The invention discloses a four-wheel drive automobile yaw stability control method and a four-wheel drive automobile. The method comprises the steps that single-side demand additional yaw torque is calculated; torque change direction flag bits of left and right wheels are calculated; calculating the residual available torque of each motor and each brake caliper; calculating maximum additional yaw torques generated by respective residual available torques of the left and right side motors and the brake calipers; calculating a selection coefficient; calculating the maximum residual available torque which can be executed by each motor and each brake caliper; calculating the superposed maximum additional yaw torque on the same side; calculating the scaling coefficient of the residual available torque of each motor and each brake caliper; calculating the torque increase and decrease amount executed by each motor and each brake caliper; and target torques finally output by the motors and the brake calipers are calculated. In the yaw stability control process, it is guaranteed that the brake calipers and the hub motor work within the capacity ranges of the brake calipers and the hub motor, and the risk of damage is avoided; and the brake calipers and the hub motor are mutually coordinated and matched, so that the problem of vehicle instability is effectively avoided.

    本发明公开了一种四轮驱动汽车横摆稳定控制方法及四轮驱动汽车,该方法包括:计算单侧需求附加横摆转矩;计算左右侧车轮转矩变化方向标志位;计算各电机和各制动卡钳剩余可用转矩;计算左右侧电机和制动卡钳各自剩余可用转矩产生的最大附加横摆转矩;计算选择系数;计算各电机和各制动卡钳可执行的最大剩余可用转矩;计算同侧叠加的最大附加横摆转矩;计算各电机和各制动卡钳剩余可用转矩的放缩系数;计算各电机和各制动卡钳执行的转矩增减量;计算各电机和各制动卡钳最终输出的目标转矩。本发明在横摆稳定性控制过程中保证制动卡钳和轮毂电机均工作在其能力范围,避免损坏的风险;制动卡钳与轮毂电机相互协调配合,有效避免车辆失稳的问题。


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    Title :

    Four-wheel drive automobile yaw stability control method and four-wheel drive automobile


    Additional title:

    一种四轮驱动汽车横摆稳定控制方法及四轮驱动汽车


    Contributors:
    WANG JIBIN (author) / LUO FENGSHAN (author) / LIU YING (author) / WANG LONG (author) / XU MENGXIANG (author)

    Publication date :

    2023-07-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF



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