CN1778599A - Vehicle and its control - Google Patents
Vehicle and its control Download PDFInfo
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- CN1778599A CN1778599A CNA200410091223XA CN200410091223A CN1778599A CN 1778599 A CN1778599 A CN 1778599A CN A200410091223X A CNA200410091223X A CN A200410091223XA CN 200410091223 A CN200410091223 A CN 200410091223A CN 1778599 A CN1778599 A CN 1778599A
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- 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
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Abstract
A car and its control method for ensuring stable running and suppressing the torque shock caused by slip are disclosed. When slipping takes place, the upper limitation value of torque is used to limit the torque required by the driver. When the car is steering or running on slope road at very low speed and it is judged to be unstable, the upper limitation value of torque is regulated for relaxing the slipping. When the car is running on flat road at low speed and it is judged to be stable, the upper limitation value of the torgue is regulated for buffering the torque shock.
Description
Technical field
The present invention relates to possess can be to the vehicle and the control method thereof of the electrical motor of the axle drive shaft outputting power that is connected with drive wheel.
Background technology
,, proposed when drive wheel has taken place by excessive skidding in the past, and inferred road gradient and suppress the scheme (opening flat 7-77080 communique) of vehicle of the output of driving engine with reference to the spy as this vehicle.In this vehicle, skid when taking place when being inferred as uphill road excessive, in order to restrain excessive skidding the initial controlling torque of necessity is revised and then the drive controlling driving engine along the direction that increases, prevent initial controlling torque step-down when excessive skidding taken place thus and more than essential value, thus the guaranteeing of the acceleration capability of the vehicle when advancing of seeking to go up a slope.
Summary of the invention
In such vehicle, will compare with driving engine under the situation that the propulsion source of the fast motor of output responsiveness in the control as the usefulness of travelling use, just the situation of impacting (vibration) because of excessive inhibition of skidding the output when taking place is arranged.On the other hand, when vehicle has taken place to skid, thereby just be necessary that promptly restraining skids and guarantee the riding stability of vehicle under unsure state.
One of purpose of vehicle of the present invention promptly is to solve such problem, and the impact of restriction when the torque of axle drive shaft output when skidding suppressed.In addition, another purpose of vehicle of the present invention is when guaranteeing the riding stability of vehicle, and the impact of restriction when the torque of axle drive shaft output when skidding suppressed.
Vehicle of the present invention has adopted following scheme in order to reach at least a portion of above-mentioned purpose.
Vehicle of the present invention is to possess to it is characterized in that possessing to the vehicle of the electrical motor of the axle drive shaft outputting power that is connected with drive wheel: detect the detecting device that skids that skids that the idle running because of above-mentioned drive wheel causes; Detect the motoring condition detecting device of the motoring condition of above-mentioned vehicle; When detecting by the above-mentioned detecting device that skids when skidding, according to motoring condition, set as the rapid restriction that the rapid restriction that limits the degree when the torque of above-mentioned axle drive shaft output suppresses is sharp suppressed degree and suppress the degree set device by the above-mentioned detected vehicle of condition checkout gear that travels; Reach control setup in order to the above-mentioned electrical motor of mode drive controlling that limits the torque of exporting with the above-mentioned rapid restriction inhibition degree that sets to above-mentioned axle drive shaft.
In vehicle of the present invention, according to the motoring condition that detects the vehicle when skidding, set as to limiting the anxious restriction inhibition degree of the degree when the torque of axle drive shaft output suppresses sharp, and limit to the mode of the torque of axle drive shaft output with the anxious restriction inhibition degree of utilizing this setting and to come the drive controlling can be to the electrical motor of axle drive shaft outputting power.Thereby, can be suppressed at degree and follow the detection of skidding and limit impact when the torque of axle drive shaft output, and make slip converges simultaneously based on the motoring condition of vehicle.At this, electrical motor can also be a shared electrical motor of left and right wheels that is used as drive wheel.
In such vehicle of the present invention, can also being set at aforementioned anxious restriction, to suppress the degree set device be that motoring condition with the aforementioned vehicle that is detected is in unsettled tendency more and sets the device of aforementioned anxious restriction inhibition degree with regard to making its more little mode.Like this, when vehicle is in more unsettled tendency, just reduce the inhibition degree of rapid restriction of the torque of subtend axle drive shaft output, promptly make slip converges, thereby can guarantee the riding stability of vehicle; When vehicle is in more stable tendency, just strengthens the inhibition degree of rapid restriction of the torque of subtend axle drive shaft output, thereby can alleviate impact.
In addition, in vehicle of the present invention, can also be set at aforementioned motoring condition detecting device is the device with steering volume detecting device of the steering volume that detects aforementioned vehicle; It is the device of setting aforementioned anxious restriction inhibition degree according to the steering volume of aforementioned detected vehicle that aforementioned anxious restriction suppresses the degree set device.In addition, can also be set at aforementioned motoring condition detecting device is the device with vehicle speed detector device of the speed of a motor vehicle that detects aforementioned vehicle; It is the device of setting aforementioned anxious restriction inhibition degree according to the speed of a motor vehicle of the steering volume of aforementioned detected vehicle and aforementioned detected vehicle that aforementioned anxious restriction suppresses the degree set device.And then, can also be set at aforementioned anxious restriction suppress the degree set device be the speed of a motor vehicle of the steering volume of aforementioned detected vehicle and aforementioned detected vehicle for regulation turn in the driving process time, set the device of aforementioned anxious restriction inhibition degree than little mode usually to become.In addition, can also being set at aforementioned anxious restriction, to suppress the degree set device be that motoring condition with aforementioned detected vehicle is in unsettled tendency more and sets the device that aforementioned rapid restriction suppresses degree with regard to making its more little mode.
