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WO2024011970A1 - Method and apparatus for determining locking force of limited-slip differential, and readable storage medium - Google Patents

Method and apparatus for determining locking force of limited-slip differential, and readable storage medium Download PDF

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Publication number
WO2024011970A1
WO2024011970A1 PCT/CN2023/086797 CN2023086797W WO2024011970A1 WO 2024011970 A1 WO2024011970 A1 WO 2024011970A1 CN 2023086797 W CN2023086797 W CN 2023086797W WO 2024011970 A1 WO2024011970 A1 WO 2024011970A1
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WO
WIPO (PCT)
Prior art keywords
slip differential
target
force
limited
clutch plate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/086797
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French (fr)
Chinese (zh)
Inventor
张德久
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rox Motor Tech Co Ltd
Original Assignee
Rox Motor Tech Co Ltd
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Filing date
Publication date
Application filed by Rox Motor Tech Co Ltd filed Critical Rox Motor Tech Co Ltd
Publication of WO2024011970A1 publication Critical patent/WO2024011970A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H48/00—Differential gearings
    • F16H48/20—Arrangements for suppressing or influencing the differential action, e.g. locking devices
    • F16H48/22—Arrangements for suppressing or influencing the differential action, e.g. locking devices using friction clutches or brakes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H48/00—Differential gearings
    • F16H48/20—Arrangements for suppressing or influencing the differential action, e.g. locking devices
    • F16H48/30—Arrangements for suppressing or influencing the differential action, e.g. locking devices using externally-actuatable means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H48/00—Differential gearings
    • F16H48/20—Arrangements for suppressing or influencing the differential action, e.g. locking devices
    • F16H2048/204—Control of arrangements for suppressing differential actions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present application relates to the technical field of limited-slip differentials, and specifically to a method, device and readable storage medium for determining the locking force of a limited-slip differential.
  • the adhesion condition of the car is that the driving force of the wheel cannot be greater than the adhesion of the ground.
  • the driving force of a wheel on one side is greater than the adhesion of the ground on which the wheel on that side is, the wheel on that side will slip.
  • the wheel on the low-adhesion side slips (for example, the wheel on that side is stuck in a pit or the wheel is on the ice)
  • the vehicle will lose power and cannot move forward.
  • the wheel on the high-adhesion side also slips at the same time, the vehicle will lose steering. Ability or tail drift and other dangerous situations. Therefore, when the car is started, it is usually expected that neither wheel of the car will slip.
  • the driving force allocated to the two wheels of the vehicle is controlled by controlling the clutch plate inside the limited-slip differential, so that the wheel on the low-adhesion side no longer slips.
  • the pressing force of the limited-slip differential is controlled based on the speed difference between the two wheels, so that less driving force is allocated to the wheels on the low-adhesion side of the vehicle and more driving force is allocated to the wheels on the high-adhesion side of the vehicle. , so that the wheels on the low-adhesion side no longer slip.
  • the purpose of this application is to provide a method, device and readable storage medium for determining the locking force of a limited-slip differential, which can avoid the low-adhesion side wheel from slipping when a certain driving force is applied. .
  • embodiments of the present application provide a method for determining the locking force of a limited-slip differential.
  • the determination method includes:
  • the pre-pressure force that the target limited-slip differential applies to the clutch plate corresponding to the target limited-slip differential is determined in advance when the target vehicle is not slipping;
  • the pressing force is the pressing force exerted by the target limited-slip differential on the clutch plate;
  • the feedback control method is used to determine the feedback pressing force based on the wheel speed difference
  • the sum of the preloading force and the feedback pressing force is determined as the locking force of the target limited slip differential.
  • the pre-pressure force applied by the target limited-slip differential to the clutch plate corresponding to the target limited-slip differential is determined in advance when the target vehicle is not slipping; the pre-pressure force is determined.
  • the pressing force is the pressing force exerted by the target limited-slip differential on the clutch plate, including:
  • the target limited slip differential Based on the initial critical value and the state of the clutch plate corresponding to the target limited slip differential, it is determined that when the target vehicle is not slipping, the target limited slip differential will advance to the clutch corresponding to the target limited slip differential. The preloading force exerted by the sheet.
  • the load of the left wheel and the load of the right wheel and determine the load of the relatively small wheel among the load of the left wheel and the load of the right wheel; the load of the left wheel and the load of the right wheel are both is determined based on the body posture and body weight of the target vehicle;
  • the target limited-slip differential will advance to the corresponding clutch of the target limited-slip differential when the target vehicle is not slipping.
  • the initial critical value of the pre-compression force exerted by the sheet is the initial critical value of the pre-compression force exerted by the sheet.
  • the target limited slip differential has preliminarily limited slip to the target when the target vehicle is not slipping.
  • the preloading force exerted by the clutch plate corresponding to the differential includes:
  • the minimum value of the maximum pressing force and the initial critical value is used as the pre-pressing force that the target limited-slip differential applies to the clutch plate corresponding to the target limited-slip differential in advance when the target vehicle is not slipping. .
  • the target limited slip differential is pre-set to the target limited slip differential when the target vehicle is not slipping.
  • the initial critical value of the preload force exerted by the corresponding clutch plate includes:
  • the maximum driving force of the wheel corresponding to the load of the relatively small wheel is determined based on the total driving torque of the target vehicle and the preset pre-tensioning force.
  • the following formula is used to determine the target limited slip differential in advance when the target vehicle is not slipping.
  • the initial critical value Fc' of the pre-pressure force exerted by the clutch plate corresponding to the transmission: Fc' 2 ⁇ H ⁇ Fn H -Fd;
  • ⁇ H is the preset adhesion coefficient
  • Fn H is a relatively small load
  • Fd is the total driving torque
  • Fc max is the maximum pressing force exerted by the target limited-slip differential on the clutch plate.
  • inventions of the present application provide a device for determining the locking force of a limited-slip differential.
  • the determining device includes:
  • the pre-tensioning force determination module is configured to, after the target vehicle is started, determine based on the preset adhesion coefficient when the target vehicle is not slipping, the target limited-slip differential will pre-apply force to the clutch plate corresponding to the target limited-slip differential.
  • the pre-pressing force; the pre-pressing force is the pressing force exerted by the target limited-slip differential on the clutch plate;
  • a wheel speed difference detection module configured to detect the wheel speed difference between the left wheel and the right wheel controlled by the target limited-slip differential in real time
  • a driving force difference determination module configured to determine the feedback pressing force using a feedback control method based on the wheel speed difference
  • the locking force determination module is configured to determine the sum of the preloading force and the feedback pressing force as the locking force of the target limited slip differential.
  • the pre-compression force determination module is specifically configured to:
  • the target limited-slip differential Based on the initial critical value and the state of the clutch plate corresponding to the target limited slip differential, it is determined that the target The pre-pressure force applied by the target limited-slip differential to the corresponding clutch plate of the target limited-slip differential in advance when the vehicle is not slipping.
  • the pre-compression force determination module is specifically configured to;
  • the load of the left wheel and the load of the right wheel and determine the load of the relatively small wheel among the load of the left wheel and the load of the right wheel; the load of the left wheel and the load of the right wheel are both is determined based on the body posture and body weight of the target vehicle;
  • the target limited-slip differential will advance to the corresponding clutch of the target limited-slip differential when the target vehicle is not slipping.
  • the initial critical value of the pre-compression force exerted by the sheet is the initial critical value of the pre-compression force exerted by the sheet.
  • embodiments of the present application provide an electronic device, including: a processor, a memory, and a bus.
  • the memory stores machine-readable instructions executable by the processor.
  • the processing communicates with the memory through a bus, and the processor executes the machine-readable instructions to perform the steps of the method for determining the locking force of the limited-slip differential described in any one of the first aspects.
  • embodiments of the present application provide a computer-readable storage medium.
  • a computer program is stored on the computer-readable storage medium.
  • the computer program executes any of the limited slip differential described in the first aspect when run by a processor. Steps to determine the locking force of the speed reducer.
  • Figure 1 shows a flow chart of a method for determining the locking force of a limited-slip differential provided by an embodiment of the present application
  • Figure 2 shows a flowchart of the steps provided by the embodiment of the present application to determine the pre-pressure force that the target limited-slip differential applies to the clutch plate in advance when the target vehicle is not slipping;
  • Figure 3 shows a schematic structural diagram of a device for determining the locking force of a limited-slip differential provided by an embodiment of the present application
  • FIG. 4 shows a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • the driving force allocated to the two wheels of the vehicle was generally controlled by controlling the clutch plate inside the limited-slip differential after the wheel on the low-adhesion side slipped, so that the wheel on the low-adhesion side no longer skids.
  • the pressing force of the limited-slip differential is controlled based on the speed difference between the two wheels, so that less driving force is allocated to the wheel on the low-adhesion side of the vehicle and less power is allocated to the high-adhesion side of the vehicle.
  • the wheels have more drive, so the wheel on the low-adhesion side no longer spins.
  • FIG. 1 is a flow chart of a method for determining the locking force of a limited-slip differential provided by an embodiment of the present application.
  • the method for determining the locking force of a limited-slip differential provided by the embodiment of the present application includes: Following steps:
  • the pre-pressing force is the pressing force exerted by the target limited-slip differential on the clutch plate.
  • the target vehicle is in a non-driving state, or the target vehicle is in a driving state.
  • the preset adhesion coefficient may be determined in response to the user's selection operation.
  • the user's selection operation may be an operation of selecting a road surface, or the user's selection operation may be an operation of selecting an adhesion coefficient.
  • the preset adhesion coefficient can be determined based on the preset adhesion coefficient table.
  • the preset adhesion coefficient table includes mapping relationships between multiple road surfaces and multiple adhesion coefficients.
  • the adhesion coefficient table can be as shown in Table 1 below:
