Method for controlling driving force of vehicle

1 . A method of controlling a driving force of a vehicle, the method comprising:

determining, by a control unit, a basic torque command for a driving device configured to drive the vehicle, based on vehicle driving information as obtained while the vehicle is traveling;

obtaining, by the control unit, real-time vertical load information of a left wheel and a right wheel of the vehicle while the vehicle is traveling based on information collected from the vehicle while the vehicle is traveling;

determining, by the control unit, final wheel-specific torque commands, based on the basic torque command as determined and the real-time vertical load information as obtained, to be applied to the left wheel and the right wheel, respectively; and

controlling, by the control unit, a torque vectoring apparatus including the driving device so that a predetermined torque considering the real-time vertical load information before a slip is generated is applied, respectively, to the left wheel and the right wheel according to the final wheel-specific torque commands,

wherein the determining of final wheel-specific torque commands includes:

determining a torque command for each of the left wheel and the right wheel in accordance with a power distribution ratio of the left wheel and the right wheel which are determined from the basic torque command as determined while the vehicle is traveling;

determining a left-wheel upper torque limit and a right-wheel upper torque limit based on the obtained real-time vertical load information; and

determining a final left-wheel torque command and a final right-wheel torque command so as not to exceed the determined left-wheel upper torque limit and right-wheel upper torque limit, respectively, from the left-wheel torque command and the right-wheel torque command determined in accordance with the power distribution ratio, and

wherein, in the determining of the left-wheel upper torque limit and the right-wheel upper torque limit,

upper torque limits of an inner wheel and an outer wheel of the left wheel and the right wheel while the vehicle is turning are determined through following equations:

inner

-

wheel

⁢

upper

⁢

torque

⁢

limit

=

σ

⁢

0

×

σ

⁢

1

×

min

⁡

(

left

-

wheel

⁢

vertical

⁢

load

,

right

-

wheel

⁢

vertical

⁢

load

)

-

σ

⁢

2

×

❘

"\[LeftBracketingBar]"

φ

❘

"\[RightBracketingBar]"

outer

-

wheel

⁢

upper

⁢

torque

⁢

limit

=

σ

⁢

0

×

σ

⁢

1

×

max

⁡

(

left

-

wheel

⁢

vertical

⁢

load

,

right

-

wheel

⁢

vertical

⁢

load

)

+

σ

⁢

2

×

❘

"\[LeftBracketingBar]"

φ

❘

"\[RightBracketingBar]"

where σ0 is a coefficient of a value set in advance in the control unit to convert load information into a torque value, σ1 is a parameter value determined by the control unit in correspondence to a maximum road surface friction coefficient of a road surface on which the vehicle is traveling, σ2 is a coefficient of a value set in advance in the control unit, and φ is a roll angle which is real-time roll motion information of the vehicle which is obtained from the information collected from the vehicle.

2 . A method of controlling a driving force of a vehicle, the method comprising:

determining, by a control unit, a basic torque command for a driving device configured to drive the vehicle, based on vehicle driving information as obtained while the vehicle is traveling;

obtaining, by the control unit, real-time vertical load information of a left wheel and a right wheel of the vehicle while the vehicle is traveling based on information collected from the vehicle while the vehicle is traveling;

determining, by the control unit, final wheel-specific torque commands, based on the basic torque command as determined and the real-time vertical load information as obtained, to be applied to the left wheel and the right wheel, respectively; and

controlling, by the control unit, a torque vectoring apparatus including the driving device so that a predetermined torque considering the real-time vertical load information before a slip is generated is applied, respectively, to the left wheel and the right wheel according to the final wheel-specific torque commands,

wherein the determining of the final wheel-specific torque commands includes:

determining a torque command for each of the left wheel and the right wheel in accordance with a power distribution ratio of the left wheel and the right wheel which are determined from the basic torque command as determined while the vehicle is traveling;

determining a left-wheel upper torque limit and a right-wheel upper torque limit based on the obtained real-time vertical load information; and

determining a final left-wheel torque command and a final right-wheel torque command so as not to exceed the determined left-wheel upper torque limit and right-wheel upper torque limit, respectively, from the left-wheel torque command and the right-wheel torque command determined in accordance with the power distribution ratio, and

wherein, in the determining of the left-wheel upper torque limit and the right-wheel upper torque limit,

an upper torque limit of an inner wheel of the left wheel and the right wheel while the vehicle is turning and an upper torque limit of an outer wheel while the vehicle is turning are determined through following equations:

inner

-

wheel

⁢

upper

⁢

torque

⁢

limit

=

σ

⁢

0

×

σ

⁢

1

×

min

⁡

(

left

-

wheel

⁢

vertical

⁢

load

,

right

-

wheel

⁢

vertical

⁢

load

)