And then in vehicle of the present invention, can also be set at aforementioned motoring condition detecting device is the device with the road gradient detecting device that detects road gradient; It is the device of setting aforementioned anxious restriction inhibition degree according to aforementioned detected road gradient that aforementioned anxious restriction suppresses the degree set device.In addition, can also be set at aforementioned motoring condition detecting device is the device with vehicle speed detector device of the speed of a motor vehicle that detects aforementioned vehicle; It is to set the aforementioned anxious device that limits the inhibition degree according to the aforementioned detected road gradient and the aforementioned detected speed of a motor vehicle that aforementioned anxious restriction suppresses the degree set device.And then, can also be set at, it is at aforementioned detected road gradient during more than or equal to the 1st regulation gradient and the aforementioned detected speed of a motor vehicle during less than the 1st regulation speed of a motor vehicle, to become than little usually such device of setting aforementioned anxious restriction inhibition degree that aforementioned anxious restriction suppresses the degree set device.In addition, can also be set at, it is at aforementioned detected road gradient during less than the 2nd regulation gradient and the aforementioned detected speed of a motor vehicle during less than the 2nd regulation speed of a motor vehicle, to become than big usually such device of setting aforementioned anxious restriction inhibition degree that aforementioned anxious restriction suppresses the degree set device.In these cases, the steering volume of vehicle can be added as a condition less than the regulation steering volume.
In addition, in vehicle of the present invention, can also be set at the rotary acceleration detecting device that possesses the rotary acceleration that detects aforementioned axle drive shaft; Aforementioned control setup, thereby be as follows, the lower limit when being about to limit that aforementioned axle drive shaft is desired and require torque, use the mode of restriction to the torque of aforementioned axle drive shaft output, the device of drive controlling aforementioned electric motivation as aforementioned anxious restriction inhibition degree with the torque limit value that sets at the rotating angular acceleration that detects by the aforementioned detecting device that skids when skidding according to aforementioned detected axle drive shaft.
Moreover the present invention also can be used as the form of the control method of vehicle except that the form of above-mentioned vehicle.
Description of drawings
Fig. 1 is the constructional drawing of summary displaying as the structure of the automobile 20 of one embodiment of the present of invention.
Fig. 2 is the diagram of circuit of displaying by an example of the drive controlling program of electronic control unit 70 execution of the automobile 20 of embodiment.
Fig. 3 shows the chart that quickens aperture Acc, vehicle velocity V and require the relation of torque Td*.
Fig. 4 is the diagram of circuit of displaying by an example of the determination processing program of skidding of electronic control unit 70 execution of the automobile 20 of embodiment.
Fig. 5 is a diagram of circuit of showing an example of handler when being taken place by skidding of carrying out of the electronic control unit 70 of the automobile 20 of embodiment.
Fig. 6 is a chart of showing the relation of the rotating angular acceleration α of axle drive shaft 28 and torque upper limit value Tmax.
Fig. 7 is the diagram of circuit of displaying by an example of the adjustment torque settings handler of electronic control unit 70 execution of the automobile 20 of embodiment.
Fig. 8 is a chart of showing the relation that turns to running region of vehicle velocity V, deflection angle θ st and regulation.
Fig. 9 shows the chart that skids and torque Tmslip takes place and adjust the relation of torque TL.
Figure 10 is the diagram of circuit of one example of handler when showing the slip converges of being carried out by the electronic control unit 70 of the automobile 20 of embodiment.
Figure 11 is the instruction diagram of state of showing the time variation of target torque Tm* when torque because of generation subtend axle drive shaft 28 outputs of skidding limits and rotating angular acceleration α.
Figure 12 is the constructional drawing of the structure of the summary automobile 120 of showing variation.
Figure 13 is the constructional drawing of the structure of the summary automobile 220 of showing variation.
Figure 14 is the constructional drawing of the structure of the summary automobile 320 of showing variation.
The specific embodiment
Secondly, with embodiment concrete embodiment of the present invention is described.Fig. 1 is the constructional drawing of concise and to the point displaying as the structure of the automobile 20 of one embodiment of the present of invention.The automobile 20 of embodiment, as shown, possess and to utilize the electric power that provides via converter circuit 24 from storage battery 26 and to the motor 22 of axle drive shaft 28 outputting powers that mechanically are connected via differential gear 29 and drive wheel 62a, 62b and the electronic control unit 70 that vehicle integral body is controlled.
