CN106379198B - A kind of driving torque distribution method, device and automobile - Google Patents

A kind of driving torque distribution method, device and automobile Download PDF

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Publication number
CN106379198B
CN106379198B CN201610887371.5A CN201610887371A CN106379198B CN 106379198 B CN106379198 B CN 106379198B CN 201610887371 A CN201610887371 A CN 201610887371A CN 106379198 B CN106379198 B CN 106379198B
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driving torque
torque
front axle
coefficient
rear axle
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CN106379198A (en
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刘彪
易迪华
张龙聪
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Beijing Electric Vehicle Co Ltd
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Beijing Electric Vehicle Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/44—Control modes by parameter estimation
    • 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
    • Y02T10/72—Electric energy management in electromobility

Abstract

The present invention provides a kind of driving torque distribution method, device and automobiles, and wherein method comprises determining that vehicle output driving torque；According to current direction disk rotating speed, current steering wheel angle and current vehicle speed, front axle driving torque coefficient and rear axle driving torque coefficient are determined；Front axle referenced drive torque and rear axle referenced drive torque are determined according to vehicle output driving torque, front axle driving torque coefficient and rear axle driving torque coefficient；According to front axle referenced drive torque, rear axle referenced drive torque and in advance the preceding driving torque limitation output valve, the rear driving torque limitation output valve that obtain determine front axle target drives torque and rear axle target drives torque, and are sent to corresponding electric machine controller.The embodiment of the present invention can improve rear axle driving torque when vehicle promptly drives, and guarantee the security performance of vehicle, and can occur to avoid vehicle as having whipping caused by oversteering characteristic or sideslip phenomenon.

Description

A kind of driving torque distribution method, device and automobile
Technical field
The present invention relates to automobile technical field more particularly to a kind of driving torque distribution methods, device and automobile.
Background technique
The distribution of the antero posterior axis driving torque of current electric car or hybrid power 4 wheel driven automobile is generally based on motor/start Come what is determined, the former can make vehicle obtain better dynamic property or economy for the efficiency of machine or the axle load of antero posterior axis, after Person can then avoid vehicle as far as possible, and there is a phenomenon where drivings to skid.Both driving torque distribution methods are to vehicle handling stability The considerations of it is insufficient, so that vehicle is had oversteering characteristic so that whipping or sideslip occur, and then vehicle is caused to lose surely It is qualitative.
Summary of the invention
The embodiment of the present invention provides a kind of driving torque distribution method, device and automobile, to solve to drive in the prior art The considerations of torque allocation strategy is to vehicle handling stability is insufficient, makes vehicle that whipping occur or break away to lead to vehicle loss of stability The problem of.
The embodiment of the present invention provides a kind of driving torque distribution method, which comprises
Determine vehicle output driving torque；
According to current direction disk rotating speed, current steering wheel angle and current vehicle speed, determine front axle driving torque coefficient and Rear axle driving torque coefficient；
It is true according to the vehicle output driving torque, the front axle driving torque coefficient and the rear axle driving torque coefficient Determine front axle referenced drive torque and rear axle referenced drive torque；
According to the front axle referenced drive torque, the rear axle referenced drive torque and the preceding driving torque that obtains in advance Limitation output valve, rear driving torque limitation output valve determine front axle target drives torque and rear axle target drives torque, and send To corresponding electric machine controller.
It, can be when vehicle promptly drives by the way that front axle target drives torque and rear axle target drives torque is adaptively adjusted Rear axle driving torque is improved, guarantees security performance when vehicle break turn, and can have oversteering characteristic to avoid vehicle, It avoids vehicle whipping or sideslip phenomenon from occurring, guarantees the operation stability energy and security performance of vehicle.
Wherein, the step of determining vehicle output driving torque includes:
The opening amount signal for obtaining accelerator pedal calculates accelerator pedal required first according to the opening amount signal of accelerator pedal Output driving torque；
The currently active power for obtaining power battery determines that power battery institute is right according to the currently active power of power battery The the second output driving torque answered；
Compare the first output driving torque and the second output driving torque；
When the first output driving torque is greater than the second output driving torque, second output driving is determined Torque is the vehicle output driving torque；
When the first output driving torque is less than or equal to the second output driving torque, described first is determined Output driving torque is the vehicle output driving torque.
Wherein, the current direction disk rotating speed of the basis, current steering wheel angle and current vehicle speed determine that front axle driving is turned round The step of moment coefficient and rear axle driving torque coefficient includes:
The revolving speed of current steering wheel is compared by the revolving speed for obtaining current steering wheel with preset rotation speed threshold value；
When the revolving speed of current steering wheel is greater than preset rotation speed threshold value, driven in preset first steering situation corresponding first In dynamic torque coefficient allocation list, corresponding fixed front axle driving torque coefficient and fixed rear axle driving torque coefficient are determined；
It is corresponding in preset second steering situation when the revolving speed of current steering wheel is less than or equal to preset rotation speed threshold value The second driving torque coefficient allocation list in, search front axle drive corresponding with current steering wheel angle and current vehicle speed Dynamic torque coefficient and the rear axle driving torque coefficient；
Wherein, in the first driving torque coefficient allocation list, when the revolving speed of steering wheel is less than or equal to preset rotation speed When threshold value, the front axle driving torque coefficient and the rear axle driving torque coefficient are respectively that the 5th preset value and the 6th are default Value；When the revolving speed of steering wheel is greater than preset rotation speed threshold value, the front axle driving torque coefficient and rear axle driving torque system Number is respectively the 7th preset value and the 8th preset value；Wherein, the 7th preset value be less than the 5th preset value, the described 8th Preset value is greater than the 6th preset value；
In the second driving torque coefficient allocation list, under same direction disk corner, when speed is less than or equal in advance If when the first speed, the front axle driving torque coefficient and the rear axle driving torque coefficient are respectively the first preset value and second Preset value；When speed is more than or equal to default second speed, the front axle driving torque coefficient and rear axle driving are turned round Moment coefficient is respectively third preset value and the 4th preset value；When speed is between default first speed and default second speed, The front axle driving torque coefficient increases with the increase of speed, and the rear axle driving torque coefficient subtracts with the increase of speed It is small；Wherein, corresponding default first speed of first direction disk corner is greater than corresponding default first vehicle of second direction disk corner Speed, corresponding default second speed of first direction disk corner, default second speed corresponding less than second direction disk corner, and the Corresponding first preset value of one steering wheel angle is equal to corresponding first preset value of second direction disk corner, first party It is less than the corresponding third preset value of second direction disk corner, first direction disk to the corresponding third preset value of disk corner Corresponding second preset value of corner is equal to corresponding second preset value of second direction disk corner, first direction disk corner Corresponding 4th preset value is greater than corresponding 4th preset value of second direction disk corner；Wherein, first direction disk turns Angle is less than second direction disk corner.
Wherein, described to be driven according to the vehicle output driving torque, the front axle driving torque coefficient and the rear axle Torque coefficient determines that the step of front axle referenced drive torque and rear axle referenced drive torque includes:
The product for calculating the vehicle output driving torque Yu the front axle driving torque coefficient determines the front axle reference Driving torque；
The product for calculating the vehicle output driving torque Yu the rear axle driving torque coefficient determines the rear axle reference Driving torque.
