GB2428755A - Vehicle traction control using an active limited slip differential - Google Patents

Vehicle traction control using an active limited slip differential Download PDF

Info

Publication number
GB2428755A
GB2428755A GB0515794A GB0515794A GB2428755A GB 2428755 A GB2428755 A GB 2428755A GB 0515794 A GB0515794 A GB 0515794A GB 0515794 A GB0515794 A GB 0515794A GB 2428755 A GB2428755 A GB 2428755A
Authority
GB
United Kingdom
Prior art keywords
drive torque
torque transfer
calculating
vehicle
speed difference
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.)
Granted
Application number
GB0515794A
Other versions
GB0515794D0 (en
GB2428755B (en
Inventor
Matthew J Hancock
Francis Assadian
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.)
Ford Global Technologies LLC
Original Assignee
Ford Global Technologies LLC
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 Ford Global Technologies LLC filed Critical Ford Global Technologies LLC
Priority to GB0515794A priority Critical patent/GB2428755B/en
Publication of GB0515794D0 publication Critical patent/GB0515794D0/en
Priority to DE102006031062A priority patent/DE102006031062B4/en
Publication of GB2428755A publication Critical patent/GB2428755A/en
Application granted granted Critical
Publication of GB2428755B publication Critical patent/GB2428755B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
    • 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
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle  responsive to, or preventing, skidding of wheels
    • B60K28/165—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle  responsive to, or preventing, skidding of wheels acting on elements of the vehicle drive train other than the propulsion unit and brakes, e.g. transmission, clutch, differential
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/26—Wheel slip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)
  • Arrangement And Mounting Of Devices That Control Transmission Of Motive Force (AREA)

Abstract

A control module 12 includes a feedforward controller 18, a feedback controller 19, a longitudinal slip target generator 20, a wheel speed difference target generator 21, an actual wheel speed difference calculator 22 and a summer 23. A sensor array (17, fig 1) which provides values of steering wheel angle and yaw rate to the wheel speed difference target generator 21 that is also supplied with wheel speeds values via wheel speed sensors (13, 14, 15 and 16). A first drive torque request value is calculated by the feedforward controller 18 and this value is a correction to be added by the summer 23 to a second drive torque request value computed by the feedback controller 19. The slip target generator 20 calculates a desired longitudinal tyre-to-ground slip value for a slower of two wheels that is supplied to the wheel speed difference target generator 21 which calculates a desired wheel difference WD. An actual speed difference WA is determined by the actual wheel speed difference calculator 22. The values of WD and WA are fed to the feedback controller 19 which calculates the second drive torque request value necessary to minimise the magnitude of the difference between WA and WD. The final drive torque request value is the summation of the first drive torque request value and the second drive torque request value. The final drive torque request value is applied to an electric motor which controls a clutch in the active limited slip differential.

