CN108944911A - Control method for vehicle and device - Google Patents
Control method for vehicle and device Download PDFInfo
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- CN108944911A CN108944911A CN201710391880.3A CN201710391880A CN108944911A CN 108944911 A CN108944911 A CN 108944911A CN 201710391880 A CN201710391880 A CN 201710391880A CN 108944911 A CN108944911 A CN 108944911A
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000001133 acceleration Effects 0.000 claims description 16
- 230000001419 dependent effect Effects 0.000 claims description 9
- 230000003247 decreasing effect Effects 0.000 claims description 6
- 108010023321 Factor VII Proteins 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 6
- 241000208340 Araliaceae Species 0.000 description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 235000008434 ginseng Nutrition 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/244—Charge state
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/40—Torque distribution
- B60W2720/403—Torque distribution between front and rear axle
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
- Hybrid Electric Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention provides a kind of control method for vehicle and device, the control method for vehicle includes: to obtain at least one vehicle parameter, at least one described vehicle parameter is used to indicate the current driving status of vehicle；According at least one described vehicle parameter, the front axle of vehicle and the target torque ratio of rear axle are determined；According to the target torque ratio, the output torque of the front axle and the rear axle is adjusted.Control method for vehicle of the present invention, pass through at least one vehicle parameter according to acquisition, adjust the output torque of automobile front-axle and rear axle, so that vehicle is on the basis of controlling vehicle by VSC, vehicle can also be controlled by adjusting the output torque of vehicle shaft, even if being also able to achieve the stability contorting to vehicle in the case where VSC failure, the safety of vehicle in the process of moving is improved, the flexibility of control vehicle is improved.
Description
Technical field
The present invention relates to technical field of vehicle control, in particular to a kind of control method for vehicle and device.
Background technique
In vehicle travel process, there is safety accident in vehicle in order to prevent, needs to carry out the driving status of vehicle real
When monitor, when detecting that emergency situations occurs in vehicle, vehicle can be controlled in time, to avoid the occurrence of safe thing
Therefore.
In the related technology, generally right by VSC (Vehicle Stability Control, vehicle body stabilizing control system)
Vehicle is controlled.For example, vehicle is in steering procedure, the vehicle parameter for the vehicle that VSC can be obtained by multiple sensors,
Judge that vehicle is in the state of neutral steer, understeer or ovdersteering, to control the revolving speed of each wheel of vehicle, completes
Control to vehicle avoids going out bend or vehicle " whipping " there is a situation where vehicle.
But when VSC logic error occurs and VSC is caused to fail, then vehicle loses stability contorting ability, exists certain
Traffic safety hidden danger, therefore need a kind of control method for vehicle, can also carry out stability contorting to vehicle when VSC failure.
Summary of the invention
In view of this, the present invention is directed to propose a kind of control method for vehicle, is caused with solution when logic error occurs in VSC
When VSC fails, there is certain traffic safety hidden danger in vehicle.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of control method for vehicle, the control method for vehicle include:
At least one vehicle parameter is obtained, at least one described vehicle parameter is used to indicate the current driving status of vehicle；
According at least one described vehicle parameter, the front axle of vehicle and the target torque ratio of rear axle are determined；
According to the target torque ratio, the output torque of the front axle and the rear axle is adjusted.
Further, at least one described vehicle parameter includes: at least one underlying parameter and at least one high order parameters；
Described at least one vehicle parameter according to, determines the front axle of vehicle and the target torque ratio of rear axle, comprising:
According at least one described underlying parameter, the output torque of output torque and rear axle to front axle is calculated, really
The basic torque ratio of the fixed front axle and the rear axle；
According at least one described high order parameters and the basic torque ratio, output torque to the front axle and described
The output torque of rear axle is adjusted, and determines the target torque ratio.
Further, the control method for vehicle further include:
According at least one described vehicle parameter, carry out that driving stability factor values, the driving stability factor is calculated
Value is used to indicate the degree of stability of vehicle；
Judge whether the driving stability factor values are greater than or equal to preset threshold；
It is described according to the target torque ratio, adjust the output torque of the front axle and the rear axle, comprising:
When the driving stability factor values are greater than or equal to preset threshold, according to the target torque ratio, institute is adjusted
State the output torque of front axle and the rear axle.
