CN107487326B - The control method and device of vehicle traction - Google Patents
The control method and device of vehicle traction Download PDFInfo
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- CN107487326B CN107487326B CN201710454881.8A CN201710454881A CN107487326B CN 107487326 B CN107487326 B CN 107487326B CN 201710454881 A CN201710454881 A CN 201710454881A CN 107487326 B CN107487326 B CN 107487326B
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- 230000001276 controlling effect Effects 0.000 description 7
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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
- B60W30/18—Propelling the vehicle
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/30—Wheel torque
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Abstract
The invention discloses a kind of control method of vehicle traction and devices.Wherein, this method comprises: detecting the load capacity of each wheel on vehicle；According to the load capacity of each wheel, the torque capacity for being assigned at least one wheel shaft on vehicle is calculated；According to the torque capacity for being assigned to each wheel shaft, the rotation of vehicle traction wheel shaft is controlled.The present invention solves the technical problem that the prior art causes accuracy low using the scheme that the wheel weight amount that fixed load quality and centroid position are calculated is allocated the torque capacity on wheel shaft each on vehicle.
Description
Technical Field
The invention relates to the field of vehicle control, in particular to a vehicle driving control method and device.
Background
At present, the driving modes of the automobile mainly comprise a front driving mode, a rear driving mode and a four-driving mode. The conventional driving and braking strategy of the automobile mainly calculates wheel loads of the automobile by using fixed mass and a center of mass position, distributes torques of all axles according to the calculated wheel loads, calculates the load of each wheel by taking a four-wheel drive as an example and mainly based on signals of pedal opening, vehicle speed, steering angle and the like, and distributes torques of front and rear axles of the four-wheel drive according to the calculated loads.
As is known, because the mass of an automobile is greatly influenced by the load mass, the mass and the position of the mass center of the automobile also change in real time along with the change of the load mass on the automobile, the wheel load of each wheel on the automobile cannot be accurately calculated according to the real-time mass and the position of the mass center of the automobile by using a traditional driving strategy, and the torque of each wheel shaft on the automobile can be distributed according to the real-time wheel load.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a vehicle driving control method and device, which at least solve the technical problem of low accuracy caused by the scheme that the torque quantity on each wheel axle of a vehicle is distributed by adopting the wheel load quantity obtained by calculating the fixed load mass and the center of mass position in the prior art.
According to an aspect of an embodiment of the present invention, there is provided a control method of driving a vehicle, including: detecting the load capacity of each wheel on the vehicle; calculating an amount of torque allocated to at least one axle on the vehicle based on the load capacity of each wheel; the vehicle is controlled to drive the axles in rotation according to the amount of torque distributed to each axle.
According to another aspect of the embodiments of the present invention, there is also provided a control apparatus for vehicle driving, including: a detection unit for detecting a load amount of each wheel on the vehicle; a calculation unit for calculating an amount of torque allocated to at least one wheel axle on the vehicle based on the load amount of each wheel; and a control unit for controlling the vehicle to drive the axles in rotation in dependence on the amount of torque allocated to each axle.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium characterized in that the storage medium includes a stored program, wherein the program executes the above-described vehicle drive control method.
According to another aspect of the embodiments of the present invention, there is also provided a processor for executing a program, wherein the program executes the control method of the vehicle drive described above.
In the embodiment of the invention, the load capacity of each wheel on the vehicle is detected; calculating an amount of torque allocated to at least one axle on the vehicle based on the load capacity of each wheel; according to the torque amount distributed to each wheel axle, the vehicle is controlled to drive the wheel axles to rotate, the aim of accurately and automatically driving and controlling vehicles with different load masses is fulfilled, the technical effects of improving the vehicle control performance and prolonging the service life of tires are achieved, and the technical problem of low accuracy caused by the scheme that the torque amount on each wheel axle of the vehicle is distributed by the wheel load amount obtained by calculating the fixed load mass and the mass center position in the prior art is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flowchart of a control method of driving a vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of an alternative method of controlling vehicle propulsion according to an embodiment of the present invention;
FIG. 3 is a flow chart of an alternative method of controlling vehicle propulsion according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of a torque distribution control strategy for a four-wheel drive vehicle according to an embodiment of the present invention; and
fig. 5 is a schematic diagram of a control apparatus for vehicle driving according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided a control method embodiment for vehicle driving, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than that described herein.
Fig. 1 is a flowchart of a control method of driving a vehicle according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
step S102, detecting the load capacity of each wheel on the vehicle.
In particular, in the above steps, the upper vehicle may be any one of vehicles (for example, various types of passenger cars or trucks) which drive the vehicle to run through more than two wheel shafts, and due to the difference of the load mass on the vehicle, the overall mass and the position of the center of mass of the vehicle may also be changed, so that the load borne by each wheel on the vehicle is also different. Therefore, in order to accurately determine the torque distributed to each wheel axle from the wheel load, it is necessary to measure the load amount of each wheel of the vehicle in different states in real time.
