Driving force controlling apparatus and method for four-wheel drive vehicle

• US 6,580,994 B2
• Filed: 06/19/2002
• Issued: 06/17/2003
• Est. Priority Date: 06/26/2001
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Katayama, Takeshi, Kosaka, Hajime
• Primary Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US10/173,650
• Publication Number:
  US 20030036837A1
• Time in Patent Office: 363 Days
• Field of Search: 701/69, 701/74, 701/80, 701/89, 180/65.2, 180/248, 180/249, 180/250, 477/3, 477/5, 477/8, 477/35
• US Class Current: 701/69
• CPC Class Codes: B60K 17/35 including arrangements for suppressing or influencing the power transfer, e.g. viscous clutches differential gearing with locking devices F16H48/20
• CPC Class Codes: B60K 23/0808 for varying torque distribution between driven axles, e.g. by transfer clutch
• CPC Class Codes: B60K 28/16 responsive to, or preventing, skidding of wheels brake control systems for vehicle drive stability B60T8/1755; arrangements responsive to a speed condition for adjusting wheel braking force B60T8/32; control of vehicle driving stability otherwise than by controlling the propulsion unit only B60W30/02; preventing wheel slippage by reducing power in rail vehicles B61C15/00
• CPC Class Codes: B60K 28/165 acting on elements of the vehicle drive train other than the propulsion unit and brakes, e.g. transmission, clutch, differential acting on brakes B60T8/17
• CPC Class Codes: B60W 2050/0031 Mathematical model of the vehicle
• CPC Class Codes: B60W 2510/0275 Clutch torque
• CPC Class Codes: B60W 2510/0291 Clutch temperature
• CPC Class Codes: B60W 2510/0657 Engine torque
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 2530/10 Weight
• CPC Class Codes: B60W 2552/40 Coefficient of friction
• CPC Class Codes: B60W 2710/027 Clutch torque
• CPC Class Codes: B60W 40/064 Degree of grip
• CPC Class Codes: F16D 2500/10431 4WD Clutch dividing power between the front and the rear axle
• CPC Class Codes: F16D 2500/1045 Friction clutch
• CPC Class Codes: F16D 2500/30404 Clutch temperature
• CPC Class Codes: F16D 2500/30405 Estimated clutch temperature
• CPC Class Codes: F16D 2500/30412 Torque of the input shaft
• CPC Class Codes: F16D 2500/30421 Torque of the output shaft
• CPC Class Codes: F16D 2500/3107 : Vehicle weight
• CPC Class Codes: F16D 2500/3115 : Vehicle wheel speed
• CPC Class Codes: F16D 2500/3125 : Driving resistance, i.e. external factors having an influence in the traction force, e.g. road friction, air resistance, road slope
• CPC Class Codes: F16D 2500/70404 : Force
• CPC Class Codes: F16D 48/06 : Control by electric or electronic means, e.g. of fluid pressure

Abstract

In driving force controlling apparatus and method for a four-wheel drive vehicle, a command is outputted to a front-and-rear wheel driving force distribution control system to reduce a clutch engagement force of a clutch such as a frictional clutch when a subtraction value of a detected value of a clutch transmission torque from that of a clutch input torque (Tinp−Tr) is smaller than a predetermined value (δ) and detected wheel velocities of both of left and right road wheels of the vehicle are substantially equal to each other (Vw1±α=Vw2 and Vw3±α=Vw4).