  • the plurality of road surfaces may include ice, mud, snow, wet suet, dry suet, sand, rock, potholes, etc.
  • the adhesion coefficient corresponding to the ice surface is 0.1
  • the adhesion coefficient corresponding to the snow surface is 0.3
  • the adhesion coefficient corresponding to the dry suet road is 1
  • the adhesion coefficient corresponding to the rock road is 2.
  • the preset adhesion coefficient is considered to be the relatively large adhesion coefficient among the adhesion coefficients of the road surface where the left wheel and the right wheel are located during the driving of the vehicle.
  • a preset adhesion coefficient may be predetermined before the target vehicle travels in response to the user's selection operation.
  • the preset adhesion coefficient can be determined in real time when the target vehicle is in a driving state in response to the user's selection operation.
  • Figure 2 illustrates a step provided by an embodiment of the present application to determine the pre-pressure force that the target limited-slip differential applies to the clutch plate in advance when the target vehicle is not slipping. flow chart.
  • the pre-pressure force applied by the target limited-slip differential to the clutch plate corresponding to the target limited-slip differential is determined in advance when the target vehicle is not slipping.
  • the steps can include:
  • this step may include:
  • Step S2111 Obtain the load of the left wheel and the load of the right wheel, and determine the load of the relatively small wheel among the load of the left wheel and the load of the right wheel.
  • the load of the left wheel and the load of the right wheel are determined based on the body posture and body weight of the target vehicle;
  • any method can be used to determine the load of the left wheel based on the body posture and body weight of the target vehicle, and to determine the load of the right wheel based on the body posture and body weight of the target vehicle.
  • the load of the side wheels is not limited in this application.
  • Step S2112 Obtain the total driving torque of the target vehicle
  • Step S2113 Based on the relatively small wheel load, the total driving torque and the preset adhesion coefficient, determine the clutch corresponding to the target limited slip differential in advance when the target vehicle is not slipping. The initial critical value of the pre-compression force exerted by the sheet.
  • the following formula is used to determine the initial critical value Fc' of the pre-pressure force that the target limited-slip differential applies to the clutch plate corresponding to the target limited-slip differential in advance when the target vehicle is not slipping:
  • ⁇ H is the preset adhesion coefficient
  • Fn H is the load of the relatively small wheel
  • Fd is the total driving torque
  • ⁇ H is the preset adhesion coefficient
  • Fn H is the load of the relatively small wheel.
  • the load Fn l of the left wheel and the load Fn r of the right wheel can be determined based on the body posture and body weight.
  • 2 ⁇ H ⁇ Fn H -Fd is the initial critical value Fc' of the preloading force.
  • the state of the clutch plate may include a temperature state of the clutch plate, and the temperature state of the clutch plate represents the temperature of the clutch plate at the current moment.
  • the target limited-slip differential since the temperature of the clutch plate will limit the maximum pressing force exerted by the target limited-slip differential on the clutch plate, for example, when the temperature of the clutch plate is high, the target limited-slip differential The maximum pressing force that can be applied to the clutch plate is relatively small. Therefore, taking into account the temperature state of the clutch plate, it can be based on the initial critical value and the state of the clutch plate corresponding to the target limited slip differential. , determine the pre-pressure force that the target limited-slip differential applies to the clutch plate corresponding to the target limited-slip differential in advance when the target vehicle is not slipping.
  • the maximum pressing force exerted by the target limited-slip differential on the clutch plate may first be determined based on the state of the clutch plate corresponding to the target limited-slip differential;
  • the maximum pressing force exerted by the target limited-slip differential on the clutch plate may be determined based on the state of the clutch plate corresponding to the target limited-slip differential according to any method.
  • the minimum value of the maximum pressing force and the initial critical value is used as the pre-pressure applied by the target limited-slip differential to the clutch plate corresponding to the target limited-slip differential when the target vehicle is not slipping. Tight force.
  • the preloading force Fc applied by the target limited-slip differential to the clutch plate corresponding to the target limited-slip differential in advance when the target vehicle is not slipping can be determined by the following formula:
  • Fc min(Fc', Fc max );
  • Fc max is the maximum pressing force exerted by the target limited-slip differential on the clutch plate.
  • the pre-tensioning force determined above can prevent the applied pre-tensioning force from being too large, thereby preventing the high-adhesion side wheels from slipping. The wheels also slipped.
  • the wheel speed difference between the left wheel and the right wheel will be is greater than a certain threshold, therefore, it can be determined whether the target vehicle is slipping based on the wheel speed difference between the left wheel and the right wheel of the target vehicle.
  • the feedback control method may be PI control.
  • the PI control method is a control method, so it will not be described in detail here in this application.
  • the embodiment of the present application provides a method for determining the locking force of a limited-slip differential by applying a pre-pressure force when the target vehicle is not slipping, thereby avoiding low adhesion when a certain driving force is applied.
  • the side wheels are slipping.
  • embodiments of the present application also provide a device for determining the locking force of the limited-slip differential corresponding to the method for determining the locking force of the limited-slip differential.
  • Figure 3 is a schematic structural diagram of a device for determining the locking force of a limited-slip differential provided by an embodiment of the present application.
  • the determining device 300 includes:
  • the pre-tensioning force determination module 301 is configured to, after the target vehicle is started, based on the preset adhesion coefficient, determine that when the target vehicle is not slipping, the target limited-slip differential will pre-press the clutch plate corresponding to the target limited-slip differential.
  • the preloading force applied; the preloading force is the pressing force applied by the target limited-slip differential to the clutch plate;
  • the wheel speed difference detection module 302 is configured to detect the wheel speed difference between the left wheel and the right wheel controlled by the target limited slip differential in real time;
  • the driving force difference determination module 303 is configured to determine the feedback pressing force using a feedback control method based on the wheel speed difference;
  • the locking force determination module 304 is configured to determine the sum of the preloading force and the feedback pressing force as the locking force of the target limited slip differential.
  • the pre-compression force determination module 301 is specifically configured to:
  • the target limited slip differential Based on the initial critical value and the state of the clutch plate corresponding to the target limited slip differential, it is determined that when the target vehicle is not slipping, the target limited slip differential will advance to the clutch corresponding to the target limited slip differential. The preloading force exerted by the sheet.
  • the pre-compression force determination module 301 is specifically configured to:
  • the load of the left wheel and the load of the right wheel and determine the load of the relatively small wheel among the load of the left wheel and the load of the right wheel; the load of the left wheel and the load of the right wheel are both is determined based on the body posture and body weight of the target vehicle;
  • the target limited-slip differential will advance to the corresponding clutch of the target limited-slip differential when the target vehicle is not slipping.
  • the initial critical value of the pre-compression force exerted by the sheet is the initial critical value of the pre-compression force exerted by the sheet.
  • the pre-compression force determination module 301 is specifically configured to:
  • the minimum value of the maximum pressing force and the initial critical value is used as the pre-pressing force that the target limited-slip differential applies to the clutch plate corresponding to the target limited-slip differential in advance when the target vehicle is not slipping. .
  • the pre-compression force determination module 301 is specifically configured to:
  • the maximum driving force of the wheel corresponding to the load of the relatively small wheel is determined based on the total driving torque of the target vehicle and the preset pre-tensioning force.
  • the pre-compression force determination module 301 is specifically configured to:
  • the following formula is used to determine the target limited slip differential to the target limited slip differential in advance when the target vehicle is not slipping.
  • ⁇ H is the preset adhesion coefficient
  • Fn H is a relatively small load
  • Fd is the total driving torque
  • the pre-pressure force determination module 301 is specifically configured to determine by the following formula that when the target vehicle is not slipping, the target limited-slip differential will pre-apply force to the clutch plate corresponding to the target limited-slip differential.
  • the preloading force Fc: Fc min(Fc', Fc max );
  • Fc max is the maximum pressing force exerted by the target limited-slip differential on the clutch plate.
  • the embodiment of the present application provides a device for determining the locking force of a limited-slip differential by applying a pre-pressure force when the target vehicle is not slipping, thereby avoiding low adhesion when a certain driving force is applied.
  • the side wheels are slipping.
  • FIG. 4 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • the electronic device 400 includes a processor 410 , a memory 420 and a bus 430 .
  • the memory 420 stores machine-readable instructions executable by the processor 410.
  • the processor 410 and the memory 420 communicate through the bus 430, and the machine-readable instructions are
  • the steps of the method for determining the locking force of the limited-slip differential in the above method embodiment can be performed.
  • the steps of the method for determining the locking force of the limited-slip differential in the above method embodiment can be performed.
  • the steps of the method for determining the locking force of the limited-slip differential in the above method embodiment can be performed.
  • the steps of the method for determining the locking force of the limited-slip differential in the above method embodiment can be performed.
  • Embodiments of the present application also provide a computer-readable storage medium.
  • a computer program is stored on the computer-readable storage medium.
  • the computer program can perform locking of the limited-slip differential as in the above method embodiment.
  • the steps of the method for determining the stopping force please refer to the method embodiments for specific implementation methods, and will not be described again here.
  • the disclosed systems, devices and methods can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or can be integrated into another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some communication interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit.
  • the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor.
  • the technical solution of the present application essentially or contributes to the technical solution or the part of the technical solution can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium and includes a number of instructions. So that a computer device (which may be a personal computer, a server, or a network device, etc.) executes all or part of the steps of the methods described in various embodiments of this application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code. .
  • the pre-tensioning force determined above can prevent the applied pre-tensioning force from being too large, thereby preventing the high-adhesion side wheels from slipping. The wheels also slipped.