It should be noted here that a general vehicle has two rows of front and rear wheels, wherein the wheels directly driven by the engine to rotate and push (or pull) the vehicle to advance are driving wheels, and the driving modes of the vehicle are generally divided into two categories according to the positions of the driving wheels: two-wheel drive and four-wheel drive, wherein the two-wheel drive can be either front-wheel drive or rear-wheel drive. If the first two wheels of the vehicle are driving wheels, the vehicle belongs to a front-driving vehicle; if the rear two wheels of the vehicle are driving wheels, the vehicle belongs to a rear drive vehicle; if the front and rear rows of wheels of the vehicle are both driving wheels, the vehicle belongs to a four-wheel drive vehicle; for four-wheel drive vehicles, the torque output by the engine can be distributed to the front wheel shaft and the rear wheel shaft according to different proportions, so that the form capability of the vehicle is improved.
As an alternative embodiment, the vertical load amount of the wheel may be detected by a force sensor mounted on each wheel of the vehicle.
As another alternative, the load capacity of each wheel on the vehicle may also be measured by a vertical load cell (e.g., a six-component load cell) mounted on each wheel of the vehicle.
Step S104, calculating the torque amount distributed to at least one wheel axle on the vehicle according to the load amount of each wheel.
Specifically, in the above step, the torque refers to a torque that rotates the wheel axle, and for a two-wheel-drive vehicle, the torque output from the engine is all output to the wheel axle connected to the drive wheel, for example, the front axle of the front-drive vehicle or the rear axle of the rear-drive vehicle; for a four-wheel drive vehicle, the torque output by the engine can be distributed to the front and rear axles in a certain proportion, wherein the distribution proportion has a very important influence on the tire life of the vehicle and the service performance of the vehicle. Since the distribution of the amount of torque on each axle of the vehicle is determined from the load of the wheels, which is greatly affected by the load mass of the vehicle, the distributed amount of torque on each axle of the vehicle can be calculated directly from the currently measured load of the wheels, and the distributed amount of torque on each axle of the vehicle can be accurately determined.
Taking a four-wheel drive vehicle as an example, vertical dynamometers arranged on four wheels of the four-wheel drive vehicle are used for detecting the vertical load capacity of each wheel, and after the vertical load capacities on four wheels, namely a front-axle left wheel, a front-axle right wheel, a rear-axle left wheel and a rear-axle right wheel, of the four-wheel drive vehicle are measured and obtained, the torque capacities distributed to a front axle and a rear axle of the four-wheel drive vehicle are calculated according to the load capacities of the four wheels.
And step S106, controlling the vehicle to drive the wheel shafts to rotate according to the torque amount distributed to each wheel shaft.
Specifically, in the above steps, after the amount of torque distributed to each wheel axle is calculated according to the currently measured load of each wheel on the vehicle, the vehicle is controlled to distribute the amount of torque output by the engine to each wheel axle according to the amount of torque distributed to each wheel axle, and each wheel axle is controlled to rotate according to the distributed amount of torque.
It should be noted here that the wheel load of the vehicle in different driving states can be measured, and the torque amount distributed to each wheel axle can be calculated according to the wheel load measured in real time, so as to achieve the purpose of setting the torque distributed to each wheel axle of the vehicle in different driving states.
It should be further noted that, after determining the torque distribution amount on each wheel according to the currently detected wheel load amount and controlling the vehicle to drive each wheel axle to rotate according to the torque distribution amount, the vehicle load amount in the next time period or the next driving state is continuously detected and the torque amount distributed to each wheel axle in the next time period or the next driving state is determined, thereby achieving the purpose of dynamically distributing the torque.
It can be seen from the above that, in the above embodiments of the present application, the load amount of each wheel on the vehicle is measured in real time, the torque amount allocated to each wheel axle of the vehicle is determined according to the wheel load amount measured in real time, and then each wheel axle is controlled to rotate according to the allocated torque amount, so that the purpose of accurately performing automatic drive control on vehicles with different load qualities is achieved, thereby achieving the technical effects of improving the vehicle control performance and prolonging the service life of tires, and further solving the technical problem of low accuracy caused by the scheme that the torque amount on each wheel axle of the vehicle is allocated by the wheel load amount calculated by using the fixed load quality and the centroid position in the prior art.
As an alternative embodiment, as shown in fig. 2, detecting the load amount of each wheel on the vehicle may include:
step S202, detecting the load capacity of each wheel of the vehicle in at least one driving state, wherein the driving state comprises the following steps: no acceleration state, driving state and steering state.
Specifically, in the above embodiment, since the load amount on each wheel of the vehicle changes when the vehicle is in different driving states, the accuracy of the automatic driving control of the vehicle can be greatly improved by detecting the load amount of each wheel of the vehicle in each driving state and calculating the torque amount distributed to each wheel axle of the vehicle in each driving state according to the load amount of each wheel in each driving state.
As an alternative embodiment, as shown in fig. 2, before calculating the amount of torque allocated to at least one axle on the vehicle based on the load of each wheel, the method may further comprise the steps of:
and step S204, determining the center of mass position of the vehicle according to the load capacity of each wheel of the vehicle in a non-acceleration state.