Claims

1. A driving force controlling apparatus for a four-wheel drive vehicle, comprising:

a front-and-rear wheel driving force distribution control system including a clutch disposed in a midway of an engine driving system of the vehicle through front and rear road wheels of the vehicle, the front-and-rear wheel driving force distribution control system executing a control to modify a driving force distribution ratio between the front and rear road wheels toward an equal-distribution ratio as a clutch engagement force of the clutch becomes stronger;

a road wheel velocity detecting section that detects a road wheel velocity of each of the front and rear road wheels of the vehicle;

a clutch input torque detecting section that detects a clutch input torque inputted from the engine driving system to the clutch;

a clutch transmission torque detecting section that detects a clutch transmission torque which the clutch is enabled to transmit to an output portion of the clutch; and

a clutch force reduction controlling section that outputs a command to the front-and-rear wheel driving force distribution control system to reduce the clutch engagement force of the clutch when a subtraction value of a detected value of the clutch transmission torque from that of the clutch input torque is smaller than a predetermined value and detected wheel velocities of both of left and right road wheels of the vehicle are substantially equal to each other.

2. A driving force controlling apparatus for a four-wheel drive vehicle as claimed in claim 1, further comprising:

an acceleration slip detecting section that detects whether an acceleration slip of any one of the road wheels of the vehicle has occurred; and

a traction control system that executes a reduction control of a driving force transmitted from drive wheels to a road surface on which the vehicle is running when the acceleration slip detecting section detects that the acceleration slip has occurred, wherein the clutch force reduction controlling section outputs the command to the front-and-rear road wheel driving force distribution control system to reduce the clutch engagement force of the clutch when the driving force is under a control of the reduction of the driving force by means of the traction control system, the subtraction value of the detected value of the clutch transmission torque from the detected value of the clutch input torque is smaller than the predetermined value, and the detected wheel velocities of both of the left and right road wheels are substantially equal to each other.

3. A driving force controlling apparatus for a four-wheel drive vehicle as claimed in claim 1, further comprising:

a road surface frictional coefficient estimating section that estimates a frictional coefficient of a road surface on which the vehicle is running, wherein the clutch force reduction controlling section outputs the command to the front-and-rear road wheel driving force distribution control system to reduce the clutch engagement force of the clutch when the estimated road surface frictional coefficient is lower than a set value and other clutch engagement force reduction control conditions are established.

4. A driving force controlling apparatus for a four-wheel drive vehicle as claimed in claim 1, further comprising:

a clutch temperature detecting section that detects a clutch temperature of the clutch, wherein the clutch force reduction controlling section outputs the command to the front-and-rear road wheel driving force distribution control system to reduce the clutch engagement force of the clutch when the detected clutch temperature is lower than a set value and other clutch engagement force reduction control conditions are established.

5. A driving force controlling apparatus for a four-wheel drive vehicle as claimed in claim 1, further comprising:

a front-and-rear road wheel velocity difference detecting section that detects a front-and-rear road wheel velocity difference between an average value of the road wheel velocities of the front left and right road wheels and another average value of the road wheel velocities of the rear left and right road wheels, wherein the clutch force reduction controlling section is a device to increase a reduction quantity of the clutching engagement force of the clutch as the detected front-and-rear road wheel velocity difference becomes smaller.

6. A driving force controlling apparatus for a four-wheel drive vehicle as claimed in claim 3, wherein the other clutch engagement force reduction control conditions are that the subtraction value of the detected value of the clutch transmission torque from the detected value of the clutch input torque is smaller than the predetermined value and the detected wheel velocities of both of the left and right road wheels of the vehicle are substantially equal to each other.

7. A driving force controlling apparatus for a four-wheel drive vehicle as claimed in claim 3, wherein the road surface frictional coefficient estimating section comprises:

a rectilinear force determining section that determines a rectilinear force (Fx) applied to a vehicular body according to an engine torque (T_ENG), a brake torque (T_BK), engine speed variation (dω

t), a road wheel acceleration (dω

), and a vehicular specification; and

a vertical weight determining section that determines a vertical weight (Fz) applied to the vehicular body according to a weight condition of the vehicle, wherein the road surface frictional coefficient estimating section estimates the road surface frictional coefficient (μ

) from the rectilinear force (Fx) and the vertical weight (Fz).