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Abstract

Provided in the present application are a method and apparatus for determining a locking force of a limited-slip differential, and a readable storage medium. The method comprises: after a target vehicle is started, and on the basis of a preset adhesion coefficient, determining a pre-pressing force, which is pre-applied to a clutch plate corresponding to a target limited-slip differential by the target limited-slip differential when the target vehicle has not skidded; measuring, in real time, the wheel speed difference between a left wheel and a right wheel, which are controlled by the target limited-slip differential; when the target vehicle skids, and on the basis of the wheel speed difference, determining a feedback pressing force by using a feedback control means; and determining the sum of the pre-pressing force and the feedback pressing force to be a locking force of the target limited-slip differential. In the method and apparatus, a pre-pressing force is pre-applied when a target vehicle has not skidded, such that even when a certain driving force is applied, a low-adhesion-side wheel of the target vehicle does not skid.

Description

限滑差速器的锁止力的确定方法、装置及可读存储介质Method, device and readable storage medium for determining locking force of limited slip differential

相关申请的交叉引用Cross-references to related applications

本申请要求于2022年07月13日提交中国专利局的申请号为2022108274733、名称为“一种限滑差速器的锁止力的确定方法和确定装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application with application number 2022108274733 and titled "A method and device for determining the locking force of a limited-slip differential" submitted to the China Patent Office on July 13, 2022. The entire contents are incorporated herein by reference.

技术领域Technical field

本申请涉及限滑差速器技术领域，具体而言，涉及一种限滑差速器的锁止力的确定方法、装置及可读存储介质。The present application relates to the technical field of limited-slip differentials, and specifically to a method, device and readable storage medium for determining the locking force of a limited-slip differential.

背景技术Background technique

汽车的附着条件是车轮的驱动力不能大于地面的附着力，当某一侧车轮的驱动力大于该侧车轮所在地面的附着力时，这一侧车轮会打滑。如果低附着侧车轮出现打滑(例如，该侧车轮陷入坑中或者车轮在冰面上)，会使得车辆失去动力无法前行，如果高附着侧车轮也同时出现打滑，则会使得车辆出现失去转向能力或甩尾等危险状况。因此，当汽车启动后，通常会期望汽车的两个车轮都不会出现打滑。The adhesion condition of the car is that the driving force of the wheel cannot be greater than the adhesion of the ground. When the driving force of a wheel on one side is greater than the adhesion of the ground on which the wheel on that side is, the wheel on that side will slip. If the wheel on the low-adhesion side slips (for example, the wheel on that side is stuck in a pit or the wheel is on the ice), the vehicle will lose power and cannot move forward. If the wheel on the high-adhesion side also slips at the same time, the vehicle will lose steering. Ability or tail drift and other dangerous situations. Therefore, when the car is started, it is usually expected that neither wheel of the car will slip.

一般是在低附着侧车轮打滑后通过控制限滑差速器内部的离合片来控制分配给车辆的两个车轮的驱动力，从而使得低附着侧车轮不再打滑，具体是当低附着侧车轮打滑时根据两个车轮的转速差控制限滑差速器的压紧力，从而使得分配给车辆的低附着侧的车轮的驱动力更少，分配给车辆的高附着侧车轮的驱动力更多，从而使低附着侧车轮不再打滑。Generally, after the wheel on the low-adhesion side slips, the driving force allocated to the two wheels of the vehicle is controlled by controlling the clutch plate inside the limited-slip differential, so that the wheel on the low-adhesion side no longer slips. Specifically, when the wheel on the low-adhesion side When slipping, the pressing force of the limited-slip differential is controlled based on the speed difference between the two wheels, so that less driving force is allocated to the wheels on the low-adhesion side of the vehicle and more driving force is allocated to the wheels on the high-adhesion side of the vehicle. , so that the wheels on the low-adhesion side no longer slip.

申请内容Application content

有鉴于此，本申请的目的在于提供一种限滑差速器的锁止力的确定方法、装置及可读存储介质，能够在施加一定的驱动力的情况下，避免低附着侧车轮出现打滑。In view of this, the purpose of this application is to provide a method, device and readable storage medium for determining the locking force of a limited-slip differential, which can avoid the low-adhesion side wheel from slipping when a certain driving force is applied. .

第一方面，本申请实施例提供了一种限滑差速器的锁止力的确定方法，所述确定方法包括：In a first aspect, embodiments of the present application provide a method for determining the locking force of a limited-slip differential. The determination method includes:

在目标车辆启动后，基于预设的附着系数，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力；所述预压紧力为目标限滑差速器向所述离合片施加的压紧力；After the target vehicle is started, based on the preset adhesion coefficient, the pre-pressure force that the target limited-slip differential applies to the clutch plate corresponding to the target limited-slip differential is determined in advance when the target vehicle is not slipping; The pressing force is the pressing force exerted by the target limited-slip differential on the clutch plate;

实时检测所述目标限滑差速器所控制的左侧车轮和右侧车轮之间的轮速差；Detect the wheel speed difference between the left wheel and the right wheel controlled by the target limited-slip differential in real time;

当所述目标车辆打滑时，基于所述轮速差，利用反馈控制方式确定反馈压紧力；When the target vehicle slips, the feedback control method is used to determine the feedback pressing force based on the wheel speed difference;

将所述预压紧力和所述反馈压紧力的和值，确定为所述目标限滑差速器的锁止力。The sum of the preloading force and the feedback pressing force is determined as the locking force of the target limited slip differential.

