CN110126831A - A kind of control method of vehicle drift, control system and vehicle - Google Patents
A kind of control method of vehicle drift, control system and vehicle Download PDFInfo
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- CN110126831A CN110126831A CN201910426730.0A CN201910426730A CN110126831A CN 110126831 A CN110126831 A CN 110126831A CN 201910426730 A CN201910426730 A CN 201910426730A CN 110126831 A CN110126831 A CN 110126831A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000001419 dependent effect Effects 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 244000062793 Sorghum vulgare Species 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009514 concussion Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 235000019713 millet Nutrition 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000009941 weaving Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- 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
-
- 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
-
- 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
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of control method of vehicle drift, control system and vehicle, the control method includes: the yaw velocity for obtaining the yaw moment of the vehicle and obtaining the vehicle based on the yaw moment；Judge whether the yaw velocity is greater than the first threshold pre-seted, is then to enter drift mode, otherwise continues to obtain the yaw velocity；The yaw moment of the vehicle is adjusted, obtains the yaw velocity in real time；Continue to judge whether the yaw velocity is less than the second threshold pre-seted under the drift mode, be, exit drift mode, otherwise continues to obtain the yaw velocity；Wherein, the second threshold is not more than the first threshold.Embodiment provided by the invention, to improve yaw velocity, allows the vehicle to realize vehicle drift under lower-speed state, the user experience of driver is effectively improved in the case where ensuring safe driving by adjusting the yaw moment of vehicle.
Description
Technical field
The present invention relates to vehicle attitude control technology fields, control method, control more particularly to a kind of vehicle drift
System and vehicle.
Background technique
Conventional truck wants to enter into drifting state, needs higher speed and steering, therefore to the traveling technology of driver
It is more demanding, and there are unsafe hidden danger.Such as traditional kart control logic is the torsions such as left and right control, rear wheel drive
Power cannot make vehicle generate yaw moment.Drift is generated to traditional kart, the side of front-wheel can only be leaned on by generating yaw moment
Xiang Li, it is therefore desirable to rear-wheel has very big driving force, so that tire loses side-friction force, it can not be flat with the lateral force of front-wheel
Weighing apparatus, could generate very big yaw velocity to drift about.
On the basis of safe driving, meets driver and the driving experience of drifting state is bitten as those skilled in the art
Problem to be solved, it is therefore desirable to propose a kind of control method of vehicle drift.
Summary of the invention
At least one to solve the above-mentioned problems, first aspect present invention provides a kind of control method of vehicle drift, packet
It includes:
It obtains the yaw moment of the vehicle and obtains the yaw velocity of the vehicle based on the yaw moment；
Judge whether the yaw velocity is greater than the first threshold pre-seted, is then to enter drift mode, otherwise continues
Obtain the yaw velocity；
The yaw moment of the vehicle is adjusted, obtains the yaw velocity in real time；
Continue to judge whether the yaw velocity is less than the second threshold pre-seted under the drift mode, be, moves back
Otherwise drift mode out continues to obtain the yaw velocity；
Wherein, the second threshold is not more than the first threshold.
Further, the yaw moment of the adjustment vehicle further comprises:
At least adjustment is applied to one of brake force and driving force of the tire of the vehicle to improve the yaw moment.
Further, at least adjustment is applied to one of brake force and driving force of the tire of the vehicle to improve
Stating yaw moment further comprises:
At least adjustment is applied to one of brake force and driving force of the tire of the drive axle of the vehicle.
Further, the drive axle is one of preceding bridge driving, rear bridge driven, front-rear axle driving and the driving of more bridges.
Further, the drive axle be non-steering dependent drive axle, which comprises Xiang Suoshu drive axle it is interior
Side wheel tire applies brake force；Or
The drive axle is to turn to dependent drive axle, which comprises the tire of Xiang Suoshu drive axle applies braking
Power is to generate yaw moment identical with steering direction, tire location and tire side of the brake force based on the drive axle
To.
Further, the drive axle is the non-independent drive axle of steering, which comprises the inside of Xiang Suoshu drive axle
Tire applies brake force, and the outside tire of Xiang Suoshu drive axle applies driving force；Or
The drive axle is to turn to independent drive axle, which comprises the tire of Xiang Suoshu drive axle applies brake force
To generate yaw moment identical with steering direction, the tire of Xiang Suoshu drive axle applies driving force to generate and steering direction phase
Same yaw moment, the brake force and driving force tire location and tire direction based on the drive axle.
