque of the front wheels is determined as a target torque of the front wheels.
5. The method for distributing wheel torque of a vehicle according to claim 1 or 4, characterized in that the initial torque of the front wheels is determined by:
Acquiring the current total driving torque, the current vehicle speed and the current driving mode of the vehicle;
determining the initial distribution coefficient of the front wheel corresponding to the total driving torque, the vehicle speed and the driving mode of the vehicle at present according to the corresponding relation between the preset total driving torque, the vehicle speed, the driving mode and the initial distribution coefficient of the front wheel;
and calculating the initial torque of the front wheels according to the total driving torque and the initial distribution coefficient of the front wheels.
6. A wheel torque distribution method for a vehicle according to claim 3, characterized in that, after said torque adjustment of said front wheels and said rear wheels, said method further comprises:
when the rear axle slip is smaller than or equal to the preset first rear axle slip threshold and larger than or equal to a preset second rear axle slip threshold, acquiring a rear axle correction coefficient corresponding to the rear axle slip at the last moment according to the corresponding relation between the preset rear axle slip and the rear axle correction coefficient; wherein the second rear axle slip threshold is less than the first rear axle slip threshold;
correcting the torque of the rear wheels at the current moment according to the rear axle correction coefficient to obtain the corrected torque of the rear wheels;
Calculating the difference value between the torque of the rear wheel at the previous moment and the correction torque, and calculating the sum of the difference value and the torque of the front wheel at the previous moment to obtain the target torque of the front wheel;
after the target torque of the front wheels is obtained, calculating the target torque of the rear wheels according to the total driving torque and the target torque of the front wheels;
and adjusting the torque of the front wheels and the rear wheels according to the target torque of the front wheels and the rear wheels.
7. The wheel torque distribution method of a vehicle according to claim 2, characterized in that the calculating of the front axle slip corresponding to the front wheels and the rear axle slip corresponding to the rear wheels of the vehicle at present specifically includes:
acquiring the current speed of the vehicle, the motor rotation speed of the front wheels and the motor rotation speed of the rear wheels;
calculating the wheel speed of the front wheel according to the motor rotating speed of the front wheel, and calculating the front axle slip corresponding to the front wheel according to the difference value between the wheel speed of the front wheel and the vehicle speed;
and calculating the wheel speed of the rear wheel according to the motor rotating speed of the rear wheel, and calculating the rear axle slip corresponding to the rear wheel according to the difference value between the wheel speed of the rear wheel and the vehicle speed.
8. A wheel torque distribution device of a vehicle, characterized by comprising:
the running state judging module is used for judging the running states of the front wheels and the rear wheels of the vehicle at present; wherein the operating conditions include a slip condition and a non-slip condition;
the front wheel target torque calculation module is used for correcting the torque of the front wheels according to the running states of the front wheels and the rear wheels so as to calculate the target torque of the front wheels;
a rear wheel target torque calculation module, configured to calculate, after obtaining the target torque of the front wheel, the target torque of the rear wheel according to the current total driving torque of the vehicle and the target torque of the front wheel;
a torque adjustment module for performing torque adjustment on the front wheels and the rear wheels according to target torques of the front wheels and the rear wheels;
the front wheel target torque calculation module is specifically configured to:
when the front wheels are in a slipping state and the rear wheels are in a non-slipping state, acquiring a front axle correction coefficient corresponding to the front axle slip of the front wheels of the vehicle at present according to the corresponding relation between the preset front axle slip and the front axle correction coefficient;
Correcting the initial torque of the front wheels according to the front axle correction coefficient to obtain the target torque of the front wheels;
the device also comprises a first hysteresis interval processing module for:
after the torque adjustment is performed on the front wheels and the rear wheels, when the front axle slip is smaller than or equal to a preset first front axle slip threshold value and larger than or equal to a preset second front axle slip threshold value, acquiring a front axle correction coefficient corresponding to the front axle slip at the previous moment according to the corresponding relation between the preset front axle slip and the front axle correction coefficient; the second front axle slip threshold is smaller than the first front axle slip threshold, and when the front axle slip is larger than the first front axle slip threshold, the front wheels are judged to be in a slip state, otherwise, the front wheels are judged to be in a non-slip state;
correcting the initial torque of the front wheels according to the front axle correction coefficient to obtain the target torque of the front wheels;
after the target torque of the front wheels is obtained, calculating the target torque of the rear wheels according to the total driving torque and the target torque of the front wheels;
and adjusting the torque of the front wheels and the rear wheels according to the target torque of the front wheels and the rear wheels.
CN202210309858.0A 2022-03-25 2022-03-28 Method and device for distributing wheel torque of vehicle Active CN114633637B (en)

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Publication number Priority date Publication date Assignee Title
CN108216240A (en) * 2016-12-09 2018-06-29 现代自动车株式会社 For the method and apparatus that the front wheels and rear wheels torque of four-wheel drive vehicle is controlled to distribute
WO2021219597A1 (en) * 2020-04-29 2021-11-04 Robert Bosch Gmbh Torque redistribution and adjustment method, and corresponding control unit and electric vehicle
CN113799618A (en) * 2021-09-17 2021-12-17 华人运通(江苏)技术有限公司 Wheel driving state monitoring method and device of vehicle and vehicle
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