Wherein, described to obtain according to the front axle referenced drive torque, the rear axle referenced drive torque and in advance Preceding driving torque limitation output valve, rear driving torque limitation output valve determine that front axle target drives torque and rear axle target drives are turned round Square, and the step of being sent to corresponding electric machine controller includes:
The front axle referenced drive torque is limited into output valve with the preceding driving torque obtained in advance, the rear axle is joined Driving torque is examined to be compared respectively with the rear driving torque limitation output valve obtained in advance；
When the front axle referenced drive torque is greater than the preceding driving torque limitation output valve, determine that the preceding driving is turned round It is the front axle target drives torque that square, which limits output valve, is less than or equal to the forerunner in the front axle referenced drive torque When dynamic torque limits output valve, determine that the front axle referenced drive torque is the front axle target drives torque；
When the rear axle referenced drive torque is greater than the rear driving torque limitation output valve, determine that the rear driving is turned round It is the rear axle target drives torque that square, which limits output valve, is less than or equal to the rear-guard in the rear axle referenced drive torque When dynamic torque limits output valve, determine that the rear axle referenced drive torque is the rear axle target drives torque；
The front axle target drives torque is sent to front axle electric machine controller, sends the rear axle target drives torque To rear axle electric machine controller.
The embodiment of the present invention also provides a kind of driving torque distributor, and described device includes:
First determining module, for determining vehicle output driving torque；
Second determining module, before being determined according to current direction disk rotating speed, current steering wheel angle and current vehicle speed Axis driving torque coefficient and rear axle driving torque coefficient；
Third determining module, for according to the vehicle output driving torque, the front axle driving torque coefficient and described Rear axle driving torque coefficient determines front axle referenced drive torque and rear axle referenced drive torque；
Processing module, for obtaining according to the front axle referenced drive torque, the rear axle referenced drive torque and in advance Preceding driving torque limitation output valve, the rear driving torque limitation output valve taken determines that front axle target drives torque and rear axle target drive Dynamic torque, and it is sent to corresponding electric machine controller.
Wherein, first determining module includes:
First computational submodule is calculated for obtaining the opening amount signal of accelerator pedal according to the opening amount signal of accelerator pedal The required first output driving torque of accelerator pedal；
First determines submodule, for obtaining the currently active power of power battery, according to the currently active of power battery Power determines the second output driving torque corresponding to power battery；
First Comparative sub-module is used for the first output driving torque and the second output driving torque；
Second determines submodule, is used for when the first output driving torque is greater than the second output driving torque, Determine that the second output driving torque is the vehicle output driving torque；
Third determines submodule, for being less than or equal to second output driving when the first output driving torque When torque, determine that the first output driving torque is the vehicle output driving torque.
Wherein, second determining module includes:
Second Comparative sub-module, for obtaining the revolving speed of current steering wheel, by the revolving speed and preset rotation speed of current steering wheel Threshold value is compared；
4th determines submodule, when being greater than preset rotation speed threshold value for the revolving speed in current steering wheel, preset first In the corresponding first driving torque coefficient allocation list of steering situation, after determining corresponding fixed front axle driving torque coefficient and fixing Axis driving torque coefficient；
Submodule is searched, when being less than or equal to preset rotation speed threshold value for the revolving speed in current steering wheel, preset In the corresponding second driving torque coefficient allocation list of second steering situation, search and current steering wheel angle and current vehicle speed phase The corresponding front axle driving torque coefficient and the rear axle driving torque coefficient；
Wherein, in the first driving torque coefficient allocation list, when the revolving speed of steering wheel is less than or equal to preset rotation speed When threshold value, the front axle driving torque coefficient and the rear axle driving torque coefficient are respectively that the 5th preset value and the 6th are default Value；When the revolving speed of steering wheel is greater than preset rotation speed threshold value, the front axle driving torque coefficient and rear axle driving torque system Number is respectively the 7th preset value and the 8th preset value；Wherein, the 7th preset value be less than the 5th preset value, the described 8th Preset value is greater than the 6th preset value；
In the second driving torque coefficient allocation list, under same direction disk corner, when speed is less than or equal in advance If when the first speed, the front axle driving torque coefficient and the rear axle driving torque coefficient are respectively the first preset value and second Preset value；When speed is more than or equal to default second speed, the front axle driving torque coefficient and rear axle driving are turned round Moment coefficient is respectively third preset value and the 4th preset value；When speed is between default first speed and default second speed, The front axle driving torque coefficient increases with the increase of speed, and the rear axle driving torque coefficient subtracts with the increase of speed It is small；Wherein, corresponding default first speed of first direction disk corner is greater than corresponding default first vehicle of second direction disk corner Speed, corresponding default second speed of first direction disk corner, default second speed corresponding less than second direction disk corner, and the Corresponding first preset value of one steering wheel angle is equal to corresponding first preset value of second direction disk corner, first party It is less than the corresponding third preset value of second direction disk corner, first direction disk to the corresponding third preset value of disk corner Corresponding second preset value of corner is equal to corresponding second preset value of second direction disk corner, first direction disk corner Corresponding 4th preset value is greater than corresponding 4th preset value of second direction disk corner；Wherein, first direction disk turns Angle is less than second direction disk corner.
Wherein, the third determining module includes:
Second computational submodule, for calculating multiplying for the vehicle output driving torque and the front axle driving torque coefficient Product, determines the front axle referenced drive torque；
Third computational submodule, for calculating multiplying for the vehicle output driving torque and the rear axle driving torque coefficient Product, determines the rear axle referenced drive torque.
Wherein, the processing module includes:
Third Comparative sub-module, for limiting the front axle referenced drive torque with the preceding driving torque obtained in advance Output valve processed, the rear axle referenced drive torque with obtain in advance it is described after driving torque limitation output valve compared respectively Compared with；
5th determines submodule, limits output valve for being greater than the preceding driving torque in the front axle referenced drive torque When, determine that the preceding driving torque limitation output valve is the front axle target drives torque, in the front axle referenced drive torque When less than or equal to the preceding driving torque limitation output valve, determine that the front axle referenced drive torque is the front axle target Driving torque；
6th determines submodule, limits output valve for being greater than the rear driving torque in the rear axle referenced drive torque When, determine that the rear driving torque limitation output valve is the rear axle target drives torque, in the rear axle referenced drive torque When less than or equal to the rear driving torque limitation output valve, determine that the rear axle referenced drive torque is the rear axle target Driving torque；
Sending submodule, for the front axle target drives torque to be sent to front axle electric machine controller, by the rear axle Target drives torque is sent to rear axle electric machine controller.
The embodiment of the present invention also provides a kind of automobile, and the automobile includes above-mentioned driving torque distributor.
The beneficial effect of technical solution of the embodiment of the present invention includes at least:
Technical solution of the present invention, by obtain vehicle output driving torque, and according to direction disk rotating speed, steering wheel angle, Speed determines front axle driving torque coefficient and rear axle driving torque coefficient, utilizes vehicle output driving torque and front axle driving torque After the product that the product of coefficient obtains front axle referenced drive torque, vehicle output driving torque and rear axle driving torque coefficient obtains Axis referenced drive torque, and antero posterior axis mesh is determined according to antero posterior axis referenced drive torque and front and back driving torque limitation output valve Driving torque is marked, determining antero posterior axis target drives torque is sent to corresponding electric machine controller, can promptly be driven in vehicle Rear axle driving torque is improved when dynamic, guarantees security performance when vehicle break turn, and can have oversteering to avoid vehicle Characteristic avoids vehicle whipping or sideslip phenomenon from occurring, guarantees the operation stability energy and security performance of vehicle, further, when driving When the person's of sailing quick rotation steering wheel hides front obstacle, vehicle can be made to realize fast steering, to avoid colliding.