Description

Vehicle Control Systems This invention relates to control systems for a
vehicle and particularly to a traction control system for a motor vehicle fitted with an "active" differential.
Standard open differentials were developed to allow the driven wheels to rotate at different speeds during vehicle cornering. However in order to achieve this they always transmit equal drive torque to each wheel. If the vehicle is therefore in a situation where the available longitudinal tyre force from each driven wheel is different, the maximum traction will be limited by the wheel with the least grip. Passive Limited Slip Differentials (LSD) utilise more of the available longitudinal force by transferring torque to the wheel with the most grip (The magnitude of torque transferred being a function of wheel speed difference or input torque). However such devices have a number of disadvantages: They can generate unwanted understeer during cornering at low (longitudinal) acceleration levels.
Under high longitudinal acceleration so much torque can be transferred to the wheel with the most grip that it will spin, If the vehicle is rear wheel drive, the resulting loss of lateral force capacity from this tyre will the cause a significant degradation in yaw stability.
They cannot adapt to changes in driving scenario.
The mechanical components of a standard, passive LSD produce a fixed relationship between transferred torque and wheel speed difference or input torque. By contrast, active differentials can transfer torque whenever their control algorithms deem necessary.
Various sensors on the vehicle can be used to determine the scenario the vehicle is in and therefore to determine the appropriate level of torque transfer to apply.
It is known to provide a vehicle with an electro-hydraulic limited slip differential incorporating a multiplate clutch. The action of the clutch can be controlled to give varying degrees of torque transfer or "lock-up" of the differential. (See, for example, "Advanced Vehicle Technology" by Heinz Heisler pages 2002, 262 - 263) Traction control of such an equipped vehicle can be implemented by utilising signal outputs from the vehicles' wheel speed sensors.
For instance, if one of the driven wheels starts to spin due to loss of traction, the wheel speed sensor detects the wheel's acceleration and sends a signal to an on-board control module.
In good road-wheel grip conditions, the multiplate clutch is disengaged by closing a solenoid valve and releasing hydraulic fluid into a reservoir tank. If, however one wheel starts to spin due to loss of traction, the wheel speed sensor detects the wheel's acceleration and sends a signal to an on-board control module. The module controls the operation of the solenoid valve so that the multiplate clutch is al least partially engaged.
The module may take into account the speed of the vehicle and whether the vehicle is turning, for example, by monitoring a steering wheel acceleration sensor. Thus the degree of lock-up of the differential can be make to be large when pulling away from a standstill and small when negotiating a bend or travelling at high speeds.
The trend for the latest automotive technologies is towards developing new active systems, where high power electromechanical actuators are driven by low power control signals to influence certain vehicle characteristics. The benefits of these active systems are increased vehicle performance, on-line modification of handling characteristics, reduced vehicle turning efforts, and reduced vehicle development costs.
In a first aspect, the present invention consists of a control system for controlling a drive torque transfer device arranged to distribute torque to a plurality of driven wheels of a vehicle, wherein the control system includes; means for calculating a first drive torque transfer request value depending upon at least one vehicle driving parameter, means for calculating a desired longitudinal tyre-to-ground slip value for the slower of the driven wheels, means for calculating a desired speed difference, WD, between the driven wheels necessary to achieve said calculated slip value, means for calculating actual speed difference, WA, between the driven wheels, means for calculating a second drive torque transfer request value necessary to minimise IWA-WDI,and, a summer for adding said first and second drive torque transfer request values to produce a final drive torque transfer request signal for controlling said drive torque transfer device.
In a second aspect, the present invention consists of a method for controlling a drive torque transfer device arranged to distribute torque to a plurality of driven wheels of a vehicle, wherein the method includes the steps of; calculating a first drive torque transfer request value depending upon at least one vehicle driving parameter, calculating a desired longitudinal tyre-to-ground slip value for the slower of the driven wheels, calculating a desired speed difference, WD, between the driven wheels necessary to achieve said calculated slip value, calculating actual speed difference, WA between the driven wheels, calculating a second drive torque transfer request value necessary to minimise I WA - WD I and, adding said first and second drive torque transfer request values to produce a final drive torque transfer request signal for controlling said drive torque transfer device.
In a third aspect, the present invention comprises a vehicle incorporating a control system in accordance with the first aspect.
The invention is applicable to any vehicle with a front or rear axle active differential which may incorporate a friction clutch. The clutch may be actuated by an electric motor or by hydraulic or electromagnetic means, for example.
Preferably, the first drive torque transfer request value and the slip value are calculated using information from at least one sensor providing information relating to at least one vehicle driving parameter, said at least one sensor being mounted on board the vehicle.
Preferably, WD is calculated using information from at least one sensor providing information relating to at least one vehicle driving parameter1 said parameter being mounted on board the vehicle. In one example, such on-board sensors provide information relating to steering wheel angle, yaw rate and wheel speed An embodiment of the invention will now be described with reference to the drawings of which; Fig 1. Is a diagrammatic representation of a vehicle including a traction control system in accordance with an embodiment of the invention, and, Fig 2. Is a block diagram of a traction control module in accordance with an embodiment of the invention, With reference to Figure 1. a vehicle I has four wheels, 2,3,4,5 and a powertrain 6, for providing drive to the rear wheels 4 and 5. The powertrain 6 comprises an engine 7 and a gearbox 8, for transmitting drive to a rear, active differential 9, which in turn, transmits drive torque to the rear wheels 4 and 5.
The differential 9 is a limited slip, active differential whose degree of locking can be set by a clutch pack 10, acting between the two output sides of the differential 9.
The operation of the clutch pack 10 is controlled by an electric motor 11. The electric motor 11, is driven by an output signal from an on-board control module 12, which calculates an optimum torque transfer request thereby permitting the differential to provide optimum traction control to the driven wheels 4,5 depending upon driving conditions.
The vehicle further includes wheel speed sensors 13, 14, 15, 16 for measuring the speeds of the wheels 2,3, 4,5 respectively. Outputs from each of the wheel speed sensors 13, 14, 15, 16 are connected to the control module 12.
A vehicle driving parameter sensor array 17 is also provided and an output therefrom is connected to the control module 12. The sensor array 17 provides information relating to a plurality of vehicle driving parameters.
Operation of the control module 12 will now be described with reference to Figure 2.
The control module 12 includes a feedforward controller 18, a feedback controller 19, a longitudinal slip target generator 20, a wheel speed difference target generator 21, an actual wheel speed difference calculator 22 and a summer 23.
The sensor array 17 provides the module 12, with driving parameter values, from which, the feedforward controller 18 calculates a first drive torque request value. This first drive torque request value is a correction to be added to a second drive torque request value computed by the feedback controller 19 in order to compensate for the finite response time of the differential 9, clutch pack 10 and motor 11 assembly.
The longitudinal slip target generator 20 calculates a desired longitudinal tyre-to- ground slip value for the slower of the two driven wheels 4, 5 using information relating to vehicle driving parameters supplied by the sensor array 17. Allowing a small amount of slip improves tyre-to-ground traction. The slip target generator 20 feeds its calculated value to the wheel speed difference target generator 21, which calculates a desired speed difference WD between the driven wheels 4,5 necessary to achieve the calculated slip value.
The wheel speed difference target generator 21 performs its computation using values of wheel speeds provided by the wheel speed sensors 13, 14, 15, 16 and from values of steering wheel angle and yaw rate provided by the sensor array 17.
An actual wheel speed difference WA (between the driven wheels 4,5) is determined by the actual wheel speed difference calculator 22 using the signals provided by the wheel speed sensors 15, 16. The values of WD and WA are fed into the feedback controller 19 which calculates a second drive torque transfer request value necessary to minimise the magnitude of the difference between WA and WD.
The second drive torque transfer request value is added to the first drive torque transfer request value by the summer 23 to produce a final drive torque transfer request value. This final value is applied to the electric motor 11 for control of the operation of the differential 9.