Electronic control unit 70 is configured as the micro controller system that with CPU (central process unit) 72 is the center, also possesses the ROM74 of storage processing program except that CPU72, temporarily stores the RAM76 and the input/output port (scheming not show) of data.The position of rotation θ d of position of rotation detecting sensor 32 that will come from the position of rotation of the S. A. (axle drive shaft 28) that detects motor 22, come from and detect drive wheel 62a, the vehicle-wheel speed sensor 34a of each wheel velocity of 62b, the wheel velocity of 34b, come from and detect non-driving wheel 64a, the vehicle-wheel speed sensor 36a of each wheel velocity of 64b, the wheel velocity of 36b, the vehicle velocity V that comes from the car speed sensor 52 of the moving velocity that detects vehicle, the road surface gradient theta gr that comes from the Slope Transducer 54 of the ground-surface gradient that detects vehicle ', the deflection angle θ st that comes from the steering angle sensor 56 of the deflection angle that detects vehicle, the MLP SP that comes from the MLP sensor 82 of the operating position that detects shifter bar 81, the acceleration aperture Acc that comes from the accelerator pedal position sensor 84 of the depression amount that detects acceleration pedal 83, with brake pedal position BP of the brake pedal position sensor 86 that comes from the depression amount that detects brake pedal 85 etc., be input in this electronic control unit 70 via input port.In addition, from electronic control unit 70 via output port output to the changeover control signal of the conversion element of converter circuit 24 etc.
To the action of the automobile 20 of such formation, especially to judging that whether the action of skidding, then motor 22 being carried out drive controlling that the idle running because of drive wheel 62a, 62b takes place has taken place describes.Fig. 2 is the diagram of circuit of displaying by an example of the drive controlling program of electronic control unit 70 execution of the automobile 20 of embodiment.This program repeats once every specified time (for example, every 8msec).
After the drive controlling program is carried out, (the step S100) such as rotational speed N d of the axle drive shaft 28 that the CPU72 of electronic control unit 70 at first imports the acceleration aperture Acc that comes from accelerator pedal position sensor 84, the vehicle velocity V that comes from car speed sensor 52, calculate according to the position of rotation θ d that comes from rotational position sensor 32, again according to the acceleration aperture Acc that is imported and vehicle velocity V set should be to axle drive shaft 28 outputs require torque Td* (step S102).At this, require the setting of torque Td*, be to try to achieve the relation of quickening aperture Acc, vehicle velocity V and requiring torque Td* in advance to diagrammatize then and store in advance in the ROM74 in an embodiment, when providing acceleration aperture Acc and vehicle velocity V, will from chart, derive the cooresponding torque Td* that requires.One example of in Fig. 3, having showed this chart.
Then, calculate the rotating angular acceleration α (step S104) of S. A. 28 according to the rotational speed N d of the axle drive shaft of being imported 28, judge according to the rotating angular acceleration α that is calculated whether the determination processing of skidding (step S106) of skidding and whether having restrained of skidding or taking place has taken place on drive wheel 62a, 62b again.At this, the calculating of rotating angular acceleration α in an embodiment, is to be undertaken by deduct the last time rotational speed N d (current rotational speed N d-is rotational speed N d last time) that is imported in preceding secondary program from the current rotational speed N d that is imported this program.Moreover, the unit of rotating angular acceleration α, as if the unit that represents rotational speed N d with per 1 minute rotating speed [rpm], then in an embodiment, because this program implementation time gap is 8msec, so be [rpm/8msec].Certainly, as long as can represent, adopt which type of unit can as the time rate of change of rotating speed.In addition, rotating angular acceleration α in order to reduce error, also can adopt the aviation value of the angular acceleration that is calculated the several (for example 3 times) before this program begins.Below, the content of the determination processing of skidding is described in detail.
Fig. 4 is the diagram of circuit of displaying by an example of the determination processing program of skidding of electronic control unit 70 execution of the automobile 20 of embodiment.After this determination processing program of skidding begins to carry out, the CPU72 of electronic control unit 70 judges whether the rotating angular acceleration α that is calculated surpasses can be considered the threshold alpha slip that skids (step S150) that causes because of idle running has taken place in the step S104 of the drive controlling program of Fig. 2, when being judged to be rotating angular acceleration α above threshold alpha slip, taken place to skid with regard to being judged as drive wheel 62a, 62b idle running, and sign F1 takes place and is set to 1 value (step S152) in skidding of the expression generation of skidding, and finishes this program.
When being judged to be rotating angular acceleration α above threshold alpha slip, judging skids takes place to indicate whether the value of F1 is 1 value (step S154).Skid when sign F1 taking place being 1 value when being judged to be, whether just judge rotating angular acceleration α for negative value and this state continuance specified time or its above (step S156, S158), when judge rotating angular acceleration α for negative value and this state continuance specified time or its when above, just being judged as skidding of taking place on drive wheel 62a, 62b restrains, expression has restrained the slip converges sign F2 that skids that takes place and has been set to 1 value (step S160), finishes this program.When judging that rotating angular acceleration α is not the value of bearing, be that this state of value of bearing continues specified time or its when above though perhaps be judged to be angular acceleration, just be judged as skidding of generation and still do not restrain, finish this program then.Moreover, when being judged to be skids takes place to indicate that F1 is not 1 value when assaulting the main target at step S154, just be judged as and skid, finish this program then.
Turn back to the drive controlling program of Fig. 2, after having finished the judgement of skidding like this, carry out and the corresponding processing of result of determination (step S108～S116).Specifically, take place to indicate that when being judged to be to skid F1 and slip converges sign F2 are 0 value, when not having to skid (state of grabbing ground), the torque Td* that requires that will set in step S102 is set at the target torque Tm* (step S110) of motor 22, and carry out processing (step S116) according to the target torque Tm* drive controlling motor 22 that sets, finish this program then.In addition, when be judged to be skid take place sign F1 be 1 value and slip converges sign F2 be 0 value, when having taken place to skid, processing (step S112) when then skidding generation; Skid when sign F1 and slip converges sign F2 taking place being skidding of 1 value, generation and restraining when being judged to be, handle when carrying out slip converges (step S114), carry out the processing (step S116) that the target torque Tm* according to the motor 22 that sets comes drive controlling motor 22 then in each is handled, finish this program then.Moreover the drive controlling of motor 22 specifically, is by carrying out to the on-off element output switch control signal of converter circuit 24 in mode from the torque that matches with target torque Tm* to axle drive shaft 28 that export.Below, being described in detail successively skids handles when taking place and handles during slip converges.