Further, when the Vehicular turn, the inboard wheel of the vehicle exports battery of the negative torque to the vehicle
Charging, for the motor power supply to the outboard wheels for driving the vehicle.
Further, at least adjustment is applied to one of brake force and driving force of the tire of the vehicle to improve
Stating yaw moment further comprises:
Adjust the brake of the dead axle of the vehicle, the tire of Xiang Suoshu dead axle apply brake force with generate with
The identical yaw moment of steering direction.
Further, the brake is the inner or outer side tire for braking the dead axle respectively；Or
The brake is the single or multiple tires for braking the dead axle respectively.
Further, the second threshold is less than first threshold.
Second aspect of the present invention provides a kind of control system of vehicle drift, including adjustment module, acquisition module and judgement
Module, wherein
The acquisition module, for obtaining the yaw moment of the vehicle and obtaining the vehicle based on the yaw moment
Yaw velocity；
The judgment module, for compared and judged whether with the first threshold that pre-sets according to the yaw velocity into
Enter drift mode, if the yaw moment for adjusting the vehicle by the adjustment module if, and according to the yaw angle speed
The second threshold spent and pre-seted is compared to judge whether to exit drift mode.
Further, the drive axle of the vehicle is in preceding bridge driving, rear bridge driven, front-rear axle driving and the driving of more bridges
It is a kind of.
Further, the vehicle is independent drive axle, and the control system further includes that the independent drive axle is corresponding
The first motor and the second motor of tire on the drive wheels are respectively used on tire, wherein
When the Vehicular turn:
First motor on inboard wheel drives the inboard wheel to export negative torque, produces electricl energy and to the vehicle
Battery charging；
The electric energy is used to compensate the power consumption of outboard wheels described in the second motor driven being located in outboard wheels.
Third aspect present invention provides a kind of vehicle, including control system described in second aspect.
Beneficial effects of the present invention are as follows:
The present invention formulates the control method, control system and vehicle of a kind of vehicle drift for problem existing at present, leads to
The yaw moment of toning vehicle allows the vehicle to realize vehicle drift under lower-speed state to improve yaw velocity, from
And problem in the prior art is compensated for, the user experience of driver is effectively improved in the case where ensuring safe driving.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing.
Fig. 1 shows the flow chart of control method described in one embodiment of the present of invention；
Fig. 2 shows trailer reversing models described in one embodiment of the present of invention；
Fig. 3 shows the schematic diagram of a scenario of vehicle " drift "；
Fig. 4 shows the structural block diagram of control system described in one embodiment of the present of invention.
Specific embodiment
In order to illustrate more clearly of the present invention, the present invention is done further below with reference to preferred embodiments and drawings
It is bright.Similar component is indicated in attached drawing with identical appended drawing reference.It will be appreciated by those skilled in the art that institute is specific below
The content of description is illustrative and be not restrictive, and should not be limited the scope of the invention with this.
In the prior art, traditional millet kart is the output of the torques such as rear-wheel, it is desirable to generate drift, rear-wheel is needed to have very
Big driving force, makes rear tyre lose side-friction force, can not thus generate very big sideway with the lateral dynamic balance of front-wheel
Angular speed drifts about.Based on current power mould group output torque, can only be likely to out when coefficient of road adhesion is very low
Now drift about.
To solve the above problems, as shown in Figure 1, An embodiment provides a kind of controlling parties of vehicle drift
Method, comprising: obtain the yaw moment of the vehicle and obtain the yaw velocity of the vehicle based on the yaw moment；Judgement
Whether the yaw velocity is greater than the first threshold pre-seted, is then to enter drift mode, otherwise continues to obtain the sideway
Angular speed；The yaw moment of the vehicle is adjusted, obtains the yaw velocity in real time；Continue to judge under the drift mode
Whether the yaw velocity is less than the second threshold pre-seted, is, exits drift mode, otherwise continues to obtain the sideway
Angular speed；Wherein, the second threshold is not more than the first threshold.
