JPH0952539A - Four-wheel drive controller of vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simultaneously eliminate hunting of control and the tight corner brake phenomenon by setting the higher change speed of the driving force distributing amount when driving force on a sub driving wheel side is large, and setting the lower change speed of the driving force distributing amount when driving force on the sub driving wheel side is small. SOLUTION: A driving force distributing controller 4 changes and sets the change speed at which the driving force distributing amount is changed by a change speed setting means of a control unit 58 on the basis of the driving force distributing amount. The change speed setting means sets the higher change speed of the driving force distributing amount when driving force on sub driving wheels 2FR, 2FL sides is large, Moreover, when driving force on the sub driving wheels 2FR, 2FL side is small, the lower change speed of the driving force distributing amount is set. Therefore, hunting of control and the tight corner brake phenomenon can be simultaneously eliminated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a four-wheel drive system for a vehicle, in which the engaging force of a friction clutch is controlled in accordance with the rotational speed difference between the front and rear wheels of the vehicle to control the distribution of the driving force between the front and rear wheels. The present invention relates to a control device.

[0002]

2. Description of the Related Art In a conventional four-wheel drive control system for a vehicle, for example, one of the front and rear wheels is set as a main drive wheel, and the other is set as a sub-drive wheel. Most of the driving force is to the main drive wheels (strictly speaking, it is the driving torque that is transmitted to the wheels, which is different from the driving force that causes the tire to kick the road surface and move the vehicle, but here the driving torque is In some cases, the force for moving the vehicle is collectively referred to as a driving force), and the driving force is distributed to the auxiliary driving wheels when the driving force to the main driving wheels becomes excessive. Therefore, a friction clutch is provided between the main propulsion shaft to the main drive wheel and the sub propulsion shaft to the sub drive wheel (to be precise, between the output shaft of the transmission and the sub propulsion shaft), and The excessive driving force to the main driving wheel is detected from the difference in the rotational speed between the main driving wheel and the auxiliary driving wheel, and the larger the rotational speed difference is, the excessive the driving force to the main driving wheel is. The drive force distribution amount between the main and auxiliary drive wheels is set so that the detected value of the rotational speed difference increases and the drive force to the auxiliary drive wheels increases.In this case, between the transmission output shaft and the auxiliary propulsion shaft. Since the friction clutch is installed in the clutch, the engaging force of the friction clutch is increased as the driving force of the driving force distribution amount to the auxiliary driving wheels is increased.

On the other hand, since the output end of the control amount of this four-wheel drive control device is a friction clutch, when the control from the detection of the rotational speed difference between the main and auxiliary drive wheels to the friction clutch is considered.
As described above, even if the response in the control system from the detection of the rotational speed difference between the main and auxiliary drive wheels to the drive of the friction clutch is improved, the engine will be forced against the rotational inertia of the auxiliary propulsion shaft and auxiliary drive wheels. There is a corresponding response delay before the output is transmitted to the drive wheels, and there is also a response delay before the tires of the auxiliary drive wheels rotate on the road surface. In the control system that feeds back the difference in the number of rotations of the wheels, the response delay becomes large especially in the situation where the slip of the main drive wheels is most likely to occur at the time of starting. Therefore, at the time of starting the vehicle, a situation in which slippage of the main drive wheels is likely to occur is detected in advance by the amount of depression of the accelerator pedal (hereinafter, also referred to as throttle opening), and slippage of the main drive wheels occurs or increases. Previously, so-called drive force distribution feedforward control, in which the drive force distribution amount between the main and sub drive wheels is set so that the drive force transmitted to the sub drive wheels increases as the throttle opening increases when the vehicle is started. Is also proposed. Incidentally, the feed-forward control at the time of starting is executed from the time when the vehicle starts to when the vehicle speed exceeds a predetermined threshold value.

[0004]

A vehicle equipped with the conventional four-wheel drive control system has a vehicle speed higher than the vehicle speed threshold of the feed-forward control at start, that is, the rotational speed between the main and auxiliary drive wheels. Under the condition that the driving force distribution feedback control based on the difference is executed, the road surface friction coefficient is relatively high at a constant acceleration (hereinafter, also simply referred to as μ), that is, the road surface is stable from the so-called high μ road surface. μ
Considering the case of transition to a so-called low μ road surface with low μ, the driving force of the main drive wheels that previously generated sufficient driving force to stably propel the vehicle on a high μ road surface is large on a low μ road surface. As a result, the number of rotations of the main drive wheel increases sharply. However, during such stable running, the amount of increase in the rotational speed of the main drive wheels that occurs when moving from a high μ road surface to a low μ road surface is
The driving force distribution is certainly smaller than that generated on a low μ road surface without feedforward control. As the number of revolutions of the main drive wheels increases, the difference in the number of revolutions between the main drive wheel and the sub drive wheel increases significantly, so that the drive force of the set drive force distribution amount to the sub drive wheel side also increases significantly. As a result, the engaging force of the friction clutch is significantly increased. However, the rotational speed of the auxiliary drive wheels will increase after the engagement of this friction clutch, and the rotational speed of the main drive wheels will decrease prior to this. If the rotational speed of the wheels drastically decreases before reaching the minimum and becomes extremely small, and the friction clutch engagement force decreases accordingly, the rotational speed of the main drive wheels will increase to the rotational speed of the auxiliary drive wheels. Since it greatly increases ahead of time, the rotational speed difference between the main and auxiliary drive wheels increases significantly, and the drive force to the auxiliary drive wheel side of the set drive force distribution amount also increases significantly. Hunting for control such that the engaging force of the friction clutch is significantly increased may occur, and during this period, the engaging force of the friction clutch may be greatly increased or decreased to cause vibration. This trend is
In the four-wheel drive control system that does not have the drive force feedforward control at the time of starting, it is expected that it becomes more remarkable at the time of starting.

In order to solve such a problem, the changing speed of the driving force distribution amount according to the rotational speed difference between the main and auxiliary driving wheels is adjusted to the response delay of the drive system to the auxiliary driving wheels. It should be suppressed to a small value. That is, for example, when the driving force distribution amount changes so that the driving force to the sub-driving wheel side becomes small, if the changing speed of the driving force distribution amount is suppressed to be small and filtering is performed, The minimum value of the rotational speed of the drive wheel and the minimum value of the rotational speed of the main drive wheel faster than that can be brought close to each other, and by repeating this, the friction clutch engagement force which is the control amount, that is, between the main and auxiliary drive wheels. The speed difference could be converged to some value. However, if the reduction speed of the amount of driving force distribution to the auxiliary drive wheels is suppressed to a small value in this way, for example, the accelerator pedal is depressed too much at the time of starting, so that the auxiliary drive wheels are moved to the auxiliary drive wheels by the start-up feedforward control. The driving force (distributed amount) is significantly increased, and the vehicle speed eventually exceeds the threshold value and shifts to normal feedback control. Immediately after that, the accelerator pedal is released to make a small turn of the vehicle. In addition, the driving force (distribution amount) to the auxiliary drive wheels does not decrease sufficiently before shifting to turning, and if the vehicle shifts to small turning as it is, the difference in rotational speed between the front and rear wheels occurs. There is a possibility that a so-called tight corner braking phenomenon (a phenomenon in which the rotation speed difference between the front and rear wheels becomes an interlock and braking is performed) without being absorbed.

That is, if the reduction speed of the driving force (distributed amount) to the auxiliary driving wheel is set to be small, the tight corner braking phenomenon, that is, the strong corner braking phenomenon is generated when the driving force (distributed amount) to the auxiliary driving wheel is large. Understeer is likely to occur, and conversely, if the reduction speed of the driving force (distribution amount) to the auxiliary drive wheels is too large,
When the driving force (distribution amount) to the auxiliary drive wheels is relatively small, more specifically, control hunting is likely to occur during the driving force distribution control or the like according to the μ change during normal traveling. There are conflicting problems.

The present invention has been developed in view of the above problems, and in the driving force distribution feedback control according to the rotational speed difference between the main and auxiliary driving wheels, the hunting of control and the tight corner braking phenomenon are simultaneously solved. It is an object of the present invention to provide a four-wheel drive control device for a vehicle that can perform the above.

[0008]

The four-wheel drive control system for a vehicle according to the present invention responds to the control signal by using one of the front and rear wheels of the vehicle as the main drive wheel and the other as the auxiliary drive wheel. Driving force distribution adjusting means having a friction clutch for distributing the driving force to the main driving wheel and the auxiliary driving wheel by variable control of the engaging force, and a rotational speed difference for detecting a rotational speed difference between the main driving wheel and the auxiliary driving wheel Based on the detection means and at least the rotation speed difference detection value of the rotation speed difference detection means, the main and auxiliary drive wheels are increased so that the driving force on the auxiliary drive wheel side increases as the rotation speed difference detection value increases. A four-wheel drive control device for a vehicle, comprising: a driving force distribution control unit that sets a driving force distribution amount between the driving force distribution control unit and the friction clutch based on the driving force distribution amount;
The driving force distribution control means includes a changing speed setting means for changing and setting a changing speed when the driving force distribution amount changes in accordance with the driving force distribution amount, and the changing speed setting means has the driving force distribution means. When the distribution amount changes in a direction to reduce the driving force on the auxiliary driving wheel side, the changing speed of the driving force distribution amount is changed and set, and the driving is performed when the driving force on the auxiliary driving wheel side is large. It is characterized in that the changing speed of the force distribution amount is set to be large, and the changing speed of the driving force distribution amount is set to be small when the driving force on the auxiliary drive wheel side is small.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION In the four-wheel drive control system for a vehicle according to the present invention, as in the conventional case, between the main drive wheel on one of the front and rear wheels and the sub drive wheel on the other side, more specifically, for example, The transmission output shaft and the main drive wheels are directly connected to each other, and for example, a driving force distribution adjusting unit having a friction clutch is interposed between the transmission output shaft and the auxiliary drive wheels. The driving force distribution adjusting means adjusts the engaging force of the friction clutch by varying, for example, a control signal to the friction clutch, so that the driving force transmitted to the main driving wheels and the driving force transmitted to the auxiliary driving wheels are adjusted. The driving force distribution amount with respect to the force is adjusted.
Then, the rotation speed difference between the rotation speed of the main drive wheel and the rotation speed of the auxiliary drive wheel is detected by the wheel speed sensor or the like as the rotation speed difference detection means, and at least when this rotation speed difference is large,
The main drive wheels are slipping relative to the rotation speed of the auxiliary drive wheels that is equivalent to or almost equivalent to the vehicle speed, and the number of rotations is increasing, and the driving force to the main drive wheels is too large. Therefore, the driving force distribution amount according to the rotational speed difference is set using an arithmetic processing unit such as a microcomputer so that the driving force to the auxiliary drive wheels increases in accordance with the increase in the rotational speed difference. . Then, the driving force distribution control device forms and outputs a control signal to the driving force distribution adjusting means in order to achieve the driving force distribution amount between the main and auxiliary driving wheels set in this way, and thereby the aforesaid The engagement force by the friction clutch is controlled so as to satisfy the predetermined driving force distribution amount,
An increase in the number of rotations due to slip of the main drive wheels is suppressed. Here, in the four-wheel drive control system for a vehicle of the present invention, the changing speed when the driving force distribution amount changes changes in the direction in which the driving force distribution amount decreases the driving force on the auxiliary driving wheel side. When the driving force on the side of the auxiliary drive wheel is large, if the changing speed of the amount of distribution of the driving force is set to be large, such a large driving force is transmitted to the auxiliary drive wheel. Is due to, for example, a large slip of the main drive wheels, and such a large drive force to the auxiliary drive wheels is rapidly reduced when the accelerator pedal is released in preparation for the transition to turning travel. Even if the vehicle shifts to turning, the front and rear wheels absorb the difference in rotational speed to avoid the occurrence of the tight corner braking phenomenon, and when the driving force on the auxiliary driving wheel side is small, the change speed of the driving force distribution amount is changed. If you set it small The driving force applied to the auxiliary drive wheels in response to an increase or decrease in the rotational speed of the main drive wheels that occurs due to road surface μ fluctuations, etc. during normal running will increase or decrease the rotational speed of the main drive wheels due to the delay in the response of the drive system It is possible to suppress a large deviation from the above and to prevent a hunting of the driving force distribution control finally.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a vehicle four-wheel drive control system according to the present invention will be described below with reference to the accompanying drawings. In this example, F
It is applied to a transfer clutch of a drive force distribution control device for a four-wheel drive vehicle based on an R (front engine / rear drive) system.