-

σ

⁢

3

×

sign

⁡

(

φ

)

×

p

;

outer

-

wheel

⁢

upper

⁢

torque

⁢

limit

=

σ

⁢

0

×

σ

⁢

1

×

max

⁡

(

left

-

wheel

⁢

vertical

⁢

load

,

right

-

wheel

⁢

vertical

⁢

load

)

+

σ

⁢

3

×

sign

⁡

(

φ

)

×

p

,

where σ0 is a coefficient of a value set in advance in the control unit to convert load information into a torque value, σ1 is a parameter value determined by the control unit in correspondence to a maximum road surface friction coefficient of a road surface on which the vehicle is driven, σ3 is a coefficient of a value set in the control unit, p is a roll angle change rate, and φ is a roll angle which is real-time roll motion information of the vehicle which is obtained from the information collected from the vehicle.

3 . A method of controlling a driving force of a vehicle, the method comprising:

determining, by a control unit, a basic torque command for a driving device configured to drive the vehicle, based on vehicle driving information as obtained while the vehicle is traveling;

obtaining, by the control unit, real-time vertical load information of a left wheel and a right wheel of the vehicle while the vehicle is traveling based on information collected from the vehicle while the vehicle is traveling;

determining, by the control unit, final wheel-specific torque commands, based on the basic torque command as determined and the real-time vertical load information as obtained, to be applied to the left wheel and the right wheel, respectively; and

controlling, by the control unit, a torque vectoring apparatus including the driving device so that a predetermined torque considering the real-time vertical load information before a slip is generated is applied, respectively, to the left wheel and the right wheel according to the final wheel-specific torque commands,

wherein the determining of final wheel-specific torque commands includes:

determining a torque command for each of the left wheel and the right wheel in accordance with a power distribution ratio of the left wheel and the right wheel which are determined from the basic torque command as determined while the vehicle is traveling;

determining a left-wheel upper torque limit and a right-wheel upper torque limit based on the obtained real-time vertical load information; and

determining a final left-wheel torque command and a final right-wheel torque command so as not to exceed the determined left-wheel upper torque limit and right-wheel upper torque limit, respectively, from the left-wheel torque command and the right-wheel torque command determined in accordance with the power distribution ratio, and

wherein, in the determining of the left-wheel upper torque limit and the right-wheel upper torque limit,

the left-wheel upper torque limit and the right-wheel upper torque limit are determined through the following equations:

left

-

wheel

⁢

upper

⁢

torque

⁢

limit

=

σ

⁢

0

×

σ

⁢

1

×

left

-

wheel

⁢

vertical

⁢

load

-

σ

⁢

2

×

φ

-

σ

⁢

3

×

p

;

right

-

wheel

⁢

upper

⁢

torque

⁢

limit

=

σ

⁢

0

×

σ

⁢

1

×

right

-

wheel

⁢

vertical

⁢

load

+

σ

⁢

2

×

φ

+

σ

⁢

3

×

p

,

where σ0 is a coefficient of a value set in advance in the control unit to convert load information into a torque value, σ1 is a parameter value determined by the control unit in correspondence to a maximum road surface friction coefficient of a road surface on which the vehicle is driven, σ2 and σ3 are coefficients of values set in the control unit, p is a roll angle change rate, and φ is a roll angle which is real-time roll motion information of the vehicle which is obtained from the information collected from the vehicle.