It is illustrated in figure 2 trailer reversing model: vehicle movement model simplification being regarded as to simple substance amount rigid body and is transported in the plane
Dynamic, i.e., vehicle has three transverse movement, longitudinal movement, weaving movement dimensions.Movement of the vehicle on ground can also be by two
A velocity vector (VX,VY) and vertical axis yaw velocity MZIt describes, it can by VX,VYSynthesize into a velocity vector Va。
When vehicle will generate yaw velocity, there need to be sideway angular acceleration, sideway angular acceleration is by tire and frictional ground force to rotation
Center takes yaw moment synthesized by square to generate.Such as in the prior art, by taking rear axle or so independently driving as an example, the vehicle
The torque drives such as left and right rear-wheel, when turning to, the driving force of two rear-wheels takes square, the driving of left and right two-wheeled to center of rotation
The yaw moment that power generates is equal in magnitude contrary, and is zero.That is, when two wheel driving forces of rear axle are equal,
Rear bridge driven power will not generate yaw moment, would not also change the yaw velocity of vehicle.
As shown in figure 3, vehicle " drift " typically refers to vehicle when turning to after generation " ovdersteering ", rapidly toward anti-
Direction steering wheel rotation, there are very big angle, front-wheel orientation angle and vehicle moving direction in the Va of vehicle and headstock direction at this time
Keep a lesser angle, i.e., it is so-called " drifting state ".Vehicle still maintains lesser yaw velocity and protects at this time
Steering is held, while direction of vehicle movement is directed toward using vehicle as the side opposite with turn direction of referential.
Therefore to enter " drifting state ", first have to allow vehicle " ovdersteering ", need that vehicle is allowed to establish in a short time
Very big yaw velocity makes rear axle moving direction and vehicle body longitudinally generate biggish angle.Need to improve the sideway of vehicle
Angular speed, be vehicle be easier enter " drifting state ".
In a specific example, using the kart used using balance car as power unit and the collocation of kart frame
For be illustrated:
Firstly, the engine of starting vehicle is to generate speed；Steering wheel rotation is to enter " drift mode " to generate
Yaw moment makes vehicle establish sideway by controlling the steering of the vehicle；Obtain the yaw moment of the vehicle, and according to
The yaw moment calculates the yaw velocity of the vehicle.In the present embodiment, described " drift mode " is to enter " drifts like
The premise of state ", vehicle enters " drift mode ", and further control vehicle rear wheel driving force makes vehicle be easier to enter " drift afterwards
State ".
Then, judged according to the yaw velocity, recognized if yaw velocity is greater than the first threshold pre-seted
" drift mode " is come into for vehicle, into after " drift mode ", adjusts the yaw moment of vehicle to improve yaw velocity,
So that vehicle is easier to enter " drifting state ", and maintains " drifting state " to improve driving experience, while continuing to calculate in real time
The yaw velocity.Vehicle is in normally travel state if yaw velocity is less than first threshold, by obtaining institute in real time
The yaw moment for stating vehicle calculates the yaw velocity of vehicle, judges whether to can enter " drift mode ".
Finally, judging whether the yaw velocity is less than the second threshold pre-seted.When the yaw velocity is less than
Then think that vehicle exits " drift mode " when second threshold, vehicle enters normally travel state.Embodiment provided by the invention is logical
The yaw moment of toning vehicle allows the vehicle to realize vehicle drift under lower-speed state to improve yaw velocity, from
And problem in the prior art is compensated for, the user experience of driver is effectively improved in the case where ensuring safe driving.
Wherein, the second threshold is not more than the first threshold.It is worth noting that the first threshold and the second threshold
Value is preset numerical value, can measure and obtain from practical application, or be derived by correlation formula
It arrives, the first threshold and second threshold should be arranged according to practical application scene in those skilled in the art.
In view of easily caused when the first threshold and equal second threshold concussion cause to export it is unstable.It is excellent at one
In the embodiment of choosing, the second threshold is less than first threshold.Vehicle is entered and exits " drift mode " and takes thresholding
Value control and hysteresis control, enter " drift mode " when yaw velocity is greater than first threshold, when yaw velocity is less than the
" drift mode " is exited when two threshold values, effectively reduces a possibility that shaking above and below threshold value.Simultaneously as second threshold is less than
First threshold, i.e., it is higher than the threshold value exited into the threshold value of " drift mode ", therefore when vehicle enters " drift mode " and occurs
After drift, reduce yaw rate in response to the anti-direction of beating of driver so that vehicle will not exit " drift mode " and
It is to continue with the high yaw moment output of holding " drift mode ", vehicle can be made to keep " drift mode " as far as possible in this way；Until monitoring
Second threshold is reduced to yaw velocity and just judges that drift is completed, and " drift mode " is exited, to effectively improve driver
Driving experience.It is worth noting that being controlled according to the hysteresis, the present embodiment will not be because of using yaw moment control drift
Driver, which slightly corrects the operations such as direction and exits easily, guarantees that vehicle controllable is stablized.