可选地，所述基于预设的附着系数，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力；所述预压紧力为目标限滑差速器向所述离合片施加的压紧力，包括：Optionally, based on the preset adhesion coefficient, the pre-pressure force applied by the target limited-slip differential to the clutch plate corresponding to the target limited-slip differential is determined in advance when the target vehicle is not slipping; the pre-pressure force is determined. The pressing force is the pressing force exerted by the target limited-slip differential on the clutch plate, including:

基于预设的附着系数，确定在目标车辆未打滑时所述目标限滑差速器向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值；Based on the preset adhesion coefficient, determine the initial critical value of the preload force applied by the target limited-slip differential to the clutch plate corresponding to the target limited-slip differential when the target vehicle is not slipping;

基于所述初始临界值和所述目标限滑差速器对应的离合片的状态，确定在目标车辆未打滑时所述目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力。Based on the initial critical value and the state of the clutch plate corresponding to the target limited slip differential, it is determined that when the target vehicle is not slipping, the target limited slip differential will advance to the clutch corresponding to the target limited slip differential. The preloading force exerted by the sheet.

可选地，所述基于预设的附着系数，确定在目标车辆未打滑时所述目标限滑差速器向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值，包括；Optionally, based on the preset adhesion coefficient, determine the initial critical value of the pre-pressure force applied by the target limited-slip differential to the clutch plate corresponding to the target limited-slip differential when the target vehicle is not slipping. Values, including;

获取左侧车轮的载荷和右侧车轮的载荷，并在左侧车轮的载荷和右侧车轮的载荷中确定出相对小的车轮的载荷；所述左侧车轮的载荷和右侧车轮的载荷均被基于所述目标车辆的车身姿态和车身重量被确定； Obtain the load of the left wheel and the load of the right wheel, and determine the load of the relatively small wheel among the load of the left wheel and the load of the right wheel; the load of the left wheel and the load of the right wheel are both is determined based on the body posture and body weight of the target vehicle;

获取所述目标车辆的总驱动扭矩；Obtain the total driving torque of the target vehicle;

根据所述相对小的车轮的载荷、总驱动扭矩和所述预设的附着系数，确定在目标车辆未打滑时所述目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值。According to the load of the relatively small wheel, the total driving torque and the preset adhesion coefficient, it is determined that the target limited-slip differential will advance to the corresponding clutch of the target limited-slip differential when the target vehicle is not slipping. The initial critical value of the pre-compression force exerted by the sheet.

可选地，所述基于所述初始临界值和所述目标限滑差速器对应的离合片的状态，确定在目标车辆未打滑时所述目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力，包括：Optionally, based on the initial critical value and the state of the clutch plate corresponding to the target limited slip differential, it is determined that the target limited slip differential has preliminarily limited slip to the target when the target vehicle is not slipping. The preloading force exerted by the clutch plate corresponding to the differential includes:

基于所述目标限滑差速器对应的离合片的状态，确定所述目标限滑差速器对所述离合片施加的最大压紧力；Based on the state of the clutch plate corresponding to the target limited-slip differential, determine the maximum pressing force exerted by the target limited-slip differential on the clutch plate;

将所述最大压紧力和所述初始临界值中的最小值作为在目标车辆未打滑时所述目标限滑差速器预先向目标限滑差速器对应的离合片施加的预压紧力。The minimum value of the maximum pressing force and the initial critical value is used as the pre-pressing force that the target limited-slip differential applies to the clutch plate corresponding to the target limited-slip differential in advance when the target vehicle is not slipping. .

可选地，所述根据所述相对小的车轮的载荷、总驱动扭矩和所述预设的附着系数，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值，包括：Optionally, based on the relatively small wheel load, the total driving torque and the preset adhesion coefficient, it is determined that the target limited slip differential is pre-set to the target limited slip differential when the target vehicle is not slipping. The initial critical value of the preload force exerted by the corresponding clutch plate includes:

基于所述预设的附着系数和所述相对小的车轮的载荷，确定所述相对小的车轮的载荷所对应的车轮的极限驱动力；Based on the preset adhesion coefficient and the load of the relatively small wheel, determine the ultimate driving force of the wheel corresponding to the load of the relatively small wheel;

当所述相对小的车轮的载荷达到打滑的临界状态时，根据所述目标车辆的总驱动扭矩和预设预压紧力，确定所述相对小的车轮的载荷所对应的车轮的最大驱动力；When the load of the relatively small wheel reaches the critical state of slipping, the maximum driving force of the wheel corresponding to the load of the relatively small wheel is determined based on the total driving torque of the target vehicle and the preset pre-tensioning force. ;

基于所述极限驱动力与所述最大驱动力之间的预设关系，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值。Based on the preset relationship between the limit driving force and the maximum driving force, determine the preload applied by the target limited slip differential to the clutch plate corresponding to the target limited slip differential when the target vehicle is not slipping. Initial critical value of tightening force.

可选地，根据所述相对小的车轮的载荷、总驱动扭矩和所述预设的附着系数，利用以下公式确定在目标车辆未打滑时所述目标限滑差速器预先向目标限滑差速器对应的离合片施加的预压紧力的初始临界值Fc’：
Fc’＝2μH×FnH-Fd；Optionally, according to the relatively small wheel load, the total driving torque and the preset adhesion coefficient, the following formula is used to determine the target limited slip differential in advance when the target vehicle is not slipping. The initial critical value Fc' of the pre-pressure force exerted by the clutch plate corresponding to the transmission:
Fc'=2μ H ×Fn H -Fd;

其中，μH为预设的附着系数；FnH为相对小的载荷；Fd为总驱动扭矩。Among them, μ H is the preset adhesion coefficient; Fn H is a relatively small load; Fd is the total driving torque.

可选地，通过以下公式确定目标车辆未打滑时所述目标限滑差速器预先向目标限滑差速器对应的离合片施加的预压紧力Fc：
Fc＝min(Fc’，Fcmax)；Optionally, the preloading force Fc applied by the target limited-slip differential to the clutch plate corresponding to the target limited-slip differential in advance when the target vehicle is not slipping is determined by the following formula:
Fc=min(Fc', Fc max );

其中，Fcmax为所述目标限滑差速器对所述离合片施加的最大压紧力。Wherein, Fc max is the maximum pressing force exerted by the target limited-slip differential on the clutch plate.

第二方面，本申请实施例提供了一种限滑差速器的锁止力的确定装置，所述确定装置包括：In a second aspect, embodiments of the present application provide a device for determining the locking force of a limited-slip differential. The determining device includes:

预压紧力确定模块，配置成在目标车辆启动后，基于预设的附着系数，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力；所述预压紧力为目标限滑差速器向所述离合片施加的压紧力；The pre-tensioning force determination module is configured to, after the target vehicle is started, determine based on the preset adhesion coefficient when the target vehicle is not slipping, the target limited-slip differential will pre-apply force to the clutch plate corresponding to the target limited-slip differential. The pre-pressing force; the pre-pressing force is the pressing force exerted by the target limited-slip differential on the clutch plate;

轮速差检测模块，配置成实时检测所述目标限滑差速器所控制的左侧车轮和右侧车轮之间的轮速差；a wheel speed difference detection module configured to detect the wheel speed difference between the left wheel and the right wheel controlled by the target limited-slip differential in real time;

驱动力差确定模块，配置成基于所述轮速差，利用反馈控制方式确定反馈压紧力；a driving force difference determination module configured to determine the feedback pressing force using a feedback control method based on the wheel speed difference;

锁止力确定模块，配置成将所述预压紧力和所述反馈压紧力的和值，确定为所述目标限滑差速器的锁止力。The locking force determination module is configured to determine the sum of the preloading force and the feedback pressing force as the locking force of the target limited slip differential.