In particular, in the above embodiment, since the position of the center of mass of the vehicle is an important parameter for the steering characteristics of the vehicle, and the position of the center of mass changes in real time under different load conditions of the vehicle, the accuracy of the position of the center of mass can be ensured by determining the position of the center of mass of the vehicle according to the load amount of each wheel of the vehicle under the non-acceleration condition, so as to calculate the amount of torque distributed to each wheel shaft by the lateral force of the vehicle due to steering according to the position of the center of mass.
The non-acceleration state of the vehicle may be a state in which the accelerator pedal of the vehicle is not depressed, that is, a state immediately before starting or accelerating.
Based on the above embodiment, as shown in fig. 2, in an alternative embodiment, calculating the amount of torque allocated to at least one wheel axle of the vehicle according to the load of each wheel may include at least one of:
step S206a, calculating a first torque amount allocated to at least one wheel axle by the vehicle due to driving, based on a load amount of each wheel of the vehicle in a driving state;
step S206b, calculating a second amount of torque that the vehicle distributes to the at least one wheel axle due to the lateral force of the vehicle from the steering, based on the load amount of each wheel of the vehicle in the steering state.
Specifically, in the above-described embodiment, the vehicle mainly generates two forces during running, one due to the driving force (i.e., the force determined by the accelerator pedal), and the other due to the lateral force generated by steering. Thus, the amount of torque distributed to each axle can be calculated taking into account these two forces separately.
It is to be noted here that in the case of calculating the first torque amount distributed to each wheel axle due to the driving, the measured wheel load amount may be measured while the vehicle is in an acceleration state; in the case of calculating a second amount of torque that the vehicle distributes to the at least one wheel axle due to the lateral force of steering, the measured amount of wheel load may be measured with the vehicle in a steered state.
Through the embodiment, the torque amount distributed to each wheel axle in the corresponding running state is calculated according to the wheel load amounts of the vehicle in different running states, so that the calculated torque amount is more accurate.
It is easy to note that if the vehicle is in a driven or non-steered state, the calculated first torque amount of the vehicle due to driving is distributed to each axle as the torque amount on each axle of the current vehicle; if the vehicle is in a non-driving steering state, taking the first calculated torque quantity on each wheel shaft and a second calculated torque quantity of the lateral force distribution of the vehicle due to steering as the current torque quantity on each shaft on the vehicle; if the vehicle is in a driven and steered state, the amount of torque on each axle of the vehicle is determined based on the first and second amounts of torque on each axle.
As an alternative embodiment, after calculating the first and second torque amounts allocated to each axle on the vehicle according to the load amount of each wheel, as shown in fig. 3, the above method may further comprise the steps of:
step S302, comparing the first torque quantity and the second torque quantity of each axle;
step S304, if the first torque amount is greater than the second torque amount, taking the second torque amount as the torque amount allocated to the axle;
in step S306, if the first torque amount is less than or equal to the second torque amount, the first torque amount is taken as the torque amount allocated to the axle.
Specifically, in the above-described embodiment, in order to prevent the wheels of the vehicle from slipping while the vehicle is driving and turning, the smaller of the first torque amount allocated to each wheel shaft due to driving and the second torque amount allocated to the lateral force generated due to turning is taken as the torque amount on each axle of the vehicle at present.
With the above embodiment, the probability of preventing the wheel from slipping can be reduced.
In an alternative embodiment, taking the vehicle as a four-wheel drive vehicle as an example, the four-wheel drive vehicle comprises: two front wheels and two rear wheels, wherein the two front wheels are driven by a front wheel axle and the two rear wheels are driven by a rear wheel axle.
Based on the above-described four-wheel drive embodiment, calculating a first torque amount that the vehicle is assigned to each wheel axle due to driving, from the load amount of each wheel, may include:
a first torque amount of the vehicle distributed to the front and rear wheel shafts due to the driving is calculated by the following formula:
τRf＝kfRfτR；
τRr＝krRrτR；
wherein, tauRFor the total amount of torque, τRfFor the amount of torque distributed to the front axle due to the drive, τRrAmount of torque distributed to the rear axle due to the drive, kfIs the ratio of the motor torque of the front axle to the corresponding drive axle torque, krIs the ratio of the motor torque of the rear axle to the corresponding drive axle torque, RfFor the ratio of the moment distributed to the front axle by the drive, RrIs the ratio of the torque distributed to the rear wheel axle as a result of the drive.
Wherein the ratio of the torque distributed to the front axle by the drive is RfWith ratio R of moment on rear axlerCan be calculated by the following formulas respectively:
Rr＝1-Rf；
wherein, Fz_flFor the load capacity of the left wheel on the front axle of the vehicle in the driven state, Fz_frFor the load capacity of the right wheel on the front axle of the vehicle in the driven state, Fz_rlFor the load capacity of the left wheel on the rear axle of the vehicle in the driven state, Fz_rrFor vehicles atThe load capacity of the right wheel on the rear wheel shaft in the driving state.