Further, the underlying parameter is battery capacity, accelerator pedal steps on right, steering wheel angle angle, road slope
Degree or vehicle current vehicle speed；
The high order parameters are side acceleration, longitudinal acceleration, yaw velocity, steering wheel torque, direction disk rotating speed
Or at least four wheel wheel speed.
Further, described that the output torque of the front axle and the rear axle is adjusted according to the target torque ratio, packet
It includes:
According to the target torque ratio, the front axle and the corresponding output torque of the rear axle are allocated,
Determine the front axle and the corresponding output torque of the rear axle；
According to the front axle and the corresponding output torque of the rear axle, current to the front axle and the rear axle is defeated
Torque is increased or decreased out.
Compared with the existing technology, control method for vehicle of the present invention has the advantage that
(1) control method for vehicle of the present invention, by least one vehicle parameter according to acquisition, before adjusting vehicle
The output torque of axis and rear axle, so that vehicle is on the basis of controlling vehicle by VSC, moreover it is possible to by adjusting the defeated of vehicle shaft
Torque controls vehicle out, even if being also able to achieve the stability contorting to vehicle in the case where VSC failure, improves vehicle
Safety in the process of moving improves the flexibility of control vehicle.
Another object of the present invention is to propose a kind of controller of vehicle, made with solution when logic error occurs in VSC
When failing at VSC, there is certain traffic safety hidden danger in vehicle.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of controller of vehicle, the controller of vehicle include:
Module is obtained, for obtaining at least one vehicle parameter, at least one described vehicle parameter is used to indicate vehicle and works as
Preceding driving status；
Ratio-dependent module, for determining the front axle of vehicle and the target of rear axle according at least one described vehicle parameter
Torque ratio；
Module is adjusted, for adjusting the output torque of the front axle and the rear axle according to the target torque ratio.
Further, at least one described vehicle parameter includes: at least one underlying parameter and at least one high order parameters；
The ratio-dependent module includes:
Basic ratio-dependent submodule, for according at least one described underlying parameter, output torque to front axle and after
The output torque of axis is calculated, and determines the basic torque ratio of the front axle and the rear axle；
Target proportion determines submodule, right at least one high order parameters according to and the basic torque ratio
The output torque of the front axle and the output torque of the rear axle are adjusted, and determine the target torque ratio.
Further, the controller of vehicle further include:
Computing module, it is described for carrying out that driving stability factor values are calculated according at least one described vehicle parameter
Driving stability factor values are used to indicate the degree of stability of vehicle；
Judgment module, for judging whether the driving stability factor values are greater than or equal to preset threshold；
The adjustment module includes:
Condition adjusting submodule is used for when the driving stability factor values are greater than or equal to preset threshold, according to described
Target torque ratio adjusts the output torque of the front axle and the rear axle.
Further, the underlying parameter is battery capacity, accelerator pedal steps on right, steering wheel angle angle, road slope
Degree or vehicle current vehicle speed；
The high order parameters are side acceleration, longitudinal acceleration, yaw velocity, steering wheel torque, direction disk rotating speed
Or at least four wheel wheel speed.
Further, the adjustment module includes:
Distribution sub module is used for according to the target torque ratio, corresponding defeated to the front axle and the rear axle
Torque is allocated out, determines the front axle and the corresponding output torque of the rear axle；
Adjusting submodule, for according to the front axle and the corresponding output torque of the rear axle, to the front axle and
The current output torque of the rear axle is increased or decreased.
Possessed advantage is identical compared with the existing technology with above-mentioned control method for vehicle for the controller of vehicle, herein
It repeats no more.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of exemplary block diagram of vehicle control system described in the embodiment of the present invention；
Fig. 2 is a kind of step flow chart of control method for vehicle described in the embodiment of the present invention；
Fig. 3 is a kind of step flow chart of control method for vehicle described in the embodiment of the present invention；
Fig. 4 is the variation schematic diagram of automobile front-axle and the torque ratio of rear axle described in the embodiment of the present invention；
Fig. 5 is that Vehicular battery vehicle rear axle in different electricity described in the embodiment of the present invention corresponds to output torque ratio
Schematic diagram；
Fig. 6 is a kind of step flow chart of control method for vehicle described in the embodiment of the present invention.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
In addition, the front axle being previously mentioned in an embodiment of the present invention, refers to the vehicle shaft positioned at vehicle head part, in this hair
The rear axle being previously mentioned in bright embodiment refers to the vehicle shaft positioned at tail part.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Referring to Fig.1, a kind of exemplary block diagram of vehicle control system according to an embodiment of the present invention, such as Fig. 1 are shown
Shown, which may include: that vehicle parameter obtains module 10, target proportion determining module 20 and power output mould
Block 30.