Detailed description of the invention
Fig. 1 shows the driving torque distribution method flow charts that the embodiment of the present invention one provides；
Fig. 2 indicates driving torque distribution method flow chart provided by Embodiment 2 of the present invention；
The driving torque distribution curve schematic diagram based on direction disk rotating speed of Fig. 3 expression embodiment of the present invention two；
The driving torque distribution curve schematic diagram based on speed of Fig. 4 expression embodiment of the present invention two；
The driving torque distribution curve schematic diagram based on steering wheel angle and speed of Fig. 5 expression embodiment of the present invention two；
Fig. 6 indicates the driving torque distribution system block schematic illustration that the embodiment of the present invention three provides；
Fig. 7 indicates the driving torque distributor schematic diagram one that the embodiment of the present invention four provides；
Fig. 8 shows the driving torque distributor schematic diagrames two that the embodiment of the present invention four provides；
Fig. 9 indicates the driving torque distributor schematic diagram three that the embodiment of the present invention four provides；
Figure 10 indicates the driving torque distributor schematic diagram four that the embodiment of the present invention four provides；
Figure 11 indicates the driving torque distributor schematic diagram five that the embodiment of the present invention four provides.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, right below in conjunction with the accompanying drawings and the specific embodiments The present invention is described in detail.
Embodiment one
As shown in Figure 1, the driving torque distribution method that the embodiment of the present invention one provides, comprising:
Step 101 determines vehicle output driving torque.
The present invention is applied to entire car controller, and entire car controller needs first determine that the vehicle of a demand is defeated according to pedal Driving torque out.Here pedal includes brake pedal and accelerator pedal, when the switching signal for detecting brake pedal is to open, Determine that brake pedal signal is effective, then the corresponding first output driving torque of pedal is zero at this time, when the switch of brake pedal is believed Number for close when, then the first output driving torque is calculated according to the opening amount signal of accelerator pedal.It needs to obtain power battery simultaneously The currently active power, determine that the second output driving that power battery supported is turned round according to the currently active power of power battery Square.Then it is determined as vehicle output driving for lesser one in the first output driving torque and the second output driving torque to turn round Square.
Step 102, according to current direction disk rotating speed, current steering wheel angle and current vehicle speed, determine that front axle driving is turned round Moment coefficient and rear axle driving torque coefficient.
Steering wheel angle is obtained according to the steering wheel angle sensor being set on steering wheel, entire car controller passes through direction The angle and the ratio of time used that disk turns over directly obtain to calculate steering wheel rate of rotation or utilization orientation disk rotary angle transmitter Take direction disk rotating speed.The current speed of operation of automobile is obtained according to anti-blocking brake system.
Then front axle driving torque coefficient and rear axle driving are determined according to direction disk rotating speed, steering wheel angle and speed Torque coefficient, specifically: determine that current automobile is in normal direction of rotation operating condition or emergency turn operating condition according to direction disk rotating speed, When current automobile is in normal direction of rotation operating condition, according to steering wheel angle and speed in normal direction of rotation operating condition driving torque coefficient table Middle inquiry front axle driving torque coefficient and rear axle driving torque coefficient.When current automobile is in emergency turn operating condition, urgent Fixed front axle driving torque coefficient and fixed rear axle driving torque coefficient are determined in steering situation driving torque coefficient table.
It should be noted that in normal direction of rotation operating condition driving torque coefficient table, it is different under same direction disk corner Speed corresponds to different front axle driving torque coefficient and rear axle driving torque coefficient, and under same speed, different steering wheels turns Angle can correspond to different front axle driving torque coefficient and rear axle driving torque coefficient.
Step 103, according to vehicle output driving torque, front axle driving torque coefficient and rear axle driving torque coefficient determine before Axis referenced drive torque and rear axle referenced drive torque.
After obtaining vehicle output driving torque, front axle driving torque coefficient and rear axle driving torque coefficient, according to whole The product of vehicle output driving torque and front axle driving torque coefficient obtains front axle referenced drive torque, is turned round according to vehicle output driving The product of square and rear axle driving torque coefficient obtains rear axle referenced drive torque.
Step 104, according to front axle referenced drive torque, rear axle referenced drive torque and the preceding driving torque that obtains in advance Limitation output valve, rear driving torque limitation output valve determine front axle target drives torque and rear axle target drives torque, and send To corresponding electric machine controller.
After obtaining front axle referenced drive torque, rear axle referenced drive torque, by front axle referenced drive torque and in advance The preceding driving torque limitation output valve obtained is compared, and rear axle referenced drive torque is limited with the rear driving torque obtained in advance Output valve processed is compared.When current axis referenced drive torque is less than or equal to preceding driving torque limitation output valve, by front axle Referenced drive torque is determined as front axle target drives torque, and current axis referenced drive torque is greater than preceding driving torque and limits output valve When, preceding driving torque limitation output valve is determined as front axle target drives torque.
When rear axle referenced drive torque is less than or equal to rear driving torque limitation output valve, rear axle referenced drive is turned round Square is determined as rear axle target drives torque, when rear axle referenced drive torque is greater than rear driving torque limitation output valve, by rear-guard Dynamic torque limitation output valve is determined as rear axle target drives torque.
After determining front axle target drives torque and rear axle target drives torque, front axle target drives torque is sent to Front axle electric machine controller, driving motor operating before front axle electric machine controller controls；Rear axle target drives torque is sent to rear axle Electric machine controller, driving motor operates after the control of rear axle electric machine controller.
The embodiment of the present invention one, by obtain vehicle output driving torque, and according to direction disk rotating speed, steering wheel angle, Speed determines front axle driving torque coefficient and rear axle driving torque coefficient, utilizes vehicle output driving torque and front axle driving torque After the product that the product of coefficient obtains front axle referenced drive torque, vehicle output driving torque and rear axle driving torque coefficient obtains Axis referenced drive torque, and antero posterior axis mesh is determined according to antero posterior axis referenced drive torque and front and back driving torque limitation output valve Driving torque is marked, determining antero posterior axis target drives torque is sent to corresponding electric machine controller, can promptly be driven in vehicle Rear axle driving torque is improved when dynamic, guarantees security performance when vehicle break turn, and can have oversteering to avoid vehicle Characteristic avoids vehicle whipping or sideslip phenomenon from occurring, guarantees the operation stability energy and security performance of vehicle, further, when driving When the person's of sailing quick rotation steering wheel hides front obstacle, vehicle can be made to realize fast steering, to avoid colliding.
Embodiment two
As shown in Fig. 2, driving torque distribution method provided by Embodiment 2 of the present invention, comprising:
Step 201, the opening amount signal for obtaining accelerator pedal, needed for calculating accelerator pedal according to the opening amount signal of accelerator pedal The the first output driving torque asked.
Entire car controller needs first determine the first output driving torque according to pedal.Here pedal includes that braking is stepped on Plate and accelerator pedal determine that brake pedal signal is effective, then pedal at this time when the switching signal for detecting brake pedal is to open Corresponding first output driving torque is zero, when the switching signal of brake pedal is to close, is then believed according to the aperture of accelerator pedal Number calculate the first output driving torque.
Step 202, the currently active power for obtaining power battery, determine power according to the currently active power of power battery Second output driving torque corresponding to battery.
The effective power for obtaining power battery, determine that power battery supported according to the effective power of power battery the Two output driving torques.The first output driving torque and the second output driving torque of acquisition are then based on to execute step 203.
Step 203 determines vehicle output driving torque according to the first output driving torque and the second output driving torque.
