CN104859657A - 车辆 - Google Patents

车辆 Download PDF

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Publication number
CN104859657A
CN104859657A CN201510087068.2A CN201510087068A CN104859657A CN 104859657 A CN104859657 A CN 104859657A CN 201510087068 A CN201510087068 A CN 201510087068A CN 104859657 A CN104859657 A CN 104859657A
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motor
vehicle
wheel
controller
torque
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CN104859657B (zh
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凯雷姆·巴亚尔
于海
瑞恩·亚伯拉罕·麦吉
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Ford Global Technologies LLC
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Ford Global Technologies LLC
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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
    • B60W30/18172—Preventing, or responsive to skidding of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/36—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
    • B60K6/365—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings with the gears having orbital motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/44—Series-parallel type
    • B60K6/445—Differential gearing distribution type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/175—Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18127—Regenerative braking
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/93—Conjoint control of different elements

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Regulating Braking Force (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

公开了一种车辆。混合动力电动车辆包括动力传动系控制器和防抱死制动***(ABS)控制器。动力传动系控制器调节通过内燃发动机、发电机和电机传输的扭矩，以向两个驱动车轮传输期望扭矩。ABS控制器调节通过四个车轮中的每个车轮上的制动器施加的制动器扭矩。在牵引状况良好的适度的制动事件期间，电机重新获得车辆动能。在较重的制动和/或较差的牵引力期间，ABS控制器和电机控制器中的每个均对转速传感器信号作出响应以调节电机扭矩和制动器扭矩，从而使停车距离最小化。电机扭矩比制动器扭矩响应更快，使得组合式***的振荡频率比独立的ABS***的振荡频率高。