Claims (9)

1. A control system for controlling a drive torque transfer device arranged to distribute torque to a plurality of driven wheels of a vehicle, wherein the control system includes; means for calculating a first drive torque transfer request value depending upon at least one vehicle driving parameter, means for calculating a desired longitudinal tyre-to--ground slip value for the slower of the driven wheels, means for calculating a desired speed difference, WD, between the driven wheels necessary to achieve said calculated slip value, means for calculating actual speed difference, WA, between the driven wheels, means for calculating a second drive torque transfer request value necessary to minimise I WA - WD I, and, a summer for adding said first and second drive torque transfer request values to produce a final drive torque transfer request signal for controlling said drive torque transfer device.
2; A control system according to claim 1 in which the drive torque transfer device is a differential incorporating a friction clutch.
3. A control system according to claim 2 in which the drive torque transfer device further incorporates an electric motor for actuating the friction clutch.
4. A control system according to any preceding claim, in which the means for calculating a first drive torque transfer request value is adapted to calculate said value using information from at least one sensor providing information relating to at least one vehicle driving parameter, said at least one sensor being mounted on board the vehicle.
5. A control system according to any preceding claim in which the means for calculating a desired longitudinal tyre-to-ground slip value is adapted to calculate said slip value using information from at least one sensor providing information relating to at least one vehicle driving parameter, said at least one sensor being mounted on board the vehicle.
6. A control system according to any preceding claim in which the means for calculating WD is adapted to calculate WD using information provided by on-board sensors providing vehicle driving parameters comprising steering wheel angle, yaw rate and wheel speeds.
7. A vehicle incorporating a control system according to any preceding claim.
8. A method for controlling a drive torque transfer device arranged to distribute torque to a plurality of driven wheels of a vehicle, wherein the method includes the steps of; calculating a first drive torque transfer request value depending upon at least one vehicle driving parameter, calculating a desired longitudinal tyre-to-ground slip value for the slower of the driven wheels, calculating a desired speed difference, WD, between the driven wheels necessary to achieve said calculated slip value, calculating actual speed difference, WA, between the driven wheels, calculating a second drive torque transfer request value necessary to minimise I WA - WD, and adding said first and second drive torque transfer request values to produce a final drive torque transfer request signal for controlling said drive torque transfer device.
9. A control system for controlling a drive torque transfer device substantially as hereinbefore described with reference to the drawings.
GB0515794A 2005-08-01 2005-08-01 Vehicle control systems Expired - Fee Related GB2428755B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
GB0515794A GB2428755B (en) 2005-08-01 2005-08-01 Vehicle control systems
DE102006031062A DE102006031062B4 (en) 2005-08-01 2006-07-05 Vehicle control system and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB0515794A GB2428755B (en) 2005-08-01 2005-08-01 Vehicle control systems