Wherein, the mode of vehicle output driving torque is determined according to the first output driving torque and the second output driving torque Are as follows: compare the first output driving torque and the second output driving torque；When the first output driving torque is greater than the second output driving When torque, determine that the second output driving torque is vehicle output driving torque；When the first output driving torque is less than or equal to When the second output driving torque, determine that the first output driving torque is vehicle output driving torque.
I.e. after obtaining the required first output driving torque of pedal, need to consider power battery is supported second Output driving torque is turned round when the second output driving torque that power battery is supported is less than required first output driving of pedal When square, the second output driving torque that power battery is supported at this time is unable to satisfy the demand of pedal, can be by power battery institute The the second output driving torque supported is determined as vehicle output driving torque.
Step 204, the revolving speed for obtaining current steering wheel, the revolving speed of current steering wheel and preset rotation speed threshold value are compared Compared with.
After determining vehicle output driving torque, it is thus necessary to determine that front axle driving torque coefficient and rear axle driving torque system Number.Before determining front axle driving torque coefficient and rear axle driving torque coefficient, need to be determined according to the revolving speed of steering wheel current Which kind of steering situation vehicle is in.Wherein steering situation includes the first steering situation and normal direction of rotation shape under emergency turn state The second steering situation under state.
After the revolving speed for obtaining current steering wheel, the revolving speed of current steering wheel is compared with preset rotation speed threshold value, Step 205 or step 206 are executed according to comparison result.
Step 205, when the revolving speed of current steering wheel is greater than preset rotation speed threshold value, it is corresponding in preset first steering situation The first driving torque coefficient allocation list in, determine corresponding fixed front axle driving torque coefficient and fixed rear axle driving torque system Number.
When the revolving speed of current steering wheel is greater than preset rotation speed threshold value, determine that current vehicle is under emergency turn state First steering situation determines then in the corresponding first driving torque coefficient allocation list of preconfigured first steering situation Corresponding fixed front axle driving torque coefficient and fixed rear axle driving torque coefficient.
It is preceding when the revolving speed of steering wheel is less than or equal to preset rotation speed threshold value in first driving torque coefficient allocation list Axis driving torque coefficient and rear axle driving torque coefficient are respectively the 5th preset value and the 6th preset value；When the revolving speed of steering wheel is big When preset rotation speed threshold value, front axle driving torque coefficient and rear axle driving torque coefficient are respectively that the 7th preset value and the 8th are default Value；Wherein, the 7th preset value is greater than the 6th preset value less than the 5th preset value, the 8th preset value.Before wherein the 7th preset value is Axis driving torque coefficient, the 8th preset value are rear axle driving torque coefficient.
Driving torque distribution curve schematic diagram based on direction disk rotating speed is as shown in figure 3, for example, work as the driver promptly side of rotation When to disk, it usually needs vehicle can have a biggish steering angle evacuation front obstacle.The distribution of driving torque at this time It should be as shown in Figure 3: improving the driving force of rear axle, reduce the driving force of front axle.Vehicle is set to have a lesser understeer special Property even have certain oversteering characteristic.Wherein direction disk rotating speed by be less than or equal to preset rotation speed changes of threshold to more than During preset rotation speed threshold value, driving torque coefficient changes therewith, and front axle driving torque coefficient is gradually become by the first fixed value The second fixed value is turned to, rear axle driving torque coefficient is gradually varied to the 4th fixed value by third fixed value.Front axle torque coefficient Reduce, reared torque coefficient increases, and vehicle can be made to be unlikely to generate jitter phenomenon since torque is mutated by calibration adjustment.Its In the second fixed value be the 7th preset value, that is, fixed front axle driving torque coefficient, the 4th fixed value is the 8th preset value, It is exactly fixed rear axle driving torque coefficient.As shown in figure 3, when the revolving speed of steering wheel is greater than preset rotation speed threshold value, front axle driving Torque coefficient is 0.3 by 0.6 variation, and rear axle driving torque coefficient is 0.7 by 0.4 variation.
It should be noted that the process of driving torque index variation is a process gradually changed, in turning for steering wheel When speed is greater than preset rotation speed threshold value, it is thus necessary to determine that the referenced drive power of front axle and the referenced drive power of rear axle, since vehicle exports Driving torque is one and determines value, it is therefore desirable to front axle driving torque coefficient and rear axle driving torque coefficient is adjusted, before obtaining The referenced drive power of axis and the referenced drive power of rear axle.
It is fixed front axle driving torque coefficient by front axle driving torque coefficient adjustment, is by rear axle driving torque coefficient adjustment Fixed rear axle driving torque coefficient, automobile front axle driving torque coefficient during actual travel are gradually varied to fixed front axle and drive Dynamic torque coefficient, rear axle driving torque coefficient are gradually varied to fixed rear axle driving torque coefficient.
Oversteering characterizes the steering characteristic of automobile, and the automobile turning radius of oversteering characteristic can be smaller and smaller, and holds Sideslip or whipping easily occurs.Understeer characterizes the steering characteristic of automobile, and the automobile turning radius of understeer characteristics can be more next It is bigger.
Step 206, current steering wheel revolving speed be less than or equal to preset rotation speed threshold value when, it is preset second turn to In the corresponding second driving torque coefficient allocation list of operating condition, before lookup is corresponding with current steering wheel angle and current vehicle speed Axis driving torque coefficient and rear axle driving torque coefficient.
When the revolving speed of current steering wheel is less than or equal to preset rotation speed threshold value, determine that current vehicle is in normal direction of rotation The second steering situation under state, then in the corresponding second driving torque coefficient allocation list of preconfigured second steering situation In, corresponding front axle driving torque coefficient and rear axle driving torque system are searched according to current steering wheel angle and current vehicle speed Number.
It should be noted that in the second driving torque coefficient allocation list include the second steering situation under with steering wheel angle and The associated front and back driving torque coefficient of speed.
In second driving torque coefficient allocation list, under same direction disk corner, when speed is less than or equal to default the When one speed, front axle driving torque coefficient and rear axle driving torque coefficient are respectively the first preset value and the second preset value；Work as vehicle When speed is more than or equal to default second speed, front axle driving torque coefficient and rear axle driving torque coefficient are respectively that third is default Value and the 4th preset value；When speed is between default first speed and default second speed, front axle driving torque coefficient is with vehicle Speed increase and increase, rear axle driving torque coefficient reduces with the increase of speed；Wherein, first direction disk corner is corresponding pre- If the first speed, it is greater than corresponding default first speed of second direction disk corner, first direction disk corner corresponding default second Speed is less than corresponding default second speed of second direction disk corner, and corresponding first preset value of first direction disk corner etc. In corresponding first preset value of second direction disk corner, the corresponding third preset value of first direction disk corner is less than second direction disk The corresponding third preset value of corner；Corresponding second preset value of first direction disk corner is equal to second direction disk corner corresponding the Two preset values, corresponding 4th preset value of first direction disk corner are greater than corresponding 4th preset value of second direction disk corner；Its In, first direction disk corner is less than second direction disk corner.