可选地，所述预压紧力确定模块，具体配置成：Optionally, the pre-compression force determination module is specifically configured to:

基于预设的附着系数，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值；Based on the preset adhesion coefficient, determine the initial critical value of the pre-pressure force that the target limited-slip differential applies to the clutch plate corresponding to the target limited-slip differential in advance when the target vehicle is not slipping;

基于所述初始临界值和所述目标限滑差速器对应的离合片的状态，确定在所述目标 车辆未打滑时所述目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力。Based on the initial critical value and the state of the clutch plate corresponding to the target limited slip differential, it is determined that the target The pre-pressure force applied by the target limited-slip differential to the corresponding clutch plate of the target limited-slip differential in advance when the vehicle is not slipping.

可选地，所述预压紧力确定模块，具体配置成；Optionally, the pre-compression force determination module is specifically configured to;

获取左侧车轮的载荷和右侧车轮的载荷，并在左侧车轮的载荷和右侧车轮的载荷中确定出相对小的车轮的载荷；所述左侧车轮的载荷和右侧车轮的载荷均被基于所述目标车辆的车身姿态和车身重量被确定；Obtain the load of the left wheel and the load of the right wheel, and determine the load of the relatively small wheel among the load of the left wheel and the load of the right wheel; the load of the left wheel and the load of the right wheel are both is determined based on the body posture and body weight of the target vehicle;

获取所述目标车辆的总驱动扭矩；Obtain the total driving torque of the target vehicle;

根据所述相对小的车轮的载荷、总驱动扭矩和所述预设的附着系数，确定在目标车辆未打滑时所述目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值。According to the load of the relatively small wheel, the total driving torque and the preset adhesion coefficient, it is determined that the target limited-slip differential will advance to the corresponding clutch of the target limited-slip differential when the target vehicle is not slipping. The initial critical value of the pre-compression force exerted by the sheet.

第三方面，本申请实施例提供了一种电子设备，包括：处理器、存储器和总线，所述存储器存储有所述处理器可执行的机器可读指令，当电子设备运行时，所述处理器与所述存储器之间通过总线通信，所述处理器执行所述机器可读指令，以执行第一方面任一项所述的限滑差速器的锁止力的确定方法的步骤。In a third aspect, embodiments of the present application provide an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processing The processor communicates with the memory through a bus, and the processor executes the machine-readable instructions to perform the steps of the method for determining the locking force of the limited-slip differential described in any one of the first aspects.

第四方面，本申请实施例提供了一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，该计算机程序被处理器运行时执行第一方面任一所述的限滑差速器的锁止力的确定方法的步骤。In a fourth aspect, embodiments of the present application provide a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. The computer program executes any of the limited slip differential described in the first aspect when run by a processor. Steps to determine the locking force of the speed reducer.

附图说明Description of drawings

为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application and therefore do not It should be regarded as a limitation of the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without exerting creative efforts.

图1示出了本申请实施例所提供的一种限滑差速器的锁止力的确定方法的流程图；Figure 1 shows a flow chart of a method for determining the locking force of a limited-slip differential provided by an embodiment of the present application;

图2示出了本申请实施例所提供的一种确定在目标车辆未打滑时目标限滑差速器预先向离合片施加的预压紧力的步骤的流程图；Figure 2 shows a flowchart of the steps provided by the embodiment of the present application to determine the pre-pressure force that the target limited-slip differential applies to the clutch plate in advance when the target vehicle is not slipping;

图3示出了本申请实施例所提供的一种限滑差速器的锁止力的确定装置的结构示意图；Figure 3 shows a schematic structural diagram of a device for determining the locking force of a limited-slip differential provided by an embodiment of the present application;

图4示出了本申请实施例所提供的一种电子设备的结构示意图。FIG. 4 shows a schematic structural diagram of an electronic device provided by an embodiment of the present application.

具体实施方式Detailed ways

为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。因此，以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围，而是仅仅表示本申请的选定实施例。基于本申请的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得的每个其他实施例，都属于本申请保护的范围。In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only These are part of the embodiments of this application, but not all of them. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the application provided in the appended drawings is not intended to limit the scope of the claimed application, but rather to represent selected embodiments of the application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without any creative work shall fall within the scope of protection of this application.

在本申请提出之前，一般是在低附着侧车轮打滑后通过控制限滑差速器内部的离合片来控制分配给车辆的两个车轮的驱动力，从而使得低附着侧车轮不再打滑，具体是当低附着侧车轮打滑时根据两个车轮的转速差控制限滑差速器的压紧力，从而使得分配给车辆的低附着侧的车轮的驱动力更少，分配给车辆的高附着侧车轮的驱动力更多，从而使低附着侧车轮不再打滑。Before this application was filed, the driving force allocated to the two wheels of the vehicle was generally controlled by controlling the clutch plate inside the limited-slip differential after the wheel on the low-adhesion side slipped, so that the wheel on the low-adhesion side no longer skids. Specifically, When the wheel on the low-adhesion side slips, the pressing force of the limited-slip differential is controlled based on the speed difference between the two wheels, so that less driving force is allocated to the wheel on the low-adhesion side of the vehicle and less power is allocated to the high-adhesion side of the vehicle. The wheels have more drive, so the wheel on the low-adhesion side no longer spins.

请参阅图1，图1为本申请实施例所提供的一种限滑差速器的锁止力的确定方法的流程图。所如图1中所示，本申请实施例提供的限滑差速器的锁止力的确定方法，包括 以下步骤：Please refer to FIG. 1 , which is a flow chart of a method for determining the locking force of a limited-slip differential provided by an embodiment of the present application. As shown in Figure 1, the method for determining the locking force of a limited-slip differential provided by the embodiment of the present application includes: Following steps:

S100、在目标车辆启动后，基于预设的附着系数，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力；这里，所述预压紧力为目标限滑差速器向所述离合片施加的压紧力。S100. After the target vehicle is started, based on the preset adhesion coefficient, determine the pre-pressure force that the target limited-slip differential applies to the clutch plate corresponding to the target limited-slip differential when the target vehicle is not slipping; here , the pre-pressing force is the pressing force exerted by the target limited-slip differential on the clutch plate.

这里，目标车辆启动后包括两种情况，目标车辆处于未行驶状态，或者目标车辆处于行驶状态。Here, there are two situations after the target vehicle is started: the target vehicle is in a non-driving state, or the target vehicle is in a driving state.

这里，可以响应于用户的选择操作，确定预设的附着系数。作为示例，用户的选择操作可以为选择路面的操作，或者，用户的选择操作可以为选择附着系数的操作。当用户的选择操作为选择路面的操作时，可以基于预先设置的附着系数表，确定预设的附着系数。Here, the preset adhesion coefficient may be determined in response to the user's selection operation. As an example, the user's selection operation may be an operation of selecting a road surface, or the user's selection operation may be an operation of selecting an adhesion coefficient. When the user's selection operation is an operation of selecting a road surface, the preset adhesion coefficient can be determined based on the preset adhesion coefficient table.

预先设置的附着系数表包括多个路面和多个附着系数之间的映射关系。例如，附着系数表可以如下表1所示：The preset adhesion coefficient table includes mapping relationships between multiple road surfaces and multiple adhesion coefficients. For example, the adhesion coefficient table can be as shown in Table 1 below:

表1
Table 1

例如，多个路面可以包括：冰面、泥地、雪面、湿板油路面、干板油路面、沙地、岩石路面和坑地等。例如，在附着系数表中，冰面对应的附着系数为0.1，雪面对应的附着系数为0.3，干板油路面对应的附着系数为1，岩石路面对应的附着系数为2。For example, the plurality of road surfaces may include ice, mud, snow, wet suet, dry suet, sand, rock, potholes, etc. For example, in the adhesion coefficient table, the adhesion coefficient corresponding to the ice surface is 0.1, the adhesion coefficient corresponding to the snow surface is 0.3, the adhesion coefficient corresponding to the dry suet road is 1, and the adhesion coefficient corresponding to the rock road is 2.

