DE102007000653A1 - Method for improving driving dynamics of motor vehicle, involves arranging situation-dependent or permanent yaw moment transfer between electronic stability program system and torque vectoring system or active steering - Google Patents
Method for improving driving dynamics of motor vehicle, involves arranging situation-dependent or permanent yaw moment transfer between electronic stability program system and torque vectoring system or active steering Download PDFInfo
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- DE102007000653A1 DE102007000653A1 DE200710000653 DE102007000653A DE102007000653A1 DE 102007000653 A1 DE102007000653 A1 DE 102007000653A1 DE 200710000653 DE200710000653 DE 200710000653 DE 102007000653 A DE102007000653 A DE 102007000653A DE 102007000653 A1 DE102007000653 A1 DE 102007000653A1
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- Prior art keywords
- torque vectoring
- active steering
- yaw moment
- motor vehicle
- esp
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000001419 dependent effect Effects 0.000 title claims abstract description 6
- 230000005540 biological transmission Effects 0.000 description 6
- 238000009826 distribution Methods 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 2
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17555—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing driver or passenger comfort, e.g. soft intervention or pre-actuation strategies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/12—Conjoint control of vehicle sub-units of different type or different function including control of differentials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Die vorliegende Erfindung bezieht sich auf ein Verfahren zur Verbesserung der Fahrdynamik bei einem Kraftfahrzeug umfassend ein ESP-System und ein Torque Vectoring-System und/oder eine Aktivlenkung gemäß dem Oberbegriff des Patentanspruchs 1.The The present invention relates to a method for improvement the driving dynamics in a motor vehicle comprising an ESP system and a torque vectoring system and / or an active steering according to the Preamble of claim 1.
Aus dem Stand der Technik sind Fahrzeugachsen bekannt, die ein Überlagerungsgetriebe und einen Elektromotor aufweisen. Bei derartigen Systemen kann eine Torque Vectoring Funktion, nämlich die Verschiebung von Moment von einem Rad der Achse auf das andere Rad, dargestellt werden.Out The prior art vehicle axles are known, the superposition gear and have an electric motor. In such systems, a Torque vectoring function, namely the displacement of Moment from one wheel of the axle to the other wheel, be represented.
Beispielsweise
ist aus der
Bei den aus dem Stand der Technik bekannten elektronischen Stabilitätsprogrammen (ESP) wird das Fahrzeug in kritischen, untersteuernden Situationen durch einen Bremseingriff am kurveninneren Hinterrad in die Kurve hineingedreht. Bei kritischen, übersteuernden Situationen wird das kurvenäußere Vorderrad bis zur Kraftschlussgrenze abgebremst, wodurch die Seitenkräfte reduziert werden und gleichzeitig durch die Bremslängskraft an diesem Rad ein ausdrehendes Giermoment um die Hochachse des Fahrzeugs entsteht. In nachteiliger Weise wird durch diese Vorgehensweise beim Untersteuern das Fahrzeug abgebremst.at the known from the prior art electronic stability programs (ESP), the vehicle is in critical, understeer situations by a braking intervention on the inside rear wheel in the curve screwed. In critical, oversteer situations becomes the outside front wheel to the adhesion limit braked, whereby the lateral forces are reduced and simultaneously by the brake longitudinal force on this wheel a turning out Yaw moment around the vertical axis of the vehicle arises. In disadvantageous Way is by this approach to understeer the vehicle braked.
Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Verfahren zur Verbesserung der Fahrdynamik bei einem Kraftfahrzeug umfassend ein ESP-System und ein Torque Vectoring-System und/oder eine Aktivlenkung anzugeben, durch dessen Durchführung zum Einen das Fahrzeug nicht abgebremst wird und zum Anderen die Kraftschlussgrenzen der Räder besser ausgenutzt werden. Des weiteren soll das Fahrzeugverhalten beim Wechsel zwischen Antreiben, Rollen, Schieben und Bremsen stetig verlaufen.Of the The present invention is based on the object, a method to improve the driving dynamics in a motor vehicle comprising an ESP system and a torque vectoring system and / or an active steering system indicate, by its implementation on the one hand, the vehicle is not braked and on the other hand, the adhesion limits of Wheels are better utilized. Furthermore, the vehicle behavior when changing between driving, rolling, pushing and braking steadily run.
Diese Aufgabe wird durch die Merkmale des Patentanspruchs 1 gelöst. Weitere erfindungsgemäße Ausgestaltungen und Vorteile gehen aus den Unteransprüchen hervor.These The object is solved by the features of claim 1. Further embodiments and advantages of the invention are apparent from the dependent claims.