In FIG. 1, 1 is a rotary drive source, that is, an engine as an engine, 2FL to 2RR are front left wheel to rear right wheel, 3
Is a driving force transmission system capable of changing and controlling the driving force distribution ratio to each of the wheels 2FL to 2RR, and 4 is a driving force distribution control device for controlling the driving force distribution by the driving force transmission system 3. The driving force transmission system 3 includes a clutch (not shown) that interrupts the driving force from the engine 1, a transmission 12 that shifts the output of this clutch at a selected gear ratio, and a driving force from this transmission 12 to the front wheels. (Transfer drive wheels) 2FL, 2FR side and rear wheels (main drive wheels) 2RL, 2RR transfer 14 is provided. In the driving force transmission system 3, the front wheel side driving force divided by the transfer 14 is applied to the front wheel side output shaft 1.
6, transmitted to the front wheels 2FL and 2FR via the front differential gear 18 and the front-wheel-side drive shaft 20. On the other hand, the rear wheel side driving force is transmitted through the propeller shaft (rear wheel side output shaft) 22, the rear differential gear 24 and the rear wheel side drive shaft 26 to the rear wheel 2RL,
It is transmitted to 2RR.

In the transfer 14, as shown in FIG. 2, the left end portion of the input shaft 30 inserted in the transfer case 28 is connected to the output side of the transmission 12.
The input shaft 30 is rotatably supported by bearings 31 and the like. The right end portion of the input shaft 30 in FIG. 2 is coupled to an output shaft 33 rotatably supported by a bearing 32, and the output shaft 33 is coupled to the propeller shaft 22. The detailed structure of this transfer and the transfer clutch to be described later will be described in, for example, Japanese Patent Application Laid-Open No. 1-248 previously proposed by the present applicant.
See Japanese Patent Publication No. 26.

On the other hand, at the center of the input shaft 30, there is provided a fluid type multiple disc clutch mechanism 37 as a variable torque clutch capable of changing the torque distribution ratio to the front and rear wheels. The clutch mechanism 37 includes a clutch drum 37a splined to the input shaft 30, a friction plate 37b rotationally engaged with the clutch drum 37a, and a needle bearing or the like on the outer peripheral portion of the input shaft 30. Clutch hub 37c rotatably supported
FIG. 2 of the friction mechanism 37d engaged with the clutch hub 37c in the rotational direction and the clutch mechanism 37
A clutch piston 37e arranged on the right side of
A cylinder chamber 37f formed between the clutch piston 37e and the clutch drum 37a is provided. Further, in the clutch mechanism 37, 37h is a return spring for the clutch piston plate 37e. The clutch mechanism 37 is also connected to the front wheel side via a gear train mounted on the left end side in FIG. 2 as illustrated. That is, here, the clutch hub 37c is spline-coupled to the first gear 41a,
The first gear 41a is meshed with the rotatable second gear 41b by the bearings 40a, 40b, and the second gear 41b is described above via the rotatable third gear 41c by the bearings 42, 43. It is connected to the front wheel side output shaft 16.

At a predetermined position on the side surface of the transfer case 28, there is formed an input port to which a working fluid pressure from a pressure control valve 66 forming a part of a clutch control device described later is supplied as a control force. The working fluid pressure is supplied to the cylinder chamber 37f from this input port.
Therefore, when the working fluid pressure is not supplied to the input port, that is, when the pressure in the cylinder chamber 37f of the clutch mechanism 37 is atmospheric pressure or substantially equal to atmospheric pressure, the friction plate 37b is elastically actuated by the return spring 37h. And the friction disc 37d are separated from each other. Therefore, in this state, all of the input torque transmitted to the input shaft 30 is the output shaft 33 and the propeller shaft 22.
Is transmitted to the rear wheel side via the, and only the rear wheel side is in the two-wheel drive state. On the other hand, in the state where the working fluid pressure is supplied to the input port, the pressing force by the clutch piston 37e is generated in accordance with the degree of pressurization of the cylinder chamber 37f, and the friction plate 37b and the friction disc 37d respond to this. Engaging force (fastening force) due to frictional force between
Occurs, and as a result, a part of the total driving torque is transmitted to the front wheels via the output shaft 16. The transmission torque ΔT to the front wheel side linearly increases with respect to the supplied working fluid pressure P as given by the following equation 1 with respect to the supplied working fluid pressure P.

[0015] ΔT = P · S · 2n · μ · r m ......... (1) where, S is the pressure acting area of the piston 37e, n is friction Disc, mu is the friction coefficient of the clutch plate, r
_m is the effective radius of torque transmission of the friction disc. That is, the transmission torque ΔT to the front wheel side is proportional to the supply fluid pressure P, and eventually the driving torque is distributed and transmitted to the rear wheel side and the front wheel side according to the fastening force. The torque distribution ratio to the front and rear wheels is determined by the pressure P of the working fluid supplied to the input port.
(0: 100 to 50:50) can be continuously changed according to

On the other hand, returning to FIG. 1, the driving force distribution control device 4 includes the transfer 14, the fluid pressure source 35 for pressurizing and supplying the working fluid in the reservoir 35b, and the fluid supplied from the fluid pressure source 35. After the pressure control valve 50 that variably controls the pressure to supply the working fluid to the input port of the fluid-type multi-plate clutch mechanism 37, the front wheel speed sensor 54 that detects the front wheel speed Vw _F , and the rear wheel speed Vw _R are detected. Wheel speed sensor 56
A throttle opening sensor 48 for detecting the throttle opening θ from the amount of depression of the accelerator pedal 49, a mode select switch 52 for selecting the distribution of the driving force to each wheel, and a gear position selected by the select lever. , A neutral switch 54 for detecting a so-called neutral position, a brake switch 57 for detecting that the brake pedal is depressed based on the amount of depression of the brake pedal 55, and a working fluid temperature T in the reservoir 35b. And a control unit 58 for controlling the output fluid pressure of the pressure control valve 50 based on detection signals from these sensors.

The fluid pressure source 35 is rotationally driven by an electric motor 35a as shown in FIG.
A pump 35c for increasing the pressure of the working fluid in b to supply it to the input port of the clutch mechanism 37, a check valve 35d provided on the discharge side of the pump 35c, and a check valve 35d.
And a relief valve 35k connected to a connection point of the accumulator 35e, and a reservoir 62 connected between the connection point of the accumulator 35e and the input port of the clutch mechanism 37. The pressure control valve 50 is interposed in the drain pipe 63 that is branched.

In the electric motor 35a, one end of the excitation winding is connected to the positive battery power source B via the motor relay 35h and the other end is grounded. The motor relay 35h is connected to the accumulator 35e and the accumulator 35e. Pressure control valve 50
Drive control is performed based on the detection value of the pressure switch 35i that operates by detecting the line pressure of the pipeline between them. That is, the base of the transistor 35j forming the switching regulator is connected to the positive battery power source B via the resistor R ₁ and the pressure switch 35i, and the collector is the motor relay 35.
When the line pressure in the line between the accumulator 35e and the pressure control valve 50 is equal to or higher than a predetermined set pressure because it is connected to the positive battery power source B via the relay coil of h and the emitter is grounded, the pressure switch 35i Is turned off, the switching transistor 35j is also turned off, the normally open contact t of the motor relay 35h is opened, the electric motor 35a is de-energized, and accordingly, the electric motor 35a is stopped in rotation, and The working fluid pressure above the predetermined set pressure as the line pressure is relieved via the relief valve 35k. On the other hand, when the line pressure in the pipeline between the accumulator 35e and the pressure control valve 50 is less than the predetermined set pressure, the pressure switch 35i
Is turned on, the switching transistor 35j is also turned on accordingly, the motor relay 35h is energized, the normally open contact t is closed, and the electric motor 35a is rotationally driven, whereby the oil pump 35c is driven. The line pressure of the pipeline is increased. As described above, a substantially stable working fluid pressure is supplied from the fluid pressure source 35 toward the primary side of the pressure control valve 50.

The pressure control valve 50 is a so-called duty ratio control type normally open pressure reducing valve, and as described above, is connected to the drain pipe 63 connected to the conduit from the discharge side of the pump 35c to the input port. It is installed. The pressure control valve 50 is opened by a so-called PWM (Pulse Width Modulation) control in accordance with a voltage signal V _{D / T} corresponding to the duty ratio supplied to the solenoid 50a of a spool arranged in the pressure reducing valve. The voltage signal V
_As the duty ratio of _{D / T} increases, the control pressure P _C on the primary side of the pressure reducing valve, that is, on the clutch mechanism 37 side increases.
Here, the control pressure P _C on the side of the clutch mechanism 37 is linear with the engaging force of the clutch mechanism 37, and the engaging force of the clutch mechanism 37 is linear with the driving force transmitted to the front wheels. The driving force distribution amount (for example, 0 to 115 kgm = half of the total driving force) Tq to the front wheels, which is achieved by the above, simply increases as a quadratic curve with respect to the duty ratio D / T as shown in FIG. It is like this.