Based on the above four-wheel drive embodiment, calculating the second amount of torque that the vehicle distributes to each wheel axle due to the lateral force of the steering according to the load amount of each wheel comprises:
calculating a second amount of torque τ that the lateral force of the vehicle due to steering is distributed to the front axle by the following equationx_fAnd a second amount of torque τ on the rear axlex_r：
Wherein, taux_fFor the amount of torque distributed to the front axle due to the lateral force of steering, τx_rThe amount of torque, k, distributed to the rear wheel axle due to the lateral force of steeringfIs the ratio of the motor torque of the front axle to the corresponding drive axle torque, krIs the ratio of the motor torque of the rear axle to the corresponding drive shaft torque, Fx_fThe amount of moment distributed to the front axle due to the lateral forces of steering, Fx_rThe amount of moment distributed to the rear wheel axle due to the lateral forces of steering.
Alternatively, as an alternative embodiment, the amount of moment F that is distributed to the front axle as a result of the lateral force of the steeringx_fAnd the amount of moment F on the rear wheel axlex_rCan be calculated by the following formula:
wherein μ is the road surface friction coefficient, WflThe load capacity, W, of the left wheel on the front axle of the vehicle in the steered statefrFor loading the right wheel on the front axle of a vehicle in a steered conditionAmount of charge, WrlThe load capacity, W, of the left wheel on the rear axle of the vehicle in the steered staterrFor the load capacity of the right wheel on the rear axle of the vehicle in the steered state, Fy_flFor distributing the moment on the left wheel of the front axle due to the lateral forces of steering, Fy_frFor distributing the moment on the left wheel of the front axle due to the lateral forces of steering, Fy_rlFor distributing the moment on the left wheel of the front axle due to the lateral forces of steering, Fy_rrA moment distributed to the left wheel of the front wheel axle due to the lateral force of steering.
Alternatively, as an alternative embodiment, the moment F distributed to the left wheel of the front axle of the vehicle due to the lateral force of the steeringy_flMoment F on the right wheel of the front axley_frMoment F on the left wheel of the rear axley_rlAnd the moment F on the right wheel of the rear axley_rrIt can be calculated by the following formula:
wherein,
wherein, Fy_fMoment distributed to the front axle due to lateral forces of steering, Fy_rFor distributing lateral forces due to steeringMoment to the rear wheel axle, δ being the steering angle of the front wheel, McarFor automobile quality, IzTo yaw moment of inertia, ayIn order to be the lateral acceleration,acceleration of yaw angle, LfAnd LrRespectively the distance of the front and rear wheel axles of the vehicle from the center of mass.
Alternatively, as an alternative embodiment, the distance L of the front wheel axle of the vehicle from the centroid is calculated by the following formulafDistance L from the center of mass to the rear wheel axler：
Wherein L is the distance between the front and rear wheel axles, Fz_fl_oFor the load capacity of the left wheel on the front axle of the vehicle in the non-accelerating state, Fz_fr_oThe load capacity of the right wheel on the front axle of the vehicle in the non-accelerating state, Fz_rl_oFor the load capacity of the left wheel on the rear axle of the vehicle in the non-accelerating state, Fz_rr_oThe load capacity of the right wheel on the rear wheel axle of the vehicle in the non-acceleration state.
As a preferred implementation manner, fig. 4 is a schematic diagram of a torque distribution control strategy of a four-wheel drive vehicle according to an embodiment of the present invention, where the driving torque distribution control strategy of the four-wheel drive vehicle obtains a centroid position through load simulation calculation of four wheels, and makes up for a defect that the centroid position cannot be known along with a change in vehicle load without a wheel load measuring device. As shown in fig. 4, the centroid position of the four-wheel-drive automobile is determined according to the load of each wheel measured by the four-wheel-drive automobile in the non-acceleration state (after the automobile is started and before the automobile is accelerated); during the running process of the vehicle, the load of each wheel of the four-wheel drive vehicle is detected in real time, the torque distributed to the front shaft and the rear shaft by the driving force generated by acceleration of the vehicle is calculated according to the load of each wheel, the front shaft and the rear shaft are controlled to rotate according to the determined torque distribution amount, and after the rotation, the load of each wheel of the four-wheel drive vehicle is continuously detected to form a cycle, so that the aim of dynamically distributing the torque amounts of the front shaft and the rear shaft can be fulfilled. The specific method for calculating the torque distribution of the front axle and the rear axle of the four-wheel drive automobile in the driving process is as follows:
first, the torque distribution determined by the accelerator pedal (i.e., the torque distributed to each axle by the drive) is calculated. The torque distribution proportion of the front axle of the four-wheel drive automobile in running is as follows:
the moment distribution of the rear axle of the four-wheel drive automobile is Rr＝1-Rf。
Wherein, Fz_jiVertical loads of the left and right wheels of the front and rear axles. j ═ f: front, r is real. i ═ f: left, r right.