Description

车辆
技术领域
本公开涉及一种操作混合动力电动车辆的方法，以在有限的牵引地面上减小停车距离。
背景技术
如果在每个车轮上的制动扭矩保持为接近与轮胎和路面之间可获得的最大摩擦力相对应的水平，则会改善车辆停车所需要的距离。如果制动扭矩超过这个水平，则车轮锁定并沿着路面滑行。由于与车轮滚动相比车轮在滑行时摩擦系数减小，所以在允许车轮锁定时制动距离增大。为了提高制动性能，许多车辆配备有防抱死制动***(ABS)。当ABS感测到车轮锁定时，ABS进行干预，以施加比由驾驶员命令的制动扭矩小的制动扭矩。
为了减小燃料消耗量，一些车辆(被称作混合动力电动车辆)除了配备有汽油机或柴油机动力传动系以外还配备有电动机。电动机减小燃料消耗量的多种方式之一是通过再生制动。当驾驶员踩下制动踏板时，动力传动系利用电动机来施加制动力，代替摩擦制动，从而产生储存在电池中的电能。然后，储存的电能稍后用于推进车辆，以减少必须通过燃烧燃料产生的动力。然而，如果电动机施加足够的制动力来锁定车轮，则ABS将不能通过减小摩擦制动的扭矩而重获牵引力。
发明内容
混合动力电动车辆具有四个车轮，四个车轮中的每个车轮均配备有液压致动的摩擦制动器和转速传感器。响应于轮胎打滑的指示，防抱死制动***控制器监视转速传感器并减小制动扭矩，然后响应于重新获得牵引力的指示，防抱死制动***控制器增大制动扭矩。电动机通过差速器驱动车轮中的两个。动力传动系控制器监视与被驱动车轮相关联的转速传感器，并响应于轮胎打滑的指示减小电机扭矩(绝对值)，然后响应于重新获得牵引力的指示，动力传动系控制器增大电机扭矩。电动机比液压制动致动器响应得更快。增大扭矩和减小扭矩的循环导致扭矩以给定的频率振荡。电动机的更快的响应使得比液压制动器(例如，出现在非驱动轮上)单独作用时的频率更高。
车轮打滑可通过车轮转速的负的变化率低于阈值来指示。可选地，车轮打滑可通过车轮转速与基于车速和轮胎半径的期望的车轮转速之差超过阈值来指示。例如，可通过对不打滑的车轮的转速求平均来估计车速。类似地，重新获得的牵引力可通过车轮转速的正的变化率超过阈值来指示。可选地，重新获得的牵引力可通过车轮转速处于基于车速和轮胎半径的期望的车轮转速的阈值内来指示。
根据本发明，提供了一种控制车辆减小停车距离的方法，所述车辆具有，被构造为通过差速器驱动左车轮和右车轮的电动机以及与每个车轮相关联的制动器，所述方法包括：监视车轮转速传感器；响应于失去牵引力的指示，减小电机扭矩和制动器扭矩；响应于重新获得牵引力的指示，增大电机扭矩和制动器扭矩。
根据本发明的实施例，响应于失去牵引力的指示，电机扭矩在制动器扭矩减小之前减小。
根据本发明的实施例，响应于重新获得牵引力的指示，电机扭矩在制动器扭矩增大之前增大。
根据本发明的实施例，失去牵引力的指示包括车轮转速的负的变化率低于阈值。
根据本发明的实施例，失去牵引力的指示包括车轮转速测量值为至少比基于车速和轮胎直径的值小的阈值。
根据本发明的实施例，重新获得牵引力的指示包括车轮转速的正的变化率超过阈值。
根据本发明的实施例，重新获得牵引力的指示包括车轮转速不超过基于车速和轮胎直径的值的阈值。
根据本发明，提供了一种车辆包括：第一车轮、第二车轮、第三车轮和第四车轮，每个车轮与转速传感器和制动致动器相关联；差速器，具有由电动机驱动的输入和分别驱动第一车轮和第二车轮的左输出和右输出；制动控制器，被配置为：通过命令与第三车轮和第四车轮关联的制动致动器产生以第一频率振荡的制动扭矩，对来自与第三车轮和第四车轮关联的转速传感器的信号作出响应；动力传动系控制器，被配置为：通过命令电动机产生以比第一频率大的第二频率振荡的扭矩，对来自与第一车轮和第二车轮关联的转速传感器的信号作出响应。
根据本发明的实施例，制动控制器还被配置为：通过命令与第一车轮和第二车轮关联的制动致动器产生制动扭矩，对来自与第一车轮和第二车轮关联的转速传感器的信号作出响应。
根据本发明的实施例，制动控制器经由控制器局域网将来自车轮的转速传感器的信号提供给动力传动系控制器。
根据本发明的实施例，所述车辆还包括：行星齿轮组，具有中心齿轮、齿轮架和环形齿轮，环形齿轮可驱动地连接到电机；内燃发动机，可驱动地连接到齿轮架；发电机，可驱动地连接到中心齿轮。
附图说明
图1是混合动力电动车辆动力传动系的示意性代表。
图2是防抱死制动***的示意性代表。
图3是控制器的示意性代表。
图4是示出在没有混合动力传动系介入的减速期间防抱死制动***的操作的一组图表。
图5是示出在有混合动力传动系参与的减速期间防抱死制动***的操作的一组图表。
图6是示出有混合动力传动系参与的操作方法的流程图。
具体实施方式
在此描述了本公开的实施例。然而，应理解的是，公开的实施例仅仅是示例，并且其它实施例可采用多种和可替代的形式。附图不一定按比例绘制；可夸大或最小化一些特征以示出特定组件的细节。因此，在此公开的具体结构和功能性细节不应解释为限制，而仅仅作为用于教导本领域的技术人员以多种形式实施本发明的代表性基础。如本领域的普通技术人员将理解的是，参照任一附图所示出和描述的各种特征可与在一个或更多个其它附图中示出的特征结合，以产生没有明确地示出或描述的实施例。示出的特征的结合为典型应用提供代表性实施例。然而，与本公开的教导一致的特征的各种组合和修改会被期望用于特定的应用或实施方式。
图1是动力分流式混合动力车辆的示意性代表。实线表示组件之间的机械连接。具有长划线的线表示组件之间的电力连接。具有短划线的线表示信号连接。因为行星齿轮组20将从发动机流向车轮的动力分流为机械动力流路径和电力流路径，所以这种构造被称作动力分流。行星齿轮组20包括绕公共轴线旋转的中心齿轮22、环形齿轮24和齿轮架26。多个行星齿轮28被支撑为相对于齿轮架26旋转并与中心齿轮22和环形齿轮24都啮合。
内燃发动机30可驱动地连接到齿轮架26。中心齿轮22可驱动地连接到发电机32。环形齿轮24可驱动地连接到输出轴34。如果两个组件中的一个组件的旋转使另一个组件以成比例的转速旋转，则在这两个组件之间建立可驱动的连接。在图1中，中心齿轮22与发电机32之间的可驱动的连接是实心轴36，而环形齿轮24与输出轴34之间的可驱动的连接包括与齿轮40啮合的齿轮38。输出轴34还可驱动地连接到牵引电机42和差速器44。差速器44向左前车轮46和右前车轮48传递动力，同时允许轻微的转速变化(例如，当车辆转弯时)。
发电机32和牵引电机42都是能够将电能转换成旋转机械能以及将旋转机械能转换成电能的可逆电机。如图1所示，发电机32是交流(AC)电机，该交流电机经由DC/DC转换器52和逆变器54电连接到电池50。逆变器54响应于来自动力传动系控制器56的命令而将直流电(DC)转换成三相交流电。三相交流电的电压电平、频率和相位角确定所产生的扭矩水平。类似地，逆变器58将直流电转换成用于牵引电机42的三相交流电。可选地，发电机32和/或牵引电机42可以是DC电机。