On the other hand, the front wheel speed sensor 54 and the rear wheel speed sensor 56 are individually provided at predetermined positions of the front wheel side output shaft 16 and the rear wheel side propeller shaft 22, and the rotational speed of each shaft is determined by an optical system or The front and rear wheel speeds Vw _F , Vw are detected by an electromagnetic method, and pulse signals or sine wave signals corresponding thereto are used.
_{The R} is individually output to the control unit 58. In addition, the mode select switch 5
2 is provided in the vicinity of a driver's seat such as an instrument panel. For example, the driver sets the two-wheel drive mode in order to request a two-wheel drive state in which the driving force is transmitted only to the rear wheels which are the main drive wheels. When the mode select switch 52 is selected, the two-wheel drive mode select signal S _{2 in} the ON state of the logical value “1” is output, and the driving force equivalent to that of the rear wheels is applied to the front wheels which are the auxiliary driving wheels. That is, when the four-wheel direct-coupling traveling mode is selected in order to desire the four-wheel direct-coupling traveling state in which the driving force distribution amount between the front and rear wheels is 50:50, the four-wheel direct-coupling traveling mode in which the logical value "1" is in the ON state. The select signal S _4R is output, and the four-wheeled vehicle in which the driving force distribution amount is automatically controlled according to the running state of the vehicle or the operation input state by the driver between the two-wheeled running state and the four-wheel direct-coupled running state. Automatic driving state Selecting four-wheel automatic drive mode to the desired, four-wheel automatic driving mode selection signal S _4A is in the ON state of the logical value "1" is output, the mode select signal is in the ON state of the respective logic value "1" Is output, other mode select signals indicating the OFF state of the logical value "0" are output. Further, the neutral switch 53 outputs a neutral signal indicating an ON state of a logical value "1" when the gear position selected by the select lever is so-called neutral, and a logical value "0" at other gear positions. It is configured to be in an OFF state. The throttle opening sensor 48 is composed of a positioner or the like for detecting the throttle opening obtained as an accelerator operation amount. Specifically, when the accelerator operation amount is "0", that is, the accelerator pedal. The throttle opening when there is no depression is 0%, the throttle opening when the accelerator pedal is pushed to the limit is 100%, and the voltage output gradually increases according to the depression amount of the accelerator pedal during that period. The throttle opening θ is output to the control unit 58. Further, the brake switch 48 also serves as a switch provided for lighting a so-called brake lamp, and when the brake pedal 47 is stepped on, a logical value "1" indicating an ON state, the brake pedal 4 is provided.
When the foot is released, the brake signal S _BRK having the logical value "0" indicating the OFF state is output.

The control unit 58 is a micro
A computer 70 and a drive for driving the pressure control valve 50.
And a driving circuit 59. Also, the micro computer
The sensor 70 uses the detection signal from each sensor as each detection value.
Input interface having A / D conversion function for reading
Circuit 70a, arithmetic processing unit 70b, ROM, RA
It is obtained by the storage device 70c such as M and the arithmetic processing device 70b.
Clutch engagement force control signal S_TD to output
An output interface circuit 70d having an A / A conversion function,
It has. Microphone of this control unit 58
In the computer 70, the arithmetic processing shown in FIG.
According to the reason, the front and rear wheel speed Vw_F, Vw _RDeviation ΔVw
To first front wheel distribution torque Tq₁To calculate the fluid temperature T
To second front wheel distribution torque Tq₂Calculate the slot
From the opening θ to the third front wheel distribution torque Tq_ThreeAnd then
Brake signal S_BRKTo fourth front wheel distribution torque Tq_FourCalculate
The maximum value of these and the mode select signal
S_4A, S_4R, S₂And the neutral signal S_NAnd from criteria
Front wheel distribution torque Tq₀Set this standard front wheel distribution torque
Ku Tq₀Is the previous value Tq of the target front wheel distribution torque^* _(n-1)Less than
If it is below, the change speed Tq 'is variably set and
If it does not, the front wheel distribution torque change speed Tq '
Maximum value Tq '_MAXSet the front wheel distribution torque to such
The time integral value of the change speed Tq 'is the reference front wheel distribution torque.
Tq₀While avoiding overshooting
Target using the time integral value of the wheel distribution torque change speed Tq '
Current value of front wheel distribution torque Tq^* _(n)Control signal S_Tage
Output to the drive circuit 59.

The drive circuit 59 achieves the current value Tq ^* _(n) of the target front wheel distribution torque as the control signal S _T output from the microcomputer 70,
The duty ratio D / T of the solenoid 50a of the pressure control valve 50 is set according to the characteristic curve of FIG. 3, and the command voltage signal V _{D / T} as a drive signal having this duty ratio D / T is set.
In order to output, a so-called PWM drive circuit including, for example, a reference wave generation circuit and a comparator is configured.

Next, the arithmetic processing performed in the control unit of this embodiment will be described with reference to the flowchart of FIG. This calculation process is performed by a predetermined sampling time ΔT (for example, 10 msec) in the microcomputer.
It is executed as a timer interrupt process for each. It should be noted that although no particular steps are provided for communication in this flowchart, the maps, programs, predetermined arithmetic expressions, etc. necessary for the arithmetic processing are read from the ROM of the storage device 70c at any time and are obtained by the arithmetic operation. The calculated value and each information value are stored in the RAM of the storage device 70c as needed.

In this calculation process, first, in step S1
Then, the front wheel speed Vw _F from the front wheel speed sensor 54 and the rear wheel speed Vw _R from the rear wheel speed sensor 56 are read. Next, in step S2, the fluid temperature T from the fluid temperature sensor 51 is read. Next, in step S3, the throttle opening θ from the throttle opening sensor 48 is read.

Next, in step S4, the mode select signal S _4A from the mode select switch 52,
S _4R , S ₂ and the neutral signal S _N from the neutral switch 53 are read. Next, in step S5, the brake signal S from the brake switch 57 is sent.
Read _BRK .

Next, the process proceeds to step S6, and the step
Front wheel speed Vw read in S1_FAnd rear wheel speed Vw_RFor
Then, the front-rear wheel speed difference ΔVw is calculated according to the following two equations. ΔVw = Vw_R-Vw_F (2) Next, move to step S7 and calculate in step S6.
Using the calculated front-rear wheel speed difference ΔVw, the control map shown in FIG.
From the first front wheel distribution torque Tq₁Is calculated and set. this
In the control map of FIG. 5, the front and rear wheel speed difference ΔVw is a positive value and
Predetermined threshold value (+ ΔVw₁) In the above areas, the first front wheel allocation
Torque Tq₁Is a relatively large predetermined value Tq ₁₁(Eg 11
5 kgm, specifically, the front and rear wheel drive force distribution amount is 5
The maximum allocation amount is 0:50), and this positive value
Constant threshold (+ ΔVw₁) To “0” in the front and rear wheels
As the speed difference ΔVw increases, the first front wheel distribution torque Tq₁But
Linearly, while the front-rear wheel speed difference ΔVw is a negative value
If yes, the ΔVw is from “0” to a negative first predetermined value.
Threshold (-ΔVw₁) Up to the first front wheel distribution torque Tq₁But
The dead zone is set to "0", while the front and rear wheel speed difference ΔV
w is the first predetermined threshold value (-ΔVw₁) Less negative value
Second predetermined threshold (-ΔVw₂) Below, the first front wheel distribution
Torque Tq₁Is a relatively small predetermined value Tq₁₂(Eg 50
The second predetermined threshold value (−)
ΔVw₂) To “0”, the front and rear wheel speed difference ΔVw
As the first front wheel distribution torque Tq₁Increases linearly
To be added.

Next, in step S8, the second front wheel distribution torque Tq ₂ is calculated and set from the control map shown in FIG. 6 using the fluid temperature T read in step S2.
In the control map of FIG. 6, the second front wheel distribution torque Tq ₂ has a small predetermined value T in the normal operating temperature region where the fluid temperature T is equal to or higher than a predetermined threshold value T ₁ (eg, -10 ° C) lower than "0 ° C".
The fluid temperature T is maintained at q ₂₀ (for example, 2 to 4 kgm), and is maintained at a large predetermined value (for example, about 60 kgm) in the cold operating temperature region where the fluid temperature T is lower than the predetermined threshold value T ₁ .

Next, in step S9, the front wheel speed (sub drive wheel speed) Vw _F read in step S1 which is considered to be equivalent or almost equivalent to the vehicle body speed is set to a preset predetermined vehicle body speed V _C0. (For example, 20 km / h) or less is determined, and if the front wheel speed Vw _F is less than or equal to the predetermined vehicle body speed V _C0 , the process proceeds to step S10, and if not, the process proceeds to step S11.

In the step S10, the step S
The third front wheel distribution torque Tq ₃ is calculated and set from the control map shown in FIG. 7 using the throttle opening θ read in step _3, and then the process proceeds to step S12. In the control map of FIG. 7, the third front wheel distribution torque Tq ₃ linearly increases as the throttle opening θ increases.
It should be noted that the third front wheel distribution torque Tq _{3, which} is competing in the control map of FIG. 7 with the throttle opening θ ₁ slightly larger than immediately after the accelerator pedal is depressed, is the second front wheel distribution torque in the control map shown in FIG. The torque Tq ₂ is designed to be larger than a small predetermined value Tq ₂₀ .

On the other hand, in the step S11, the third
After the front wheel distribution torque Tq ₃ is set to "0", the process proceeds to step S12. In step S12, the brake signal S _BRK read in step S5 is "1".
Whether the brake signal S is in the ON state is determined.
_{If BRK} is in the ON state of "1", step S13
Otherwise, the process moves to step S14.

In step S13, it is determined whether or not the front wheel speed (sub drive wheel speed) Vw _{F, which} is equivalent or almost equivalent to the vehicle speed, is "0" indicating the stopped state, and the front wheel speed Vw _F is ". If it is "0", the process proceeds to step S15, and if not, the process proceeds to step S14. In step S15, the fourth front wheel distribution torque Tq ₄ is set to a predetermined value Tq ₄₁ (for example, 30) which is larger than the small initial value Tq ₂₀ of the second front wheel distribution torque Tq ₂ according to the control map of FIG.
(kgm), and then proceeds to step S16.

On the other hand, in step S14, the fourth
After the front wheel distribution torque Tq ₄ is set to "0", the process proceeds to step S16. The step S16, step S7 first set in the front wheel distribution torque Tq ₁ and the second wheel distribution torque Tq ₂ set in step S8
And, the maximum value of the third front wheel distribution torque Tq ₃ set in step S10 or step S11 and the fourth front wheel distribution torque Tq ₄ set in step S14 or step S15 is selected according to the following three formulas, and is selected as It is calculated and set as the reference front wheel distribution torque Tq ₀ .

Tq ₀ = MAX (Tq ₁ , Tq ₂ , Tq ₃ , Tq ₄ ) (3) However, in the formula, MAX represents the maximum value selection. At the next step S17, the four-wheel direct drive mode select signal S _4R is determined whether the ON state of the logical value "1", the four-wheel direct drive mode select signal S _4R is ON If so, the process proceeds to step S18, and if not, the process proceeds to step S19.