Next, the front-rear moment distribution ratio determined by the lateral force required for steering is calculated.
Distance L between front wheel axle of four-wheel drive automobile and mass centerfDistance L from the center of mass to the rear wheel axlerDetermined by the load at no acceleration (after the vehicle is started, before acceleration), as shown in equations (2) and (3). Where o represents the time when the vehicle is started, but the pedal position is zero.
The lateral force during steering determines the front-rear axle moment distribution as in equations (4) - (13). Where δ is the steering angle of the front wheel, McarFor automobile quality, IzTo yaw moment of inertia, ayIn order to be the lateral acceleration,acceleration of yaw angleDegree (ω is the velocity of yaw angle), μ is the road surface friction coefficient, WjlIs the load of the j, i-th wheel, τRIs the total torque demand.
Moment F distributed to front axle of four-wheel drive automobile due to lateral force of steeringy_fAnd moment F on the rear axley_rRespectively as follows:
wherein the torque on each wheel determined by the steering force is:
the maximum value of the moment actually distributed by the front axle and the rear axle without slipping is as follows:
therefore, the torque distributed by the front and rear axles due to the steering force:
torque distributed due to the driving decision of the front and rear axles:
τRf＝kfRfτR (12)
τRr＝krRrτR (13)
kjis the torque ratio of the motor torque to the corresponding drive shaft.
Finally, the front-rear torque distribution of the automobile is determined by equations (14) to (15), and the minimum torque of the two torques of each axle is calculated as the actual torque.
τRf *＝min(τRf,τx_f) (14)
τRr *＝min(τRr,τx_r) (15)
τRf *，τRr *The strategy is assigned for the finally determined torque.
Through the embodiment, the torque distribution strategy under different loads can be adapted. Specifically, the following technical effects can be achieved:
the centroid position is monitored in real time, the control input is more accurate, and the control effect is increased;
secondly, the steering characteristics of the automobile at different mass center positions are regulated and controlled in real time, the neutral steering of the automobile is maintained as much as possible, and the operation performance of the automobile is improved.
Example 2
According to an embodiment of the present invention, there is also provided an apparatus embodiment for implementing the control method for vehicle driving described above, and fig. 5 is a schematic diagram of a control apparatus for vehicle driving according to an embodiment of the present invention, as shown in fig. 5, the apparatus including: a detection unit 501, a calculation unit 503 and a control unit 505.
The detection unit 501 is used for detecting the load capacity of each wheel on the vehicle;
a calculation unit 503 for calculating an amount of torque allocated to at least one wheel axle on the vehicle based on the load amount of each wheel;
a control unit 505 for controlling the vehicle to drive the axles in rotation, depending on the amount of torque allocated to each axle.
As can be seen from the above, in the above embodiments of the present application, the load amount of each wheel on the vehicle is detected and measured in real time by the detection unit 501, the torque amount allocated to each wheel axle of the vehicle is determined according to the wheel load amount measured in real time by the calculation unit 503, and then each wheel axle is controlled to rotate according to the allocated torque amount by the control unit 505, so as to achieve the purpose of accurately performing automatic drive control on vehicles with different load qualities, thereby achieving the technical effects of improving the vehicle handling performance and the tire service life, and further solving the technical problem of low accuracy caused by the scheme in the prior art that the torque amount allocated to each wheel axle of the vehicle is calculated by using a fixed load quality and a center of mass position.
In an alternative embodiment, the detecting unit 501 is further configured to detect a vertical load amount of the wheel through a force sensor mounted on each wheel of the vehicle.
In an alternative embodiment, the detecting unit 501 includes: the vehicle load detection device comprises a detection module, a load detection module and a control module, wherein the detection module is used for detecting the load capacity of each wheel of a vehicle in at least one driving state, and the driving state comprises the following steps: no acceleration state, driving state and steering state.
In an optional embodiment, the apparatus further comprises: the determining module is used for determining the center of mass position of the vehicle according to the load capacity of each wheel of the vehicle in a non-acceleration state.
In an alternative embodiment, the calculating unit 503 at least includes any one of the following modules: a first calculation module for calculating a first torque amount distributed to at least one wheel axle of the vehicle due to driving, based on a load amount of each wheel of the vehicle in a driving state; and the second calculation module is used for calculating a second torque amount distributed to at least one wheel shaft by the lateral force of the vehicle due to steering according to the load amount of each wheel of the vehicle in a steering state.
In an optional embodiment, the apparatus further comprises: a comparison unit for comparing the magnitude of the first torque amount and the second torque amount of each axle; a first execution unit for, if the first torque amount is greater than the second torque amount, taking the second torque amount as the torque amount allocated to the axle; a second execution unit for taking the first torque amount as the torque amount allocated to the axle if the first torque amount is less than or equal to the second torque amount.
In an alternative embodiment, the vehicle may be a four-wheel drive vehicle, including: two front wheels and two rear wheels, wherein the two front wheels are driven by a front wheel axle and the two rear wheels are driven by a rear wheel axle.
