Vehicle dynamics control in electric drive vehicles
First Claim
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1. A vehicle dynamics control system, comprising:
- a first motor electrically coupled to a first drive electronics module, the first motor coupled to a first wheel, and a second motor electrically coupled to a second electronics module, the second motor coupled to a second wheel; and
a control processor configured to control the electric motors by transmitting speed commands to the drive electronics modules, the transmitted speed commands determined by causing the control processor to;
receive velocity data from at least one sensor,receive driver data from at least one driver input sensor,generate first and second required wheel speeds from the driver data and the velocity data and direction data,determine an optimal steering condition based on the velocity data, the driver data, and the direction data,calculate in response to the received velocity data and driver data, at least one front slip angle and at least one rear slip angle,determine, using the at least one front slip angle and at least one rear slip angle, whether a current steering condition is understeering or oversteering in comparison with the optimal steering condition, the understeering corresponding to the at least one front slip angle being greater than the at least one rear slip angle, and oversteering corresponding to the at least one rear slip angle being greater than the at least one front slip angle,calculate, in response to determining the current steering condition is understeering, first and second optimum wheel speeds, the calculated optimum wheel speeds being the speed at which each wheel is driven so as to decrease the at least one front slip angle or increase the at least one rear slip angle to achieve the optimal steering condition,calculate, in response to determining the current steering condition is oversteering, first and second optimum wheel speeds, the calculated optimum wheel speeds being the speed at which each wheel can be driven so as to increase the at least one front slip angle or decrease the at least one rear slip angle to achieve the optimal steering condition,determine a first and second commanded wheel speed by limiting the first and second required wheel speeds to, respectively, the first and second optimum wheel speeds, andtransmit the first and second commanded wheel speeds to the first and second drive electronics modules for adjusting the first and the second wheel speeds to the calculated first and the second optimum wheel speeds.
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Abstract
Embodiments of the invention are directed toward a geared traction drive system configured to drive a wheel of a vehicle, comprising: a driveshaft for transmitting power to the wheel; an electric drive motor for driving the driveshaft, the electric drive motor configured to receive signals from a vehicle dynamic control system to command a required speed; a gear reduction component for reducing the speed of the motor by a predetermined factor to a lower speed suitable for driving the wheel; and a drive electronics component that works with the electric drive motor to drive the wheel to the speed commanded by the vehicle dynamic control system.
20 Citations
24 Claims
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1. A vehicle dynamics control system, comprising:
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a first motor electrically coupled to a first drive electronics module, the first motor coupled to a first wheel, and a second motor electrically coupled to a second electronics module, the second motor coupled to a second wheel; and a control processor configured to control the electric motors by transmitting speed commands to the drive electronics modules, the transmitted speed commands determined by causing the control processor to; receive velocity data from at least one sensor, receive driver data from at least one driver input sensor, generate first and second required wheel speeds from the driver data and the velocity data and direction data, determine an optimal steering condition based on the velocity data, the driver data, and the direction data, calculate in response to the received velocity data and driver data, at least one front slip angle and at least one rear slip angle, determine, using the at least one front slip angle and at least one rear slip angle, whether a current steering condition is understeering or oversteering in comparison with the optimal steering condition, the understeering corresponding to the at least one front slip angle being greater than the at least one rear slip angle, and oversteering corresponding to the at least one rear slip angle being greater than the at least one front slip angle, calculate, in response to determining the current steering condition is understeering, first and second optimum wheel speeds, the calculated optimum wheel speeds being the speed at which each wheel is driven so as to decrease the at least one front slip angle or increase the at least one rear slip angle to achieve the optimal steering condition, calculate, in response to determining the current steering condition is oversteering, first and second optimum wheel speeds, the calculated optimum wheel speeds being the speed at which each wheel can be driven so as to increase the at least one front slip angle or decrease the at least one rear slip angle to achieve the optimal steering condition, determine a first and second commanded wheel speed by limiting the first and second required wheel speeds to, respectively, the first and second optimum wheel speeds, and transmit the first and second commanded wheel speeds to the first and second drive electronics modules for adjusting the first and the second wheel speeds to the calculated first and the second optimum wheel speeds. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for controlling vehicle dynamics, comprising:
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receiving velocity data from at least one sensor on a vehicle; receiving driver data from at least one driver input sensor; generating, by at least one computer, a first and a second required wheel speed from the driver data and the vehicle speed and direction data; determining an optimal steering condition based on the driver data, the vehicle speed, and the direction data; determining, in response to the at least one front slip angle and at least one rear slip angle, whether the current steering condition is understeering or oversteering relative to the optimal steering condition, wherein understeering comprises the at least one front slip angle being substantially greater than the at least one rear slip angle, and wherein oversteering comprises the at least one rear slip angle being substantially greater than the at least one front slip angle; in response to determining the current steering condition is understeering relative to the optimal steering condition, calculating first and second optimum wheel speeds, the calculated optimum wheel speeds being the speed at which each wheel is driven so as to decrease the at least one front slip angle or increase the at least one rear slip angle to achieve the optimal steering condition; in response to determining the current steering condition is oversteering relative to the optimal steering condition, calculating first and second optimum wheel speeds, the calculated optimum wheel speeds being the speed at which each wheel can be driven so as to increase the at least one front slip angle or decrease the at least one rear slip angle to achieve the optimal steering condition; determining, by at least computer, a first and a second commanded wheel speed by limiting the first and the second required wheel speed to respectively the first and the second calculated optimum wheel speed; transmitting the first commanded wheel speed to a first electronic module coupled with a first motor for adjusting the first wheel speed to the calculated optimum first wheel speed, the first motor coupled to a first wheel; and transmitting the second commanded wheel speed to a second electronic module coupled with a second motor for adjusting the second wheel speed to the calculated optimum second wheel speed, the second motor coupled with a second wheel. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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Specification