4 . A method of controlling a driving force of a vehicle, the method comprising:

determining, by a control unit, a basic torque command for a driving device configured to drive the vehicle, based on vehicle driving information as obtained while the vehicle is traveling;

obtaining, by the control unit, real-time vertical load information of a left wheel and a right wheel of the vehicle while the vehicle is traveling based on information collected from the vehicle while the vehicle is traveling;

determining, by the control unit, final wheel-specific torque commands, based on the basic torque command as determined and the real-time vertical load information as obtained, to be applied to the left wheel and the right wheel, respectively; and

controlling, by the control unit, a torque vectoring apparatus including the driving device so that a predetermined torque considering the real-time vertical load information before a slip is generated is applied, respectively, to the left wheel and the right wheel according to the final wheel-specific torque commands,

wherein the determining of the final wheel-specific torque commands includes:

determining a torque command for each of the left wheel and the right wheel in accordance with a power distribution ratio of the left wheel and the right wheel which are determined from the basic torque command as determined while the vehicle is traveling;

determining a left-wheel upper torque limit and a right-wheel upper torque limit based on the obtained real-time vertical load information; and

determining a final left-wheel torque command and a final right-wheel torque command so as not to exceed the determined left-wheel upper torque limit and right-wheel upper torque limit, respectively, from the left-wheel torque command and the right-wheel torque command determined in accordance with the power distribution ratio, and

wherein, in the determining of the left-wheel upper torque limit and the right-wheel upper torque limit,

the left-wheel upper torque limit and the right-wheel upper torque limit are determined through the following equations:

left

-

wheel

⁢

upper

⁢

torque

⁢

limit

=

σ

⁢

0

×

σ

⁢

1

×

left

-

wheel

⁢

vertical

⁢

load

-

σ

⁢

2

×

φ

;

right

-

wheel

⁢

upper

⁢

torque

⁢

limit

=

σ

⁢

0

×

σ

⁢

1

×

right

-

wheel

⁢

vertical

⁢

load

+

σ

⁢

2

×

φ

+

σ

⁢

3

×

φ

,

where σ0 is a coefficient of a value set in advance in the control unit to convert load information into a torque value, σ1 is a parameter value determined by the control unit in correspondence to a maximum road surface friction coefficient of a road surface on which the vehicle is driven, σ2 is a coefficient of a value set in advance in the control unit, and φ is a roll angle which is real-time roll motion information of the vehicle which is obtained from the information collected from the vehicle.

5 . A method of controlling a driving force of a vehicle, the method comprising:

determining, by a control unit, a basic torque command for a driving device configured to drive the vehicle, based on vehicle driving information as obtained while the vehicle is traveling;

obtaining, by the control unit, real-time vertical load information of a left wheel and a right wheel of the vehicle while the vehicle is traveling based on information collected from the vehicle while the vehicle is traveling;

determining, by the control unit, final wheel-specific torque commands, based on the basic torque command as determined and the real-time vertical load information as obtained, to be applied to the left wheel and the right wheel, respectively; and

controlling, by the control unit, a torque vectoring apparatus including the driving device so that a predetermined torque considering the real-time vertical load information before a slip is generated is applied, respectively, to the left wheel and the right wheel according to the final wheel-specific torque commands,

wherein the determining of the final wheel-specific torque commands includes:

determining a torque command for each of the left wheel and the right wheel in accordance with a power distribution ratio of the left wheel and the right wheel which are determined from the basic torque command as determined while the vehicle is traveling;

determining a left-wheel upper torque limit and a right-wheel upper torque limit based on the obtained real-time vertical load information; and

determining a final left-wheel torque command and a final right-wheel torque command so as not to exceed the determined left-wheel upper torque limit and right-wheel upper torque limit, respectively, from the left-wheel torque command and the right-wheel torque command determined in accordance with the power distribution ratio, and

wherein, in the determining of the left-wheel upper torque limit and the right-wheel upper torque limit,

the left-wheel upper torque limit and the right-wheel upper torque limit are determined through the following equations:

left

-

wheel

⁢

upper

⁢

torque

⁢

limit

=

σ

⁢

0

×

σ

⁢

1

×

left

-

wheel

⁢

vertical

⁢

load

-

σ

⁢

3

×

p

;

right

-

wheel

⁢

upper

⁢

torque

⁢

limit

=

σ

⁢

0

×

σ

⁢

1

×

right

-

wheel

⁢

vertical

⁢

load

+

σ

⁢

2

×

φ

+

σ

⁢

3

×

p

,

where σ0 is a coefficient of a value set in advance in the control unit to convert load information into a torque value, σ1 is a parameter value determined by the control unit in correspondence to a maximum road surface friction coefficient of a road surface on which the vehicle is driven, σ3 is a coefficient of a value set in advance in the control unit, and p is a roll angle change rate.