8. A driving force controlling apparatus for a four-wheel drive vehicle as claimed in claim 2, wherein the clutch comprises a frictional clutch, the four-wheel drive vehicle is a front wheel drive based four-wheel drive vehicle, and the acceleration slip detecting section comprises:

an estimated vehicular body velocity determining section that determines an estimated vehicular body velocity (Vref(t)) on the basis of a previously determined estimated vehicular body velocity (Vref(t−

1)), a model estimated acceleration (a model) estimated by a rectilinear force (Fx) applied to a vehicular body divided by a vehicular body mass, and a unit of time (Δ

t); and

an acceleration slip quantity calculating section that calculates an acceleration S as follows;

S=Vwf−

Vref, wherein Vwf denotes a front wheel velocity derived from one of the wheel velocities of the front left and right road wheels which is higher than the other, and wherein the acceleration slip detecting section detects whether the acceleration slip has occurred depending on whether the acceleration slip quantity (S) is equal to or larger than a predetermined slip threshold value (S0).

9. A driving force controlling apparatus for a four-wheel drive vehicle as claimed in claim 8, wherein, when the acceleration slip detecting section detects that the acceleration slip quantity (S) is equal to or larger than the predetermined slip threshold value (S0), the traction control executes the traction control, which further comprises a road surface frictional coefficient estimating section that estimates a frictional coefficient of a road surface on which the vehicle is running, and wherein the clutch force reduction controlling section outputs the command to the front-and-rear road wheel driving force distribution control system to reduce the clutch engagement force of the clutch when the traction control system executes the traction control, the estimated road surface frictional coefficient (μ

) is lower than the set value (γ

), the subtraction value (Tinp−

Tr) of the detected value of the clutch transmission torque from that of the clutch input torque is smaller than the predetermined value (δ

), and the detected wheel velocities of both of the left and right road wheels (Vw1 and Vw2 and Vw3 and Vw4) are substantially equal to each other.

10. A driving force controlling apparatus for a four-wheel drive vehicle, comprising:

front-and-rear wheel driving force distribution controlling means including a clutch disposed in a midway of an engine driving system of the vehicle through front and rear road wheels of the vehicle, the front-and-rear wheel driving force distribution controlling means executing a control to modify a driving force distribution ratio between the front and rear road wheels toward an equal-distribution ratio as a clutch engagement force of the clutch becomes stronger;

road wheel velocity detecting means for detecting a road wheel velocity of each of the front and rear road wheels of the vehicle;

clutch input torque detecting means for detecting a clutch input torque inputted from the engine driving system to the clutch;

clutch transmission torque detecting means for detecting a clutch transmission torque which the clutch is enabled to transmit to an output portion of the clutch; and

clutch force reduction controlling means for outputting a command to the front-and-rear wheel driving force distribution controlling means to reduce the clutch engagement force of the clutch when a subtraction value of a detected value of the clutch transmission torque from that of the clutch input torque is smaller than a predetermined value and detected wheel velocities of both of left and right road wheels of the vehicle are substantially equal to each other.

11. A driving force controlling method for a four-wheel drive vehicle, the four wheel drive vehicle comprising a front-and-rear wheel driving force distribution control system including a clutch disposed in a midway of an engine driving system of the vehicle through front and rear road wheels of the vehicle, the front-and-rear wheel driving force distribution control system executing a control to modify a driving force distribution ratio between the front and rear road wheels toward an equal-distribution ratio as a clutch engagement force of the clutch becomes stronger and the driving force controlling method comprising:

detecting a road wheel velocity of each of the front and rear road wheels of the vehicle;

detecting a clutch input torque inputted from the engine driving system to the clutch;

detecting a clutch transmission torque which the clutch is enabled to transmit to an output portion of the clutch; and

outputting a command to the front-and-rear wheel driving force distribution control system to reduce the clutch engagement force of the clutch when a subtraction value of a detected value of the clutch transmission torque from that of the clutch input torque is smaller than a predetermined value and detected wheel velocities of both of left and right road wheels of the vehicle are substantially equal to each other.