Wherein, target proportion determining module 20 obtains module 10 with vehicle parameter respectively and power take-off module 30 is connect.
Specifically, vehicle parameter obtains module 10 and is used to obtain at least one vehicle parameter, at least one vehicle parameter
It is used to indicate the current driving status of vehicle.
Target proportion determining module 20 is used to determine the front axle of vehicle and the target of rear axle according at least one vehicle parameter
Torque ratio.
Power take-off module 30 is used to adjust the output torque of front axle and rear axle according to target torque ratio.
It should be noted that it may include directly acquiring submodule and indirect gain submodule that vehicle parameter, which obtains module 10,
Block, it may include: brake pedal, accelerator pedal, steering wheel and gear switching device that this, which directly acquires submodule,；The indirect gain
Submodule may include: steering wheel torque sensor, steering wheel angle sensor, wheel speed sensors, vehicle motion sensor and
Battery electric quantity checking device；The target proportion determining module 20 can be HCU (Hybrid Combining Unit, full-vehicle control
Unit), which may include: engine and battery.
Certainly, submodule, indirect gain submodule, target proportion determining module 20 and power take-off module 30 are directly acquired
It may be other devices, it is not limited in the embodiment of the present invention.
The embodiment of the invention provides a kind of control method for vehicle, as shown in Fig. 2, the control method for vehicle may include with
Lower step:
Step 201 obtains at least one vehicle parameter.
Wherein, which is used to indicate the current driving status of vehicle.
Vehicle in the process of moving, can obtain at least one driving of vehicle in real time by each sensor of vehicle
Parameter, in the next steps, to be controlled according at least one vehicle parameter vehicle, so that it is guaranteed that vehicle
Traffic safety.
It should be noted that at least one vehicle parameter may include: at least one underlying parameter and at least one is high
Rank parameter, the underlying parameter are used to determine the upper and lower bound of automobile front-axle and the corresponding output torque of rear axle, the high-order
Parameter is used to determine automobile front-axle and the output torque that rear axle needs to adjust.
For example, the underlying parameter can step on right, steering wheel angle angle, road grade for battery capacity, accelerator pedal
Or vehicle current vehicle speed, the high order parameters can be side acceleration, longitudinal acceleration, yaw velocity, steering wheel torque, side
To disk rotating speed or the wheel speed of at least four wheels, the embodiment of the present invention to underlying parameter and high order parameters without limitation.
Step 202, according at least one vehicle parameter, determine the front axle of vehicle and the target torque ratio of rear axle.
After obtaining at least one vehicle parameter, then it can be determined according to the battery capacity at least one vehicle parameter
The max. output torque of vehicle rear axle；The current desired total output wanted of right determining driver can also be stepped on according to accelerator pedal to turn round
Square, which is to provide the output torque of whole power for vehicle, so that the maximum output in conjunction with vehicle rear axle is turned round
Square judges whether to need unlocking vehicle engine, so that automobile front-axle output torque, and then determine the output torque of automobile front-axle,
It finally determines automobile front-axle and the corresponding output torque of rear axle, obtains the target torque ratio of front axle and rear axle.
Furthermore it is also possible to judge whether vehicle is in turn condition according to steering wheel angle angle, turn if vehicle is in
Curved state then needs to reduce the output torque of vehicle rear axle, improves the output torque of automobile front-axle, prevents vehicle from going out bend.
It is, of course, also possible to be adjusted according to output torque of the other parameters to automobile front-axle and rear axle, the present invention is implemented
Example does not limit this.
Step 203, according to target torque ratio, adjust the output torque of front axle and rear axle.
After vehicle determines target torque ratio, torque corresponding to each value in the target torque ratio can be first determined
Distribution path that is to say that determining automobile front-axle and rear axle respectively correspond which of target torque ratio value, thus according to vehicle
Total output torque determine front axle and rear axle be respectively necessary for output torque, in conjunction with the current output of automobile front-axle and rear axle
Torque increases or decreases the output torque of front axle and rear axle, to complete the output torque of adjustment front axle and rear axle.