Driving torque distribution curve schematic diagram based on speed is as shown in figure 4, when speed is less than or equal to default first speed When 43km/h, front axle driving torque coefficient is the first preset value 0.6, and rear axle driving torque coefficient is the second preset value 0.4.Work as vehicle When speed is greater than default first speed 43km/h and is less than default second speed 70km/h, front axle driving torque coefficient with speed increase And increase, rear axle driving torque coefficient reduces with the increase of speed.When speed reaches default second speed 70km/h, front axle Driving torque coefficient and rear axle driving torque coefficient tend towards stability, and front axle driving torque coefficient is third preset value 0.75 at this time, Rear axle driving torque coefficient is the 4th preset value 0.25, and wherein the sum of front axle driving torque coefficient and rear axle driving torque coefficient are 1。
When speed is lower, driving torque can be allocated according to axle load, to make full use of traction；Work as speed It when increase, needs to gradually increase front axle driving torque, reduces rear axle driving torque；Because automobile front axle driving torque, which will increase, to be increased The understeer trend of big vehicle, rear axle driving, which increases, will increase oversteering trend.Oversteering is a kind of dangerous working condition, will Increase the risk of vehicle whipping.When turning to, front axle driving torque increases then front axle side drift angle and increases, and automobile is intended to insufficient turn To characteristic.Equally, rear axle driving torque increases then rear-wheel side drift angle and increases, and automobile is intended to oversteering.And has and excessively turn To characteristic automobile with speed it is higher, oversteering characteristic is bigger, when speed reaches critical speed ucr, steering sensitivity becomes In infinity, vehicle is by loss of stability.
It is generally desirable to automobiles to have certain understeer characteristics.Critical speed uCr:Characterize a ginseng of negative understeer amount Number, when speed is equal to critical speed, steady state yaw velocity gain tends to be infinitely great, at this time vehicle loss of stability, even if very Small lateral force can also generate great yaw velocity.Side drift angle characterizes the folder of tire ground connection marking center line and wheel plane Angle.
Driving torque distribution curve schematic diagram based on steering wheel angle and speed is as shown in figure 5,0% steering wheel angle is corresponding Default first speed be 43km/h, corresponding default first speed of 30% steering wheel angle is 40km/h；0% steering wheel angle Corresponding default second speed is 70km/h, and corresponding default second speed of 30% steering wheel angle is 72km/h.In 0% direction In the case where disk corner, when corresponding speed is between default first speed 43km/h and default second speed 70km/h, front axle Driving torque coefficient increases with the increase of speed, and rear axle driving torque coefficient reduces with the increase of speed.In 30% direction In the case where disk corner, when corresponding speed is between default first speed 40km/h and default second speed 72km/h, front axle Driving torque coefficient increases with the increase of speed, and rear axle driving torque coefficient reduces with the increase of speed.
When speed is less than 40km/h, 30% corner and the corresponding front axle driving torque coefficient of 0% corner are 0.6,30% Corner and the corresponding rear axle driving torque coefficient of 0% corner are 0.4.
When speed is greater than 40km/h, for front axle driving torque coefficient, the corresponding front axle driving of 30% corner is turned round Moment coefficient starts to increase, and when speed is greater than 43km/h, the corresponding front axle driving torque coefficient of 0% corner starts to increase, in vehicle When speed reaches 70km/h, the corresponding front axle driving torque coefficient of 0% corner tends towards stability, when speed reaches 72km/h, 30% The corresponding front axle driving torque coefficient of corner tends towards stability, and when speed is greater than 40km/h, the corresponding front axle of 30% corner is driven Dynamic torque coefficient is greater than the corresponding front axle driving torque coefficient of 0% corner.
When speed is greater than 40km/h, for rear axle driving torque coefficient, the corresponding rear axle driving of 30% corner is turned round Moment coefficient starts to reduce, and when speed is greater than 43km/h, the corresponding rear axle driving torque coefficient of 0% corner starts to reduce, in vehicle When speed reaches 70km/h, the corresponding rear axle driving torque coefficient of 0% corner tends towards stability, when speed reaches 72km/h, 30% The corresponding rear axle driving torque coefficient of corner tends towards stability, and when speed is greater than 40km/h, the corresponding rear axle of 30% corner is driven Dynamic torque coefficient rear axle driving torque coefficient corresponding less than 0% corner.
Specifically, when speed is lower, driving torque is allocated according to axle load, to make full use of traction；When Speed is increased to certain value, and front axle driving torque is further increased in the driving torque distribution basis of 0% steering wheel angle, drop Low rear axle driving torque；Because if rear-guard driving torque is excessive, the side drift angle of rear axle will be further increased, generate oversteering Trend.
Wherein, the second driving torque coefficient allocation list is that horizontal axis represents speed, and the longitudinal axis represents one two of steering wheel angle Dimension table.Speed each in this way and steering wheel angle correspond to a ditribution coefficiency.Table look-at when practical calculating.Table The general morphologictrend of lattice is: speed is higher, and front axle driving torque is bigger, and steering wheel angle is bigger, and front axle driving torque is bigger.
Step 207, the product for calculating vehicle output driving torque and front axle driving torque coefficient, determine front axle referenced drive Torque.
After determining front axle driving torque coefficient, turned round according to vehicle output driving torque and the front axle driving being calculated The product of moment coefficient obtains front axle referenced drive torque.
Step 208, the product for calculating vehicle output driving torque and rear axle driving torque coefficient, determine rear axle referenced drive Torque.
After determining rear axle driving torque coefficient, turned round according to vehicle output driving torque and the rear axle driving being calculated The product of moment coefficient obtains rear axle referenced drive torque.
Step 209, according to front axle referenced drive torque, rear axle referenced drive torque and the preceding driving torque that obtains in advance Limitation output valve, rear driving torque limitation output valve determine front axle target drives torque and rear axle target drives torque, and send To corresponding electric machine controller.
Obtaining front axle referenced drive torque, after rear axle referenced drive torque, need according to front axle referenced drive torque, Rear axle referenced drive torque and the preceding driving torque obtained in advance limitation output valve, rear driving torque limit output valve to execute Following processes:
By front axle referenced drive torque in advance obtain preceding driving torque limitation output valve, rear axle referenced drive torque with The rear driving torque limitation output valve obtained in advance is compared respectively；
When front axle referenced drive torque is greater than preceding driving torque limitation output valve, driving torque limits output valve before determining It is determined for front axle target drives torque when front axle referenced drive torque is less than or equal to preceding driving torque limitation output valve Front axle referenced drive torque is front axle target drives torque；
When rear axle referenced drive torque is greater than rear driving torque limitation output valve, driving torque limits output valve after determining It is determined for rear axle target drives torque when rear axle referenced drive torque is less than or equal to rear driving torque limitation output valve Rear axle referenced drive torque is rear axle target drives torque；
Front axle target drives torque is sent to front axle electric machine controller, rear axle target drives torque is sent to rear axle electricity Machine controller.
Front axle target drives torque is sent to front axle electric machine controller, rear axle target drives torque be sent to rear axle electricity After machine controller, front axle electric machine controller exports front axle according to driving motor before the front axle target drives moment of torsion control received Target drives torque, rear axle electric machine controller export rear axle according to driving motor after the rear axle target drives moment of torsion control received Target drives torque.
The embodiment of the present invention two, by obtain vehicle output driving torque, and according to direction disk rotating speed, steering wheel angle, Speed determines front axle driving torque coefficient and rear axle driving torque coefficient, utilizes vehicle output driving torque and front axle driving torque After the product that the product of coefficient obtains front axle referenced drive torque, vehicle output driving torque and rear axle driving torque coefficient obtains Axis referenced drive torque, and antero posterior axis mesh is determined according to antero posterior axis referenced drive torque and front and back driving torque limitation output valve Driving torque is marked, determining antero posterior axis target drives torque is sent to corresponding electric machine controller, can promptly be driven in vehicle Rear axle driving torque is improved when dynamic, guarantees security performance when vehicle break turn, and can have oversteering to avoid vehicle Characteristic avoids vehicle whipping or sideslip phenomenon from occurring, guarantees the operation stability energy and security performance of vehicle, further, when driving When the person's of sailing quick rotation steering wheel hides front obstacle, vehicle can be made to realize fast steering, to avoid colliding.