In another preferred embodiment, the yaw moment of the adjustment vehicle further comprises: at least adjusting
One of brake force and driving force of the tire of the vehicle is applied to improve the yaw moment.I.e. according to the practical drive of vehicle
Dynamic type and driving method improve sideway by the brake force or driving force or brake force and driving force of the adjusting vehicle
Torque, so that yaw velocity is improved, so that vehicle is easier to enter " drifting state ", to meet the driving body of driver
It tests.
Specifically, the brake force can be accomplished by the following way: real by friction and the co-rotational component of tire
Now brake；Negative torque, which is exported, by motor realizes braking；Brake force, which is generated, by fluid torque-converter realizes braking.The driving force
It can be accomplished by the following way: be realized and driven by engine driving drive axle；It is realized and is driven by motor driven drive axle；
Single wheel is driven to realize driving by wheel hub or wheel motor；Driving is realized by the single wheel of engine driving.It is worth saying
Bright, the implementation of brake force and driving force should be arranged in those skilled in the art according to practical application request, with can
Generation yaw moment is design criteria, and details are not described herein.
In another preferred embodiment, when the tire for the drive axle that the tire of control is the vehicle, specifically,
The drive axle is one of preceding bridge driving, rear bridge driven, front-rear axle driving and the driving of more bridges, according to the drive of the drive axle
Flowing mode is respectively controlled.
Embodiment one, the drive axle are non-steering dependent drive axle, and the inside tire of Xiang Suoshu drive axle applies system
Power.The i.e. described drive axle has driving function, and the corresponding inside tire of the drive axle and outside tire are unified control
System.When entering drift mode, apply brake force to drive axle inside tire, so that the reaction force of the brake force of tire is to vehicle
Generate yaw moment, according to the yaw moment improve yaw velocity, the vehicle be easier enter " drifting state ".
Embodiment two, the drive axle are to turn to dependent drive axle, the tire of Xiang Suoshu drive axle apply brake force with
Generate yaw moment identical with steering direction, tire location and tire direction of the brake force based on the drive axle.I.e.
The drive axle has driving function and braking function simultaneously, and the corresponding inside tire of the drive axle and outside tire are
It is uniformly controlled, the tire of Xiang Suoshu drive axle applies brake force to generate yaw moment identical with steering direction, the braking
Tire location and tire direction of the power based on the drive axle lean on flexual center side when wheel axis direction vehicle geometric center
When, brake force is applied to the tire, when tire axle, which is directed toward vehicle geometric center, leans on the other side of turn direction, to the wheel
Increase driving force.So that the reaction force of driving force or brake force generates yaw moment to vehicle to tire over the ground, according to the cross
It puts torque and improves yaw velocity, the vehicle is easier to enter " drifting state ".
Embodiment three, the drive axle are the non-independent drive axle of steering, and the inside tire of Xiang Suoshu drive axle applies braking
The outside tire of power, Xiang Suoshu drive axle applies driving force.The i.e. described drive axle only has driving function, and the drive axle
Corresponding inside tire and outside tire are independent control, apply brake force to drive axle inside tire, Xiang Suoshu drive axle
Outside tire applies driving force, so that the reaction force of driving force or brake force generates yaw moment, root to vehicle to tire over the ground
Yaw velocity is improved according to the yaw moment, the vehicle is easier to enter " drifting state ".
Example IV, the drive axle are to turn to independent drive axle, and the tire of Xiang Suoshu drive axle applies brake force to produce
Raw yaw moment identical with steering direction, it is identical with steering direction to generate that the tire of Xiang Suoshu drive axle applies driving force
Yaw moment, the brake force and driving force tire location and tire direction based on the drive axle.The i.e. described drive axle is same
When there is driving function and braking function, and the corresponding inside tire of the drive axle and outside tire are independent control, to
The tire of the drive axle applies brake force to generate yaw moment identical with steering direction, and the tire of Xiang Suoshu drive axle is applied
Add driving force to generate yaw moment identical with steering direction, the tire of the brake force and driving force based on the drive axle
Position and tire direction apply brake force to the tire when wheel axis direction vehicle geometric center is by flexual center side, when
When tire axle is directed toward the other side of the vehicle geometric center by turn direction, driving force is increased to the wheel.So that tire is over the ground
The reaction force of driving force or brake force generates yaw moment to vehicle, improves yaw velocity, institute according to the yaw moment
Vehicle is stated to be easier to enter " drifting state ".