[0034] At step S19, the four-wheel automatic driving mode selection signal S _4A is determined whether the ON state of the logical value "1", the four-wheel automatic driving mode selection signal S _4A is in the ON state If there is, the process proceeds to step S20, and if not, the process proceeds to step S21.
In the step S21, the two-wheel drive mode select signal S ₂ is equal to or in the ON state of the logical value "1", when the two-wheel drive mode select signal S ₂ is in the ON state in step S22 If not, the process proceeds to step S21 otherwise.

In step S18, the reference front wheel distribution torque Tq ₀ is set to the front wheel distribution torque maximum value Tq _0MAX , and then the _{process proceeds} to step S23. In addition, the step S
In 20 shifts the reference wheel distribution torque Tq ₀ calculated in the step S16 after setting the reference wheel distribution torque Tq ₀ directly to the step S23.

In step S22, the reference front wheel distribution torque Tq ₀ is set to "0", and then the process proceeds to step S23. In the step S23, the neutral signal S _N is determined whether the ON state of "1", when the neutral signal S _N is in the ON state, the process proceeds to step S24, otherwise Control goes to step S25.

Then, in step S24, the group
Quasi-front wheel distribution torque Tq₀Set to “0” and then
Go to step S26. Further, in the step S25,
The standard front wheel distribution torque set up to step S22.
Ku Tq₀Is the reference front wheel distribution torque Tq₀Set to
Then, the process proceeds to step S26. Step S
In step 26, before the reference set up to step S25
Wheel distribution torque Tq₀Is updated and stored in the storage device 70c.
Previous value Tq of target front wheel distribution torque^* _(n-1)Less than
It is determined whether or not it is below, and the reference front wheel distribution torque Tq.
₀Is the previous value Tq of the target front wheel distribution torque^* _(n-1)Below
If so, the process proceeds to step S27; otherwise,
Moves to step S28.

In step S27, using the previous value Tq ^* _{(n-1) of} the target front wheel distribution torque, that is, the drive torque currently distributed to the front wheels, the front wheel distribution torque change speed Tq is calculated according to the control map of FIG. After calculating ', the process proceeds to step S29. In the control map of FIG. 8, the front wheel distribution torque change speed is in the region from the previous value Tq ^* _(n-1) of the target front wheel distribution torque “0” to the relatively small first predetermined threshold value Tq ^* ₁ (for example, 20 kgm). Tq 'is maintained at a relatively small first predetermined value Tq' ₁ (for example, -15 kgm / s), and the previous value Tq ^* _{(n-1) of} the target front wheel distribution torque is larger than the first predetermined threshold value Tq ^* _1. Second predetermined threshold Tq
^* ₂ (e.g. 25Kgm) or more regions wheel distribution torque change rate Tq 'is relatively large second predetermined value Tq' ₂ (for example -120kgm / s, the minimum wheel distribution torque change rate (-Tq _'MAX)) And the previous value Tq ^* _{(n-1) of} the target front wheel distribution torque is maintained at the first predetermined threshold value Tq ^* _1.
In the region from to the second predetermined threshold value Tq ^* ₂ , the front wheel distribution torque change speed Tq 'is set to increase linearly as the previous value Tq ^* _{(n- 1)} of the target front wheel distribution torque increases. There is. The previous value T of the target front wheel distribution torque is
The second predetermined threshold value Tq ^* ₂ of q ^* _(n-1) is a low μ value except for a so-called low μ road surface when starting or making a sharp turn or an extreme μ jump.
The maximum value of the front wheel side distributed torque generated during normal running on the road surface is used.

On the other hand, in step S28, the front wheel distribution torque change speed Tq 'is set to the maximum front wheel distribution change speed Tq'.
_After setting to _MAX (for example, 120 kgm / s), the process proceeds to step S29. In step S29, the absolute value of the value obtained by multiplying the front wheel distribution torque change speed Tq ′ set in step S27 or step S28 by the predetermined sampling time ΔT is the reference front wheel distribution torque Tq set up to step S25. It is determined whether or not the absolute value of the value obtained by subtracting the previous value Tq ^* _(n-1) of the target front wheel distribution torque from ₀ is greater than or equal to the absolute value. If the former is greater than or equal to the latter, the process proceeds to step S30, and otherwise. If step S
Move to 31.

In step S30, the front wheel distribution torque change speed Tq 'is calculated and set according to the following four equations, and then the process proceeds to step S32. ^{_{Tq '= (Tq 0 -Tq *}} (n-1)) / ΔT ......... (4) On the other hand, in step S31, the step S27 or the set front wheel distribution torque change speed Tq in step S28' as it is a front wheel After the distribution torque change speed Tq 'is set, the process proceeds to step S32.

In step S32, the current value Tq ^* _(n) of the target front wheel distribution torque is calculated and set according to the following five equations using the front wheel distribution torque change speed Tq '. _{^{Tq * (n) = Tq *}} (n-1) + Tq '· ΔT ......... (5) then the process proceeds to step S33, the current value Tq of the target front-wheel distribution torque calculated set in step S32 ^* _{( n)}
To the drive circuit 71 as the control signal S _T.

Next, in step S34, the current value Tq ^* _(n) of the target front wheel distribution torque is set to the previous value Tq ^*.
_(n-1) is updated and stored in the storage device 70c, and then the main program is restored. Next, the operation of the four-wheel drive control system of this embodiment will be described. First, regarding the operation of the fluid pressure control device shown in FIG. 2, the vehicle of this embodiment is provided with an independent fluid pressure control device, and the line pressure in the fluid pressure control device is as described above. Automatically adjusted to a constant or almost constant value, and the pressure adjusting valve 5
Since the clutch engagement force and the drive torque distribution adjustment to the front wheels by the duty ratio control to 0 are as described above, detailed description thereof will be omitted, and the steps of the arithmetic processing of FIG. 4 described in detail later will be omitted. to S16 after the filtering process and the limiter processing earlier, the front wheels distribution torque Tq ₁ ~ set up step S15 of the calculation process
The operation of Tq ₄ will be described from the viewpoint that they are set as they are to the final target front wheel distribution torque.

First, step S1 of the arithmetic processing shown in FIG.
Front and rear wheel speed Vw read in_F, Vw _RFront and rear wheel speed difference Δ
When Vw occurs, the first front wheel distribution torque is set in step S7.
Ku Tq₁Is calculated and set. Used in this step S7
First front wheel distribution torque Tq ₁Control map for calculation
Is as described above, and the front and rear wheel speed difference ΔVw which is the variable
Is defined as the main driving wheel speed (rear wheel speed V
w_R) To the auxiliary drive wheel speed (front wheel speed Vw_F) Is subtracted
Therefore, when the front-rear wheel speed difference ΔVw is a positive value,
Rear wheels 2 that are the main driving wheels due to a decrease in road surface μ, sudden acceleration, etc.
State where RL and 2RR are slipping above the vehicle speed
Is shown. The front and rear wheel speed difference ΔVw, which is this positive slip amount
The larger is the larger the driving force to the front wheels
You should improve driving stability including understeer
Therefore, as shown in the control map of FIG.
The speed difference ΔVw is a positive value and a predetermined threshold value from “0” to a positive value
(+ ΔVw₁) Increase of the front-rear wheel speed difference ΔVw
Together with the first front wheel distribution torque Tq ₁Rapidly increase
The front and rear wheel speed difference ΔVw is a positive threshold value (+ ΔVw₁)
In the above region, for example, the front / rear wheel driving force distribution amount is set to 50: 5.
0, which is the so-called four-wheel direct connection state, maximizes running stability
Can be increased to

On the other hand, when the front-rear wheel speed difference ΔVw is a negative value, for example, the rear wheel 2R which is the main driving wheel due to the engine braking force or the wheel cylinder force on a low μ road surface.
Whether L or 2RR shows a locking tendency or a locking tendency below the vehicle speed (the rear wheel braking force by the actual wheel cylinder force is often adjusted by a proportional valve or the like so that the rear wheel braking force tends to lock almost simultaneously with the front wheels. ), For example, on a high μ road surface, the vehicle is turning with a turning radius of a certain degree or less, and the front wheels having a large turning radius are rotating faster (more) than the rear wheels having a small turning radius. As the negative or front wheel speed difference ΔVw, which indicates the locking or locking tendency of the rear wheels or turning, becomes smaller numerically, the driving force to the front wheels, which are the auxiliary driving wheels, is increased to improve the steering effect and the understeer. It should improve driving stability including. However, on the other hand, when the driving force to the front wheels is increased when the locking tendency of the rear wheels is not so great and the driving force of the rear wheels becomes relatively small, the rear wheels become more and more locked according to the so-called friction circle concept. Fall into a tendency. Further, during a small turn during low-speed running in which the absolute rotational speed of the rear wheels, which are the main driving wheels, is small, the front-rear wheel speed difference ΔVw does not have a very small negative value, and the driving force to the front wheels is increased in this state. Therefore, if the engaging force of the clutch mechanism 37 is increased, a so-called tight corner braking phenomenon occurs in which the difference in rotation speed between the front and rear wheels cannot be absorbed and an interlock is applied.
Therefore, in the control map of FIG. 5, the front-rear wheel speed difference Δ
Since Vw is “0”, the negative first threshold value (−ΔV)
By setting the dead zone up to w ₁ ) and setting the first front wheel distribution torque Tq ₁ to “0” during this period, the amplification of the rear wheel lock tendency and the tight corner braking phenomenon are avoided, and the front and rear wheels concerned are avoided. The speed difference ΔVw is the negative first predetermined threshold value (−ΔV
w ₁₎ rapidly increases the first wheel distribution torque Tq ₁ with decreasing the front and rear wheel speed difference ΔVw between the up negative value of the second predetermined threshold value (-ΔVw ₂₎ from the negative front-rear wheel speed difference ΔVw In a region equal to or less than the second predetermined threshold value (−ΔVw ₂ ) of the value, the driving force of the front wheels is, to a certain extent, 1 of that of the rear wheels.
The front wheel driving force distribution amount can be increased to about / 4 to appropriately improve the running stability including understeer.

Next, in the calculation process of FIG. 4, the second front wheel distribution torque Tq ₂ is calculated and set in step S8 from the fluid temperature T in the reservoir detected by the fluid temperature sensor 51 and read in step S2. To be done. As is known, the working fluid used in a normal fluid pressure control device has a tendency that its viscosity becomes too large and the dynamic characteristics of the actuator change in a low-temperature working environment below freezing, which is much lower than “0 ° C.”. is there. In this embodiment, in such a low temperature operating environment,
For example, a predetermined working fluid pressure with respect to the duty ratio to the pressure control valve 50 is not supplied to the clutch mechanism 37, and as a result, the driving force distribution amount between the front and rear wheels does not match the target value, and malfunction may occur. There is. In a low-temperature operating environment below freezing, which is much lower than “0 ° C.”, the road surface is easily frozen, and there is a high possibility of snowfall or snowfall. Therefore, according to the control map of FIG. 8, in the region where the working fluid temperature T is set below the freezing point and equal to or lower than the predetermined threshold value T ₁ , the first front wheel distribution torque Tq ₂ is
For example, by increasing the front / rear wheel drive force distribution amount to 50:50, which is a large predetermined value Tq _{21 in} the so-called four-wheel direct connection state, to prevent malfunction of the fluid pressure control device and at the same time distribute the drive force to the four wheels. The running stability including understeer can be improved. It should be noted that the second front wheel distribution torque Tq ₂ set in such a low temperature operating environment may be appropriately set according to the temperature characteristics of the working fluid and the temperature characteristics of the fluid pressure control device. Although fixed below, it may be divided into several steps, or may be changed continuously according to a certain characteristic.