Demnach wird ein Verfahren zur Verbesserung der Fahrdynamik bei einem Kraftfahrzeug umfassend ein Torque Vectoring-System vorgeschlagen, im Rahmen dessen dem Bremseingriff seitens des ESP-Systems ein Torque Vectoring-Eingriff überlagert wird, was in der Erzeugung eines größeren Giermomentes zur Stabilisierung des Fahrzeugs resultiert.Therefore is a method for improving the driving dynamics in a motor vehicle comprehensively proposed a torque vectoring system, in the context of which The braking intervention on the part of the ESP system, a torque vectoring intervention superimposed will, resulting in the generation of a greater yaw moment to stabilize the vehicle results.
Durch die erfindungsgemäße Konzeption werden durch die mittels eines Torque Vectoring-Systems ermöglichte variable Verteilung von Antriebskräften zu kurveninneren bzw. kurvenäußeren Rädern ausdrehende bzw. eindrehende Giermomente erzeugt, die zur Vermeidung von Schleuderunfällen und zur Verbesserung der Fahrdynamik eingesetzt werden.By the conception according to the invention are characterized by using a torque vectoring system enabled variable Distribution of driving forces to the inside or outside of the curve Wheels produces turning or turning in yawing moments, the avoidance of skidding accidents and improvement the driving dynamics are used.
Aus dem Stand der Technik sind Aktivlenkungen bekannt; durch eine Aktivlenkung kann dem Lenkwinkel, der über das Lenkrad vom Fahrer eingestellt wird, ein zusätzlicher Lenkwinkel überlagert werden, wodurch situationsabhängig ein aktiver Eingriff in die Fahrdynamik realisiert werden kann.Out Active steering is known in the prior art; through an active steering can adjust the steering angle set by the driver via the steering wheel an additional steering angle are superimposed, whereby situation dependent an active intervention in the Driving dynamics can be realized.
Gemäß der Erfindung wird vorgeschlagen, eine situationsabhängige und/oder permanente Giermomentenübergabe zwischen dem ESP-System und/oder einer Aktivlenkung und/oder einem Torque Vectoring-System zu realisieren. Hierbei kann die Giermomentübergabe in Form eines integrierten Regeleinsatzes oder durch eine geeignete Schnittstelle (z. B. über das Giermoment) zwischen dem ESP-System, der Aktivlenkung und/oder einem Torque Vectoring-System erfolgen.According to the Invention is proposed, a situation-dependent and / or permanent yaw moment handover between the ESP system and / or an active steering and / or a torque vectoring system to realize. Here, the yaw moment transfer in the form of an integrated Or by a suitable interface (eg via the yaw moment) between the ESP system, the active steering and / or a torque vectoring system.
Auf diese Weise werden gezielte Eingriffe gegen Unter- und Übersteuern ermöglicht, wobei in vorteilhafter Weise das Fahrzeugverhalten beim Wechsel zwischen Antreiben, Rollen, Schieben und Bremsen stetig bzw. kontinuierlich verläuft.On this way, targeted interventions against understeer and oversteer allowing, in an advantageous manner, the vehicle behavior when changing between driving, rolling, pushing and braking steadily or continuously.
Wenn beispielsweise das Fahrzeug mit einem konstanten Giermoment um die Hochachse des Fahrzeugs durch das Torque Vectoring-System um die Kurve fährt und der Fahrer von Antreiben auf Bremsen wechselt, wird das Torque-Vectoring-Giermoment auf ein vom ESP-System generiertes Bremsgiermoment um die Hochachse des Fahrzeugs übertragen. Erzeugt z. B. das Torque Vectoring System bei einer Kurvenfahrt ein eindrehendes Giermoment, wird im Bremsfall auf der kurveninneren Seite stärker gebremst. Auf diese Weise wird ein kontinuierlicher Übergang zwischen Bremsen und Antreiben gewährleistet.For example, when the vehicle is cornering at a constant yaw moment about the vertical axis of the vehicle through the torque vectoring system and the driver changes from driving to braking, the torque vectoring yaw moment is applied to a braking yaw moment around the vertical axis generated by the ESP system of the vehicle. Generates z. B. the Torque Vectoring system when cornering a einrehendes yaw moment, is slowed down more in the case of braking on the inside of the bend. In this way, a kon ensures continuous transition between braking and driving.