Embodiment three
As shown in fig. 6, the driving torque distribution system framework that the embodiment of the present invention three provides includes:
Entire car controller 600, the brake pedal 601 being electrically connected with the input terminal of entire car controller 600, accelerator pedal 602；
Anti-blocking brake system 603, the steering wheel angle being connect with the input terminal of entire car controller 600 by CAN bus Sensor 604 and battery management system 605；And
The front axle electric machine controller 606 being connect with the output end of entire car controller 600 by CAN bus and rear spindle motor control Device 607 processed, wherein front axle electric machine controller 606 is connect with preceding driving motor 608, rear axle electric machine controller 607 and rear driving electricity Machine 609 connects.
Specifically, entire car controller 600 detects that the switching signal of brake pedal 601 is when opening, to determine brake pedal 601 Signal it is effective, then the corresponding first output driving torque of pedal is zero at this time, when brake pedal 601 switching signal be close When, then the first output driving torque is calculated according to the opening amount signal of accelerator pedal 602.Entire car controller 600 is also required to simultaneously The effective power for obtaining the power battery that battery management system 605 provides, determines power according to the effective power of power battery The second output driving torque that battery is supported, according to lesser one in the first output driving torque and the second output driving torque It is a to determine vehicle output driving torque.
The steering wheel angle and direction disk rotating speed that 600 receiving direction disk rotary angle transmitter 604 of entire car controller is sent, connect The speed that anti-blocking brake system 603 is sent is received, determines that front axle driving is turned round according to steering wheel angle, direction disk rotating speed and speed Moment coefficient and rear axle driving torque coefficient.
Then entire car controller 600 calculates the product of vehicle output driving torque and front axle driving torque coefficient, before acquisition Axis referenced drive torque；The product of vehicle output driving torque and rear axle driving torque coefficient is calculated, rear axle referenced drive is obtained Torque.
Front axle referenced drive torque is compared with the preceding driving torque limitation output valve obtained in advance, is referred in front axle When driving torque is greater than preceding driving torque limitation output valve, driving torque limitation output valve is the torsion of front axle target drives before determining Square determines front axle referenced drive torque when front axle referenced drive torque is less than or equal to preceding driving torque limitation output valve For front axle target drives torque.
Rear axle referenced drive torque is compared with the rear driving torque limitation output valve obtained in advance；It is referred in rear axle When driving torque is greater than rear driving torque limitation output valve, driving torque limitation output valve is the torsion of rear axle target drives after determining Square determines rear axle referenced drive torque when rear axle referenced drive torque is less than or equal to rear driving torque limitation output valve For rear axle target drives torque.
Front axle target drives torque is sent to front axle electric machine controller 606, by rear axle target drives by entire car controller 600 Torque is sent to rear axle electric machine controller 607.Front axle electric machine controller 606 is according to the front axle target drives moment of torsion control received Preceding driving motor 608 exports front axle target drives torque, and rear axle electric machine controller 607 is turned round according to the rear axle target drives received Driving motor 609 exports rear axle target drives torque after square control.The present invention is original in vehicle to the structural modification very little of vehicle It is designed on the basis of components.
The embodiment of the present invention three, by obtain vehicle output driving torque, and according to direction disk rotating speed, steering wheel angle, Speed determines front axle driving torque coefficient and rear axle driving torque coefficient, utilizes vehicle output driving torque and front axle driving torque After the product that the product of coefficient obtains front axle referenced drive torque, vehicle output driving torque and rear axle driving torque coefficient obtains Axis referenced drive torque, and antero posterior axis mesh is determined according to antero posterior axis referenced drive torque and front and back driving torque limitation output valve Driving torque is marked, determining antero posterior axis target drives torque is sent to corresponding electric machine controller, can promptly be driven in vehicle Rear axle driving torque is improved when dynamic, guarantees security performance when vehicle break turn, and can have oversteering to avoid vehicle Characteristic avoids vehicle whipping or sideslip phenomenon from occurring, guarantees the operation stability energy and security performance of vehicle, further, when driving When the person's of sailing quick rotation steering wheel hides front obstacle, vehicle can be made to realize fast steering, to avoid colliding.
Example IV
As shown in fig. 7, the driving torque distributor that the embodiment of the present invention four provides includes:
First determining module 10, for determining vehicle output driving torque；
Second determining module 20, for determining according to current direction disk rotating speed, current steering wheel angle and current vehicle speed Front axle driving torque coefficient and rear axle driving torque coefficient；
Third determining module 30 is turned round for being driven according to vehicle output driving torque, front axle driving torque coefficient and rear axle Moment coefficient determines front axle referenced drive torque and rear axle referenced drive torque；
Processing module 40, for according to front axle referenced drive torque, rear axle referenced drive torque and in advance obtain before Driving torque limitation output valve, rear driving torque limitation output valve determine that front axle target drives torque and rear axle target drives are turned round Square, and it is sent to corresponding electric machine controller.
Wherein, as shown in figure 8, the first determining module 10 includes:
First computational submodule 11, for obtaining the opening amount signal of accelerator pedal, according to the opening amount signal meter of accelerator pedal Calculate the required first output driving torque of accelerator pedal；
First determines submodule 12, for obtaining the currently active power of power battery, according to currently having for power battery Effect power determines the second output driving torque corresponding to power battery；
First Comparative sub-module 13, for comparing the first output driving torque and the second output driving torque；
Second determines submodule 14, for determining the when the first output driving torque is greater than the second output driving torque Two output driving torques are vehicle output driving torque；
Third determines submodule 15, for being less than or equal to the second output driving torque when the first output driving torque When, determine that the first output driving torque is vehicle output driving torque.
Wherein, as shown in figure 9, the second determining module 20 includes:
Second Comparative sub-module 21, for obtaining the revolving speed of current steering wheel, by the revolving speed of current steering wheel and default turn Fast threshold value is compared；
4th determines submodule 22, when being greater than preset rotation speed threshold value for the revolving speed in current steering wheel, preset the In the corresponding first driving torque coefficient allocation list of one steering situation, corresponding fixed front axle driving torque coefficient and fixation are determined Rear axle driving torque coefficient；
Submodule 23 is searched, when being less than or equal to preset rotation speed threshold value for the revolving speed in current steering wheel, default The corresponding second driving torque coefficient allocation list of the second steering situation in, search with current steering wheel angle and current vehicle speed Corresponding front axle driving torque coefficient and rear axle driving torque coefficient；
Wherein, in the first driving torque coefficient allocation list, when the revolving speed of steering wheel is less than or equal to preset rotation speed threshold value When, front axle driving torque coefficient and rear axle driving torque coefficient are respectively the 5th preset value and the 6th preset value；When steering wheel When revolving speed is greater than preset rotation speed threshold value, front axle driving torque coefficient and rear axle driving torque coefficient are respectively the 7th preset value and the Eight preset values；Wherein, the 7th preset value is greater than the 6th preset value less than the 5th preset value, the 8th preset value；
In second driving torque coefficient allocation list, under same direction disk corner, when speed is less than or equal to default the When one speed, front axle driving torque coefficient and rear axle driving torque coefficient are respectively the first preset value and the second preset value；Work as vehicle When speed is more than or equal to default second speed, front axle driving torque coefficient and rear axle driving torque coefficient are respectively that third is default Value and the 4th preset value；When speed is between default first speed and default second speed, front axle driving torque coefficient is with vehicle Speed increase and increase, rear axle driving torque coefficient reduces with the increase of speed；Wherein, first direction disk corner is corresponding pre- If the first speed, it is greater than corresponding default first speed of second direction disk corner, first direction disk corner corresponding default second Speed is less than corresponding default second speed of second direction disk corner, and corresponding first preset value of first direction disk corner etc. In corresponding first preset value of second direction disk corner, the corresponding third preset value of first direction disk corner is less than second direction disk The corresponding third preset value of corner, corresponding second preset value of first direction disk corner are equal to second direction disk corner corresponding the Two preset values, corresponding 4th preset value of first direction disk corner are greater than corresponding 4th preset value of second direction disk corner；Its In, first direction disk corner is less than second direction disk corner.