Publications (3)

Publication Number Publication Date
GB0515794D0 GB0515794D0 (en) 2005-09-07
GB2428755A true GB2428755A (en) 2007-02-07
GB2428755B GB2428755B (en) 2010-04-07

Family

ID=34983872

Family Applications (1)

Application Number Title Priority Date Filing Date
GB0515794A Expired - Fee Related GB2428755B (en) 2005-08-01 2005-08-01 Vehicle control systems

Country Status (2)

Country Link
DE (1) DE102006031062B4 (en)
GB (1) GB2428755B (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106080605A (en) * 2016-08-23 2016-11-09 南京越博动力系统股份有限公司 A kind of wheel torque distribution method based on forerunner's wheel hub motor
US9845008B2 (en) 2015-09-03 2017-12-19 Deere & Company System and method of detecting load forces on a traction vehicle to predict wheel slip
US9994104B2 (en) 2015-09-03 2018-06-12 Deere & Company System and method of reacting to wheel slip in a traction vehicle
US10112615B2 (en) 2015-09-03 2018-10-30 Deere & Company System and method of reacting to wheel slip in a traction vehicle
US10407072B2 (en) 2015-09-03 2019-09-10 Deere & Company System and method of regulating wheel slip in a traction vehicle
US20190383379A1 (en) * 2016-04-20 2019-12-19 Shaun Chu Differential system with differential rate governed by variable speed motor and associated method of operation
US11111996B2 (en) 2017-09-08 2021-09-07 Shaun Chu Differential system including stepped planetary gears with differential rate governed by variable speed motor and associated method of operation
CN115013499A (en) * 2022-07-13 2022-09-06 上海洛轲智能科技有限公司 Method and device for determining locking force of limited slip differential

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019204129A1 (en) * 2019-03-26 2020-10-01 Zf Friedrichshafen Ag Method for controlling a driving dynamics function of a work machine
CN113910917A (en) * 2021-09-23 2022-01-11 摩拜(北京)信息技术有限公司 Electric bicycle speed control method and device, electric bicycle and storage medium

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2232730A (en) * 1989-06-13 1990-12-19 Borg Warner Automotive System for controlling torque transmission in a four wheel drive vehicle
EP0415654A2 (en) * 1989-08-31 1991-03-06 Fuji Jukogyo Kabushiki Kaisha System for controlling distribution of torque to left and right wheels of a motor vehicle
US5479348A (en) * 1993-08-05 1995-12-26 Nissan Motor Co., Ltd. Differential limiting torque control system for automotive vehicles
EP1486391A1 (en) * 2003-06-11 2004-12-15 Fuji Jukogyo Kabushiki Kaisha Vehicle control device and vehicle control method

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5090510A (en) * 1989-09-30 1992-02-25 Mazda Motor Corporation Drive control system of four-wheel drive vehicle