To skid and handle when taking place, thereby to be skidding of taking place in order suppressing and to the axle drive shaft 28 desired processing that require torque Td* to limit the target torque Tm* that sets motor 22, handler is carried out when taking place according to skidding of Fig. 5.After when this skids generation, handling start program, the CPU72 of electronic control unit 70 judges that at first whether the rotating angular acceleration α that is calculated surpasses peak value α peak (step S200), carries out peak value α peak is updated to the processing (step S202) of this rotating angular acceleration α when rotating angular acceleration α surpasses peak value α peak in the step S104 of the drive controlling program of Fig. 2.At this, peak value α peak, be basically because of skid rotating angular acceleration α is risen show as peak value the time value, be set at 0 value as initial value.Thereby, rotating angular acceleration α rise until arrive the peak during in turn peak value α peak is updated to the value of rotating angular acceleration α, the moment that arrives the peak at rotating angular acceleration α is fixed this rotating angular acceleration α as peak value α peak.When such set peak value α peak after, carry out according to this peak value α peak set for skidding of suppressing to take place and can be from the higher limit of the torque of motor 22 outputs, be the processing (step S204) of torque upper limit value Tmax.This processing in an embodiment, utilizes chart shown in Figure 6 to carry out.Fig. 6 is a chart of showing the relation of rotating angular acceleration α and torque upper limit value Tmax.In this chart, as shown, has the characteristic that the big more then torque upper limit of rotating angular acceleration α value Tmax becomes more little.Thereby rotating angular acceleration α rising peak value α peak becomes big more, and the degree of promptly skidding is big more, then just sets less value as torque upper limit value Tmax, thereby will limit from the torque of motor 22 outputs on respective degrees ground.
So, after torque upper limit value Tmax is set, then, whether the execution of judging handler when this skids generation is first execution (step S206), when being judged to be first execution, carry out following processing, promptly in order to suppress rapid restriction, as the requiring the lower limit when torque Td* limits of axle drive shaft 28 being set the adjustment torque settings processing (step S208) of adjusting torque value TL by the torque upper limit value Tmax that sets to the torque of axle drive shaft 28 outputs.The adjustment torque settings is handled, and carries out by the illustrated adjustment torque settings of Fig. 7 handler.Below, this adjustment torque settings processing is described.
After adjustment torque settings handler began to carry out, torque Tmslip (step S250) at first took place in the moment of having taken place to skid as skidding to the torque settings of axle drive shaft 28 outputs in the CPU72 of electronic control unit 70.Skid the setting of torque Tmslip takes place, in an embodiment, the last time target torque Tm* of the motor 22 that set by step S110～S114 in the drive controlling program of last time Fig. 2 is set as the generation torque Tmslip that skids.
Then, input comes from the road surface gradient theta gr of Slope Transducer 54 and from the deflection angle θ st (step S252) of steering angle sensor 56, according to the road surface gradient theta gr that is imported, whether deflection angle θ st and the vehicle velocity V of importing in the step S100 of the drive controlling program of Fig. 2 are in the judgement (step S254) in the driving process of turning to of regulation, whether be that road surface gradient theta gr is that sloping road and vehicle velocity V are the judgement (step S256) of the extremely low speed of a motor vehicle, and whether be that road surface gradient theta gr is that flat road surface (level road) and vehicle velocity V are the judgement (step S260) of the low speed of a motor vehicle.At this, whether be in the judgement in the driving process of turning to of regulation, for example, undertaken by judging the running region that turns to whether vehicle velocity V and deflection angle θ st belong to the regulation in and the zone that vehicle velocity V is also higher bigger as deflection angle θ st.One example of in Fig. 8, having showed the chart that is used for this judgement.In addition, whether be that road surface gradient theta gr is that sloping road and vehicle velocity V are the judgement of the extremely low speed of a motor vehicle, by judging whether in the regulation gradient (for example road surface gradient theta gr, the gradient about 14% or 15%) or its above and vehicle velocity V whether carry out less than the regulation speed of a motor vehicle (for example, the speed of a motor vehicle about 5～10km/h).And then.Whether be that road surface gradient theta gr is that flat road surface and vehicle velocity V are the judgement of the low speed of a motor vehicle, by judging whether less than the regulation gradient (for example road surface gradient theta gr, the gradient about 3% or 5%) and vehicle velocity V whether carry out less than the regulation speed of a motor vehicle (for example, the speed of a motor vehicle about 20～30km/h).