In an alternative embodiment, the first calculation module is further configured to calculate a first torque amount distributed to the front and rear axles of the vehicle due to the drive by the following equation:
τRf＝kfRfτR；
τRr＝krRrτR；
wherein, tauRFor the total amount of torque, τRfFor the amount of torque distributed to the front axle due to the drive, τRrAmount of torque distributed to the rear axle due to the drive, kfIs the ratio of the motor torque of the front axle to the corresponding drive axle torque, krIs the ratio of the motor torque of the rear axle to the corresponding drive axle torque, RfFor the ratio of the moment distributed to the front axle by the drive, RrIs the ratio of the torque distributed to the rear wheel axle as a result of the drive.
In an alternative embodiment, the first calculation module is further configured to calculate the torque ratio distributed to the front and rear axles due to the drive by the following formula:
Rr＝1-Rf；
wherein, Fz_flFor the load capacity of the left wheel on the front axle of the vehicle in the driven state, Fz_frFor the load capacity of the right wheel on the front axle of the vehicle in the driven state, Fz_rlFor the load capacity of the left wheel on the rear axle of the vehicle in the driven state, Fz_rrThe load capacity of the right wheel on the rear wheel shaft of the vehicle in a driving state.
In an alternative embodiment, the second calculation module is configured to calculate the second amount of torque that the vehicle distributes to the front and rear axles due to the lateral force of the vehicle on steering by:
wherein, taux_f is the amount of torque distributed to the front axle due to the lateral force of steering, τx_rThe amount of torque, k, distributed to the rear wheel axle due to the lateral force of steeringfIs the ratio of the motor torque of the front axle to the corresponding drive axle torque, krIs the ratio of the motor torque of the rear axle to the corresponding drive shaft torque, Fx_fThe amount of moment distributed to the front axle due to the lateral forces of steering, Fx_rThe amount of moment distributed to the rear wheel axle due to the lateral forces of steering.
In an alternative embodiment, the second calculation module is further configured to calculate the amount of moment distributed to the front and rear axles due to the lateral force of the steering by the following formula:
wherein μ is the road surface friction coefficient, WflThe load capacity, W, of the left wheel on the front axle of the vehicle in the steered statefrThe load capacity, W, of the right wheel on the front axle of the vehicle in the steered staterlThe load capacity, W, of the left wheel on the rear axle of the vehicle in the steered staterrFor the load capacity of the right wheel on the rear axle of the vehicle in the steered state, Fy_flFor distributing the moment on the left wheel of the front axle due to the lateral forces of steering, Fy_frDue to turning toThe lateral force of (2) is distributed to the moment on the left wheel of the front axle, Fy_rlFor distributing the moment on the left wheel of the front axle due to the lateral forces of steering, Fy_rrA moment distributed to the left wheel of the front wheel axle due to the lateral force of steering.
In an alternative embodiment, the second calculation module is further configured to calculate the moment distributed to the front axle left wheel, the front axle right wheel, the rear axle left wheel and the rear axle right wheel of the vehicle due to the lateral force of the steering by the following formula:
wherein,
wherein, Fy_fMoment distributed to the front axle due to lateral forces of steering, Fy_rMoment distributed to the rear axle due to lateral forces on the steering, δ being the steering angle of the front wheels, McarFor automobile quality, IzTo yaw moment of inertia, ayIn order to be the lateral acceleration,yaw acceleration, LfAnd LrRespectively a front axle of the vehicle andthe distance of the rear wheel axle from the center of mass.
In an alternative embodiment, the second calculation module is further configured to calculate the distance between the front and rear wheel axles of the vehicle and the center of mass by the following formula:
wherein L is the distance between the front and rear wheel axles, Fz_fl_oFor the load capacity of the left wheel on the front axle of the vehicle in the non-accelerating state, Fz_fr_oThe load capacity of the right wheel on the front axle of the vehicle in the non-accelerating state, Fz_rl_oFor the load capacity of the left wheel on the rear axle of the vehicle in the non-accelerating state, Fz_rr_oThe load capacity of the right wheel on the rear wheel axle of the vehicle in the non-acceleration state.
Example 3
According to an embodiment of the present invention, there is also provided a storage medium including a stored program, wherein the program executes the vehicle drive control method alternative or preferable to any one of embodiment 1.
