Battery electric vehicle (BEV) torque split control
A controller is provided for a vehicle having front and rear axles, each axle having two wheels, and first and second propulsion units. The controller controls the first and second propulsion units to generate a combined torque with reference to a total requested torque. The controller is configured to: receive a torque request signal; receive traction signals indicating available traction at at least one wheel; determine a traction torque range defined by a maximum and minimum torque for at least one of the at least first or second propulsion units in dependence on one or more of the traction signals; determine a proposed distribution of torque between each of the at least first and second propulsion units with reference to the total requested torque; and determine a proposed torque to be generated by each of the at least first and second propulsion units in dependence on the proposed distribution of torque.
1. A controller for a vehicle with a front and rear axle, each axle being provided with at least two wheels and at least first and second propulsion units, wherein the controller is configured to control the at least first and second propulsion units to generate a combined torque with reference to a total requested torque, the controller comprising:
a traction availability module configured to receive one or more traction signals indicating available traction at at least one wheel;
a traction determination module configured to determine a traction torque range defined by a maximum and minimum torque for at least one of the at least first or second propulsion units in dependence on one or more of the one or more traction signals;
a torque split module configured to determine a proposed distribution of torque between each of the at least first and second propulsion units with reference to the total requested torque, and to determine a proposed torque to be generated by each of the at least first and second propulsion units in dependence on the proposed distribution of torque;
a torque shaping module configured to compare the traction torque range determined for each propulsion unit for which the traction torque range has been determined and the proposed torque for that propulsion unit, and to generate at least one torque control signal for controlling at least one of the at least first and second propulsion units, wherein
the at least one torque control signal is a signal to the at least first or second propulsion units to generate the proposed torque for that propulsion unit if the proposed torque for that propulsion unit is within the traction torque range for that propulsion unit,
wherein the controller is further configured to determine at least first and second power loss penalties in dependence on current operating parameters of the at least first and second propulsion units, and
wherein the at least first and second propulsion units each comprise an electric machine, wherein the controller is further configured to determine the at least first and second power loss penalties in dependence on an operating temperature of the associated electric machine.
2. The controller according to claim 1 , wherein the first and second power loss penalties are applied to provide a bias against activating either of the first and second electric machines if the operating temperature of that electric machine approaches a predetermined machine temperature threshold.
3. The controller according to claim 1 , wherein the torque split module is configured to:
determine a total power cost in dependence on an estimated power loss of the at least first and second propulsion units within said at least first and second torque ranges,
identify a minimum value of the determined total power cost, and
determine the torque to be generated by each of said at least first and second propulsion units, comprising determining a torque that corresponds to the identified minimum value of the total power cost.
4. The controller according to claim 3 , wherein the total power cost is determined in dependence on the estimated power loss and the power loss penalties of each of said at least first and second propulsion units.
5. The controller according to claim 3 , wherein the power loss of each of the at least first and second propulsion units is estimated in dependence on one or more of the following set: an operating temperature, an operating speed, and a motor torque.
6. The controller according to claim 3 , wherein the controller is further configured to estimate the power loss of each of the at least first and second propulsion units at a plurality of intervals within the determined first and second torque ranges.
7. The controller according to claim 1 , wherein the proposed distribution of torque between each of the at least first and second propulsion units with reference to the total requested torque is based at least in part on an efficiency of operation of each of the at least first and second propulsion units.
8. The controller according to claim 1 , comprising a module configured to receive at least one NVH signal relating to one or more of noise vibration and or harshness characteristics of the vehicle, wherein the traction torque range for at least one of the at least first or second propulsion units is determined in dependence on at least one of the one or more traction signals and at least one of the at least one NVH signal.
9. The controller according to claim 8 , wherein the controller further comprises:
a module configured to receive at least one vehicle dynamics signal relating to one or more of a handling of the vehicle, a steering feel of the vehicle and or an environment around the vehicle; and
wherein the traction torque range for at least one of the at least first or second propulsion units is determined in dependence on at least one of the one or more traction signal and at least one of the at least one vehicle dynamics signal.
10. The controller according to claim 9 , wherein the at least one of the one or more traction signals has greater influence in the determination of the traction torque range than the at least one of the at least one vehicle dynamics signal.
11. The controller according to claim 9 , wherein the at least one of the one or more traction signals has greater influence in the determination of the traction torque range than the at least one of the at least one vehicle dynamics signal when present, the at least one of the one or more traction signals has greater influence in the determination of the traction torque range than the at least one of the NVH signals, and the at least one of the at least one vehicle dynamics signal when present has greater influence in the determination of the traction torque range than the at least one of the NVH signals.
12. The controller according to claim 1 , wherein the at least one torque control signal is a signal to the at least one of the first and second propulsion units to generate a torque with a value approximately equal to whichever of maximum or minimum torques for that propulsion unit is closest to the proposed torque if the proposed torque for that propulsion unit is not within the traction torque range for that propulsion unit.
13. A system comprising the controller of claim 1 for a vehicle with a front and rear axle, each axle being provided with at least two wheels, and at least first and second propulsion units, the controller being adapted to control the at least first and second propulsion units to generate a combined torque with reference to a total requested torque.
14. A vehicle comprising the controller according to claim 1 .
15. A method for controlling at least first and second propulsion units of a vehicle with a front and rear axle, each axle being provided with at least two wheels, the at least first and second control units being suitable to generate a combined torque with reference to a total requested torque, the method comprising:
receiving at least one traction signal indicating available traction at at least one wheel; determining a traction torque range defined by a maximum and minimum torque for at least one of the at least first or second propulsion units in dependence on at least one of the traction signals;
determining a proposed distribution of torque between each of the at least first and second propulsion units with reference to the total requested torque;
determining a proposed torque to be generated by each of the at least first and second propulsion units in dependence on the proposed distribution of torque;
comparing the traction torque range determined for each propulsion unit for which a traction torque range has been determined and the proposed torque for that propulsion unit;
generating at least one torque control signal for controlling at least one of the at least first and second propulsion units, wherein the at least one torque control signal is a signal to the propulsion unit to generate the proposed torque for that propulsion unit if the proposed torque for that propulsion unit is within the traction torque range for that propulsion unit;
determining at least first and second power loss penalties in dependence on current operating parameters of the at least first and second propulsion units, and
wherein the at least first and second propulsion units each comprise an electric machine, determining the at least first and second power loss penalties in dependence on an operating temperature of the associated electric machine.
16. A non-transitory computer readable medium storing a computer program comprising computer program instructions, that, when performed by one or more electronic processors, causes the method according to claim 15 to be performed.