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CN-114786981-B - Vehicle and associated control method for controlling torque distribution when instability exists

CN114786981BCN 114786981 BCN114786981 BCN 114786981BCN-114786981-B

Abstract

The invention relates to a land vehicle (V) comprising-a first prime mover (MM 1) and a second prime mover (MM 2) providing torque to a first axle (T1) and a second axle (T2) of a wheel, -a braking System (SF) acting on the wheel, -a monitoring Computer (CS) controlling the torque distribution between the first axle (T1) and the second axle (T2), and-trajectory control means (DCT) for commanding the monitoring Computer (CS) to maintain a current torque distribution in the original state in case of detection of instability of the vehicle (V) and controlling the braking System (SF) until the instability disappears, and then authorizing the monitoring Computer (CS) to perform a modification of the torque distribution.

Inventors

  • HABBANI RIDOUAN
  • A bardeh
  • ROCQ GAETAN
  • BASTIANI PHILIPPE
  • Y rice about
  • V Freire Suarez

Assignees

  • 标致雪铁龙汽车股份有限公司

Dates

Publication Date
20260508
Application Date
20201112
Priority Date
20191206

Claims (9)

  1. 1. A land vehicle (V) comprising at least a first prime mover (MM 1) providing torque to a first axle (T1) of a wheel, a second prime mover (MM 2) providing torque to a second axle (T2) of a wheel, a braking System (SF) acting on the wheel, a monitoring Computer (CS) controlling the torque distribution between the first axle (T1) and the second axle (T2), and a trajectory control Device (DCT) controlling the braking System (SF), characterized in that the trajectory control Device (DCT) commands the monitoring Computer (CS) to maintain the current torque distribution in the original state when instability of the land vehicle (V) is detected, and controls the braking System (SF) until the instability disappears, and then authorizes the monitoring Computer (CS) to perform a modification of the torque distribution.
  2. 2. Land vehicle according to claim 1, characterized in that when an instability of the land vehicle (V) is detected after a current modification of the torque distribution, the trajectory control Device (DCT) determines whether the modification can proceed and, in the negative case, instructs the monitoring Computer (CS) to maintain the current torque distribution in the original state, whereas in the positive case, the trajectory control device determines a value characterizing a modification that can be made further according to an estimated grip variation between the wheels, and then instructs the monitoring Computer (CS) to create a modification of the current torque distribution defined by the determined value, and, in the negative case, as in the positive case, the trajectory control device controls the braking System (SF) until the instability disappears.
  3. 3. A land vehicle according to claim 1 or 2, characterized in that when instability of the land vehicle (V) is detected in the absence of a modification to the current torque distribution, the trajectory control Device (DCT) instructs the monitoring Computer (CS) to maintain the current torque distribution and to control the braking System (SF) until the instability disappears, and then authorizes the monitoring Computer (CS) to perform the modification to the current torque distribution.
  4. 4. A land vehicle according to any one of claims 1-3, characterized in that the first prime mover (MM 1) is a heat engine.
  5. 5. Land vehicle according to claim 4, characterized in that it comprises a third prime mover (MM 3) providing the first axle (T1) of the wheels with torque.
  6. 6. Land vehicle according to claim 5, characterized in that the third prime mover (MM 3) is an electric machine supplied with electric energy by a rechargeable Battery (BR).
  7. 7. Land vehicle according to any of claims 1-6, characterized in that the second prime mover (MM 2) is an electric machine supplied with electric energy by a rechargeable Battery (BR).
  8. 8. A control method for a land vehicle (V) comprising at least a first prime mover (MM 1) providing torque to a first axle (T1) of a wheel, a second prime mover (MM 2) providing torque to a second axle (T2) of a wheel, a braking System (SF) acting on the wheel, a monitoring Computer (CS) controlling the torque distribution between the first axle (T1) and the second axle (T2), and a trajectory control Device (DCT) controlling the braking System (SF), characterized in that the control method comprises the steps (10-50), wherein the trajectory control Device (DCT) commands the monitoring Computer (CS) to maintain the current torque distribution in a prime state when instability of the land vehicle (V) is detected, and controls the braking System (SF) until the instability disappears, and then authorizes the monitoring Computer (CS) to perform a modification of the torque distribution.
  9. 9. A computer program product comprising a set of instructions capable of implementing the control method according to claim 8 when executed by a processing means to control the torque distribution between a first axle (T1) and a second axle (T2) of a wheel of a land vehicle (V), the land vehicle comprising at least a first prime mover (MM 1) providing torque to the first axle (T1), a second prime mover (MM 2) providing torque to the second axle (T2), a braking System (SF) acting on the wheel, a monitoring Computer (CS) controlling the torque distribution and a trajectory control Device (DCT) controlling the braking System (SF).