Wherein, as shown in Figure 10, third determining module 30 includes:
Second computational submodule 31, for calculating the product of vehicle output driving torque Yu front axle driving torque coefficient, really Determine front axle referenced drive torque；
Third computational submodule 32, for calculating the product of vehicle output driving torque Yu rear axle driving torque coefficient, really Determine rear axle referenced drive torque.
Wherein, as shown in figure 11, processing module 40 includes:
Third Comparative sub-module 41, for exporting front axle referenced drive torque with the preceding driving torque limitation obtained in advance Value, rear axle referenced drive torque are compared respectively with the rear driving torque limitation output valve obtained in advance；
5th determines submodule 42, is used for when front axle referenced drive torque is greater than preceding driving torque limitation output valve, really Driving torque limitation output valve is front axle target drives torque before fixed, is less than or equal to preceding driving in front axle referenced drive torque When torque limit output valve, determine that front axle referenced drive torque is front axle target drives torque；
6th determines submodule 43, is used for when rear axle referenced drive torque is greater than rear driving torque limitation output valve, really Driving torque limitation output valve is rear axle target drives torque after fixed, is driven after rear axle referenced drive torque is less than or equal to When torque limit output valve, determine that rear axle referenced drive torque is rear axle target drives torque；
Sending submodule 44, for front axle target drives torque to be sent to front axle electric machine controller, drives rear axle target Dynamic torque is sent to rear axle electric machine controller.
The embodiment of the present invention four obtains vehicle output driving torque by above-mentioned module, and according to direction disk rotating speed, direction Disk corner, speed determine front axle driving torque coefficient and rear axle driving torque coefficient, utilize vehicle output driving torque and front axle The product of driving torque coefficient obtains front axle referenced drive torque, vehicle output driving torque multiplies with rear axle driving torque coefficient Product obtains rear axle referenced drive torque, and is determined according to antero posterior axis referenced drive torque and front and back driving torque limitation output valve Determining antero posterior axis target drives torque is sent to corresponding electric machine controller by antero posterior axis target drives torque, can be in vehicle Rear axle driving torque is improved when urgent driving, guarantees security performance when vehicle break turn, and can have to avoid vehicle Oversteering characteristic avoids vehicle whipping or sideslip phenomenon from occurring, guarantees the operation stability energy and security performance of vehicle, further , when driver's quick rotation steering wheel hides front obstacle, vehicle can be made to realize fast steering, to avoid occurring Collision.
It should be noted that driving torque distributor provided in an embodiment of the present invention is the device using the above method, Then all embodiments of the above method are suitable for the device, and can reach the same or similar beneficial effect.
The embodiment of the present invention also provides a kind of automobile, and the automobile includes the distribution of driving torque described in above-described embodiment four Device, the automobile further include driving torque distribution system framework described in embodiment three, and automobile use as embodiment one to Driving torque distribution method described in embodiment two carries out driving torque distribution.
Above-described is the preferred embodiment of the present invention, it should be pointed out that the ordinary person of the art is come It says, can also make several improvements and retouch under the premise of not departing from principle of the present invention, these improvements and modifications also exist In protection scope of the present invention.

Claims (11)

1. a kind of driving torque distribution method, which is characterized in that the described method includes:
Determine vehicle output driving torque；
Determine driving torque coefficient allocation list according to current direction disk rotating speed, and according to the driving torque coefficient allocation list and Current steering wheel angle and current vehicle speed, determine front axle driving torque coefficient and rear axle driving torque coefficient；
Before being determined according to the vehicle output driving torque, the front axle driving torque coefficient and the rear axle driving torque coefficient Axis referenced drive torque and rear axle referenced drive torque；
According to the front axle referenced drive torque, the rear axle referenced drive torque and in advance obtain preceding driving torque limitation Output valve, rear driving torque limitation output valve determine front axle target drives torque and rear axle target drives torque, and are sent to pair The electric machine controller answered；
Wherein, the current direction disk rotating speed of the basis determines driving torque coefficient allocation list, and according to the driving torque coefficient Allocation list and current steering wheel angle and current vehicle speed determine the step of front axle driving torque coefficient and rear axle driving torque coefficient Suddenly include:
The revolving speed of current steering wheel is compared by the revolving speed for obtaining current steering wheel with preset rotation speed threshold value；
When the revolving speed of current steering wheel is greater than preset rotation speed threshold value, turned round in corresponding first driving of preset first steering situation In moment coefficient allocation list, corresponding fixed front axle driving torque coefficient and fixed rear axle driving torque coefficient are determined；
When the revolving speed of current steering wheel is less than or equal to preset rotation speed threshold value, in preset second steering situation corresponding the In two driving torque coefficient allocation lists, searches the front axle driving corresponding with current steering wheel angle and current vehicle speed and turn round Moment coefficient and the rear axle driving torque coefficient.
2. the method according to claim 1, wherein the step of determining vehicle output driving torque, includes:
The opening amount signal for obtaining accelerator pedal calculates required first output of accelerator pedal according to the opening amount signal of accelerator pedal Driving torque；
The currently active power for obtaining power battery, determines corresponding to power battery according to the currently active power of power battery Second output driving torque；
Compare the first output driving torque and the second output driving torque；
When the first output driving torque is greater than the second output driving torque, the second output driving torque is determined For the vehicle output driving torque；
When the first output driving torque is less than or equal to the second output driving torque, first output is determined Driving torque is the vehicle output driving torque.
3. the method according to claim 1, wherein working as direction in the first driving torque coefficient allocation list When the revolving speed of disk is less than or equal to preset rotation speed threshold value, the front axle driving torque coefficient and the rear axle driving torque coefficient Respectively the 5th preset value and the 6th preset value；When the revolving speed of steering wheel is greater than preset rotation speed threshold value, the front axle driving is turned round Moment coefficient and the rear axle driving torque coefficient are respectively the 7th preset value and the 8th preset value；Wherein, the 7th preset value Less than the 5th preset value, the 8th preset value is greater than the 6th preset value；
In the second driving torque coefficient allocation list, under same direction disk corner, when speed is less than or equal to default the When one speed, the front axle driving torque coefficient and the rear axle driving torque coefficient are respectively that the first preset value and second are default Value；When speed is more than or equal to default second speed, the front axle driving torque coefficient and rear axle driving torque system Number is respectively third preset value and the 4th preset value；It is described when speed is between default first speed and default second speed Front axle driving torque coefficient increases with the increase of speed, and the rear axle driving torque coefficient reduces with the increase of speed；Its In, corresponding default first speed of first direction disk corner, default first speed corresponding greater than second direction disk corner, first Corresponding default second speed of steering wheel angle is less than corresponding default second speed of second direction disk corner, and first direction Corresponding first preset value of disk corner is equal to corresponding first preset value of second direction disk corner, and first direction disk turns The corresponding third preset value in angle is less than the corresponding third preset value of second direction disk corner, first direction disk corner pair Second preset value answered is equal to corresponding second preset value of second direction disk corner, and first direction disk corner is corresponding 4th preset value is greater than corresponding 4th preset value of second direction disk corner；Wherein, first direction disk corner is less than Second direction disk corner.