Example 4
According to an embodiment of the present invention, there is also provided a processor for executing a program, wherein the program executes the control method of the vehicle drive, which is optional or preferable in any one of embodiment 1, when executed.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A control method of a vehicle drive, characterized by comprising:
detecting the load capacity of each wheel on the vehicle;
calculating an amount of torque allocated to at least one axle on the vehicle based on the load capacity of each wheel;
controlling the vehicle to drive each axle to rotate according to the torque amount distributed to the axle;
wherein calculating an amount of torque allocated to at least one axle on the vehicle based on the load per wheel comprises at least one of: calculating a first torque amount that the vehicle is assigned to the at least one wheel axle due to driving, based on a load amount of each wheel of the vehicle in a driving state; calculating a second amount of torque that the vehicle distributes to the at least one wheel axle due to a lateral force of the vehicle from turning, based on the load amount of each wheel of the vehicle in a turning state;
the vehicle is a four-wheel drive vehicle, comprising: two front wheels and two rear wheels, wherein the two front wheels are driven by a front axle and the two rear wheels are driven by a rear axle, wherein calculating a first amount of torque that the vehicle is assigned to the at least one axle due to driving, based on the amount of load of each wheel, comprises: calculating a first torque amount of the vehicle distributed to the front and rear wheel shafts due to driving by:
τRf＝kfRfτR；
τRr＝krRrτR；
wherein,
Rr＝1-Rf；
wherein, tauRFor the total amount of torque, τRfFor the amount of torque distributed to the front axle due to the drive, τRrAmount of torque distributed to the rear axle due to drive, kfIs the ratio of the motor torque of the front axle to the corresponding drive axle torque, krIs the ratio of the motor torque of the rear axle to the corresponding drive axle torque, RfFor the ratio of the moment distributed to the front axle by the drive, RrFor the ratio of the moment distributed to the rear wheel axle by the drive, Fz_flFor the load capacity of the left wheel on the front axle of the vehicle in the driven state, Fz_frFor the right wheel load on the front axle of the vehicle in the driven state, Fz_rlFor the load capacity of the left wheel on the rear axle of the vehicle in the driven state, Fz_rrThe load capacity of the right wheel on the rear wheel shaft of the vehicle in a driving state;
wherein calculating a second amount of torque that the vehicle distributes to the at least one wheel axle due to the lateral force of the steering based on the load per wheel comprises: calculating a second amount of torque distributed to the front and rear axles by the vehicle lateral force due to steering by:
wherein,
wherein,
wherein,
wherein,
wherein, taux_fThe amount of torque distributed to the front axle due to the lateral forces of steering, τx_rThe amount of torque, k, distributed to the rear wheel axle for the lateral forces due to steeringfIs the ratio of the motor torque of the front axle to the corresponding drive axle torque, krIs the ratio of the motor torque of the rear axle to the corresponding drive shaft torque, Fx_fThe amount of moment distributed to the front axle for the lateral forces due to steering, Fx_rFor distributing lateral forces due to steering to said rear wheelsThe axial moment, mu, is the road friction coefficient, WflIs the load capacity, W, of the left wheel on the front axle of the vehicle in the steered statefrIs the load capacity, W, of the right wheel on the front axle of the vehicle in the steered staterlIs the load capacity, W, of the left wheel on the rear axle of the vehicle in the steered staterrFor the load capacity of the right wheel on the rear axle of the vehicle in the steered state, Fy_flMoment distributed to the left wheel of the front axle due to lateral forces of steering, Fy_frMoment distributed to the left wheel of the front axle due to lateral forces of steering, Fy_rlMoment distributed to the left wheel of the front axle due to lateral forces of steering, Fy_rrMoment distributed to the left wheel of the front axle due to lateral forces of steering, Fy_fMoment distributed to the front axle due to lateral forces of steering, Fy_rMoment distributed to the rear axle due to lateral forces on steering, δ being front wheel steering angle, McarFor automobile quality, IzTo yaw moment of inertia, ayIn order to be the lateral acceleration,yaw acceleration, LfAnd LrRespectively the distance of the front wheel axle and the rear wheel axle of the vehicle from the center of mass, L is the distance between the front wheel axle and the rear wheel axle, Fz_fl_oFor the load of the left wheel on the front axle of the vehicle in the non-accelerating state, Fz_fr_oThe load capacity of the right wheel on the front axle of the vehicle in the non-accelerating state, Fz_rl_oThe load capacity of the left wheel on the rear axle of the vehicle in the non-accelerating state, Fz_rr_oThe load capacity of the right wheel on the rear wheel axle of the vehicle in a non-acceleration state.
2. The control method according to claim 1, wherein detecting the load amount of each wheel on the vehicle includes: the vertical load amount of each wheel of the vehicle is detected by a force sensor mounted on the wheel.
3. The control method according to claim 1, wherein detecting the load amount of each wheel on the vehicle includes:
detecting a load amount of each wheel of the vehicle in at least one driving state, wherein the driving state comprises: no acceleration state, driving state and steering state.
4. A control method according to claim 3, wherein before calculating the amount of torque allocated to at least one axle on the vehicle from the load amount of each wheel, the method further comprises:
and determining the position of the center of mass of the vehicle according to the load capacity of each wheel of the vehicle in a non-acceleration state.
5. The control method according to claim 1, characterized in that after calculating an amount of torque allocated to at least one wheel axle on the vehicle from the load amount of each wheel, the method further comprises:
comparing the magnitude of the first and second torque amounts for each axle;
if the first amount of torque is greater than the second amount of torque, then the second amount of torque is taken as the amount of torque allocated to the axle;
if the first torque amount is less than or equal to the second torque amount, then the first torque amount is taken as the amount of torque allocated to the axle.
