Management of body and wheel motion controls with dual clutch differential

A method of managing motor vehicle body and wheel motion control with a dual clutch differential comprises:

• measuring, in real-time, static and dynamic data about the motor vehicle with one or more sensors disposed on the motor vehicle;
• altering static and dynamic behavior of the motor vehicle with one or more actuators disposed on the motor vehicle;
• processing static and dynamic motor vehicle information through a control module, the control module having a processor, a memory, and input/output (I/O) ports, the control module executing program code portion stored in the memory, the program code portions:
• receiving, via the I/O ports, the real-time static and dynamic data from the one or more sensors and from the one or more actuators;
• selectively prioritizing a torque output from a prime mover of the motor vehicle through a dual clutch differential to driven wheels of the motor vehicle to control a body and the driven wheels of the motor vehicle;
• modeling and estimating clutch torque for each clutch of the dual clutch differential;
• modeling and estimating a joint clutch torque, a tire force, and a corner torque;
• and
• generating a torque output for each clutch of the dual clutch differential, wherein the torque output to each clutch is selected to maintain one or more of body control, wheel control, and stability of the motor vehicle.

A method of managing motor vehicle body and wheel motion control with a dual clutch differential comprises:

• measuring, in real-time, static and dynamic data about the motor vehicle with one or more sensors disposed on the motor vehicle;
• altering static and dynamic behavior of the motor vehicle with one or more actuators disposed on the motor vehicle;
• processing static and dynamic motor vehicle information through a control module, the control module having a processor, a memory, and input/output (I/O) ports, the control module executing program code portion stored in the memory, the program code portions:
• receiving, via the I/O ports, the real-time static and dynamic data from the one or more sensors and from the one or more actuators;
• selectively prioritizing a torque output from a prime mover of the motor vehicle through a dual clutch differential to driven wheels of the motor vehicle to control a body and the driven wheels of the motor vehicle by:
• executing a model predictive control (MPC) algorithm that utilizes a cost function, vehicle body dynamics, wheel dynamics, and dual clutch differential dynamics and state and actuator constraints to determine a critical speed ratio;
• determining a slip ratio of driven wheels of the motor vehicle, and when the slip ratio is below a first threshold slip ratio value, control of the torque output is prioritized to maintain body control of the motor vehicle;
• and
• when the slip ratio is above the first threshold slip ratio value and below a second slip ratio value, prioritizing control of the torque output to address both body control and wheel control;
• and
• when the slip ratio is equal to or above the second slip ratio value, prioritizing control of the torque output to wheel control and clutch pressure is increased;
• modeling and estimating clutch torque for each clutch of the dual clutch differential, including estimating clutch torque for each clutch of the dual clutch differential in proportion to the critical speed ratio wherein when the value of the critical speed ratio is 0 then torque is not transferred, when the value of the critical speed ratio is below zero torque is transferred to a right-wheel of the motor vehicle, and when the value of the critical speed ratio is above zero torque is transferred to a left wheel of the motor vehicle;
• modeling and estimating a joint clutch torque, a tire force, and a corner torque by performing one or more of a coupled state estimation and a cascaded state estimation;
• and
• generating a torque output for each clutch of the dual clutch differential, wherein the torque output to each clutch is selected to maintain body control, wheel control, and stability of the motor vehicle.