需要说明的是，在本申请实施例中，认为预设的附着系数为在车辆行驶过程中，左侧车轮和右侧车轮所处路面的附着系数中相对大的附着系数。It should be noted that in the embodiment of the present application, the preset adhesion coefficient is considered to be the relatively large adhesion coefficient among the adhesion coefficients of the road surface where the left wheel and the right wheel are located during the driving of the vehicle.

在一个示例性的应用场景中，当目标车辆处于未行驶状态时，可以响应于用户的选择操作，在目标车辆行驶之前预先确定预设的附着系数。在另一个示例性的应用场景中，当目标车辆处于行驶状态时，可以实时响应于用户的选择操作，在目标车辆处于行驶状态时实时确定预设的附着系数。In an exemplary application scenario, when the target vehicle is not traveling, a preset adhesion coefficient may be predetermined before the target vehicle travels in response to the user's selection operation. In another exemplary application scenario, when the target vehicle is in a driving state, the preset adhesion coefficient can be determined in real time when the target vehicle is in a driving state in response to the user's selection operation.

具体地，请参阅图2，图2示出了本申请实施例所提供的一种确定在目标车辆未打滑时所述目标限滑差速器预先向离合片施加的预压紧力的步骤的流程图。Specifically, please refer to Figure 2, which illustrates a step provided by an embodiment of the present application to determine the pre-pressure force that the target limited-slip differential applies to the clutch plate in advance when the target vehicle is not slipping. flow chart.

如图2所示，所述基于预设的附着系数，确定在目标车辆未打滑时所述目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力的步骤可以包括：As shown in Figure 2, based on the preset adhesion coefficient, the pre-pressure force applied by the target limited-slip differential to the clutch plate corresponding to the target limited-slip differential is determined in advance when the target vehicle is not slipping. The steps can include:

S211、基于预设的附着系数，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值。S211. Based on the preset adhesion coefficient, determine the initial critical value of the pre-pressure force that the target limited-slip differential applies to the clutch plate corresponding to the target limited-slip differential when the target vehicle is not slipping.

作为示例，该步骤可以包括：As an example, this step may include:

步骤S2111、获取左侧车轮的载荷和右侧车轮的载荷，并在左侧车轮的载荷和右侧车轮的载荷中确定出相对小的车轮的载荷。Step S2111: Obtain the load of the left wheel and the load of the right wheel, and determine the load of the relatively small wheel among the load of the left wheel and the load of the right wheel.

这里，所述左侧车轮的载荷和右侧车轮的载荷均被基于所述目标车辆的车身姿态和车身重量被确定；Here, the load of the left wheel and the load of the right wheel are determined based on the body posture and body weight of the target vehicle;

需要说明的是，在该步骤中，可以利用任意一种方式根据所述目标车辆的车身姿态和车身重量，确定左侧车轮的载荷，以及根据所述目标车辆的车身姿态和车身重量，确定右侧车轮的载荷，本申请对此不作限定。It should be noted that in this step, any method can be used to determine the load of the left wheel based on the body posture and body weight of the target vehicle, and to determine the load of the right wheel based on the body posture and body weight of the target vehicle. The load of the side wheels is not limited in this application.

步骤S2112、获取所述目标车辆的总驱动扭矩；Step S2112: Obtain the total driving torque of the target vehicle;

步骤S2113、根据所述相对小的车轮载荷、总驱动扭矩和所述预设的附着系数，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值。Step S2113: Based on the relatively small wheel load, the total driving torque and the preset adhesion coefficient, determine the clutch corresponding to the target limited slip differential in advance when the target vehicle is not slipping. The initial critical value of the pre-compression force exerted by the sheet.

例如，利用以下公式确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值Fc’： For example, the following formula is used to determine the initial critical value Fc' of the pre-pressure force that the target limited-slip differential applies to the clutch plate corresponding to the target limited-slip differential in advance when the target vehicle is not slipping:

Fc’＝2μH×FnH-Fd；Fc'=2μ H ×Fn H -Fd;

其中，μH为预设的附着系数；FnH为相对小的车轮的载荷；Fd为总驱动扭矩。Among them, μ H is the preset adhesion coefficient; Fn H is the load of the relatively small wheel; Fd is the total driving torque.

下面，将对上述公式的推导过程进行详细介绍。Below, the derivation process of the above formula will be introduced in detail.

假设预先设定相对小的车轮的载荷所对应的车轮的极限驱动力Fw’：
Fw’＝μH×FnH；Assume that the wheel's ultimate driving force Fw' corresponding to a relatively small wheel load is preset:
Fw'= μH × FnH ;

其中，μH为预设的附着系数，FnH为相对小的车轮的载荷。Among them, μ H is the preset adhesion coefficient, and Fn H is the load of the relatively small wheel.

在车辆未打滑时，可以根据车身姿态和车身重量确定左侧车轮的载荷Fnl，右侧车轮的载荷Fnr。When the vehicle is not slipping, the load Fn l of the left wheel and the load Fn r of the right wheel can be determined based on the body posture and body weight.

当相对小的车轮的载荷达到打滑的临界状态时，根据总驱动扭矩Fd和预设预压紧力Fc，可以得到相对小的车轮的载荷所对应的车轮的最大驱动力Fwmax：
When the relatively small wheel load reaches the critical state of slipping, based on the total driving torque Fd and the preset pre-loading force Fc, the maximum driving force Fw max of the wheel corresponding to the relatively small wheel load can be obtained:

由于相对小的车轮的载荷所对应的车轮的最大驱动力不能超过相对小的车轮的载荷所对应的车轮的极限驱动力，因此，需要Fwmax＜Fw’，即：
Since the maximum driving force of the wheel corresponding to the relatively small wheel load cannot exceed the limit driving force of the wheel corresponding to the relatively small wheel load, Fw max <Fw' is required, that is:

进而推导出：It is further deduced:

Fc＜2μH×FnH-Fd；Fc＜2μ H ×Fn H -Fd;

其中，2μH×FnH-Fd即为预压紧力的初始临界值Fc’。Among them, 2μ H ×Fn H -Fd is the initial critical value Fc' of the preloading force.

请继续参阅图2，在S212、基于所述初始临界值和所述目标限滑差速器对应的离合片的状态，确定在目标车辆未打滑时所述目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力。Please continue to refer to Figure 2. At S212, based on the initial critical value and the state of the clutch plate corresponding to the target limited-slip differential, it is determined that the target limited-slip differential is in advance to the said target when the target vehicle is not slipping. The preload force applied to the clutch plate corresponding to the target limited-slip differential.

这里，作为示例，所述离合片的状态可以包括离合片的温度状态，所述离合片的温度状态表示离合片在当前时刻的温度。Here, as an example, the state of the clutch plate may include a temperature state of the clutch plate, and the temperature state of the clutch plate represents the temperature of the clutch plate at the current moment.

在该步骤中，由于离合片的温度会限制所述目标限滑差速器对所述离合片施加的最大压紧力的大小，例如，当离合片温度较高时，目标限滑差速器可以对所述离合片施加的最大压紧力相对较小，因此，在考虑了离合片的温度状态下，可以基于所述初始临界值和所述目标限滑差速器对应的离合片的状态，确定在目标车辆未打滑时所述目标限滑差速器预先向目标限滑差速器对应的离合片施加的预压紧力。In this step, since the temperature of the clutch plate will limit the maximum pressing force exerted by the target limited-slip differential on the clutch plate, for example, when the temperature of the clutch plate is high, the target limited-slip differential The maximum pressing force that can be applied to the clutch plate is relatively small. Therefore, taking into account the temperature state of the clutch plate, it can be based on the initial critical value and the state of the clutch plate corresponding to the target limited slip differential. , determine the pre-pressure force that the target limited-slip differential applies to the clutch plate corresponding to the target limited-slip differential in advance when the target vehicle is not slipping.

具体地，在步骤S212中，作为示例，可以先基于所述目标限滑差速器对应的离合片的状态，确定所述目标限滑差速器对所述离合片施加的最大压紧力；Specifically, in step S212, as an example, the maximum pressing force exerted by the target limited-slip differential on the clutch plate may first be determined based on the state of the clutch plate corresponding to the target limited-slip differential;

这里，可以根据任意一种方式，基于所述目标限滑差速器对应的离合片的状态，确定所述目标限滑差速器对所述离合片施加的最大压紧力。Here, the maximum pressing force exerted by the target limited-slip differential on the clutch plate may be determined based on the state of the clutch plate corresponding to the target limited-slip differential according to any method.

