EP2021216A1 - Vorrichtung und verfahren zur steuerung der leistung eines fahrzeugs mit vierradantrieb - Google Patents

Vorrichtung und verfahren zur steuerung der leistung eines fahrzeugs mit vierradantrieb

Info

Publication number
EP2021216A1
EP2021216A1 EP07766106A EP07766106A EP2021216A1 EP 2021216 A1 EP2021216 A1 EP 2021216A1 EP 07766106 A EP07766106 A EP 07766106A EP 07766106 A EP07766106 A EP 07766106A EP 2021216 A1 EP2021216 A1 EP 2021216A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
longitudinal force
fxar
value
sat
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP07766106A
Other languages
English (en)
French (fr)
Inventor
Xavier Claeys
Philippe Pognant-Gros
Richard Pothin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Renault SAS
Original Assignee
Renault SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Renault SAS filed Critical Renault SAS
Publication of EP2021216A1 publication Critical patent/EP2021216A1/de
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/44—Series-parallel type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/064—Degree of grip
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/068—Road friction coefficient
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
    • 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
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • 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
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/18—Four-wheel drive vehicles
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/10—Change speed gearings
    • B60W2710/105—Output torque
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/40—Torque distribution
    • B60W2720/403—Torque distribution between front and rear axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18172—Preventing, or responsive to skidding of wheels
    • 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
    • Y02T10/62—Hybrid vehicles

Definitions

  • the device comprises a force distribution means which distributes the longitudinal force to the rear axle calculated by one of the calculation means in two forces: a rear longitudinal force left for the left rear wheel of the vehicle, and a right rear longitudinal force for the right rear wheel of the vehicle whose values are calculated so as to satisfy the stability conditions of the vehicle and the driving situation detected.
  • FIG. 1 is a diagram of the vehicle comprising a device for controlling the saturation of the forces according to the invention
  • FIG. 2 is a flowchart of the method for controlling the saturation of the forces according to the invention
  • a hybrid vehicle shown in a particular embodiment of the invention in Figure 1, comprises a heat engine 20, mechanically coupled to the drive wheels of a front train AV of the vehicle.
  • a device 28 for controlling the saturation of the forces or torques of the drive wheels according to the invention is arranged in the vehicle.
  • I l makes it possible to vary the saturation of the force or the torque applied to the rear axle AR of the vehicle so as to compensate for any falls in torque to the wheels of the vehicle that may occur for example when changing gear.
  • the front 12 and rear 14 differentials also comprise means for distributing the drive and braking torques imposed by the device for controlling the saturation of the forces 28 and in particular for the rear axle AR.
  • FIG. 1 A particular embodiment of the device 28 for controlling the saturation of the forces of the invention is shown more precisely in FIG.
  • - vehicle dynamics and ground-link parameters longitudinal and lateral acceleration and four-wheel speeds, vehicle acceleration and overall speed, yaw rate, effort or overall driving torque, effort or torque to front and rear AR trains.
  • the detection block 44 of the rolling mode parameters makes it possible to evaluate from the engine data whether the vehicle is in the acceleration, deceleration or running phase with a load, for example, if it starts the rise of a coast, etc.
  • the estimating block 48 of the forces comprises means for measuring or estimating the forces applied to each wheel, longitudinal forces Fxav, Fxar and vertical Fzav, Fzar respectively of the front and rear axles AR, which are the orthogonal projection on an axis longitudinal and a vertical axis a total effort, Ftotale, requested by the driver, through the detection of the position of the pedals.
  • the calculation block 52 comprises means for calculating, from the driving situation, wheel forces and the speed of each wheel, a value adapted to the longitudinal force Fxar sat applied to the rear axle AR.
  • the longitudinal longitudinal force value Fxar_sat is then transmitted to the distribution block Left / Right 54 which distributes the force to the left wheel G and right D of the rear axle AR according to the driving situation. For example, if the vehicle approaches a right turn, the amount of braking on the outer wheels, the left wheels G, is greater than the inner wheels, the right wheels D, in the case of a sub-turning vehicle.
  • the distribution block 54 thus calculates a longitudinal force value for the right rear wheel, Fxar_sat_D, and a longitudinal force value for the left rear wheel Fxar_sat_G, values which depend on the driving situation.
  • the interval of the lowest values corresponds to very small values (absolute) of longitudinal force Fxav, a phenomenon which is generally referred to as a "torque hole" where the forces (or torques) on the front axle AV drop sharply when example of a change of report.
  • This saturated longitudinal force calculation technique makes it possible, depending on the driving situation, to authorize or not the compensation of a torque hole or the recovery of energy, by making the rear electric motor 24 work in current generating mode. to recharge the energy storage element 26, in the case where there would be no or very little longitudinal force, Fxav, applied to the front axle AV, where the value of the longitudinal force Fxav to the front axle AV is in the range of the lowest values.
  • the second verification means 62 controls the first calculation sub-block 68, described above, which calculates a longitudinal longitudinal force velocity Fxar_sat which satisfies the group of equations 2. The value of longitudinal force Fxar sat thus calculated is then distributed as a function of the driving situation by the distribution block 54.
  • the signals Fav and Far thus calculated or estimated are then transmitted to a control step S3 of the value of the longitudinal force Fxar to the rear axle AR and which implements the means of the first verification sub-block 60.
  • the verification step S5 checks whether the value of the longitudinal force Fxav AV forward train is in a range of the lowest values of Fxav, delimited by two threshold values, SeuiM and Seuil2.
  • Step S6 executes a command which makes it possible to calculate a saturated value of the longitudinal force Fxar_sat to the train AR which takes into account the force Fav applied to the train AV and the various parameters of the vehicle which reflect the driving situation, the condition of the roadway and the driver's will.
  • step S8 the method returns to the beginning of the program to execute step S1 again.
  • Fxar sat must respect the fact that the sum of the longitudinal forces on the front and rear traps does not exceed not a guideline of longitudinal force, Fxtotale, imposed by the driver.
  • the second criterion is that a potential of adhesion of the rear axle AR, defined as being the ratio of the longitudinal force on the vertical force on the rear axle AR is never superior (in absolute value) to a potential of adhesion of the front axle AV.
  • the calculation step S7 therefore calculates a longitudinal force to the saturated rear axle AR Fxar sat which solves the group of equations 2.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)
EP07766106A 2006-05-31 2007-05-29 Vorrichtung und verfahren zur steuerung der leistung eines fahrzeugs mit vierradantrieb Withdrawn EP2021216A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0651969A FR2901762B1 (fr) 2006-05-31 2006-05-31 Dispositif et procede de controle des efforts sur un vehicule a quatre roues motrices
PCT/FR2007/051338 WO2007138223A1 (fr) 2006-05-31 2007-05-29 Dispositif et procede de controle des efforts sur un vehicule a quatre roues motrices