In another preferred embodiment, the vehicle is independent drive axle, when the Vehicular turn, the vehicle
Inboard wheel exports negative torque and charges to the battery of the vehicle, for supplying to the motor for the outboard wheels for driving the vehicle
Electricity.When the first motor and the second motor for respectively including tire on the drive wheels on the corresponding tire of the drive axle of the vehicle, such as
Tire on the left of one motor driven, the second motor driven right side tire, when vehicle turns to the left, left side wheel is inside vehicle
Wheel, first motor drive the inboard wheel to export negative torque, the quadrature-axis voltage of first motor are monitored, so that quadrature-axis voltage is not small
In 0, first motor is in the bus feed condition of the Vehicular battery, i.e., drives inside vehicle to export negative twist first motor
Electric energy caused by square is filled with the battery of the vehicle；Meanwhile right side wheels are outboard wheels, on the outside of second motor driven
Wheel output positive-torque needs to consume a large amount of electric energy, therefore the electric energy that the inboard wheel output negative torque generates can be used and mend
Repay the power consumption of the second motor driven outboard wheels.
In another preferred embodiment, when the tire for the dead axle that the tire of control is the vehicle, adjustment
The brake of the dead axle of the vehicle, it is identical as steering direction to generate that the tire of Xiang Suoshu dead axle applies brake force
Yaw moment.So that the tire of the dead axle results from the identical yaw moment of steering direction, to improve yaw angle
Speed, the vehicle are easier to enter " drifting state ".
Further, the brake is the inner or outer side tire for braking the dead axle respectively；Or the system
Dynamic device is the single or multiple tires for braking the dead axle respectively.
Corresponding with control method provided by the above embodiment, one embodiment of the application also provides a kind of using above-mentioned
The control system of control method, the controlling party provided due to control system provided by the embodiments of the present application and above-mentioned several embodiments
Method is corresponding, therefore is also applied for control system provided in this embodiment in aforementioned embodiments, in the present embodiment no longer in detail
Thin description.
As shown in figure 4, one embodiment of the application also provides a kind of control system using above-mentioned control method, including
It adjusts module, obtain module and judgment module, wherein the acquisition module, for obtaining the yaw moment of the vehicle and being based on
The yaw moment obtains the yaw velocity of the vehicle；The judgment module, for according to the yaw velocity and in advance
The first threshold of setting compares and judges whether into drift mode, adjusts the vehicle if passing through the adjustment module if
Yaw moment, and compared according to the yaw velocity with the second threshold that pre-sets to judge whether to exit drift mode.
Above-mentioned control method can be realized by the control system, by adjusting vehicle yaw moment to improve yaw velocity,
So that vehicle is easier to enter drifting state, the driving experience of driver is effectively improved.
In a preferred embodiment, the drive axle of the vehicle be preceding bridge driving, rear bridge driven, front-rear axle drive and
One of more bridge drivings.
In another preferred embodiment, the vehicle is independent drive axle, and the control system further includes described only
The first motor and the second motor of tire on the drive wheels are respectively used on the vertical corresponding tire of drive axle, wherein when the Vehicular turn:
First motor on inboard wheel drives the inboard wheel to export negative torque, produces electricl energy and to the battery of the vehicle
Charging；The electric energy is used to compensate the power consumption of outboard wheels described in the second motor driven being located in outboard wheels.Exist
When Vehicular turn, drives inside vehicle to export negative torque by first motor and produce electricl energy and be filled with the battery of the vehicle, from
And compensate electric energy consumed by the second motor driven outboard wheels output positive-torque.
Correspondingly, one embodiment of the application also provides a kind of vehicle, including above-mentioned control system, and the vehicle can be with
For motor vehicles such as kart, general car, offroad vehicles, or auto model or toy vehicles for game, sports.
It will be appreciated by those skilled in the art that the vehicle with can by control yaw moment improve yaw velocity, to more hold
It changes places and realizes that the drift function of vehicle is design criteria.
The present invention formulates the control method, control system and vehicle of a kind of vehicle drift for problem existing at present, leads to
The yaw moment of toning vehicle allows the vehicle to realize vehicle drift under lower-speed state to improve yaw velocity, from
And problem in the prior art is compensated for, the user experience of driver is effectively improved in the case where ensuring safe driving.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention may be used also on the basis of the above description for those of ordinary skill in the art
To make other variations or changes in different ways, all embodiments can not be exhaustive here, it is all to belong to this hair
The obvious changes or variations that bright technical solution is extended out are still in the scope of protection of the present invention.