Result when such judgement, being judged to be is turning in the driving process in regulation, or when to be judged to be road surface gradient theta gr be sloping road and vehicle velocity V for the extremely low speed of a motor vehicle, then being judged as the vehicle that skids when taking place is in than unsure state, be necessary to make the convergence rapidly of skidding more preferably with suppressing significantly the rapid restriction that requires torque relaxed to impact to compare, according to skidding of in step S250, being imported torque Tmslip take place and set the adjustment torque TL (step S258) of slip converges when preferential; Do not meet step S254 when being judged to be, when the condition of S256 but road surface gradient theta gr are flat road surface and vehicle velocity V for the low speed of a motor vehicle, vehicle when skidding generation with regard to being judged as is in than stable status, impact more preferably thereby compare with the convergence rapidly of skidding to be necessary to make to suppress significantly the rapid restriction that requires torque Td* relaxed, according to skidding of being imported in step S250 torque Tmslip taking place sets and impacts the adjustment torque TL (step S262) that relaxes when preferential, when being judged to be and step S254, S256, when any one condition of S260 does not all meet, just so that balanced mutually such of convergence rapidly of skidding and the mitigation of impacting, according to skidding of being imported torque Tmslip taking place and set adjustment torque TL (step S264) when common, finishes this program then in step S250.The setting of such adjustment torque, in an embodiment, be that torque Tmslip diagrammatizes with the relation of adjusting torque TL and is stored in advance in the ROM74 when taking place by skidding in advance,, just from chart, derive cooresponding adjustment torque TL and set when providing when skidding when taking place torque Tmslip.One example of in Fig. 9, having showed this chart.As shown, the adjustment torque TL when slip converges is preferential sets in the mode that increases when common; Impact to relax the adjustment torque TL when preferential, set in the mode that reduces when common.
Turn back to the handler when taking place that skids of Fig. 5, after adjusting torque TL setting, judge that the adjustment torque TL set is whether than the torque upper limit value Tmax that sets also big (step S210) in step S204, adjust torque TL torque/mass ratio higher limit Tmax when also big when being judged to be, just torque upper limit value Tmax is become the adjusting like that of adjustment torque TL (step S212).Then, carry out in the step S102 of the drive controlling program of Fig. 2, setting require torque Td* and the torque upper limit value Tmax that in step S204, sets or in step S212 among the torque upper limit value Tmax through adjusting a less side be set at the processing (step S214) of the target torque Tm* of motor 22, finish this program then.Thus, adjust torque TL one side when bigger when comparing with torque upper limit value Tmax, TL comes requirement for restriction torque Td* thereby the torque upper limit value Tmax that sets in order to suppress to skid is adjusted to the adjustment torque, therefore, can suppress to prevent the torque shock ends that might take place when the drive controlling motor 22 to requiring the rapid restriction of torque Td*.At this moment, adjust torque TL, when being judged to be vehicle in turning to of regulation travelled, or being judged to be vehicle and travelling when middle on sloping road and with the extremely low speed of a motor vehicle, just be judged as vehicle and be in, thereby be set to also little value when common and the convergence rapidly of preferentially skidding than unsure state; When being judged to be vehicle not in turning to of regulation travelled and in flat road surface and be that travelling of the low speed of a motor vehicle is when middle, therefore the mitigation that then is set to also big value when common and preferentially impacts can relax effectively when guaranteeing the riding stability of vehicle and follow the inhibition of skidding and the torque shock ends that produces.
Handle when taking place when repeating to skid, and when to be judged to be the execution that takes place to handle of skidding in step S206 be not first, then be updated in the processing (step S216) of the adjustment torque TL that sets among the step S208.Upgrading the processing of adjusting torque TL, in an embodiment, is to set once more and carry out as new adjustment torque TL by the value that will deduct specified value Trate gained from the adjustment torque TL (last time TL) that last time sets or upgraded.After adjusting torque TL renewal, when the adjustment torque TL torque/mass ratio higher limit Tmax after renewal is also big, adjustment torque TL after upgrading is adjusted (step S210, S212) as torque upper limit value Tmax, go forward side by side be about to requirement torque Td*, the torque upper limit value Tmax that in step S204, sets or in step S212 among the adjusted torque upper limit value Tmax a less side be set at the processing (step S214) of the target torque Tm* of motor 22, finish this program then.
Handle during slip converges, be used for removing (mitigations) when the skidding of convergence generation to requiring the processing of the restriction that torque Td* applies, handler is carried out during slip converges by Figure 10.When handler begins to carry out when slip converges; the CPU72 of electronic control unit 70 at first will set in the adjustment torque settings handler of Fig. 7, and the COEFFICIENT K that torque Tmslip and regulation take place of skidding multiplies each other setpoint torque higher limit Tmax (step S300), and uses the torque upper limit value Tmax that sets to protect the processing that requires torque Td* (step S302) that sets in the step S102 of the drive controlling program of Fig. 2.At this, COEFFICIENT K is to set in the scope of 0 value～1 value in order to prevent to skid once more.Whether passed through specified time (step S304) after the first execution of handler begins when then, judging from slip converges.When being judged to be when not passing through specified time, direct this program of end just; When being judged to be when having passed through specified time, just carry out the processing (step S306) that sign F1 and slip converges sign F2 all are set to 0 value taking place with skidding, finish this program then.Thereby, the first execution of handler begins afterwards till the process specified time during from slip converges, the regulation ratiometric torque (TmslipK) of the torque of exporting to axle drive shaft 28 when taking place to skid comes requirement for restriction torque Td*, when having passed through specified time, remove the restriction of being undertaken by torque upper limit value Tmax fully, set as the target torque Tm* of motor 22 and to require torque Td*, then the drive controlling motor 22.