Wenn das Fahrzeug untersteuert, wird das Giermoment überwiegend durch das Torque Vectoring-System erzeugt (ein Anteil des Giermomentes kann über einen vom ESP-System generierten Bremseingriff erzeugt werden), indem Antriebskräfte zum kurvenäußeren Rad, möglichst an der Hinterachse, geleitet werden. Diese Verteilung erhöht die Ausnutzung des Reifenkraftpoten tials, da diese der Radlast entspricht. Ein Eingriff über die Aktivlenkung ist in diesem Fall nicht möglich, da sich die Vorderräder in untersteuernden Situationen typischerweise bereits im Kraftschlussgrenzbereich befinden.If Understeer the vehicle, the yaw moment becomes predominant generated by the torque vectoring system (a portion of the yaw moment can over generate a braking intervention generated by the ESP system), by driving forces to the outside Wheel, possibly at the rear axle, be routed. These Distribution increases the utilization of the tire force potential, since this corresponds to the wheel load. An intervention over the Active steering is not possible in this case because the front wheels in understeer situations typically already in the adhesion limit range.
Wenn das Fahrzeug übersteuert, wird über einen vom ESP-System generierten Bremseingriff am kurvenäußeren Vorderrad das Fahrzeug aus der Kurve herausgedreht, wobei dieser Eingriff das Ausnutzen des Reifenkraftpotentials erhöht. Der Bremseingriff kann dabei gemäß der Erfindung durch ein Zurückstellen des Gesamtwinkels durch die Aktivlenkung unterstützt werden.If the vehicle oversteers, is over one of the ESP system generated braking intervention on the outside Front wheel, the vehicle turned out of the curve, this being Intervention increases the exploitation of the tire force potential. The braking intervention can according to the invention by resetting the total angle by the active steering get supported.
Im Rahmen einer besonders vorteilhaften Variante der Erfindung ist im geschilderten Fall des Übersteuerns der Grad des Einsatzes der Aktivlenkung höher als der Grad des Bremseingriffs, da der Einsatz der Aktivlenkung die Geschwindigkeit des Fahrzeugs nicht verringert.in the Frame of a particularly advantageous variant of the invention in the described case of oversteer the degree of use the active steering higher than the degree of braking intervention, since the use of active steering the speed of the vehicle not reduced.
Durch die beschriebene geeignete Schnittstelle zwischen den Systemen ESP, Aktivlenkung und/oder Torque Vectoring-System oder durch einen integrierten Ansatz können die unterschiedlichen Eigenschaften der Systeme, z. B. in der Fahrdynamik, besser genutzt werden.By the described suitable interface between the systems ESP, Active steering and / or torque vectoring system or through an integrated Approach, the different properties of the systems, z. B. in driving dynamics, are better used.
Beispielsweise wird bei hochdynamischen Fahrmanövern bei einem schnellen kurzen Eingriff über das ESP die Bremse zur Erzeugung des Giermomentes verwendet. Danach wird dieses Giermoment vom Torque Vectoring E-System kontinuierlich übernommen und das Bremsgiermoment entsprechend reduziert. Durch diese Vorgehensweise werden die Verlustleistungen an der Bremse bei quasi stationären Fahrmanövern reduziert; gleichzeitig wird die erforderliche Stelldynamik an das Torque Vectoring-System reduziert, was dessen Herstellungskosten verringert.For example becomes a fast in highly dynamic driving maneuvers short intervention via the ESP the brake to generate the Used yaw moment. After that, this yaw moment of Torque Vectoring E system continuously adopted and the brake yaw moment reduced accordingly. By doing so, the power losses become on the brake in quasi stationary driving maneuvers reduced; At the same time the required dynamic response to the Torque vectoring system reduces what its manufacturing cost reduced.
In vorteilhafter Weise greift gemäß der Erfindung vorwiegend dasjenige System ein, welches die Fahrdynamik am effektivsten verbessern kann; wie bereits erläutert, werden dadurch die Bremseingriffe seltener, was auch in einer Kraftstoffersparnis resultiert.In Advantageously accesses according to the invention predominantly the one system that the driving dynamics most effective can improve; As already explained, this will the braking interventions less often, which also in a fuel economy results.
Durch die erfindungsgemäße Konzeption wird das Fahrzeug beim Untersteuern nicht abgebremst; der aktive Eingriff ist in diesem Fall vortriebsneutral. Des weiteren werden durch die Durchführung des erfindungsgemäßen Verfahrens die Kraftschlussgrenzen der Räder des Fahrzeugs besser ausgenutzt, da beim Untersteuern ein aktiver Eingriff an der Hinterachse erfolgt, wenn die Kraftschlussgrenze der Vorderräder erreicht ist; beim Übersteuern erfolgt ein aktiver Eingriff an der Vorderachse, wenn die Kraftschlussgrenze der Hinterräder erreicht ist.By the concept of the invention is the vehicle understeer not braked; the active intervention is in this Case propulsion-neutral. Furthermore, through the implementation the method according to the invention the adhesion limits better exploited the wheels of the vehicle, since understeer Active engagement on the rear axle occurs when the traction limit the front wheels is reached; when oversteer Active engagement takes place on the front axle when the traction limit the rear wheels is reached.