图2是防抱死制动***(ABS)的示意性代表。除了前车轮46和48以外，车辆具有左后车轮60和右后车轮62。如所示出的，虽然后车轮不被驱动，但是在一些实施例中后车轮可被驱动。响应于来自制动控制器72的信号，液压制动器64、66、68和70分别向车轮46、48、60和62施加扭矩。转速传感器74、76、78和80分别测量车轮46、48、60和62的转速并将这些转速发送到制动控制器72。
如图3所示，制动控制器72和动力传动系控制器56经由控制器局域网(CAN)82而相互通信。具体地，制动控制器72将来自转速传感器74、76、78和80的信号经由CAN 82传输给动力传动系控制器56。可选地，制动控制器72和动力传动系控制器56可被集成为单个控制器。
当驾驶员踩下制动踏板时，可通过从电机42命令负扭矩或通过命令制动器向每个车轮施加扭矩而实现制动。对于在牵引状况良好的地面上施加低强度的制动，优选的是经由电机42进行再生制动，这是因为可回收能量并稍后将该能量用于推进。电机扭矩通过差速器44而在两个前轮46和48之间大致平分。然而，制动器能够比电机42产生更多的制动扭矩，并能够向四个车轮中的每个施加不同水平的扭矩。
针对高强度的制动或当地面较滑时，制动控制器72进入防抱死制动(ABS)控制模式，如图4所示。ABS模式的目的在于在受制于可用车轮牵引力的情况下尽可能快地减小车速。上部的图表中的虚线90表示除以车轮半径后的车速。控制器72可通过(例如)对车轮转速传感器的值求平均而推断出这个值。上部的图表中的实线92表示转速传感器74、76、78和80中的一个的值。任意时间点处的这两条线之间的差是在那个时刻的车轮滑差(slip)。图4中中间的图表示出了车轮加速度94。控制器72可通过计算车轮转速信号的时间导数而计算这个值。下部的图表示出了由相应的制动器施加的扭矩。
控制器72基于取决于车轮的牵引力的状态的公式而调节所命令的扭矩。在最初的阶段(被称作临界稳定阶段)，车轮转速通常以较小的滑差追随着车速，所述较小的滑差表示轮胎具有令人满意的牵引力。在这个阶段中，控制器逐渐地增大扭矩命令，如在96处所示。在图4中，这通过斜坡函数来表示。在实践中，控制器可以每隔一定的间隔调节所命令的扭矩，从而以一系列的不连续的步骤执行扭矩的增大。在98处，轮胎失去牵引力并且不稳定的减速模式开始。控制器可(例如)通过车轮加速度值降低至可校准的阈值之下而检测到这种模式转变。控制器可基于当前感测到的车轮转速与前一时间点(例如，前一控制回路)感测到的车轮转速之间的差，来估计车轮加速度。在不稳定的减速模式下，控制器减小所命令的扭矩以试图尽可能快地重新获得牵引力，如在100处所示。减小扭矩的速率会受到制动致动器的物理响应极限的限制。一旦制动扭矩下降得足够多，轮胎就会重新获得牵引力，如在102处所示。响应于车轮加速度超过可校准的阈值或者滑差(slip)增大至高于可校准的阈值，控制器进入不稳定的加速模式。在不稳定的加速模式下，控制器逐渐地增大所命令的制动扭矩，如在104处所示。在106处，控制器回到临界稳定模式，并重复上述过程。
由于这个过程的重复特性，制动扭矩以由振荡周期所确定的频率振荡。当轮胎失去其牵引力时，制动在临界稳定阶段内最有效且在不稳定的减速阶段内不太有效。通过减小不稳定的减速模式和不稳定的加速模式中的每个的持续时间而使制动性能最大化。然而，液压制动致动器的物理极限限制它们的响应性，因此，限制了控制器的快速地重新建立牵引力的能力。
可通过利用电动机42的相对于制动致动器的更易响应特性来增强制动性能，如图5所示。在底部的图表中，前制动器64和66中的一个的扭矩示出为实线，并且电机扭矩的绝对值示出为虚线。在临界稳定模式下，电机扭矩逐渐地增大，如在108处所示。在不稳定的减速模式中，电机扭矩减小，如在110处所示。因为电机比液压制动致动器更快速地作出响应，所以电机扭矩比制动器扭矩更快地开始减小并以更快的速率减小。因此，与没有电机贡献的情况相比，车轮更快地重新获得牵引力。换言之，不稳定的减速模式的持续时间变短。在不稳定的加速模式期间，电机扭矩增大，如在112处所示。电机扭矩在制动器扭矩增大之前开始增大并以比制动器扭矩快的速率增大，这趋向于减小不稳定的加速阶段的持续时间。因为不稳定的减速阶段和不稳定的加速阶段都变短，所以振荡时间段变短并且振荡频率增大。在图1的动力传动系构造中，电机42仅影响前车轮。后制动器将继续作出响应，如图4所示。因此，前制动器的振荡频率比后制动器的振荡频率高。
图5的方法不需要管理级别的控制器来协调动力传动系控制器和ABS控制器的动作。动力传动系控制器不一定直接与ABS控制器通信。虽然图3示出了两个控制器经由控制器局域网通信，但是交换的信息仅仅是车轮转速传感器的读数。可选地，这两个控制器都可以直接读取传感器输出。与ABS控制器相同，电机控制器可以每隔一定的间隔调节电机扭矩，从而电机扭矩以一系列的不连续的步骤而不是连续的斜度进行改变。由于电机的响应更快，控制回路之间的间隔可比ABS控制器的控制回路之间的间隔短。较短的控制回路间隔具有更准确地估计车轮加速度的附加优点。
图5的方法被概括为图6的流程图。在制动开始之后，在120处，该方法监视车轮的转速。如果在122处所有的轮胎仍然具有牵引力，则在112处电机扭矩的绝对值增大且在104处制动器扭矩增大。重复这个过程直到在122处检测到失去牵引力。然后，在110处电机扭矩的绝对值减小，且在100处制动器扭矩的绝对值减小，并且在124处继续监视车轮的转速。重复这个过程直到重新获得牵引力，如在126处所检测到的。注意步骤120、122、124和126可通过制动控制器72和动力传动系控制器56独立地执行。由于相应的致动器的响应时间变快，电机扭矩的改变速率在制动器扭矩的改变速率之前改变方向。
虽然在上面描述了示例性实施例，但是并不意味着这些实施例描述了由权利要求所包含的所有可能形式。说明书中使用的词语是描述性词语而非限制性词语，并且应该理解，在不脱离本公开的精神和范围的情况下可进行各种改变。如之前所描述的，可组合各个实施例的特征以形成可能未明确描述或示出的本发明的进一步的实施例。虽然多个实施例已被描述为提供优点或者可在一个或更多个期望的特性方面优于其它实施例或现有技术实施方式，但是本领域的普通技术人员应该认识到，可折衷一个或更多个特征或特点，以实现期望的整体***属性，所述期望的整体***属性取决于具体的应用和实施方式。这些属性可包括但是不限于成本、强度、耐用性、生命周期成本、可销售性、外观、包装、尺寸、可维修性、重量、可制造性、装配容易性等。这样，被描述为在一个或更多个特性方面比其它实施例或现有技术实施方式更不令人期望的实施例不在本公开的范围之外，且可期望用于具体应用。