It should be noted that can be first adjusted to the output torque of front axle, then the output torque of rear axle is adjusted
It is whole；First the output torque of rear axle can also be adjusted, then the output torque of front axle is adjusted, can also adjusted simultaneously
The output torque of front axle and rear axle, it is not limited in the embodiment of the present invention.
In conclusion control method for vehicle provided in an embodiment of the present invention, by obtaining at least one vehicle parameter, according to
At least one vehicle parameter determines the front axle of vehicle and the target torque ratio of rear axle, according to the target torque ratio, adjustment
The output torque of front axle and rear axle.Wherein, which is used to indicate the current driving status of vehicle.Pass through root
According at least one vehicle parameter of acquisition, the output torque of automobile front-axle and rear axle is adjusted, so that vehicle is controlling vehicle by VSC
On the basis of, moreover it is possible to which the output torque by adjusting vehicle shaft controls vehicle, even if in the case where VSC failure
Also it is able to achieve the stability contorting to vehicle, improves the safety of vehicle in the process of moving, improves the flexible of control vehicle
Property.
The embodiment of the present invention provides another control method for vehicle on the basis of as shown in Figure 2, as shown in figure 3, should
Control method for vehicle may comprise steps of:
Step 301 obtains at least one vehicle parameter.
This step 301 is similar with step 201, and details are not described herein.
Step 302, according at least one vehicle parameter, carry out that driving stability factor values are calculated.
Wherein, which is used to indicate the degree of stability of vehicle, which can be according to existing
There is the method for calculating vehicle static stable factor to be calculated, the driving stability factor can also be obtained using other modes certainly
Value, it is not limited in the embodiment of the present invention.
Vehicle can be calculated according at least one vehicle parameter of acquisition, obtain being used to indicate vehicle in driving process
In degree of stability driving stability factor values, to be according to the driving stability factor values, judgement in the next steps
No needs realize control vehicle by adjusting vehicle shaft.
It specifically, can be according to the wheel speed of each wheel of vehicle, longitudinal acceleration, side acceleration, yaw velocity, hair
The torque and calculated according to the relevant parameter that the driving behavior of driver obtains that motivation and motor export respectively, are gone
Sail stable factor value.
Wherein, the driving stability factor values are bigger, illustrate that vehicle is more stable, and the driving stability factor values are smaller, illustrate vehicle
It is more unstable.It is, of course, also possible to illustrate that vehicle is more stable when the driving stability factor values are bigger；The driving stability factor values
More hour illustrates that vehicle is more stable, and it is not limited in the embodiment of the present invention.
For example, the driving stability factor values can be that the numerical value of section [0,1] is said when the driving stability factor values are 0
Bright vehicle is most unstable；When the driving stability factor values are 1, then illustrate that vehicle is in the state for stablizing traveling.
Step 303 judges whether driving stability factor values are greater than or equal to preset threshold.
Wherein, which can be adjusted according to the actual travel situation of vehicle, the embodiment of the present invention to this not
It limits.
After driving stability factor values are calculated, which can be compared with preset threshold,
Judge whether the driving stability factor values are greater than or equal to preset threshold, that is to say judge whether the driving stability factor values are not small
In preset threshold.
If the driving stability factor values are less than preset threshold, illustrate that vehicle is in serious unstable state, need
Vehicle is controlled using other modes, such as vehicle is controlled by VSC；But work as the driving stability factor values not
When less than preset threshold, then illustrates that vehicle is in slight unstable state, the control to vehicle only can be realized by vehicle shaft
System.
For example, the driving stability factor values are the numerical value of section [0,1], which is 0.5, then when the driving stability
When factor values are greater than or equal to 0.5, are less than or equal to 1, then illustrate that vehicle is slightly unstable, only passes through control vehicle shaft
Complete the control to vehicle；But when the driving stability factor values be greater than or equal to 0, less than 0.5 when, then illustrate that vehicle is serious
It is unstable, it needs to control vehicle using other modes.
Step 304, according at least one vehicle parameter, determine the front axle of vehicle and the target torque ratio of rear axle.