4. the method according to claim 1, wherein it is described according to the vehicle output driving torque, it is described before Axis driving torque coefficient and the rear axle driving torque coefficient determine front axle referenced drive torque and rear axle referenced drive torque Step includes:
The product for calculating the vehicle output driving torque Yu the front axle driving torque coefficient determines the front axle referenced drive Torque；
The product for calculating the vehicle output driving torque Yu the rear axle driving torque coefficient determines the rear axle referenced drive Torque.
5. the method according to claim 1, wherein it is described according to the front axle referenced drive torque, it is described after Axis referenced drive torque and the preceding driving torque obtained in advance limitation output valve, rear driving torque limitation output valve determine front axle Target drives torque and rear axle target drives torque, and the step of being sent to corresponding electric machine controller includes:
The front axle referenced drive torque is limited into output valve, the rear axle with reference to drive with the preceding driving torque obtained in advance Dynamic torque is compared respectively with the rear driving torque limitation output valve obtained in advance；
When the front axle referenced drive torque is greater than the preceding driving torque limitation output valve, the preceding driving torque limit is determined Output valve processed is the front axle target drives torque, is less than or equal to the preceding driving in the front axle referenced drive torque and turns round When square limits output valve, determine that the front axle referenced drive torque is the front axle target drives torque；
When the rear axle referenced drive torque is greater than the rear driving torque limitation output valve, the rear driving torque limit is determined Output valve processed is the rear axle target drives torque, is less than or equal to the rear driving in the rear axle referenced drive torque and turns round When square limits output valve, determine that the rear axle referenced drive torque is the rear axle target drives torque；
After the front axle target drives torque is sent to front axle electric machine controller, is sent to the rear axle target drives torque Spindle motor controller.
6. a kind of driving torque distributor, which is characterized in that described device includes:
First determining module, for determining vehicle output driving torque；
Second determining module, for determining that front axle drives according to current direction disk rotating speed, current steering wheel angle and current vehicle speed Dynamic torque coefficient and rear axle driving torque coefficient；
Third determining module, for according to the vehicle output driving torque, the front axle driving torque coefficient and the rear axle Driving torque coefficient determines front axle referenced drive torque and rear axle referenced drive torque；
Processing module, for obtaining according to the front axle referenced drive torque, the rear axle referenced drive torque and in advance Preceding driving torque limitation output valve, rear driving torque limitation output valve determine that front axle target drives torque and rear axle target drives are turned round Square, and it is sent to corresponding electric machine controller；
Wherein, second determining module includes:
Second Comparative sub-module, for obtaining the revolving speed of current steering wheel, by the revolving speed of current steering wheel and preset rotation speed threshold value It is compared；
4th determines submodule, when being greater than preset rotation speed threshold value for the revolving speed in current steering wheel, turns to preset first In the corresponding first driving torque coefficient allocation list of operating condition, determine that corresponding fixed front axle driving torque coefficient and fixed rear axle drive Dynamic torque coefficient；
Submodule is searched, when being less than or equal to preset rotation speed threshold value for the revolving speed in current steering wheel, preset second In the corresponding second driving torque coefficient allocation list of steering situation, search corresponding with current steering wheel angle and current vehicle speed The front axle driving torque coefficient and the rear axle driving torque coefficient.
7. device according to claim 6, which is characterized in that first determining module includes:
First computational submodule calculates according to the opening amount signal of accelerator pedal and accelerates for obtaining the opening amount signal of accelerator pedal The required first output driving torque of pedal；
First determines submodule, for obtaining the currently active power of power battery, according to the currently active power of power battery Determine the second output driving torque corresponding to power battery；
First Comparative sub-module is used for the first output driving torque and the second output driving torque；
Second determines submodule, for determining when the first output driving torque is greater than the second output driving torque The second output driving torque is the vehicle output driving torque；
Third determines submodule, for being less than or equal to the second output driving torque when the first output driving torque When, determine that the first output driving torque is the vehicle output driving torque.
8. device according to claim 6, which is characterized in that in the first driving torque coefficient allocation list, work as direction When the revolving speed of disk is less than or equal to preset rotation speed threshold value, the front axle driving torque coefficient and the rear axle driving torque coefficient Respectively the 5th preset value and the 6th preset value；When the revolving speed of steering wheel is greater than preset rotation speed threshold value, the front axle driving is turned round Moment coefficient and the rear axle driving torque coefficient are respectively the 7th preset value and the 8th preset value；Wherein, the 7th preset value Less than the 5th preset value, the 8th preset value is greater than the 6th preset value；
In the second driving torque coefficient allocation list, under same direction disk corner, when speed is less than or equal to default the When one speed, the front axle driving torque coefficient and the rear axle driving torque coefficient are respectively that the first preset value and second are default Value；When speed is more than or equal to default second speed, the front axle driving torque coefficient and rear axle driving torque system Number is respectively third preset value and the 4th preset value；It is described when speed is between default first speed and default second speed Front axle driving torque coefficient increases with the increase of speed, and the rear axle driving torque coefficient reduces with the increase of speed；Its In, corresponding default first speed of first direction disk corner, default first speed corresponding greater than second direction disk corner, first Corresponding default second speed of steering wheel angle is less than corresponding default second speed of second direction disk corner, and first direction Corresponding first preset value of disk corner is equal to corresponding first preset value of second direction disk corner, and first direction disk turns The corresponding third preset value in angle is less than the corresponding third preset value of second direction disk corner, first direction disk corner pair Second preset value answered is equal to corresponding second preset value of second direction disk corner, and first direction disk corner is corresponding 4th preset value is greater than corresponding 4th preset value of second direction disk corner；Wherein, first direction disk corner is less than Second direction disk corner.
9. device according to claim 6, which is characterized in that the third determining module includes:
Second computational submodule, for calculating the product of the vehicle output driving torque Yu the front axle driving torque coefficient, Determine the front axle referenced drive torque；
Third computational submodule, for calculating the product of the vehicle output driving torque Yu the rear axle driving torque coefficient, Determine the rear axle referenced drive torque.
10. device according to claim 6, which is characterized in that the processing module includes:
Third Comparative sub-module, it is defeated for limiting the front axle referenced drive torque with the preceding driving torque obtained in advance Value, the rear axle referenced drive torque are compared respectively with the rear driving torque limitation output valve obtained in advance out；
5th determines submodule, is used for when the front axle referenced drive torque is greater than the preceding driving torque limitation output valve, It determines that the preceding driving torque limitation output valve is the front axle target drives torque, is less than in the front axle referenced drive torque Or when being equal to the preceding driving torque limitation output valve, determine that the front axle referenced drive torque is the front axle target drives Torque；
6th determines submodule, is used for when the rear axle referenced drive torque is greater than the rear driving torque limitation output valve, It determines that the rear driving torque limitation output valve is the rear axle target drives torque, is less than in the rear axle referenced drive torque Or when being equal to the rear driving torque limitation output valve, determine that the rear axle referenced drive torque is the rear axle target drives Torque；
Sending submodule, for the front axle target drives torque to be sent to front axle electric machine controller, by the rear axle target Driving torque is sent to rear axle electric machine controller.
11. a kind of automobile, which is characterized in that the automobile includes such as the described in any item driving torques of claim 6 to 10 point With device.
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