Cooperative traction control system using dual slip controllers
AssigneeRobert Bosch GmbH
InventorsHsien-cheng (Kevin) Wu, Qingyuan Li, Jin-jae Chen
Life of this patent
Estimating the term…
Abstract
A cooperative traction control system that integrates throttle control and torque distribution. The system also uses dual slip controllers and methods that involve controlling the distribution of torque between wheels in the front and rear axles of a vehicle and a relatively small or no adjustment of the engine throttle (or, more generally, engine torque output) to reduce wheel slip. The control is cooperative in the sense that two controllers—a front axle torque controller and a rear axle torque controller—work together (or are controlled together) to reduce wheel slip and thereby achieve improved straight-line movement of a vehicle from a standstill.
Claims21
A traction control module for a vehicle having a first axle, a second axle, and an engine that produces torque, the traction control module comprising:
- a first comparator that receives a first-axle, left wheel slip value and a first-axle, right wheel slip value, the first comparator generating a first axle slip value indicative of a greater of the first-axle, left wheel slip value and the first-axle, right wheel slip value;
- a second comparator that receives a second-axle, left wheel slip value and a second-axle, right wheel slip value, the second comparator generating a second axle slip value indicative of a greater of the second-axle, left wheel slip value and the second-axle, right wheel slip value;
- a first summing node that receives the first axle slip value and a first axle target slip value and that generates a first slip error;
- a second summing node that receives the second axle slip value and a second axle target slip value and that generates a second slip error;
- a first axle controller that generates a first axle torque command output based on the first slip error;
- and
- a second axle controller that generates a second axle torque command output based on the second slip error.
A method of providing fraction control in a vehicle having a first axle, a second axle, and an engine that produces torque, the method comprising
- determining, with a traction control module, a left first-axle wheel slip value, a right first axle wheel slip value, a left second-axle wheel slip value, and a right second-axle wheel slip value;
- determining, with a first comparator, a first axle slip value by comparing the left first-axle wheel slip value and the right first-axle wheel slip value;
- determining, with a second comparator, a second axle slip value by comparing the left second-axle wheel slip value and the right second-axle wheel slip value;
- determining, with a first summing node, a first slip error based on the first axle slip value and a first axle target slip value;
- determining, with a second summing node, a second slip error based on the second axle slip value and a second axle target slip value;
- generating, with a first axle controller, a first axle torque command output based on the first slip error;
- and
- generating, with a first axle controller, a second axle torque command output based on the second slip error.
A traction control module for a vehicle having a front axle, a rear axle, and an engine that produces torque, the traction control module comprising:
- a first comparator that receives a left front wheel slip value and a right front wheel slip value, the first comparator generating a front axle slip value indicative of a greater of the left front wheel slip value and the right front wheel slip value;
- a second comparator that receives a left rear wheel slip value and a right rear wheel slip value, the second comparator generating a rear axle slip value indicative of a greater of the left rear wheel slip value and the right rear wheel slip value;
- a first summing node that receives the front axle slip value and a front axle target slip value and that generates a first slip error;
- a second summing node that receives the rear axle slip value and a rear axle target slip value and that generates a second slip error;
- a front axle controller that generates a first axle torque command output based on the first slip error;
- and
- a rear axle controller that generates a second axle torque command output based on the second slip error.
A method of providing fraction control in a vehicle having a front axle, a rear axle, and an engine that produces torque, the method comprising:
- determining, with a fraction control module, a left front wheel slip value and a right front wheel slip value;
- comparing, with a first comparator, the left front wheel slip value and the right front wheel slip value and generating a front axle slip value that is indicative of a greater of the left front wheel slip value and the right front wheel slip value;
- determining, with the traction control module, a left rear wheel slip value and a right rear wheel slip value;
- comparing, with a second comparator, the left rear wheel slip value and the right rear wheel slip value and generating a rear axle slip value that is indicative of the greater of the left rear wheel slip value and the right rear wheel slip value;
- determining, with a first summing node, a first slip error based on the front axle slip value and a target slip value for the front axle;
- determining, with a second summing node, a second slip error based on the rear axle slip value and a target slip value for the rear axle;
- generating, with a front axle controller, a first torque command output based on the first slip error;
- and
- generating, with a rear axle controller, a second torque command output based on the second slip error.
Dependencies are inferred from the claim text.