Since at least one vehicle parameter of vehicle may include: at least one underlying parameter and at least one high-order ginseng
Number, therefore the base torque ratio of vehicle can be first determined according at least one underlying parameter, join further according at least one high-order
Number, is adjusted determining base torque ratio, to obtain target torque ratio.
Optionally, can according at least one underlying parameter, the output torque of output torque and rear axle to front axle into
Row calculates, and the basic torque ratio of the front axle He the rear axle is determined, further according at least one high order parameters and the basic torque
Ratio is adjusted the output torque of the output torque of the front axle and the rear axle, determines the target torque ratio.
It is the torque of vehicle acceleration or front axle and rear axle during ramp driving for example, with reference to Fig. 4, Fig. 4
The variation schematic diagram of ratio, horizontal axis is vehicle speed in figure, and the longitudinal axis is ratio shared by the torque of vehicle shaft output, works as speed
When less than 10KPH (Kilometer Per Hour, kilometer per hour), the front axle of vehicle not output torque, completely by vehicle
Rear axle output torque；When speed reaches 10KPH, the output torque of automobile front-axle is increased, and the output of corresponding vehicle rear axle is turned round
Square reduces, when the output torque of the front axle of vehicle and rear axle respectively occupies 50% ratio, no longer adjustment front axle and rear axle
Output torque.But when detecting that vehicle continues to give it the gun, the back that pushes away that vehicle is driven to improve driver is felt, then needs
The output torque for improving vehicle rear axle reduces the output torque of automobile front-axle, the ratio shared by the output torque of vehicle rear axle
When example is increased to 70%, the torque constant rate can be kept.If the speed of vehicle reaches 70KPH, vehicle in order to prevent
Battery over-discharge, need to reduce the output torque of vehicle rear axle, improve the output torque of automobile front-axle so that vehicle begin
Acceleration mode is kept eventually.
In addition, needing to limit the output torque of vehicle rear axle when the battery capacity of vehicle is too low, it is referring to Fig. 5, Fig. 5
Vehicular battery vehicle rear axle in different electricity corresponds to the schematic diagram of output torque ratio, and horizontal axis is vehicle speed, the longitudinal axis in figure
Torque ratio shared by output torque for vehicle rear axle, solid line is battery capacity corresponding reared torque under normal circumstances in figure
Curve of output, dotted line are corresponding reared torque curve of output when battery capacity is lower.
Moreover, it is also possible to determine the slip rate of each wheel according to the wheel speed of each wheel of vehicle, whether judge vehicle
Occur wheel-slip perhaps wheel lock up the case where if there is wheel-slip or wheel lock up the case where, then can be rear
By adjusting shaft corresponding to corresponding wheel in continuous step, the control to corresponding wheel wheel speed is realized, to complete to vehicle
The adjustment of wheel slip.
It should be noted that the step 304 in the embodiment of the present invention can execute before step 302, can also and walk
Rapid 302 are performed simultaneously, and can also execute after step 302, it is not limited in the embodiment of the present invention.
Step 305, when driving stability factor values be greater than or equal to preset threshold when, according to target torque ratio, before adjustment
The output torque of axis and rear axle.
It, then can be with when driving stability factor values are greater than or equal to preset threshold, and when target torque ratio is calculated
According to the target torque ratio, the output torque of the front axle He the rear axle is adjusted, realizes the control to vehicle.
Optionally, front axle and the corresponding output torque of rear axle can be divided first according to the target torque ratio
Match, so that it is determined that front axle output torque corresponding with the rear axle, that is to say and determine each ginseng in the target torque ratio
The corresponding vehicle shaft of number, so that it is determined that in total output torsion, the corresponding output torque of front axle and rear axle of vehicle.
Further according to front axle output torque corresponding with the rear axle, the output torque current to the front axle and the rear axle
It is increased or decreased, so that the ratio and the target torque ratio of automobile front-axle and the output torque of rear axle are consistent.
It should be noted that when vehicle being in understeer or ovdersteering the case where, the change of the target torque ratio
Changing range gradient should be per second no more than 40%, and the request range of the lifting torque of front axle and rear axle is -20% to+20%；When
When the output torque of front axle or rear axle is adjusted in vehicle, the variation range gradient of the target torque ratio should be no more than
100% is per second, and the request range of the lifting torque of front axle and rear axle is -20% to+20%；When vehicle is to the cunning of front axle or rear axle
When shifting rate is adjusted, the variation range gradient of the target torque ratio should be no more than 40% per second, the liter of front axle and rear axle
The request range for dropping torque is -40% to+40%.Certainly, above-mentioned parameter can be adjusted according to vehicle actual travel state,
It is not limited in the embodiment of the present invention.