6. A control device for vehicle drive, characterized by comprising:
a detection unit for detecting a load amount of each wheel on the vehicle;
a calculation unit for calculating an amount of torque allocated to at least one wheel axle on the vehicle based on the load amount of each wheel;
the control unit is used for controlling the vehicle to drive each wheel shaft to rotate according to the torque amount distributed to the wheel shafts;
wherein calculating an amount of torque allocated to at least one axle on the vehicle based on the load per wheel comprises at least one of: calculating a first torque amount that the vehicle is assigned to the at least one wheel axle due to driving, based on a load amount of each wheel of the vehicle in a driving state; calculating a second amount of torque that the vehicle distributes to the at least one wheel axle due to a lateral force of the vehicle from turning, based on the load amount of each wheel of the vehicle in a turning state;
the vehicle is a four-wheel drive vehicle, comprising: two front wheels and two rear wheels, wherein the two front wheels are driven by a front axle and the two rear wheels are driven by a rear axle, wherein calculating a first amount of torque that the vehicle is assigned to the at least one axle due to driving, based on the amount of load of each wheel, comprises: calculating a first torque amount of the vehicle distributed to the front and rear wheel shafts due to driving by:
τRf＝kfRfτR；
τRr＝krRrτR；
wherein,
Rr＝1-Rf；
wherein, tauRFor the total amount of torque, τRfFor the amount of torque distributed to the front axle due to the drive, τRrAmount of torque distributed to the rear axle due to drive, kfIs the ratio of the motor torque of the front axle to the corresponding drive axle torque, krIs the ratio of the motor torque of the rear axle to the corresponding drive axle torque, RfFor the ratio of the moment distributed to the front axle by the drive, RrFor the ratio of the moment distributed to the rear wheel axle by the drive, Fz_flFor the load capacity of the left wheel on the front axle of the vehicle in the driven state, Fz_frIs that it isLoad capacity of the right wheel on the front axle, F, of the vehicle in the driven statez_rlFor the load capacity of the left wheel on the rear axle of the vehicle in the driven state, Fz_rrThe load capacity of the right wheel on the rear wheel shaft of the vehicle in a driving state;
wherein calculating a second amount of torque that the vehicle distributes to the at least one wheel axle due to the lateral force of the steering based on the load per wheel comprises: calculating a second amount of torque distributed to the front and rear axles by the vehicle lateral force due to steering by:
wherein,
wherein,
wherein,
wherein,
wherein, taux_fThe amount of torque distributed to the front axle due to the lateral forces of steering, τx_rThe amount of torque, k, distributed to the rear wheel axle for the lateral forces due to steeringfIs the ratio of the motor torque of the front axle to the corresponding drive axle torque, krIs the ratio of the motor torque of the rear axle to the corresponding drive shaft torque, Fx_fThe amount of moment distributed to the front axle for the lateral forces due to steering, Fx_rThe amount of moment distributed to the rear wheel axle due to the lateral forces of steering, μ being the road friction coefficient, WflIs the load capacity, W, of the left wheel on the front axle of the vehicle in the steered statefrIs the load capacity, W, of the right wheel on the front axle of the vehicle in the steered staterlIs the load capacity, W, of the left wheel on the rear axle of the vehicle in the steered staterrFor the load capacity of the right wheel on the rear axle of the vehicle in the steered state, Fy_flMoment distributed to the left wheel of the front axle due to lateral forces of steering, Fy_frMoment distributed to the left wheel of the front axle due to lateral forces of steering, Fy_rlMoment distributed to the left wheel of the front axle due to lateral forces of steering, Fy_rrFor distributing lateral forces due to steering to the left of the front wheel axleMoment on the wheel, Fy_fMoment distributed to the front axle due to lateral forces of steering, Fy_rMoment distributed to the rear axle due to lateral forces on steering, δ being front wheel steering angle, McarFor automobile quality, IzTo yaw moment of inertia, ayIn order to be the lateral acceleration,yaw acceleration, LfAnd LrRespectively the distance of the front wheel axle and the rear wheel axle of the vehicle from the center of mass, L is the distance between the front wheel axle and the rear wheel axle, Fz_fl_oFor the load of the left wheel on the front axle of the vehicle in the non-accelerating state, Fz_fr_oThe load capacity of the right wheel on the front axle of the vehicle in the non-accelerating state, Fz_rl_oThe load capacity of the left wheel on the rear axle of the vehicle in the non-accelerating state, Fz_rr_oThe load capacity of the right wheel on the rear wheel axle of the vehicle in a non-acceleration state.
7. A storage medium characterized by comprising a stored program, wherein the program executes the vehicle-drive control method according to any one of claims 1 to 5.
8. A processor, characterized in that the processor is configured to execute a program, wherein the program is executed to execute the vehicle drive control method according to any one of claims 1 to 5.
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| CN113085577B (en) * | 2021-04-26 | 2023-05-26 | 浙江极氪智能科技有限公司 | Four-wheel drive torque distribution method and device based on vertical load distribution |
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