In Figure 11, showed the instruction diagram that limits target torque Tm* and the state of the time variation of the rotating angular acceleration α of axle drive shaft 28 when the torque of axle drive shaft 28 outputs that is used to illustrate because of skidding.When the rotating angular acceleration α of axle drive shaft 28 surpasses threshold alpha slip and when skidding at moment t1, thereupon with rotating angular acceleration α setpoint torque higher limit Tmax accordingly.At this moment, in order to relax the impact of following the restriction that causes because of torque upper limit value Tmax to the rapid torque of axle drive shaft 28, steering volume θ st, road surface gradient theta gr and vehicle velocity V according to vehicle, vehicle is in stable tendency more then makes the mitigation of impact preferential, and value that will be bigger is set as adjusting torque TL, then the torque upper limit value Tmax that sets is adjusted into when adjustment torque TL torque/mass ratio higher limit Tmax is also big and adjusts torque TL.The moment t2 that is right after after the generation of skidding and comes is limited in adjusting the target torque Tm* that motor 22 is set on torque TL ground.Afterwards, the adjustment torque TL that sets is updated to less value gradually, restriction to the torque of axle drive shaft 28 output when being peak value till the corresponding torque upper limit value Tmax with rotating angular acceleration α.Make rotating angular acceleration α pass through the moment t3 of specified time after being declined to become negative value in the enforcement by torque limitation, being judged as skids restrains, removes the restriction to the torque of axle drive shaft 28 outputs.
Automobile 20 according to the embodiment of above explanation, at the torque upper limit value Tmax that sets in order to suppress to skid, than being in such adjustment torque TL that sets that unsettled tendency just makes it become more little more with the motoring condition of vehicle when also little, then will adjust torque TL again adjusts as torque upper limit value Tmax, restriction should to axle drive shaft 28 output require torque Td* so that it reaches this adjusted torque upper limit value Tmax or below it.That is, when the motoring condition of vehicle when skidding is in than unsure state, the convergence rapidly of preferentially skidding; When the motoring condition of vehicle when skidding generation is in than stable status, the mitigation of preferentially impacting; Therefore, can when guaranteeing the riding stability of vehicle, relax the impact of following the inhibition of skidding and coming effectively.
In the automobile 20 of embodiment, select a kind of torque upper limit value Tmax that adjusts though be made as to adjust the torque TL (when slip converges is preferential, usually the time and impact and relax when preferential) from 3 kinds, also can be made as according to the motoring condition of vehicle from 2 kinds or 4 kinds or more adjust a kind of torque upper limit value Tmax that adjusts of selection the torque TL according to the motoring condition of vehicle.
In the automobile 20 of embodiment, though in the processing of the step S254 that is made as at the adjustment torque settings handler of Fig. 7, judge that according to deflection angle θ st and vehicle velocity V whether vehicle is in during turning to of regulation travel, and judges that according to deflection angle θ st whether the deflection angle of vehicle is at the deflection angle of regulation or more than it but only also can be made as.
In the automobile 20 of embodiment, though in the processing of the step S256 that is made as at the adjustment torque settings handler of Fig. 7, at road surface gradient theta gr is that sloping road and vehicle velocity V are the adjustment torque TL when the setting slip converges is preferential when extremely hanging down the speed of a motor vehicle, but also can be made as no matter vehicle velocity V how, when road surface gradient theta gr just sets the adjustment torque TL of slip converges when preferential when the gradient of the regulation that is considered as sloping road or its are above.In addition, though be made as in the processing of step S258, when then setting when being flat road surface and vehicle velocity V for the low speed of a motor vehicle, road surface gradient theta gr impacts the adjustment torque TL that relaxes when preferential, but also can be made as no matter vehicle velocity V how, is just set when road surface gradient theta gr deficiency is considered as the gradient of regulation of flat road surface and impact the adjustment torque TL that relaxes when preferential.
In the automobile 20 of embodiment, though be made as in the step S254 of the adjustment torque settings handler of Fig. 7, whether utilization is in the judgement of turning to of regulation in travelling by steering angle sensor 56 direct detected deflection angle θ st, but also can be made as according to inferring deflection angle θ st, utilize this deflection angle θ st that infers whether to be in the judgement of turning to of regulation in travelling by the deviation of each rotational speed N r, the N1 of the detected non-driving wheel 64a of vehicle-wheel speed sensor 36a, 36b, 64b.
In the automobile 20 of embodiment, though be made as step S256 at the adjustment torque settings handler of Fig. 7, among the S260, whether utilization is sloping road by Slope Transducer 56 direct detected road surface gradient theta gr or is not the judgement of flat road surface, but also can be made as according in travelling or in the process of stopping to the torque of axle drive shaft 28 outputs and the relationship with acceleration of vehicle, infer road surface gradient theta gr or because road surface gradient theta gr and along the power of road surface gradient theta gr directive effect on vehicle, utilize this road surface gradient theta gr that infers or owing to road surface gradient theta gr acts on power on the vehicle, whether be sloping road or be not the judgement of flat road surface.
In the automobile 20 of embodiment, derive torque upper limit value Tmax and derive adjustment torque TL according to the motoring condition of vehicle simultaneously though be made as according to rotating angular acceleration α, adjust torque TL torque/mass ratio higher limit Tmax when also big to become the such torque upper limit value Tmax that adjusts that adjusts torque TL, thereby implement requiring the restriction of torque Td*, directly derive the torque upper limit value Tmax that estimates and adjust the cooresponding key element of torque TL but also can be made as according to the motoring condition of rotating angular acceleration α and vehicle.