In conclusion control method for vehicle provided in an embodiment of the present invention, by obtaining at least one vehicle parameter, according to
At least one vehicle parameter determines the front axle of vehicle and the target torque ratio of rear axle, according to the target torque ratio, adjustment
The output torque of front axle and rear axle.Wherein, which is used to indicate the current driving status of vehicle.Pass through root
According at least one vehicle parameter of acquisition, the driving stability factor values of vehicle are calculated, meet in the driving stability factor values
The output torque of automobile front-axle and rear axle is adjusted in the case where corresponding conditions, so that vehicle is on the basis for controlling vehicle by VSC
On, moreover it is possible to the output torque by adjusting vehicle shaft controls vehicle, even if being also able to achieve in the case where VSC failure
To the stability contorting of vehicle, the safety of vehicle in the process of moving is improved, improves the flexibility of control vehicle.
The embodiment of the invention provides a kind of controller of vehicle, as shown in fig. 6, the controller of vehicle may include with
Lower module:
Module 601 is obtained, for obtaining at least one vehicle parameter, which is used to indicate vehicle and works as
Preceding driving status；
Ratio-dependent module 602, for determining the front axle of vehicle and the target of rear axle according at least one vehicle parameter
Torque ratio；
Module 603 is adjusted, for adjusting the output torque of the front axle He the rear axle according to the target torque ratio.
In conclusion controller of vehicle provided in an embodiment of the present invention, by obtaining at least one vehicle parameter, according to
At least one vehicle parameter determines the front axle of vehicle and the target torque ratio of rear axle, according to the target torque ratio, adjustment
The output torque of front axle and rear axle.Wherein, which is used to indicate the current driving status of vehicle.Pass through root
According at least one vehicle parameter of acquisition, the output torque of automobile front-axle and rear axle is adjusted, so that vehicle is controlling vehicle by VSC
On the basis of, moreover it is possible to which the output torque by adjusting vehicle shaft controls vehicle, even if in the case where VSC failure
Also it is able to achieve the stability contorting to vehicle, improves the safety of vehicle in the process of moving, improves the flexible of control vehicle
Property.
Further, which includes: at least one underlying parameter and at least one high order parameters；
The ratio-dependent module 602 includes:
Basic ratio-dependent submodule, is used for according at least one underlying parameter, to the output torque and rear axle of front axle
Output torque calculated, determine the basic torque ratio of the front axle He the rear axle；
Target proportion determines submodule, is used for according at least one high order parameters and the basic torque ratio, to before this
The output torque of axis and the output torque of the rear axle are adjusted, and determine the target torque ratio.
Further, the controller of vehicle further include:
Computing module, for carrying out that driving stability factor values are calculated, the traveling according at least one vehicle parameter
Stable factor value is used to indicate the degree of stability of vehicle；
Judgment module, for judging whether the driving stability factor values are greater than or equal to preset threshold；
The adjustment module 603 includes:
Condition adjusting submodule is used for when the driving stability factor values are greater than or equal to preset threshold, according to the target
Torque ratio adjusts the output torque of the front axle He the rear axle.
Further, which is battery capacity, accelerator pedal steps on right, steering wheel angle angle, road grade
Or vehicle current vehicle speed；
The high order parameters be side acceleration, longitudinal acceleration, yaw velocity, steering wheel torque, direction disk rotating speed or
The wheel speed of at least four wheels.
Further, which includes:
Distribution sub module, for according to the target torque ratio, output torque corresponding with the rear axle to the front axle
It is allocated, determines front axle output torque corresponding with the rear axle；
Adjusting submodule is used for according to front axle output torque corresponding with the rear axle, to the front axle and the rear axle
Current output torque is increased or decreased.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of control method for vehicle, which is characterized in that the control method for vehicle includes:
At least one vehicle parameter is obtained, at least one described vehicle parameter is used to indicate the current driving status of vehicle；
According at least one described vehicle parameter, the front axle of vehicle and the target torque ratio of rear axle are determined；
According to the target torque ratio, the output torque of the front axle and the rear axle is adjusted.