On the other hand, when the driving force distribution control between the front and rear wheels is carried out under the normal temperature operating environment other than such a low temperature operating environment, the driving force distribution adjusting means of this embodiment is constituted by the clutch mechanism. Therefore, if the duty ratio to the pressure adjusting valve 50 is set to “0”% in order to transmit the driving force only to the rear wheels, which are the main driving wheels, for example, the friction plate 37b of the clutch mechanism 37 and the friction disc. 37d is completely separated. From this state, for example, when the friction plate 37b of the clutch mechanism 37 and the friction disc 37d start contacting each other and the engagement force becomes almost "0", a command signal for further increasing the engagement force is output. , A discontinuity occurs in the change over time of the driving force to the front wheels, a response delay occurs in the driving force distribution control to the front wheels due to the response time until the clutch mechanism 37 starts contact, and the clutch mechanism 37 is short. Impact can also occur due to the engagement in time. Therefore, according to the control map of FIG. 6, in the region where the working fluid temperature T is equal to or higher than the predetermined threshold value T ₁ , the small predetermined value Tq with which the clutch mechanism 37 is lightly contacted to the extent that the driving force to the front wheels is not generated. _By setting ₂₀ to the initial torque of the so-called second front wheel distribution torque Tq ₂ , it is possible to avoid the response delay and the impact occurrence as described above.

Next, in the calculation processing of FIG. 4, the third front wheel distribution torque Tq ₃ is calculated and set in step S10 or step S11 from the throttle opening θ read in step S3. Like the first front wheel distribution torque Tq ₁ , most of the existing front-rear wheel driving force distribution control is feedback control of the actually generated front-rear wheel speed difference ΔVw, so the engagement force of the clutch mechanism 37 changes. After that, until the driving force of the front wheels 2FL and 2FR which are the auxiliary drive wheels is transmitted to the road surface, the front wheel side drive system, more specifically, the front wheel side output shaft 16, the front differential gear 18, and the front wheels. The output of the engine against the rotational inertia of the side drive shaft 20 and the front wheels 2FL and 2FR is the front wheels 2F.
Response delay until transmission to L, 2FR and the front wheel 2
Since there is a response delay until the tires of FL and 2FR rotate after kicking on the road surface, the feedback control system of this front-rear wheel speed difference ΔVw is most likely to cause the rear wheels 2RL, 2 to be at the time of starting.
In a situation where RR slip is likely to occur, the response delay becomes large and the convergence may deteriorate. Therefore,
In the calculation process of FIG. 4, a region where the front wheel speed Vw _F, which can be regarded as equivalent or almost equivalent to the vehicle body speed, is equal to or lower than the predetermined vehicle body speed V _C0 is set as the vehicle starting time, and the slip amount and the engine output which are considered to occur in the rear wheels 2RL and 2RR are set. It is considered that the throttle opening and the throttle opening have a linear relationship with each other, and the earliest throttle opening θ is detected in time series, and step S of the same calculation process is performed.
In the control map of FIG. 7 used in FIG. 10, the third front wheel distribution torque Tq ₃ is increased as the throttle opening θ is increased to be a feedforward control component, and the third front wheel distribution torque Tq having this feedforward control component is used.
_{When 3} is set to the final target front wheel distribution torque Tq ^* , the rear wheels 2RL, 2R at the time of starting as described above.
The excessive slip of R is prevented in advance, or the subsequent convergence of the generated slip is improved. In the present embodiment, when the front wheel speed Vw _F, which can be regarded as the vehicle body speed equivalent or almost equivalent, becomes larger than the predetermined vehicle body speed V _C0 , the third front wheel distribution torque Tq ₃ is set to "0" in step S11, and the vehicle starts. When the feedforward control is forcibly terminated. Further, the control map of the third front wheel distribution torque Tq ₃ is not limited to the above,
Even when the control input is also set to the throttle opening θ, it should be appropriately set according to the output characteristics of the engine and the characteristics of the slip amount that is considered to occur in the rear wheels. Further, in the present embodiment, as described above, when the throttle opening θ corresponding to the state where the accelerator pedal is depressed to some extent is a predetermined value θ ₁ , the second temperature is set in the normal temperature operating environment. The front wheel distribution torque Tq ₂ is the small predetermined value T
It becomes q ₂₀ .

Next, in the arithmetic processing of FIG. 4, from the brake signal S _BRK read in step S5 and the front wheel speed Vw _F which can be regarded as equivalent or almost equivalent to the vehicle speed,
In step 14 or step S15, the fourth front wheel distribution torque Tq ₄ is calculated and set. This fourth front wheel distribution torque Tq ₄ is obtained when the brake signal S _BRK is “1” in the ON state and Vw _F which can be regarded as equivalent or almost equivalent to the vehicle speed is “0” according to the flow from step S12 of the same calculation processing. Except that the predetermined value Tq ₄₁ is set in step S15 at some time, it is set to "0" in step S14. This setting condition, that is, the front wheel speed Vw _F equivalent or almost equivalent to the vehicle speed when the brake signal S _BRK is "1" is "0" means that the vehicle is completely stopped when the brake pedal is depressed. Therefore, originally, it is not necessary to distribute the driving force to the front wheels at this time. Further, even when slippage is likely to occur at the time of starting on a normally assumed low μ road surface, at least when the accelerator pedal is depressed for starting and the throttle opening θ becomes equal to or more than the predetermined value θ _1, the third front wheel distribution Torque T
The amount of driving force distributed to the front wheels is increased by q ₃ , and the occurrence of the slip of the rear wheels should be suppressed or quickly converged. However, in the control map of FIG. 7 for setting the above-mentioned third front wheel distribution torque Tq ₃ , unless the throttle opening θ becomes the predetermined value θ ₁ or more, the third front wheel distribution torque Tq ₃ becomes The initial torque of the second front wheel distribution torque Tq ₂ in the normal temperature operating environment, that is, the small predetermined value Tq ₂₀ or more, is not reached, and the predetermined value Tq _{20 of} the second front wheel distribution torque Tq ₂ corresponding to the initial torque is set. Since the driving force to the front wheels is "0", slipping to the rear wheels occurs even when the driving force to the rear wheels is small, such as when starting on a road surface with a very low road surface μ or a downhill road with a large downward slope. Under such a circumstance, the amount of depression of the accelerator pedal is small, and even if the throttle opening θ is smaller than the predetermined value θ ₁ , slip may occur on the rear wheels.
However, the third front wheel distribution torque Tq ₃ that should compensate for the slip at the time of starting is the second front wheel distribution torque Tq.
smaller than the initial torque of q _2, because not substantially only to a value that does not transmit the driving force to the front wheels, the slip of the rear wheels is generated in this way, become not be converged in this state (in fact Is eventually converged by the feedback control by the first front wheel distribution torque Tq ₁ , but there is a problem in the length of time required until the convergence and the hunting of the friction clutch engagement force generated during that time).

Therefore, in this embodiment, the vehicle is about to start.
A sufficient condition, that is, when the brake pedal is depressed and the vehicle
The brake signal S indicates that the speed is "0"._BRKas well as
Front wheel speed Vw_FDetected from the 4th front wheel distribution torque at this time
Ku Tq_FourAt a certain level, substantially the predetermined value Tq₄₁Ma
The brake pedal and the vehicle condition.
When the speed condition is canceled and the vehicle is about to start
This predetermined value Tq₄₁Fourth front wheel distribution torque Tq_Four
Is the final target front wheel distribution torque Tq^*Has been selected for
Sometimes, the third front wheel distribution torque Tq_ThreeBut the second
Front wheel distribution torque Tq₂Initial torque of Tq₂₀Less than
Even if this is the case, this fourth front wheel distribution torque Tq _FourPredetermined value of Tq
₄₁Is the initial value, and the front wheel distribution torque change speed to be described later
By the Tq ′ change control, the fourth front wheel distribution torque Tq
_FourPredetermined value of Tq₄₁Final target front wheel distribution torque T from
q^*Of the driving force to the front wheels by suppressing the decreasing inclination of
To prevent the rear wheels from slipping on the extremely low μ road surface and steep slopes.
Prevents restraint and improves running stability including understeer
Try to secure. In this embodiment, as will be described later
Target front wheel distribution torque Tq^*(Actually achieved now
Torque distributed to the front wheels, which is
Previous value of wheel distribution torque Tq^* _(n-1)To the size of
Therefore, the front wheel distribution torque change speed Tq 'changes, and
Physically, the target front wheel distribution torque Tq^*When is large
Increases the reduction rate of the front wheel distribution torque, and
Allocation torque Tq^*Is small, the front wheel distribution torque is reduced.
Since the control mode for slowing down the speed is performed, the fourth front
Wheel distribution torque Tq_FourPredetermined value of Tq₄₁Final goal from
Front wheel distribution torque Tq^*The slope of decrease may change
Is the fourth front wheel distribution torque Tq_FourIs a predetermined value Tq₄₁From
When the number of wheels decreases, the rear wheels, which are the main driving wheels, slip
If so, the first front wheel distribution torque Tq₁Driven by
Since the feedback control of the slip has started,
Feedback control of drive wheel slip from vehicle start
In consideration of the time required to
The fourth front wheel distribution torque Tq_FourLong decrease time
The predetermined value T₄₁And reduction of front wheel distribution torque
Set a small speed.

Next, in the arithmetic processing of FIG. 4, the same step S16 is performed.
In the first to fourth maximum value of the front wheel distribution torque Tq ₁ ~Tq ₄ is the reference wheel distribution torque which is the final target front wheel distribution torque Tq ^* reference value will be described later, which is set as described above Elected as Tq ₀ . This is because each of the front wheel distribution torques Tq _{1 to} Tq ₄ described so far is independently set according to the running state of the vehicle, the driver's operation input, and the like, and the front wheel distribution torques Tq _{1 are also set.} ~ T
Since the purpose of q ₄ is common to increase the running stability, the front wheel distribution torques Tq _{1 to} Tq ₄ that most contribute to the improvement of the running stability are not taken into consideration without giving priority to any one or increasing any ratio. Is selected as the reference front wheel distribution torque Tq ₀ .