In an embodiment, though be applicable to the automobile 20 that possesses the motor 22 that can be directly mechanically be connected to the quilt of the axle drive shaft outputting power that is connected with drive wheel 62a, 62b and be illustrated, but can be applicable to that the vehicle of which type of structure can to the vehicle of the electrical motor of axle drive shaft outputting power so long as possess.For example, applicable to hybrid vehicle motor, so-called tandem type (tandem hybrid power vehicle) of the generation power that possesses driving engine, the electrical generator that is connected with the output shaft of driving engine and be used to spontaneous motor to the axle drive shaft outputting power.In addition, as shown in figure 12, also applicable to the motor that generates electricity 124 that possesses driving engine 122, the planetary wheel 126 that is connected with driving engine 122, is connected with planetary wheel 126 with similarly be connected with planetary wheel 126 and simultaneously can be to the axle drive shaft outputting power ground that is connected with drive wheel 62a, 62b, mechanically be connected the hybrid vehicle (mechanical distribution formula hybrid power vehicle) 120 of the so-called mechanical distribution type of the motor 22 on the axle drive shaft; As shown in figure 13, also applicable to possessing outer rotor 224b on having the internal rotor 224a that is connected with the output shaft of driving engine 222 and being installed in the axle drive shaft that is connected with drive wheel 62a, 62b, and the effect of electromagnetism by internal rotor 224a and outer rotor 224b and counterrotating motor 224, with can be to axle drive shaft outputting power ground, mechanically be connected motor 22 on the axle drive shaft, the hybrid vehicle of so-called electrical distribution type (electrical distribution formula composite power automobile) 220.Perhaps, as shown in figure 14, also applicable to possessing and be connected motor 22 on the axle drive shaft that is connected with drive wheel 62a, 62b, with the hybrid vehicle (hybrid power vehicle) 320 of the driving engine 322 that is connected with the S. A. of motor 22 via power-transfer clutch CL via change-speed box 324 (buncher or automatic transmission with hydraulic torque converter of the utmost point etc. is arranged).At this moment, control when on drive wheel, skidding, though wait from the speed of output responsiveness of control and to consider, mainly be to limit the torque of exporting, but also can control other motor or control driving engine mutually in phase with the control of this motor to axle drive shaft by the motor that control mechanically is connected with axle drive shaft.
More than, though utilize embodiment that example of the present invention is illustrated, the present invention is not subjected to any restriction of such embodiment, obviously can implement with various forms in the scope that does not break away from aim of the present invention.
Claims (14)
1. vehicle, it is to possess to it is characterized in that possessing to the vehicle of the electrical motor of the axle drive shaft outputting power that is connected with drive wheel:
The detecting device that skids that skids that detection causes because of the idle running of above-mentioned drive wheel;
Detect the motoring condition detecting device of the motoring condition of above-mentioned vehicle;
When detecting by the above-mentioned detecting device that skids when skidding, according to motoring condition, set as the rapid restriction that the rapid restriction that limits the degree when the torque of above-mentioned axle drive shaft output suppresses is sharp suppressed degree and suppress the degree set device by the above-mentioned detected vehicle of condition checkout gear that travels; And
In order to the control setup that limits the above-mentioned electrical motor of mode drive controlling of the torque of exporting with the above-mentioned rapid restriction inhibition degree that sets to above-mentioned axle drive shaft.
2. vehicle as claimed in claim 1, wherein above-mentioned rapid restriction suppresses the degree set device, is that motoring condition with the above-mentioned vehicle that is detected is in unsettled tendency more and sets the device that above-mentioned rapid restriction suppresses degree with regard to making its more little mode.
3. vehicle as claimed in claim 1, the wherein above-mentioned condition checkout gear that travels is the device with steering volume detecting device of the steering volume that detects above-mentioned vehicle;
Above-mentioned rapid restriction suppresses the degree set device, is to set the device that above-mentioned rapid restriction suppresses degree according to the steering volume of above-mentioned detected vehicle.
4. vehicle as claimed in claim 3, the wherein above-mentioned condition checkout gear that travels is the device with vehicle speed detector device of the speed of a motor vehicle that detects above-mentioned vehicle;
Above-mentioned rapid restriction suppresses the degree set device, is to set the device that above-mentioned rapid restriction suppresses degree according to the speed of a motor vehicle of the steering volume of above-mentioned detected vehicle and above-mentioned detected vehicle.
5. vehicle as claimed in claim 4, wherein above-mentioned rapid restriction suppresses the degree set device, be the speed of a motor vehicle at the steering volume of above-mentioned detected vehicle and the above-mentioned vehicle that detects be in regulation turn in the driving process time, set the device that above-mentioned rapid restriction suppresses degree to become than little mode usually.
6. as any described vehicle in the claim 3 to 5, wherein above-mentioned rapid restriction suppresses the degree set device, is that motoring condition with above-mentioned detected vehicle is in unsettled tendency more and sets the device that above-mentioned rapid restriction suppresses degree with regard to making its more little mode.
7. as any described vehicle in the claim 1 to 5, the wherein above-mentioned condition checkout gear that travels is the device with the road gradient detecting device that detects road gradient;
Above-mentioned rapid restriction suppresses the degree set device, is to set the device that above-mentioned rapid restriction suppresses degree according to above-mentioned detected road gradient.