Publications (1)

Publication Number Publication Date
EP2021216A1 true EP2021216A1 (de) 2009-02-11

Family

ID=37575259

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07766106A Withdrawn EP2021216A1 (de) 2006-05-31 2007-05-29 Vorrichtung und verfahren zur steuerung der leistung eines fahrzeugs mit vierradantrieb

Country Status (3)

Country Link
EP (1) EP2021216A1 (de)
FR (1) FR2901762B1 (de)
WO (1) WO2007138223A1 (de)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2931426B1 (fr) * 2008-05-20 2010-10-22 Renault Sas Systeme et procede de commande d'un vehicule a quatre roues motrices
DE102008041034A1 (de) * 2008-08-06 2010-02-11 Robert Bosch Gmbh Verfahren zur Einstellung motorischer Antriebseinheiten in Kraftfahrzeugen mit Hybridantrieb
FR2935767B1 (fr) * 2008-09-05 2011-05-20 Peugeot Citroen Automobiles Sa Procede d'apprentissage d'un point de patinage d'un embrayage pour vehicule hybride
GB2486632B (en) * 2010-12-06 2014-04-02 Protean Electric Ltd An electric hybrid vehicle
DE102011004862A1 (de) * 2011-02-28 2012-08-30 Bayerische Motoren Werke Aktiengesellschaft Bestimmen von Rad- und/oder Achsmomentvorgaben in einem Kraftfahrzeug
FR3005921B1 (fr) * 2013-05-27 2016-01-01 Peugeot Citroen Automobiles Sa Repartition du couple entre le train avant et le train arriere d'un vehicule hybride
CN108016422B (zh) * 2016-10-28 2020-09-04 长城汽车股份有限公司 车辆扭矩的控制方法、系统及车辆
CN109941283A (zh) * 2017-12-20 2019-06-28 宝沃汽车（中国）有限公司 四驱车辆及其扭矩分配方法、装置、存储介质
FR3142424A1 (fr) * 2022-11-24 2024-05-31 Psa Automobiles Sa Vehicule automobile comprenant un couplage optimise de plusieurs moteurs, procede et programme sur la base d’un tel vehicule

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FR2799417B1 (fr) * 1999-10-08 2009-01-23 Toyota Motor Co Ltd Dispositif de controle de vehicule, notamment pour la repartition des forces de traction avant-arriere
DE10050421A1 (de) * 2000-10-12 2002-05-23 Bayerische Motoren Werke Ag Fahrdynamik-Regelverfahren eines Kraftfahrzeuges
JP3536838B2 (ja) * 2002-01-11 2004-06-14 日産自動車株式会社 車両の駆動力制御装置

Non-Patent Citations (1)

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Also Published As

Publication number Publication date
FR2901762A1 (fr) 2007-12-07
FR2901762B1 (fr) 2009-01-30
WO2007138223A1 (fr) 2007-12-06

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