Next, from step S17 of the arithmetic processing of FIG.
In step S22, the mode select signal S_4A, S
_4R, S₂Reference front wheel distribution torque Tq according to₀Change settings
Is performed. That is, each front wheel set as described above
Allocation torque Tq₁~ Tq_FourIs the driving condition and driver's operation
The driver is willing to expect the optimum four-wheel drive condition according to the input.
This is executed when the four-wheel automatic driving mode is graphically selected.
Should be done and another drive mode is selected
Sometimes, by respecting the driver's will,
The driving condition should be created. Therefore, the four-wheel direct drive
Mode is selected, the procedure starts from step S17.
Up S18, the reference front wheel distribution torque Tq₀But,
The driving force distribution between the front and rear wheels is 50:50, and the front and rear wheels are straight.
Maximum value Tq that results in a tied state_0MAXSet to change, while two
When the wheel running mode is selected, step S21
To step S22, the reference front wheel distribution torque T
q ₀Is changed to “0” and the four-wheel automatic driving mode is selected.
Standard front wheel allocation based on the above selection only when selected
Torque Tq₀Is the standard front wheel distribution torque Tq₀Set up
Is determined.

Further, in steps S23 to S25 of the arithmetic processing of FIG. 4, the reference front wheel distribution torque Tq ₀ is changed and set according to the neutral signal S _N.
That is, the fact that the neutral signal S _N is in the ON state of the logical value “1” does not cause the vehicle to start due to the engine output (when the gear position is neutral and the vehicle starts due to gravitational acceleration on a downhill road or the like). Generally does not cause a slip), and it is considered that the driver does not intend to start the vehicle. At this time, the driving force including the initial torque is distributed to the front wheels or the fluid pressure control device. If unnecessary fluid pressure is generated in the cylinder, energy loss occurs. Therefore, when neutral is selected for the gear position, steps S23 to S24 are performed.
Then, the reference front wheel distribution torque Tq ₀ is changed and set to “0”. If not, the reference front wheel distribution torque Tq ₀ set as described above is directly set as the reference front wheel distribution torque Tq ₀ . In a vehicle equipped with an automatic transmission, so-called parking gear position determination may be added to this neutral position determination.

Then, step S of the subsequent arithmetic processing of FIG.
From 26 to step S28, the above-mentioned front wheel distribution torque change speed Tq 'is set. As described above, the first front wheel distribution torque Tq corresponding only to the front / rear wheel speed difference ΔVw.
_{When 1} is set to the final target front wheel distribution torque Tq ^* and the driving force distribution feedback control between the front and rear wheels is executed, the rotational inertia of the drive system of the front wheels, which are the auxiliary driving wheels, and the driving force of the front wheels to the road surface. If the change speed of the driving force distribution amount is too fast at this time, the hunting of the driving force control will occur during the μ jump from the high μ road surface to the low μ road surface. There is fear. on the other hand,
In order to avoid such a problem, if the rate of change of the driving force distribution amount, particularly in the decreasing direction, is too slow, when the amount of driving force distribution to the front wheels, which are the auxiliary drive wheels, is large, the transition to turning traveling is performed. However, the amount of driving force distributed to the front wheels is not sufficiently small, so that the high engagement force of the clutch mechanism is maintained even after the turning travel, and the rotation speed difference between the front and rear wheels is not absorbed, and the tightness due to the interlock is maintained. There is a possibility that a corner braking phenomenon may occur. In order to prevent this conflicting problem, as described above, the problem of control hunting is
That is, since it occurs when the amount of driving force distribution to the front wheels, which are sub-driving wheels, is not so large, when the amount of driving force distribution to the front wheels is large, the speed of change of the driving force distribution amount is increased to the front wheels. When the driving force distribution amount is small, the changing speed of the driving force distribution amount may be slowed. Further, all of these problems occur when the amount of driving force distribution to the front wheels, which are sub-driving wheels, decreases, so that step S of the calculation process of FIG. 4 is performed.
At 26, the reference front wheel distribution torque Tq ₀ to be achieved by the four-wheel drive control device set as described above is the currently achieved front wheel distribution torque, that is, the previous value Tq ^* _{(n-1) of the} target front wheel distribution torque. ₎ It is determined whether or not the driving force distribution amount to the front wheels is in the decreasing direction depending on whether or not the following, and if the driving force distribution amount to the front wheels is in the increasing direction, the process proceeds to step S28, and Sometimes there is no problem that the changing speed of the front wheel distribution torque is too fast. Rather, in such a case, the driving force distribution amount to the front wheels should be increased promptly from the viewpoint of running stability, so the control response In order to increase the front wheel distribution torque change speed Tq ′ to the maximum front wheel distribution change speed T
q 'is set to _MAX, if the driving force distribution amount for the front is in the decreasing direction and proceeds to step S27, the change rate Tq of the front wheel distribution torque in accordance with the control map of FIG. 8' is set.

Here, according to the control map of FIG.
When the vehicle starts or turns sharply on a low μ road surface like
It occurs in normal driving on the low μ road surface except for pumps.
The second predetermined threshold value Tq set to the maximum value of the front wheel distribution torque
^* ₂The previous value Tq of the target front wheel distribution torque above^*
_(n-1)The area of is, for example,
The amount of driving force distribution to the front wheels that has been greatly increased by the control
Assuming that, release the accelerator pedal from this state
The driving force distribution amount to the front wheels decreases quickly when
Therefore, for example, during the following turning traveling, the tight corner
Front wheel distribution at this time so that the braking phenomenon does not occur
Torque change speed Tq 'is the minimum front wheel distribution torque change speed
(-Tq '_MAX) A second predetermined value Tq ′ equal to₂So that
It is. Also, the second predetermined threshold Tq^* ₂Less than
The previous value Tq of the target front wheel distribution torque ^* _(n-1)Area of
Is an extreme μ jump when starting on a low μ road surface or making a sharp turn.
This occurs during driving on all possible road surfaces μ except
It is assumed that the front wheel distribution torque is
Previous value of front wheel distribution torque Tq^* _(n-1)Of the second predetermined
Threshold Tq^* ₂Therefore, at the time of sudden acceleration or sharp turning on a high μ road surface
The first predetermined value set to the maximum value of the front wheel distribution torque generated
Threshold Tq^* ₁Up to the range of the front wheel distribution torque change speed
The degree Tq 'is quickly reduced (since it is a negative value numerically
Then, the first predetermined threshold Tq^* ₁The following areas
Then, the front wheel distribution torque change speed Tq ′ is set to a relatively small first value.
Predetermined value Tq '₁Driving force distribution that can occur during normal driving
Hunting for minute control can be suppressed and prevented.

Next, in the arithmetic processing of FIG. 4, filtering processing of the front wheel distribution torque change speed Tq 'set as described above is performed. Since the front wheel distribution torque change speed Tq 'set as described above is set as a change speed per unit time, the actual front wheel after the sampling time ΔT in which the timer interrupt calculation processing of FIG. 4 is executed is executed. The distribution torque, that is, the previous value Tq ^* _{(n-1) of the} target front wheel distribution torque must not overshoot the reference front wheel distribution torque Tq ₀ . This is because when setting the front wheel distribution torque change speed Tq ′, the actual front wheel distribution torque is not detected, and instead the previous value Tq ^* _(n−1) of the target front wheel distribution torque is used. Is also a control item to be achieved. Further, since the operation amount or control amount output in the calculation process of FIG. 4 is the chopping control based on the target value of the front wheel driving force for each sampling time ΔT,
In step S29, the front wheel distribution torque change speed T
The value obtained by multiplying q ′ by the sampling time ΔT, that is, the absolute value of the amount of change in the front wheel distribution torque to be achieved by the next sampling time is the previous value Tq ^{* of the} target front wheel distribution torque from the reference front wheel distribution torque Tq ₀ ^. _The value obtained by subtracting _(n-1) ,
That is, it is determined whether or not the absolute value of the deviation between the target value and the current value is equal to or greater than the absolute value, and if the former is equal to or greater than the latter, the front wheel distribution torque change speed Tq 'is used as described later to set the target front wheel If the current value Tq ^* _(n) of the distribution torque is set, that value will overshoot the reference front wheel distribution torque Tq _0. Therefore, the process proceeds to step S30 and the reference front wheel distribution torque Tq _{0 is changed} to the target front wheel distribution. Previous torque value T
The value obtained by subtracting q ^* _(n-1) is further added to the sampling time ΔT.
Then, a new front wheel distribution torque change speed Tq ′ is set. Of course, when the value to be achieved does not overshoot the target value, the front wheel distribution torque change speed Tq 'is changed to the front wheel distribution as it is, from the filtering operation of the reduction speed of the front wheel distribution torque, to step S31. The torque change speed Tq 'is set.

Then, step S32 of the arithmetic processing of FIG.
From step S33, the value obtained by multiplying the front wheel distribution torque change speed Tq 'respectively filtered as described above by the sampling time ΔT is added to the previous value Tq ^* _{(n-1 )} of the target front wheel distribution torque. Then, the current value Tq ^* _{(n) of} the target front wheel distribution torque is calculated and output. From the above, the clutch mechanism 37, the pressure source 35, and the pressure control valve 50 correspond to the driving force distribution adjusting means of the four-wheel drive controller of the present invention, and the same applies to the front and rear wheel speed sensors 54, 56.
Also, steps S1 and S6 of the arithmetic processing of FIG. 4 correspond to the rotational speed difference detecting means, steps S26 to S30 of the arithmetic processing of FIG. 4 correspond to the changing speed setting means, and the entire arithmetic processing of FIG. 4 is driven. It corresponds to the force distribution control means.

Next, as described above, when the driving force distribution amount to the front wheels is decreasing in step S27 of the arithmetic processing of FIG. 4, the operation of filtering the front wheel distribution torque change speed Tq 'is shown in FIG. This will be described with reference to the timing chart. In this timing chart, the front and rear wheel speeds Vw _F and Vw when the vehicle is traveling steadily on the high μ road surface at a constant acceleration and when the vehicle makes a μ jump to the low μ road surface at time t _1.
R and the front and rear wheel speed difference ΔVw are simulated, and the reference front wheel distribution torque Tq ₀ is the front and rear wheel speed difference ΔVw.
It is assumed that the first front wheel distribution torque Tq ₁ based only on w is reflected in real time. In the front-rear wheel speed difference ΔVw shown in FIG. 6B, the vertical axis is enlarged for easier understanding. Further, in this embodiment, the rear wheels, which are the main drive wheels, are directly connected to the engine, and the rotational inertia (inertia) thereof greatly affects the wheel speeds and the front and rear wheel speed differences, but for the time being, this engine inertia is Considering only the rotational inertia of the rear wheel drive system and the rotational inertia of the front wheel drive system that were ignored, the rear wheel speed Vw _{R at} that time is a solid line, and the front wheel speed Vw _F
Is a broken line, and the front-rear wheel speed difference ΔVw is a solid line.