然后，将所述最大压紧力和所述初始临界值中的最小值作为在目标车辆未打滑时所述目标限滑差速器预先向目标限滑差速器对应的离合片施加的预压紧力。Then, the minimum value of the maximum pressing force and the initial critical value is used as the pre-pressure applied by the target limited-slip differential to the clutch plate corresponding to the target limited-slip differential when the target vehicle is not slipping. Tight force.

例如，可以通过以下公式确定目标车辆未打滑时所述目标限滑差速器预先向目标限滑差速器对应的离合片施加的预压紧力Fc：For example, the preloading force Fc applied by the target limited-slip differential to the clutch plate corresponding to the target limited-slip differential in advance when the target vehicle is not slipping can be determined by the following formula:

Fc＝min(Fc’，Fcmax)；Fc=min(Fc', Fc max );

其中，Fcmax为所述目标限滑差速器对所述离合片施加的最大压紧力。Wherein, Fc max is the maximum pressing force exerted by the target limited-slip differential on the clutch plate.

通过上述在目标车辆未打滑时预先施加一个预压紧力的方法，可以使得目标车辆在施加一定的驱动力时，低附着侧车轮也不会出现打滑。同时，由于预压紧力过大会导致高附着侧车轮也出现打滑，因此，通过上述确定出的预压紧力的大小，可以使得施加的预压紧力不会过大，从而避免高附着侧车轮也出现打滑。Through the above method of pre-applying a pre-pressure force when the target vehicle is not slipping, it is possible to prevent the wheel on the low-adhesion side from slipping when a certain driving force is applied to the target vehicle. At the same time, because too much pre-tensioning force will cause the wheels on the high-adhesion side to also slip, the pre-tensioning force determined above can prevent the applied pre-tensioning force from being too large, thereby preventing the high-adhesion side wheels from slipping. The wheels also slipped.

S200、实时检测所述目标限滑差速器所控制的左侧车轮和右侧车轮之间的轮速差。S200: Detect the wheel speed difference between the left wheel and the right wheel controlled by the target limited-slip differential in real time.

S300、当所述目标车辆打滑时，基于所述轮速差，利用反馈控制方式确定反馈压紧 力。S300. When the target vehicle slips, based on the wheel speed difference, use the feedback control method to determine the feedback compression force.

这里，当目标车辆启动后，如果某一侧车轮打滑了，该侧车轮的轮速会远远大于另一侧车轮的轮速，因此，左侧车轮和右侧车轮之间的轮速差会大于某一阈值，因此，可以根据目标车辆的左侧车轮和右侧车轮之间的轮速差，确定目标车辆是否打滑。Here, when the target vehicle starts, if a wheel on one side slips, the wheel speed of the wheel on that side will be much greater than the wheel speed of the other side. Therefore, the wheel speed difference between the left wheel and the right wheel will be is greater than a certain threshold, therefore, it can be determined whether the target vehicle is slipping based on the wheel speed difference between the left wheel and the right wheel of the target vehicle.

这里，作为示例，反馈控制方式可以为PI控制。PI控制方式为一种控制方式，因此，本申请在此不再赘述。Here, as an example, the feedback control method may be PI control. The PI control method is a control method, so it will not be described in detail here in this application.

S400、将所述预压紧力和所述反馈压紧力的和值，确定为所述目标限滑差速器的锁止力。S400. Determine the sum of the preloading force and the feedback pressing force as the locking force of the target limited slip differential.

本申请实施例提供的一种限滑差速器的锁止力的确定方法，通过在目标车辆未打滑时施加一个预压紧力，从而使得在施加一定的驱动力的情况下，避免低附着侧车轮出现打滑。The embodiment of the present application provides a method for determining the locking force of a limited-slip differential by applying a pre-pressure force when the target vehicle is not slipping, thereby avoiding low adhesion when a certain driving force is applied. The side wheels are slipping.

基于同一发明构思，本申请实施例中还提供了与限滑差速器的锁止力的确定方法对应的限滑差速器的锁止力的确定装置。Based on the same inventive concept, embodiments of the present application also provide a device for determining the locking force of the limited-slip differential corresponding to the method for determining the locking force of the limited-slip differential.

参见图3所示，图3为本申请实施例提供的一种限滑差速器的锁止力的确定装置的结构示意图，该确定装置300包括：Referring to Figure 3, Figure 3 is a schematic structural diagram of a device for determining the locking force of a limited-slip differential provided by an embodiment of the present application. The determining device 300 includes:

预压紧力确定模块301，配置成在目标车辆启动后，基于预设的附着系数，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力；所述预压紧力为目标限滑差速器向所述离合片施加的压紧力；The pre-tensioning force determination module 301 is configured to, after the target vehicle is started, based on the preset adhesion coefficient, determine that when the target vehicle is not slipping, the target limited-slip differential will pre-press the clutch plate corresponding to the target limited-slip differential. The preloading force applied; the preloading force is the pressing force applied by the target limited-slip differential to the clutch plate;

轮速差检测模块302，配置成实时检测所述目标限滑差速器所控制的左侧车轮和右侧车轮之间的轮速差；The wheel speed difference detection module 302 is configured to detect the wheel speed difference between the left wheel and the right wheel controlled by the target limited slip differential in real time;

驱动力差确定模块303，配置成基于所述轮速差，利用反馈控制方式确定反馈压紧力；The driving force difference determination module 303 is configured to determine the feedback pressing force using a feedback control method based on the wheel speed difference;

锁止力确定模块304，配置成将所述预压紧力和所述反馈压紧力的和值，确定为所述目标限滑差速器的锁止力。The locking force determination module 304 is configured to determine the sum of the preloading force and the feedback pressing force as the locking force of the target limited slip differential.

在一种可能的实施方式中，预压紧力确定模块301，具体配置成：In a possible implementation, the pre-compression force determination module 301 is specifically configured to:

基于预设的附着系数，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值；Based on the preset adhesion coefficient, determine the initial critical value of the pre-pressure force that the target limited-slip differential applies to the clutch plate corresponding to the target limited-slip differential in advance when the target vehicle is not slipping;

基于所述初始临界值和所述目标限滑差速器对应的离合片的状态，确定在目标车辆未打滑时所述目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力。Based on the initial critical value and the state of the clutch plate corresponding to the target limited slip differential, it is determined that when the target vehicle is not slipping, the target limited slip differential will advance to the clutch corresponding to the target limited slip differential. The preloading force exerted by the sheet.

在一种可能的实施方式中，预压紧力确定模块301，具体配置成：In a possible implementation, the pre-compression force determination module 301 is specifically configured to:

获取左侧车轮的载荷和右侧车轮的载荷，并在左侧车轮的载荷和右侧车轮的载荷中确定出相对小的车轮的载荷；所述左侧车轮的载荷和右侧车轮的载荷均被基于所述目标车辆的车身姿态和车身重量被确定；Obtain the load of the left wheel and the load of the right wheel, and determine the load of the relatively small wheel among the load of the left wheel and the load of the right wheel; the load of the left wheel and the load of the right wheel are both is determined based on the body posture and body weight of the target vehicle;

获取所述目标车辆的总驱动扭矩；Obtain the total driving torque of the target vehicle;

根据所述相对小的车轮的载荷、总驱动扭矩和所述预设的附着系数，确定在目标车辆未打滑时所述目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值。According to the load of the relatively small wheel, the total driving torque and the preset adhesion coefficient, it is determined that the target limited-slip differential will advance to the corresponding clutch of the target limited-slip differential when the target vehicle is not slipping. The initial critical value of the pre-compression force exerted by the sheet.