Description

Vehicle and associated control method for controlling torque distribution when instability exists Technical Field The present invention claims priority from french application n° 1913883 filed on 12/2019, the contents of which (text, figures and claims) are incorporated herein by reference. The present invention relates to land vehicles in which torque generated by a powertrain (or GMP) may be distributed between two axles driving wheels, and more particularly to control of the torque distribution. Background Some land vehicles include a powertrain (or GMP) that includes first and second prime movers that provide torque to first and second axles that respectively (drive) wheels, a supervisory computer that controls the torque distribution between the first and second axles, a braking system acting on the wheels, and a trajectory control that controls at least the braking system. The trajectory control device is responsible for implementing the intervention by selectively acting on the sub-portions of the braking system associated with the different driving wheels and optionally on one of the prime movers and/or on the gear change device whenever an instability of the own vehicle is detected. Such trajectory control devices may be used, for example, exclusively for Slip resistance (thus commonly referred to as ESP ("Electronic Stability Program") or ESC ("Electronic Stability Control") or exclusively for Slip resistance (thus commonly referred to as ASR ("Acc ratio Slip R gulation") or TCS ("Traction Control System"). When the monitoring computer decides to modify the torque distribution between the first and second axles, this may sometimes lead to instability of the vehicle, which the trajectory control device needs to make vanish. In fact, the wheels of one of the axles may slip, and the modification to the torque distribution may result in a strong increase in the rotational speed of the wheels of the other axle. In this case, the track control device first corrects the slip problem occurring on one of the axles rather quickly, and then the track control device tries to correct the strong increase on the other axle (when there is a torque transfer or distribution modification), which usually requires more time due to the accumulated delay. Similar problems occur when the monitoring computer decides to modify the torque distribution between the first and second axles, even if the vehicle has suffered instability. At present, in particular in the patent documents FR-B1 2980408 and FR-A1 3078304, or in FR-A1-2955533 and JP-A1-2008120119, an optimization has been provided for the torque distribution between the first axle and the second axle only. But this optimization is generally aimed solely at reducing fuel consumption as much as possible in order to limit the emission of pollutants and the production of carbon dioxide, without controlling the torque distribution when there is instability of the vehicle. The object of the invention is thus, inter alia, to improve the situation. Disclosure of Invention To this end, the invention provides, inter alia, a land vehicle comprising at least a first prime mover providing torque to a first axle of wheels, a second prime mover providing torque to a second axle of wheels, a braking system acting on the wheels, a supervisory computer controlling the torque distribution between the first and second axles, and a trajectory control device controlling the braking system. The land vehicle is characterized in that in case of detection of instability of the vehicle, the trajectory control device instructs the monitoring computer to maintain the current torque distribution in the original state and to control the braking system until the instability disappears, and then authorizes the monitoring computer to perform a modification of the torque distribution. Thanks to the invention, the trajectory control device can function in real time since then, without the detected instability being modified by the modification of the torque distribution determined by the monitoring computer. Land vehicles according to the present invention may include other features that may be employed alone or in combination, particularly: -in case an instability of the vehicle is detected after a current modification of the torque distribution, the trajectory control device may determine whether the modification may proceed, and in the negative case the trajectory control device may command the monitoring computer to maintain the current torque distribution in the original state, whereas in the positive case the trajectory control device may determine a value characterizing a modification that may be further made according to an estimated grip variation between the wheels, and then may command the monitoring computer to create a modification of the current torque distribution defined by the determined value, and in the negative case the trajectory control device may control the braking system until