According to this timing chart, the μ jump to the low μ road surface at the time t ₁ causes the rear wheels, which are the main driving wheels to which most of the engine output has been transmitted, to slip and the rear wheel speed Vw. _{Since R} increases and the front-rear wheel speed difference ΔVw increases, the first front wheel distribution torque Tq ₁ corresponding to the linear increase portion of the control map of FIG. 5 is increased in step S7 of the arithmetic processing of FIG. The target front wheel distribution torque Tq ^* , which is increased as the reference front wheel distribution torque Tq ₀ , increases at the maximum front wheel distribution torque change speed Tq ′ _MAX , so that the front wheel drive system has a predetermined delay time. The speed Vw _F also increases, but since the speed increase rate of the rear wheel speed Vw _R is still larger, the front-rear wheel speed difference ΔVw
Also continues to increase.

Eventually, since the rear wheel distribution torque decreases as the front wheel distribution torque increases, the rear wheel speed Vw _R reaches its maximum value at time t _2, at which time the front and rear wheel speed difference ΔVw also reaches the maximum value almost at the same time. However, due to the response delay of the front wheel drive system which is the auxiliary drive wheel, the front wheel speed Vw _F continues to increase even after this. As a result, the front and rear wheel speed difference ΔVw decreases after this time t ₂ , but the front and rear wheel speed difference ΔVw decreases.
The reduction speed of the reference front wheel distribution torque Tq ₀ equivalent to Vw, that is, the front wheel distribution torque change speed Tq ′ is suppressed to the small predetermined value Tq ′ ₁ according to the control map of FIG. 8 in step S27 of the arithmetic processing of FIG. Therefore, the final target front wheel distribution torque Tq ^* is gradually reduced, and therefore, the deceleration slope of the rear wheel speed Vw _R is suppressed and the rear wheel speed Vw _R is gradually decelerated. The wheel speed difference ΔVw also gradually decreased, and this was continuously repeated until time t ₃ when the front wheel speed Vw _F reached the maximum value.

Then, the time t_ThreeThen, the front wheel drive mentioned above
Front wheel speed Vw due to delay in response of dynamic system _FReached its maximum,
Thereafter, the target front wheel distribution torque Tq^*Gradually decreases
It was decided to start decelerating due to
The decreasing slope of the rear wheel speed difference ΔVw becomes even smaller.
However, the reference front wheel distribution according to the front-rear wheel speed difference ΔVw
Luk Tq₀From the final target front wheel distribution torque Tq^*To
Is from step S29 to step S30 of the arithmetic processing of FIG.
Because the limiter is applied at, the rear wheel speed Vw _RSlowing down
The tilt becomes even smaller, and the response of the front wheel drive system
Front wheel speed Vw that occurs with a delay_FThe deceleration inclination of is also small
It has become.

Due to such a damping effect of the fluctuation of the rear wheel speed Vw _R , the rear wheel speed Vw _R approaches the wheel speed satisfying a predetermined vehicle acceleration including the traction loss on the low μ road surface, but the front wheel is still present. Since the speed Vw _F is not close to this wheel speed due to the response delay of the front wheel drive system, the rear wheel speed Vw _R is almost good, but the running state in which the front wheel speed Vw _F should be slightly increased is obtained. , The front-rear wheel speed difference ΔVw reaches a minimum value at time t ₄ , and thereafter the final target front-wheel distribution torque Tq ^* starts to increase according to the reference front-wheel distribution torque Tq ₀ equivalent to the front-rear wheel speed difference ΔVw. However, since the front wheel speed Vw _F is still decelerating, the increase rate of the actual target front wheel distribution torque Tq ^* for rotating the front wheels against the rotational inertia of the front wheel drive system is very small. And become But in order to drive power to the front wheels is not sufficiently increased, the rear wheel speed Vw is now a slight delay
_R also reached a minimum value, and it was decided to turn to further acceleration.

However, the target front wheel distribution torque Tq ^*
Since the front wheel speed Vw _F exceeds the minimum value and starts to increase from time t ₅ corresponding to the response delay of the front wheel drive system due to the increase of the above, the increase amount of the rear wheel speed Vw _R is suppressed to a small value, The front-rear wheel speed difference ΔVw from the front wheel speed Vw _F is
_Although it reaches a maximum value at ₆ and then starts to decrease, the decrease speed, that is, the front wheel distribution torque change speed Tq ′ is suppressed to be small as in the time t _{2 and} thereafter, so that the rear wheel speed Vw _R is extremely gentle first. The vehicle speed decelerates to, and after this, the acceleration gradient of the front wheel speed Vw _F decreases and reaches a maximum value at time t ₇ ,
At this time t ₇ , the front and rear wheel speed difference ΔVw converges to a value that satisfies a predetermined vehicle acceleration on the road surface μ, and as a result, the target front wheel distribution torque Tq ^* does not fluctuate and the rear wheel speed Vw _R ,
The front wheel speed Vw _F has also become stable.

Next, the operation of the conventional four-wheel drive control system in which the front wheel distribution torque change speed Tq 'is not filtered as described above will be described with reference to the timing chart of FIG. Specifically, it may be considered that steps S26 to S28 of the arithmetic processing of FIG. 4 are deleted, and the minimum change speed (-Tq ' _MAX ) is always maintained even when the front wheel distribution torque changes in the decreasing direction. To the reference front wheel distribution torque Tq ₀ , the target front wheel distribution torque Tq
^* Changes.

The simulation conditions in this timing chart are exactly the same as those in FIG. 9, and the front and rear wheel speed difference ΔVw and the rear wheel speed Vw _R are at least μ jumped to the low μ road surface at the time t _1. Time t when the maximum value is reached
The behavior up to ₂ is the same as the description in FIG. Also here, the rear wheel speed Vw _R , which neglects the influence of the engine inertia directly connected to the rear wheel, is indicated by the solid line and the front wheel speed V
w _F is indicated by a broken line, and the front-rear wheel speed difference ΔVw is indicated by a solid line.

Therefore, after this time t ₂ , the front wheel speed Vw _F continues to increase due to the response delay of the front wheel drive system which is the auxiliary drive wheel, and at the same time the front and rear wheel speed difference ΔVw decreases. Reference front wheel distribution torque Tq ₀ equivalent to the difference ΔVw
The decreasing speed of, that is, the front wheel distribution torque change speed Tq ′ is
Since the regulation by the filtering as described above is not given, the final target front wheel distribution torque Tq ^* is rapidly reduced to the same extent as the reduction speed of the front and rear wheel speed difference ΔVw, while it is still increased. Front wheel speed Vw _F continues to increase
Since a large driving force is distributed to the rear wheel, the rear wheel speed Vw
_R greatly and quickly decelerates, and therefore the front and rear wheel speed difference ΔV
w also drastically and rapidly decreases, which is the front wheel speed Vw _F
Will continue to be repeated until time t _3P when the maximum value is reached.

Then, the time t_3PThen, the front wheel drive mentioned above
Front wheel speed Vw due to delay in response of dynamic system _FReached its maximum,
After that, it was decided to start decelerating, but driving to this front wheel
Rear wheel speed Vw due to decrease in power distribution_RThe deceleration slope of is
Secondly, the difference between the front and rear wheel speeds becomes smaller at time t._4PIs the minimum value
On the other hand, the rear wheel speed Vw_RIs later than this time t_5Pso
It becomes extremely small, and then starts to accelerate. However, the above
Equal to the front-rear wheel speed difference ΔVw, which decreases significantly and rapidly
Set reference front wheel distribution torque Tq₀Goal front wheel consisting of
Allocation torque Tq^*The response delay of the front wheel drive system
Front wheel speed Vw with_FWill continue to be
The vehicle continues to decelerate, which causes the front-rear wheel speed difference ΔVw to quickly and
And the standard front wheel allocation
Torque Tq₀And target front wheel distribution torque Tq^*Is significantly
Drive speed to the rear wheels.
The amount of force distribution is still large and the rotation of the front wheel drive system is
The engagement force of the clutch mechanism 37 is increased due to rolling inertia or the like.
It takes time, and as a result, front wheel speed Vw_FIs the above
Time t_5PMuch later than time t_6PBecomes a minimum value at
After that, you can turn to speed up.

Due to this response delay, the front and rear wheel speed difference ΔVw reaches the maximum value at time t _7P and the rear wheel speed Vw _R reaches the maximum value at time t _8P, but the maximum value of the front wheel speed Vw _F is lower than this. It occurs at a late time t _9P , and immediately after that at a time T _10P , the front and rear wheel speed difference ΔVw becomes a minimum value again, and as a result, the front and rear wheel speeds Vw _F and Vw _R are in phase as in the case after the time t _2. Repeatedly increase / decrease with deviation, which is based on the front / rear wheel speed difference ΔVw from the reference front wheel distribution torque Tq ₀ and the target front wheel distribution torque T
Continuing to give a large fluctuation to q ^* , front and rear wheel speeds Vw _F , Vw _R
Does not converge to a value that satisfies a predetermined vehicle acceleration on the road surface μ, and the hunting of the driving force distribution control continues.

[0068] To avoid this problem, at least the target front wheel distribution torque Tq ^* of it will have to be set small the decrease gradient during reduction, reducing the decrease gradient of the target front wheel distribution torque Tq ^* The problem that occurs when the power is kept suppressed and the operation of this embodiment will be described with reference to the timing chart of FIG. In this timing chart, for example, when the vehicle starts on a road surface with a slightly lower road surface μ, the accelerator pedal is depressed greatly to start the vehicle in a so-called throttle ON state, and the vehicle travels to a turning drive at a time t ₂₅ which does not take much time. At t ₂₁ , release the accelerator pedal and shift to the throttle OFF state,
At time t ₂₅ , the target front wheel distribution torque Tq ^* in a situation where the steering must be turned is simulated, and the third front wheel distribution torque Tq ₃ is reflected in real time on the reference front wheel distribution torque Tq _0. It has been done. The reference front wheel distribution torque Tq ₀ equal to the third front wheel distribution torque Tq ₃ set when the throttle is turned on, that is, the target front wheel distribution torque Tq ^* is equal to or larger than the second predetermined threshold value Tq ^* ₂ of the control map of FIG. Suppose Further, the maximum value of the target front wheel distribution torque Tq ^* for preventing the tight corner braking phenomenon from occurring in the turning traveling from the time t _{25 on} this road surface is as shown in FIG.
1 is represented by Tq ^* _lim .