Claims (8)

1.一种车辆，包括：
左车轮和右车轮，每个车轮与转速传感器和制动致动器相关联；
差速器，具有由电动机驱动的输入以及分别驱动左车轮和右车轮的左输出和右输出；
控制器，被配置为：通过减小电机扭矩然后减小相应的制动致动器的制动扭矩而对失去牵引力的指示作出响应，并且通过增大电机扭矩然后增大相应的制动致动器的制动扭矩而对重新获得牵引力的指示作出响应。
2.根据权利要求1所述的车辆，其中，失去牵引力的指示包括车轮转速的负的变化率低于阈值。
3.根据权利要求1所述的车辆，其中，失去牵引力的指示包括车轮转速测量值为至少比基于车速和轮胎半径的值小的阈值。
4.根据权利要求3所述的车辆，其中，车速基于其它车轮转速测量值的平均值。
5.根据权利要求1所述的车辆，其中，重新获得牵引力的指示包括车轮转速的正的变化率大于阈值。
6.根据权利要求1所述的车辆，其中，重新获得牵引力的指示包括车轮转速不超过基于车速和轮胎直径的值的阈值。
7.根据权利要求6所述的车辆，其中，车速基于其它车轮转速测量值的平均值。
8.根据权利要求1所述的车辆，还包括：
行星齿轮组，具有中心齿轮、齿轮架和环形齿轮，环形齿轮可驱动地连接到电机；
内燃发动机，可驱动地连接到齿轮架；
电动发电机，可驱动地连接到中心齿轮。
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