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- - DE 102005007650 A1 [0003] - DE 102005007650 A1 [0003]
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE200710000653 DE102007000653A1 (en) | 2007-11-08 | 2007-11-08 | Method for improving driving dynamics of motor vehicle, involves arranging situation-dependent or permanent yaw moment transfer between electronic stability program system and torque vectoring system or active steering |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE200710000653 DE102007000653A1 (en) | 2007-11-08 | 2007-11-08 | Method for improving driving dynamics of motor vehicle, involves arranging situation-dependent or permanent yaw moment transfer between electronic stability program system and torque vectoring system or active steering |
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DE102007000653A1 true DE102007000653A1 (en) | 2009-05-14 |
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DE200710000653 Withdrawn DE102007000653A1 (en) | 2007-11-08 | 2007-11-08 | Method for improving driving dynamics of motor vehicle, involves arranging situation-dependent or permanent yaw moment transfer between electronic stability program system and torque vectoring system or active steering |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE112010005216B4 (en) * | 2010-02-02 | 2017-02-02 | Toyota Jidosha Kabushiki Kaisha | VEHICLE BEHAVIOR CONTROL DEVICE |
US11117457B2 (en) | 2017-02-20 | 2021-09-14 | Jheeco E-Drive Ag | Axle drive unit comprising a brake system, drive axle and motor vehicle |
Citations (5)
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DE10353247A1 (en) * | 2002-11-16 | 2004-07-22 | Continental Teves Ag & Co. Ohg | Vehicle control method with superposition steering e.g. for motor vehicles and people carriers, involves steering angle input by driver being superimposed with further angle according to magnitude of dynamic travel variables |
DE102005013815A1 (en) * | 2004-03-26 | 2005-10-20 | Toyota Motor Co Ltd | Device for controlling the driving stability of a vehicle when cornering |
DE102004017385A1 (en) * | 2004-04-08 | 2005-10-27 | Robert Bosch Gmbh | Coordination of a vehicle dynamics control system with other vehicle stabilization systems |
DE102006003299A1 (en) * | 2005-01-24 | 2006-08-10 | Continental Teves Ag & Co. Ohg | Device and method for driving dynamics control in a vehicle |
DE102005007650A1 (en) | 2005-02-19 | 2006-08-31 | Zf Friedrichshafen Ag | Differential gear for vehicle, has output shafts connected by gear unit which is connected with drive source such that predefined distribution degree of torque between output shafts is changed based on torque generated by drive source |
-
2007
- 2007-11-08 DE DE200710000653 patent/DE102007000653A1/en not_active Withdrawn
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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DE10353247A1 (en) * | 2002-11-16 | 2004-07-22 | Continental Teves Ag & Co. Ohg | Vehicle control method with superposition steering e.g. for motor vehicles and people carriers, involves steering angle input by driver being superimposed with further angle according to magnitude of dynamic travel variables |
DE102005013815A1 (en) * | 2004-03-26 | 2005-10-20 | Toyota Motor Co Ltd | Device for controlling the driving stability of a vehicle when cornering |
DE102004017385A1 (en) * | 2004-04-08 | 2005-10-27 | Robert Bosch Gmbh | Coordination of a vehicle dynamics control system with other vehicle stabilization systems |
DE102006003299A1 (en) * | 2005-01-24 | 2006-08-10 | Continental Teves Ag & Co. Ohg | Device and method for driving dynamics control in a vehicle |
DE102005007650A1 (en) | 2005-02-19 | 2006-08-31 | Zf Friedrichshafen Ag | Differential gear for vehicle, has output shafts connected by gear unit which is connected with drive source such that predefined distribution degree of torque between output shafts is changed based on torque generated by drive source |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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DE112010005216B4 (en) * | 2010-02-02 | 2017-02-02 | Toyota Jidosha Kabushiki Kaisha | VEHICLE BEHAVIOR CONTROL DEVICE |
US11117457B2 (en) | 2017-02-20 | 2021-09-14 | Jheeco E-Drive Ag | Axle drive unit comprising a brake system, drive axle and motor vehicle |
US11161399B2 (en) | 2017-02-20 | 2021-11-02 | Jheeco E-Drive Ag | Axle drive unit comprising an inductive charging receiver, drive axle and motor vehicle |
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