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2232730A (en) * 1989-06-13 1990-12-19 Borg Warner Automotive System for controlling torque transmission in a four wheel drive vehicle
EP0415654A2 (en) * 1989-08-31 1991-03-06 Fuji Jukogyo Kabushiki Kaisha System for controlling distribution of torque to left and right wheels of a motor vehicle
US5479348A (en) * 1993-08-05 1995-12-26 Nissan Motor Co., Ltd. Differential limiting torque control system for automotive vehicles
EP1486391A1 (en) * 2003-06-11 2004-12-15 Fuji Jukogyo Kabushiki Kaisha Vehicle control device and vehicle control method

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9845008B2 (en) 2015-09-03 2017-12-19 Deere & Company System and method of detecting load forces on a traction vehicle to predict wheel slip
US9994104B2 (en) 2015-09-03 2018-06-12 Deere & Company System and method of reacting to wheel slip in a traction vehicle
US10112615B2 (en) 2015-09-03 2018-10-30 Deere & Company System and method of reacting to wheel slip in a traction vehicle
US10407072B2 (en) 2015-09-03 2019-09-10 Deere & Company System and method of regulating wheel slip in a traction vehicle
US20190383379A1 (en) * 2016-04-20 2019-12-19 Shaun Chu Differential system with differential rate governed by variable speed motor and associated method of operation
US10907715B2 (en) * 2016-04-20 2021-02-02 Shaun Chu Differential system with differential rate governed by variable speed motor and associated method of operation
CN106080605A (en) * 2016-08-23 2016-11-09 南京越博动力系统股份有限公司 A kind of wheel torque distribution method based on forerunner's wheel hub motor
US11111996B2 (en) 2017-09-08 2021-09-07 Shaun Chu Differential system including stepped planetary gears with differential rate governed by variable speed motor and associated method of operation
CN115013499A (en) * 2022-07-13 2022-09-06 上海洛轲智能科技有限公司 Method and device for determining locking force of limited slip differential
CN115013499B (en) * 2022-07-13 2023-08-01 上海洛轲智能科技有限公司 Method and device for determining locking force of limited slip differential

Also Published As

Publication number Publication date
GB0515794D0 (en) 2005-09-07
DE102006031062A1 (en) 2007-02-15
GB2428755B (en) 2010-04-07
DE102006031062B4 (en) 2008-04-30

Similar Documents

Publication Publication Date Title
GB2428755A (en) Vehicle traction control using an active limited slip differential
US11021158B2 (en) Vehicle dynamics control system in a motor vehicle and electronic vehicle dynamics control unit for a vehicle dynamics control system
US9950703B2 (en) Vehicle with independently driven multiple axes, and controller which independently drives multiple axles
JP5120657B2 (en) Stability-enhanced traction control with electronically controlled center coupler
CN101070068B (en) Vehicle steering control device
US6634451B2 (en) Power distribution control system for a vehicle
CN101395025B (en) Stability-enhanced traction and yaw control using electronically controlled limited-slip differential
EP2208629B1 (en) Driving force controller
US7318629B1 (en) Steer by brake control system
US7761215B2 (en) Device operable to control turning of vehicle using driving and braking force for understeering and oversteering
US8977467B2 (en) Vehicle having a brake device which transfers a braking torque from rear wheels to the front wheels, with brake slip control
US20040176899A1 (en) Torque distribution systems and methods for wheeled vehicles
US20130211678A1 (en) Vehicle with independently driven multiple axes, and controller which independently drives multiple axles
US6393351B2 (en) System for the active control of a motor vehicle differential
US20070112499A1 (en) Vehicle behavior control device
KR20090062321A (en) Control technology for independent in wheel drive system for future vehicles
EP2055599B1 (en) Vehicle behavior control apparatus
JP2011137549A (en) Rear-drive vehicle with electronically controllable self-locking differential
EP1882618B1 (en) Steering device for vehicle
US11433869B2 (en) Controlling a drive torque and drive train assembly
US8204669B2 (en) Method and device for regulating the driving dynamics of a vehicle
KR20210071133A (en) Electronic stability control method for vehicle
GB2428754A (en) Vehicle yaw control with tyre-road friction estimator
Park et al. Dana torque vectoring differential dynamic trak™
WO2008095067A1 (en) Optimized control for all wheel drive system

Legal Events

Date Code Title Description
PCNP Patent ceased through non-payment of renewal fee

Effective date: 20200801