2. control method for vehicle according to claim 1, which is characterized in that at least one described vehicle parameter include: to
A few underlying parameter and at least one high order parameters；
Described at least one vehicle parameter according to, determines the front axle of vehicle and the target torque ratio of rear axle, comprising:
According at least one described underlying parameter, the output torque of output torque and rear axle to front axle is calculated, and determines institute
State the basic torque ratio of front axle and the rear axle；
Output torque and the rear axle according at least one described high order parameters and the basic torque ratio, to the front axle
Output torque be adjusted, determine the target torque ratio.
3. control method for vehicle according to claim 1, which is characterized in that the control method for vehicle further include:
According at least one described vehicle parameter, carry out that driving stability factor values are calculated, the driving stability factor values are used
In the degree of stability of instruction vehicle；
Judge whether the driving stability factor values are greater than or equal to preset threshold；
It is described according to the target torque ratio, adjust the output torque of the front axle and the rear axle, comprising:
When the driving stability factor values are greater than or equal to preset threshold, according to the target torque ratio, before adjustment is described
The output torque of axis and the rear axle.
4. control method for vehicle according to claim 2, which is characterized in that the underlying parameter is battery capacity, accelerates
Pedal steps on right, steering wheel angle angle, road grade or vehicle current vehicle speed；
The high order parameters are side acceleration, longitudinal acceleration, yaw velocity, steering wheel torque, direction disk rotating speed or extremely
The wheel speed of few four wheels.
5. control method for vehicle according to any one of claims 1 to 4, which is characterized in that described according to the target torque
Ratio adjusts the output torque of the front axle and the rear axle, comprising:
According to the target torque ratio, the front axle and the corresponding output torque of the rear axle are allocated, determined
The front axle and the corresponding output torque of the rear axle；
According to the front axle and the corresponding output torque of the rear axle, the output current to the front axle and the rear axle is turned round
Square is increased or decreased.
6. a kind of controller of vehicle, which is characterized in that the controller of vehicle includes:
Module is obtained, for obtaining at least one vehicle parameter, it is current that at least one described vehicle parameter is used to indicate vehicle
Driving status；
Ratio-dependent module, for determining the front axle of vehicle and the target torque of rear axle according at least one described vehicle parameter
Ratio；
Module is adjusted, for adjusting the output torque of the front axle and the rear axle according to the target torque ratio.
7. controller of vehicle according to claim 6, which is characterized in that at least one described vehicle parameter include: to
A few underlying parameter and at least one high order parameters；
The ratio-dependent module includes:
Basic ratio-dependent submodule is used for the output torque and rear axle according at least one described underlying parameter, to front axle
Output torque is calculated, and determines the basic torque ratio of the front axle and the rear axle；
Target proportion determines submodule, at least one high order parameters according to and the basic torque ratio, to described
The output torque of front axle and the output torque of the rear axle are adjusted, and determine the target torque ratio.
8. controller of vehicle according to claim 6, which is characterized in that the controller of vehicle further include:
Computing module, for carrying out that driving stability factor values, the traveling is calculated according at least one described vehicle parameter
Stable factor value is used to indicate the degree of stability of vehicle；
Judgment module, for judging whether the driving stability factor values are greater than or equal to preset threshold；
The adjustment module includes:
Condition adjusting submodule is used for when the driving stability factor values are greater than or equal to preset threshold, according to the target
Torque ratio adjusts the output torque of the front axle and the rear axle.
9. controller of vehicle according to claim 7, which is characterized in that the underlying parameter is battery capacity, accelerates
Pedal steps on right, steering wheel angle angle, road grade or vehicle current vehicle speed；
The high order parameters are side acceleration, longitudinal acceleration, yaw velocity, steering wheel torque, direction disk rotating speed or extremely
The wheel speed of few four wheels.
10. according to any controller of vehicle of claim 6 to 9, which is characterized in that the adjustment module includes:
Distribution sub module, for being turned round to the front axle and the corresponding output of the rear axle according to the target torque ratio
Square is allocated, and determines the front axle and the corresponding output torque of the rear axle；
Adjusting submodule, for according to the front axle and the corresponding output torque of the rear axle, to the front axle and described
The current output torque of rear axle is increased or decreased.
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