Claims (14)
1. a kind of control method of vehicle drift characterized by comprising
It obtains the yaw moment of the vehicle and obtains the yaw velocity of the vehicle based on the yaw moment；
Judge whether the yaw velocity is greater than the first threshold pre-seted, is then to enter drift mode, otherwise continues to obtain
The yaw velocity；
The yaw moment of the vehicle is adjusted, obtains the yaw velocity in real time；
Continue to judge whether the yaw velocity is less than the second threshold pre-seted under the drift mode, be, exits drift
Otherwise mode shifter continues to obtain the yaw velocity；
Wherein, the second threshold is not more than the first threshold.
2. control method according to claim 1, which is characterized in that the yaw moment of the adjustment vehicle is further
Include:
At least adjustment is applied to one of brake force and driving force of the tire of the vehicle to improve the yaw moment.
3. control method according to claim 2, which is characterized in that at least adjustment is applied to the tire of the vehicle
Brake force and one of driving force further comprise to improve the yaw moment:
At least adjustment is applied to one of brake force and driving force of the tire of the drive axle of the vehicle.
4. control method according to claim 3, which is characterized in that the drive axle is preceding bridge driving, rear bridge driven, preceding
One of rear bridge driven and the driving of more bridges.
5. control method according to claim 4, which is characterized in that
The drive axle is non-steering dependent drive axle, which comprises the inside tire of Xiang Suoshu drive axle applies system
Power；Or
The drive axle is to turn to dependent drive axle, which comprises the tire of Xiang Suoshu drive axle apply brake force with
Generate yaw moment identical with steering direction, tire location and tire direction of the brake force based on the drive axle.
6. control method according to claim 4, which is characterized in that
The drive axle is the non-independent drive axle of steering, which comprises the inside tire of Xiang Suoshu drive axle applies braking
The outside tire of power, Xiang Suoshu drive axle applies driving force；Or
The drive axle is to turn to independent drive axle, which comprises the tire of Xiang Suoshu drive axle applies brake force to produce
Raw yaw moment identical with steering direction, it is identical with steering direction to generate that the tire of Xiang Suoshu drive axle applies driving force
Yaw moment, the brake force and driving force tire location and tire direction based on the drive axle.
7. control method according to claim 6, which is characterized in that
When the Vehicular turn, the inboard wheel of the drive axle exports negative torque and charges to the battery of the vehicle, for
The motor of the outboard wheels of the vehicle is driven to power.
8. control method according to claim 2, which is characterized in that at least adjustment is applied to the tire of the vehicle
Brake force and one of driving force further comprise to improve the yaw moment:
The brake of the dead axle of the vehicle is adjusted, the tire of Xiang Suoshu dead axle applies brake force to generate and turn to
The identical yaw moment in direction.
9. control method according to claim 8, which is characterized in that the brake is to brake the dead axle respectively
Inner or outer side tire；Or
The brake is the single or multiple tires for braking the dead axle respectively.
10. control method according to claim 1 to 9, which is characterized in that the second threshold is less than first
Threshold value.
11. a kind of control system of vehicle drift, which is characterized in that including adjustment module, module and judgment module are obtained, wherein
The acquisition module, for obtaining the yaw moment of the vehicle and obtaining the cross of the vehicle based on the yaw moment
Pivot angle speed；
The judgment module enters drift for comparing and judging whether with the first threshold pre-seted according to the yaw velocity
Mode shifter, if adjusting the yaw moment of the vehicle by the adjustment module if, and according to the yaw velocity with
The second threshold pre-seted is compared to judge whether to exit drift mode.
12. control system according to claim 11, which is characterized in that the drive axle of the vehicle be preceding bridge driving, after
One of bridge driving, front-rear axle driving and the driving of more bridges.
13. control system according to claim 12, which is characterized in that the vehicle is independent drive axle, the control
System further include the first motor and the second motor of tire on the drive wheels are respectively used on the corresponding tire of the independent drive axle, wherein
When the Vehicular turn:
First motor on inboard wheel drives the inboard wheel to export negative torque, produces electricl energy and to the vehicle
Battery charging；
The electric energy is used to compensate the power consumption of outboard wheels described in the second motor driven being located in outboard wheels.
14. a kind of vehicle, which is characterized in that including the control system as described in any one of claim 11-13.
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