First, in order to prevent the above-mentioned control hunting from being suppressed, the reduction speed of the target front wheel distribution torque Tq ^* and the front wheel distribution torque change speed T in the present embodiment are referred to.
If q ′ is limited to a certain value, for example, when the accelerator pedal is released at time t ₂₁ and the throttle opening θ decreases to “0”, the reference front wheel distribution composed of the third front wheel distribution torque Tq _{3 is} generated. The torque Tq ₀ also becomes “0” at the time t ₂₁ or immediately thereafter. Since the actual change in the throttle opening θ is not so stepwise, the time t in FIG.
_{When the} reference front wheel distribution torque Tq ₀ changes as shown from ₂₁ and the decreasing speed becomes faster than the regulation value, thereafter, the target front wheel distribution torque Tq ^* has a uniform slope as shown by the chain double-dashed line in the figure. Will decrease. However, the target front wheel distribution torque Tq ^* whose reduction speed is restricted in this way is
In, the steering only by the cuts start time t ₂₅ from the slow time t _26, the tight corner because the brake phenomenon avoidance does not become the front-wheel distribution torque Tq ^* _lim follows, substantially tight corner braking phenomenon at time t ₂₅ after that cut into the steering May occur.

On the other hand, step S2 of the arithmetic processing of FIG.
In the control map of FIG. 8 in FIG. 7, when the target front wheel distribution torque (precisely, its previous value) Tq ^* _(n-1) is the second predetermined threshold value Tq ^* ₂ or more, the front wheel distribution torque change speed Tq ′. since the a minimum variation is equal to the speed prescribed value Tq _'2 constant, the target front-wheel distribution torque Tq ^* time t ₂₂ where the filter is applied to reduce the rate of, the target front-wheel distribution torque Tq ^* as shown by the solid line in FIG. 11 Second predetermined threshold Tq ^* ₂
Until the time t ₂₃ becomes smaller, the minimum change speed (−
Tq ′ _MAX ), the target front wheel distribution torque Tq ^* decreases linearly and quickly, and then the target front wheel distribution torque Tq ^*
* Until the time t ₂₄ to be the first predetermined threshold value Tq ^* ₁ or less, since the front wheel distribution torque change rate Tq 'decreases linearly, the target front-wheel distribution torque Tq ^* decreases quadratically, then After that, the inclination is reduced uniformly and gently at the small predetermined value Tq ′ ₁ . In this simulation, for the time t ₂₅ target front-wheel distribution torque Tq at an earlier time t _23.5 than ^* is equal to or less than the tight-corner braking phenomenon avoid front-wheel distribution torque Tq ^* _lim, tight corner at a time t ₂₅ after that cut into the steering The possibility of occurrence of the braking phenomenon is reduced.

Incidentally, the front wheel distributed torque change speed Tq '.
Is not filtered, the timing check of FIG.
Engine inertia directly connected to the rear wheels
Considering the effect of, the heavy engine inertia is
Rear wheel speed Vw tied_RIt is expected that it will not change so much
I thought about it, and also responded to the throttle opening by electronic control.
Engine output torque is controlled to be constant
In case of rear wheel speed Vw _RThe fluctuation range of
available. Rear wheel speed Vw in this situation_RFigure 10
In front of the front wheel speed Vw_FIs the one-dot chain line
ΔVw is shown by a chain double-dashed line. Under these circumstances,
Rear wheel speed Vw_RSince the fluctuation of
t₂Therefore, when the front-rear wheel speed difference ΔVw becomes maximum, it does not easily fluctuate.
Rear wheel speed Vw_RAgainst the front wheel speed Vw_FAccelerates quickly
However, the front and rear wheel speed difference ΔVw decreases in real time,
Next, after the delay time of the front wheel drive system, the front wheel speed Vw_FSlows down
The front-rear wheel speed difference ΔVw increases in real time with this.
Such as, front wheel speed Vw_FFluctuation cycle and its
The fluctuation cycle of the front-rear wheel speed difference ΔVw becomes shorter. On the other hand, the above
Engine whose output torque is controlled to be almost constant like
In addition, this front wheel drive system was added or removed in a short cycle.
Then, the cycle is the rear wheel speed that will actually occur.
Vw_RAverage rear wheel speed, unless it excites fluctuations
Vw_RIt is expected to slow down gradually. Therefore, before
Wheel speed Vw_FThe difference ΔVw between the front and rear wheels gradually decreases,
Along with this, the front wheel speed Vw_FThe fluctuation range of
After a certain amount of time, the rear wheel speed Vw_R, Front wheel speed Vw_FIs
Convergence to a speed that achieves the prescribed vehicle acceleration on the low μ road surface
Will do.

When this is fed back to the timing chart of FIG. 9 which is the present invention, similarly, the rear wheel speed Vw _R is the two-dot chain line, the front wheel speed Vw _F is the one-dot chain line, and the front and rear wheel speed difference ΔV.
w is as indicated by two-dot chain lines, the time t ₂ after smaller content change margin of the rear wheel speed Vw _R relative to the front wheel speed Vw _F for accelerated, wheel speed difference ΔVw before and after that gradually decreases Therefore, the deceleration allowance of the front wheel speed Vw _F is also suppressed to a small value, and the rear wheel speed Vw _R slowly decelerates during this period to gradually approach the front wheel speed Vw _F , with almost no overshoot, and from about the time t ₇ . Even at an earlier time, the front and rear wheel speed difference ΔVw converges to a value that satisfies a predetermined vehicle acceleration on the road surface μ, and as a result, the target front wheel distribution torque Tq ^* does not fluctuate and the rear wheel speed Vw _R and the front wheel speed Vw. _{Both F} are in a stable state. That is,
Considering the engine inertia, the front wheel speed fluctuation and the control hunting will eventually converge even in the conventional control mode, but according to the present embodiment, such front wheel speed fluctuation and the control hunting can be suppressed.

Although the four-wheel drive vehicle based on the rear-wheel drive vehicle has been described in detail in the above embodiment, the present invention is not limited to this type of four-wheel drive vehicle, and the four-wheel drive vehicle based on the front-wheel drive vehicle is not limited thereto. It may be one that controls a clutch mechanism of a transfer mounted on a wheel drive vehicle. Further, in the above-described embodiment, the case where the fluid type friction clutch driven by the fluid pressure is used as the clutch mechanism has been described, but the present invention can be applied to, for example, an electromagnetic clutch mechanism as long as the clutch can distribute the driving force continuously. .

Further, although the auxiliary drive wheel speed is used for the evaluation of the vehicle body speed in the above-mentioned embodiment, the influence of the auxiliary drive wheel which is changed by the driving force variation to the auxiliary drive wheel does not appear in the vehicle body speed as described above. You can use it with an appropriate filter,
Alternatively, the pseudo vehicle speed (estimated vehicle speed) used in an existing unskid control device or the like may be diverted. Further, although the above-mentioned embodiment has explained the case where the microcomputer is applied as the control unit 58,
Instead of this, electronic circuits such as a counter and a comparator may be combined.

Further, in the above embodiment, the case where the working fluid is applied as the working fluid for urging the variable torque clutch has been described, but it is needless to say that a fluid such as water or a gas such as air can be applied. Yes. Further, the rotation drive source of the oil pump is not limited to the electric motor, and the rotation output of the engine can be used.

[0076]

As described above, according to the four-wheel drive control system for a vehicle of the present invention, the changing speed when the driving force distribution amount changes in the direction of decreasing the driving force on the auxiliary driving wheel side is By setting a large value when the driving force on the auxiliary drive wheel side is large, a large driving force to the auxiliary drive wheel in response to a large slip of the main drive wheel can be released, for example, in preparation for the transition to turning travel. Because it decreases quickly,
Even if the vehicle shifts to turning in this state, the front and rear wheels absorb the difference in rotational speed to avoid the occurrence of the tight corner braking phenomenon, and the driving force distribution amount changes when the driving force on the auxiliary driving wheel side is small. By setting the speed to a low value, the driving force to the auxiliary drive wheels due to the increase or decrease in the number of rotations of the main drive wheels caused by road surface μ fluctuations during normal running is It is possible to prevent a large deviation from the increase / decrease in the rotation speed of the main drive wheels, and finally to prevent hunting of the driving force distribution control.

[Brief description of drawings]

FIG. 1 is a schematic explanatory diagram of a vehicle configuration showing an example of a four-wheel drive control system for a vehicle according to the present invention.

FIG. 2 is a schematic configuration diagram showing an example of a front-rear wheel driving force distribution control device of FIG.

3 is a correlation diagram of a duty ratio and a target front wheel distribution torque used in the front-rear wheel driving force distribution control device of FIG.

FIG. 4 is a flowchart showing a calculation process of an embodiment of the front-rear wheel driving force distribution control device of FIG.

FIG. 5 is a control map for calculating and setting a first front wheel distribution torque in the arithmetic processing of FIG.

6 is a control map for calculating and setting a second front wheel distribution torque in the arithmetic processing of FIG. 4. FIG.

7 is a control map for calculating and setting a third front wheel distribution torque in the calculation process of FIG. 4. FIG.

FIG. 8 is a control map for calculating and setting a front wheel distribution torque change speed in the arithmetic processing of FIG.

9 is an explanatory diagram of driving force distribution control by the arithmetic processing of FIG.

FIG. 10 is an explanatory diagram of conventional driving force distribution control.

11 is an explanatory diagram of driving force distribution control by the arithmetic processing of FIG.

[Explanation of symbols]

 1 is an engine 2FL to 2RR is a front left wheel to a rear right wheel 3 is a driving force system 4 is a driving force distribution control device 12 is a transmission 14 is a transfer 16 is a front wheel side output shaft 18 is a front wheel side differential gear 20 is a front wheel side drive shaft 22 is a propeller shaft 24 is a rear-wheel differential gear 26 is a rear-wheel drive shaft 35 is a fluid pressure source 37 is a clutch mechanism 48 is a throttle opening sensor 50 is a pressure control valve 51 is a fluid temperature sensor 52 is a mode select switch 53 Neutral switch 54 is a front wheel speed sensor 56 is a rear wheel speed sensor 58 is a control unit 59 is a drive circuit 70 is a microcomputer

Claims (1)

[Claims] 1. A drive force distribution to the main drive wheel and the sub drive wheel by variably controlling engagement force according to a control signal, with one of the front and rear wheels of the vehicle as a main drive wheel and the other as a sub drive wheel. Based on the rotational speed difference detection value of at least the rotational speed difference detection means, the rotational speed difference detection means for detecting the rotational speed difference between the main drive wheel and the auxiliary drive wheel, Then, the drive force distribution amount between the main and sub drive wheels is set so that the drive force on the sub drive wheel side increases with an increase in the rotation speed difference detection value, and the drive force distribution amount between the main and sub drive wheels is set based on the drive force distribution amount. In a four-wheel drive control device for a vehicle, comprising a driving force distribution control unit for controlling a friction clutch, the driving force distribution control unit determines a changing speed when the driving force distribution amount changes, by the driving force distribution amount. Change speed setting means to change and set according to The change speed setting means changes and sets the change speed of the driving force distribution amount when the driving force distribution amount changes in a direction of decreasing the driving force on the auxiliary driving wheel side, When the driving force on the auxiliary driving wheel side is large, the changing speed of the driving force distribution amount is set large, and when the driving force on the auxiliary driving wheel side is small, the changing speed of the driving force distribution amount is set small. A four-wheel drive controller for a vehicle.