The invention provides a driving force control method for a four-wheel-drive vehicle. The method comprises the steps that the target driving force of the vehicle, the steering angle of front wheels and the actual wheel speed of each wheel are obtained; wherein the target driving force comprises the target driving force of the front axle and the target driving force of the rear axle; calculating an estimated wheel speed of each wheel based on the target driving force, the steering angle and the actual wheel speed; calculating a difference value between the estimated wheel speed and the actual wheel speed; under the condition that the difference value between the estimated wheel speed and the actual wheel speed meets the preset condition, the driving force correction amount is calculated based on the difference value between the estimated wheel speed and the actual wheel speed; wherein the driving force correction amount comprises the driving force correction amount of the front axle and the driving force correction amount of the rear axle; and correcting the target driving force based on the driving force correction amount to reduce the difference between the actual wheel speed and the estimated wheel speed until a preset condition is satisfied. The vehicle can quickly respond to working conditions such as sudden change of the friction coefficient of the road surface, so that the straight running performance and the handling stability of the vehicle are improved.
本发明提供一种四驱车辆的驱动力控制方法,该方法包括:获取车辆的目标驱动力、前轮的转向角以及每个车轮的实际轮速;其中,目标驱动力包括前车轴的目标驱动力和后车轴的目标驱动力;基于目标驱动力、转向角以及实际轮速,计算每个车轮的估计轮速;计算估计轮速与实际轮速的差值;在估计轮速与实际轮速的差值满足预设条件的情况下,基于估计轮速和实际轮速的差值,计算驱动力修正量;其中,驱动力修正量包括前车轴的驱动力修正量和后车轴的驱动力修正量;基于驱动力修正量,修正目标驱动力,以减小实际轮速与估计轮速的差值直至满足预设条件。使得车辆可以对路面摩擦系数突变等工况快速响应,以提高车辆的直行性能以及操纵稳定性。
Driving force control method and device of four-wheel-drive vehicle, electronic equipment and storage medium
四驱车辆的驱动力控制方法、装置、电子设备及存储介质
2023-03-21
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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