8. vehicle as claimed in claim 7, the wherein above-mentioned condition checkout gear that travels is the device with vehicle speed detector device of the speed of a motor vehicle that detects above-mentioned vehicle;
Above-mentioned rapid restriction suppresses the degree set device, is to set the device that above-mentioned rapid restriction suppresses degree according to the above-mentioned detected road gradient and the above-mentioned detected speed of a motor vehicle.
9. vehicle as claimed in claim 8, wherein above-mentioned rapid restriction suppresses the degree set device, be at above-mentioned detected road gradient during more than or equal to the 1st regulation gradient and the above-mentioned detected speed of a motor vehicle during, set the device that above-mentioned rapid restriction suppresses degree than little mode usually to become less than the 1st regulation speed of a motor vehicle.
10. vehicle as claimed in claim 8, wherein above-mentioned rapid restriction suppresses the degree set device, be at above-mentioned detected road gradient during less than the 2nd regulation gradient and the above-mentioned detected speed of a motor vehicle during, set the device that above-mentioned rapid restriction suppresses degree than big mode usually to become less than the 2nd regulation speed of a motor vehicle.
11. vehicle as claimed in claim 9, wherein above-mentioned rapid restriction suppresses the degree set device, be at above-mentioned detected road gradient during less than the 2nd regulation gradient and the above-mentioned detected speed of a motor vehicle during, set the device that above-mentioned rapid restriction suppresses degree than big mode usually to become less than the 2nd regulation speed of a motor vehicle.
12. vehicle as claimed in claim 1 or 2 wherein possesses the rotary acceleration detecting device of the rotary acceleration that detects above-mentioned axle drive shaft;
Above-mentioned control setup, thereby be as follows, the lower limit when being about to limit that aforementioned axle drive shaft is desired and require torque, use the mode of restriction to the torque of aforementioned axle drive shaft output, the device of drive controlling aforementioned electric motivation as aforementioned anxious restriction inhibition degree with the torque limit value that sets at the rotating angular acceleration that detects by the aforementioned detecting device that skids when skidding according to aforementioned detected axle drive shaft.
13. vehicle as claimed in claim 1 or 2, wherein above-mentioned electrical motor are electrical motors that is common to as the left and right wheels of above-mentioned drive wheel.
14. the control method of a vehicle, it possesses and can it is characterized in that possessing to the control method of the vehicle of the electrical motor of the axle drive shaft outputting power that is connected with drive wheel:
(a) detect the step of skidding that the idle running because of above-mentioned drive wheel causes;
(b) step of the motoring condition of the above-mentioned vehicle of detection;
(c) when detecting by above-mentioned steps (a) when skidding, according to motoring condition, set as the step that the rapid restriction that limits the degree when the torque of above-mentioned axle drive shaft output suppresses is sharp suppressed degree by the detected vehicle of above-mentioned steps (b); And
(d) with the rapid restriction inhibition degree restriction that sets according to this step to the above-mentioned electrical motor of mode drive controlling of the torque of above-mentioned axle drive shaft output.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200410091223XA CN100400332C (en) | 2004-11-17 | 2004-11-17 | Vehicle and its control |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200410091223XA CN100400332C (en) | 2004-11-17 | 2004-11-17 | Vehicle and its control |
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| CN1778599A true CN1778599A (en) | 2006-05-31 |
| CN100400332C CN100400332C (en) | 2008-07-09 |
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| CNB200410091223XA Expired - Fee Related CN100400332C (en) | 2004-11-17 | 2004-11-17 | Vehicle and its control |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103140883A (en) * | 2011-05-18 | 2013-06-05 | 日产自动车株式会社 | Driving instablity determination device |
| CN105555630A (en) * | 2013-07-19 | 2016-05-04 | 日产自动车株式会社 | Driving state estimation device |
| CN106080258A (en) * | 2016-06-07 | 2016-11-09 | 冯旋宇 | The power outgoing management method and system of electric motor car |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08182119A (en) * | 1994-12-22 | 1996-07-12 | Toyota Motor Corp | Control method of traveling motor for electric vehicle |
| JP3371889B2 (en) * | 2000-04-17 | 2003-01-27 | トヨタ自動車株式会社 | Vehicle slip control |
| JP3772809B2 (en) * | 2002-08-29 | 2006-05-10 | トヨタ自動車株式会社 | Motor control device and motor control method |
| JP3832405B2 (en) * | 2002-08-29 | 2006-10-11 | トヨタ自動車株式会社 | Motor control device and motor control method |
| JP2004096939A (en) * | 2002-09-03 | 2004-03-25 | Toyota Motor Corp | Car and controller for car |
| JP2004098715A (en) * | 2002-09-04 | 2004-04-02 | Nissan Motor Co Ltd | Driving force controller for vehicle |
-
2004
- 2004-11-17 CN CNB200410091223XA patent/CN100400332C/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103140883A (en) * | 2011-05-18 | 2013-06-05 | 日产自动车株式会社 | Driving instablity determination device |
| CN103140883B (en) * | 2011-05-18 | 2015-02-04 | 日产自动车株式会社 | Driving instablity determination device |
| CN105555630A (en) * | 2013-07-19 | 2016-05-04 | 日产自动车株式会社 | Driving state estimation device |
| CN105555630B (en) * | 2013-07-19 | 2017-07-25 | 日产自动车株式会社 | Driving condition estimation unit |
| CN106080258A (en) * | 2016-06-07 | 2016-11-09 | 冯旋宇 | The power outgoing management method and system of electric motor car |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100400332C (en) | 2008-07-09 |
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