Apparatus and method for controlling motor-based torque vectoring
AssigneesHyundai Motor Company, Kia Corporation
InventorSang Hyup Lee
Life of this patent
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Abstract
An apparatus for controlling motor-based torque vectoring includes one or more processors, and a storage medium storing instructions configured to cause the one or more processors to obtain a target yaw moment following a target yaw rate, distribute the target yaw moment to a wheel-based target wheel torque, and convert the wheel-based target wheel torque into a motor-based motor torque. The instructions are configured to cause the one or more processors to convert the wheel-based target wheel torque into a motor-based motor torque using a mapping relationship between a motor torque and a wheel torque.
Claims16
An apparatus for controlling motor-based torque vectoring, the apparatus comprising:
- one or more processors;
- and
- a storage medium storing instructions configured to cause the one or more processors to:
- obtain a target yaw moment following a target yaw rate;
- distribute the target yaw moment to a wheel-based target wheel torque;
- convert the wheel-based target wheel torque into a motor-based motor torque;
- and
- control a motor of an electric vehicle using the motor-based motor torque;
- wherein the instructions are configured to cause the one or more processors to convert the wheel-based target wheel torque into a motor-based motor torque using a mapping relationship between a motor torque and a wheel torque;
- and
- wherein the mapping relationship between the motor torque and the wheel torque is determined by a hardware platform of the electric vehicle,
- wherein the instructions are configured to cause the one or more processors to obtain the target yaw moment through Proportional-Integral-Derivative (PID) control based on an error between the target yaw rate and a yaw rate, and
- wherein the instructions are configured to cause the one or more processors to, for an integral control value for the PID control, output a preset threshold as the integral control value for the PID control when a difference between a current value and a previous value is greater than or equal to the preset threshold, and output the current value as the integral control value for the PID control when the difference between the current value and the previous value is less than the preset threshold.
A method for controlling motor-based torque vectoring, the method comprising:
- obtaining, by a processor, a target yaw moment following a target yaw rate;
- distributing, by the processor, the target yaw moment to a wheel-based target wheel torque;
- and
- converting, by the processor, the wheel-based target wheel torque into a motor-based motor torque;
- and
- controlling, by the processor, a motor of an electric vehicle using the motor-based motor torque;
- wherein during converting, the wheel-based target wheel torque is converted into a motor-based motor torque using a mapping relationship between a motor torque and a wheel torque;
- and
- wherein the mapping relationship between the motor torque and the wheel torque is determined by a hardware platform of the electric vehicle,
- wherein obtaining the target yaw moment comprises obtaining the target yaw moment through Proportional-Integral-Derivative (PID) control based on an error between the target yaw rate and a yaw rate, and
- wherein obtaining the target yaw moment further comprises, for an integral control value for the PID control, outputting a preset threshold as the integral control value for the PID control when a difference between a current value and a previous value is greater than or equal to the preset threshold, and outputting the current value as the integral control value for the PID control when the difference between the current value and the previous value is less than the preset threshold.
Dependencies are inferred from the claim text.