在一种可能的实施方式中，预压紧力确定模块301，具体配置成：In a possible implementation, the pre-compression force determination module 301 is specifically configured to:

基于所述目标限滑差速器对应的离合片的状态，确定所述目标限滑差速器对所述离合片施加的最大压紧力；Based on the state of the clutch plate corresponding to the target limited-slip differential, determine the maximum pressing force exerted by the target limited-slip differential on the clutch plate;

将所述最大压紧力和所述初始临界值中的最小值作为在目标车辆未打滑时所述目标限滑差速器预先向目标限滑差速器对应的离合片施加的预压紧力。The minimum value of the maximum pressing force and the initial critical value is used as the pre-pressing force that the target limited-slip differential applies to the clutch plate corresponding to the target limited-slip differential in advance when the target vehicle is not slipping. .

在一种可能的实施方式中，预压紧力确定模块301，具体配置成： In a possible implementation, the pre-compression force determination module 301 is specifically configured to:

基于所述预设的附着系数和所述相对小的车轮的载荷，确定所述相对小的车轮的载荷所对应的车轮的极限驱动力；Based on the preset adhesion coefficient and the load of the relatively small wheel, determine the ultimate driving force of the wheel corresponding to the load of the relatively small wheel;

当所述相对小的车轮的载荷达到打滑的临界状态时，根据所述目标车辆的总驱动扭矩和预设预压紧力，确定所述相对小的车轮的载荷所对应的车轮的最大驱动力；When the load of the relatively small wheel reaches the critical state of slipping, the maximum driving force of the wheel corresponding to the load of the relatively small wheel is determined based on the total driving torque of the target vehicle and the preset pre-tensioning force. ;

基于所述极限驱动力与所述最大驱动力之间的预设关系，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值。Based on the preset relationship between the limit driving force and the maximum driving force, determine the preload applied by the target limited slip differential to the clutch plate corresponding to the target limited slip differential when the target vehicle is not slipping. Initial critical value of tightening force.

在一种可能的实施方式中，预压紧力确定模块301，具体配置成：In a possible implementation, the pre-compression force determination module 301 is specifically configured to:

根据所述相对小的车轮的载荷、总驱动扭矩和所述预设的附着系数，利用以下公式确定在目标车辆未打滑时所述目标限滑差速器预先向目标限滑差速器对应的离合片施加的预压紧力的初始临界值Fc’：According to the relatively small wheel load, the total driving torque and the preset adhesion coefficient, the following formula is used to determine the target limited slip differential to the target limited slip differential in advance when the target vehicle is not slipping. The initial critical value Fc' of the preload force exerted by the clutch plate:

Fc’＝2μH×FnH-FdFc'=2μ H ×Fn H -Fd

其中，μH为预设的附着系数；FnH为相对小的载荷；Fd为总驱动扭矩。Among them, μ H is the preset adhesion coefficient; Fn H is a relatively small load; Fd is the total driving torque.

在一种可能的实施方式中，预压紧力确定模块301，具体配置成通过以下公式确定目标车辆未打滑时所述目标限滑差速器预先向目标限滑差速器对应的离合片施加的预压紧力Fc：
Fc＝min(Fc’，Fcmax)；In a possible implementation, the pre-pressure force determination module 301 is specifically configured to determine by the following formula that when the target vehicle is not slipping, the target limited-slip differential will pre-apply force to the clutch plate corresponding to the target limited-slip differential. The preloading force Fc:
Fc=min(Fc', Fc max );

其中，Fcmax为所述目标限滑差速器对所述离合片施加的最大压紧力。Wherein, Fc max is the maximum pressing force exerted by the target limited-slip differential on the clutch plate.

本申请实施例提供的一种限滑差速器的锁止力的确定装置，通过在目标车辆未打滑时施加一个预压紧力，从而使得在施加一定的驱动力的情况下，避免低附着侧车轮出现打滑。The embodiment of the present application provides a device for determining the locking force of a limited-slip differential by applying a pre-pressure force when the target vehicle is not slipping, thereby avoiding low adhesion when a certain driving force is applied. The side wheels are slipping.

请参阅图4，图4为本申请实施例所提供的一种电子设备的结构示意图。如图4中所示，所述电子设备400包括处理器410、存储器420和总线430。Please refer to FIG. 4 , which is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As shown in FIG. 4 , the electronic device 400 includes a processor 410 , a memory 420 and a bus 430 .

所述存储器420存储有所述处理器410可执行的机器可读指令，当电子设备400运行时，所述处理器410与所述存储器420之间通过总线430通信，所述机器可读指令被所述处理器410执行时，可以执行如上述方法实施例中的限滑差速器的锁止力的确定方法的步骤，具体实现方式可参见方法实施例，在此不再赘述。The memory 420 stores machine-readable instructions executable by the processor 410. When the electronic device 400 is running, the processor 410 and the memory 420 communicate through the bus 430, and the machine-readable instructions are When the processor 410 is executed, the steps of the method for determining the locking force of the limited-slip differential in the above method embodiment can be performed. For specific implementation methods, please refer to the method embodiment, which will not be described again here.

本申请实施例还提供一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，该计算机程序被处理器运行时可以执行如上述方法实施例中的限滑差速器的锁止力的确定方法的步骤，具体实现方式可参见方法实施例，在此不再赘述。Embodiments of the present application also provide a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is run by a processor, the computer program can perform locking of the limited-slip differential as in the above method embodiment. For the steps of the method for determining the stopping force, please refer to the method embodiments for specific implementation methods, and will not be described again here.

所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be described again here.

在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，又例如，多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些通信接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be through some communication interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.

所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。 In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit.

所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个处理器可执行的非易失的计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application essentially or contributes to the technical solution or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions. So that a computer device (which may be a personal computer, a server, or a network device, etc.) executes all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code. .

最后应说明的是：以上所述实施例，仅为本申请的具体实施方式，用以说明本申请的技术方案，而非对其限制，本申请的保护范围并不局限于此，尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，其依然可以对前述实施例所记载的技术方案进行修改或可轻易想到变化，或者对其中部分技术特征进行等同替换；而这些修改、变化或者替换，并不使相应技术方案的本质脱离本申请实施例技术方案的精神和范围，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。Finally, it should be noted that the above-mentioned embodiments are only specific implementation modes of the present application, and are used to illustrate the technical solutions of the present application, but not to limit them. The protection scope of the present application is not limited thereto. Although refer to the foregoing The embodiments describe the present application in detail. Those of ordinary skill in the art should understand that any person familiar with the technical field can still modify the technical solutions recorded in the foregoing embodiments within the technical scope disclosed in the present application. It is possible to easily think of changes, or to make equivalent substitutions for some of the technical features; and these modifications, changes or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and they should all be covered by this application. within the scope of protection. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

工业实用性Industrial applicability

采用上述方案，通过在目标车辆未打滑时预先施加一个预压紧力的方法，可以使得目标车辆在施加一定的驱动力时，低附着侧车轮也不会出现打滑。同时，由于预压紧力过大会导致高附着侧车轮也出现打滑，因此，通过上述确定出的预压紧力的大小，可以使得施加的预压紧力不会过大，从而避免高附着侧车轮也出现打滑。 Using the above solution, by pre-applying a pre-pressure force when the target vehicle is not slipping, it is possible to prevent the wheels on the low-adhesion side from slipping when a certain driving force is applied to the target vehicle. At the same time, because too much pre-tensioning force will cause the wheels on the high-adhesion side to also slip, the pre-tensioning force determined above can prevent the applied pre-tensioning force from being too large, thereby preventing the high-adhesion side wheels from slipping. The wheels also slipped.

Claims (16)

一种限滑差速器的锁止力的确定方法，其特征在于，所述确定方法包括：A method for determining the locking force of a limited-slip differential, characterized in that the determination method includes: 在目标车辆启动后，基于预设的附着系数，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力；所述预压紧力为目标限滑差速器向所述离合片施加的压紧力；After the target vehicle is started, based on the preset adhesion coefficient, the pre-pressure force that the target limited-slip differential applies to the clutch plate corresponding to the target limited-slip differential is determined in advance when the target vehicle is not slipping; The pressing force is the pressing force exerted by the target limited-slip differential on the clutch plate; 实时检测所述目标限滑差速器所控制的左侧车轮和右侧车轮之间的轮速差；Detect the wheel speed difference between the left wheel and the right wheel controlled by the target limited-slip differential in real time; 当所述目标车辆打滑时，基于所述轮速差，利用反馈控制方式确定反馈压紧力；When the target vehicle slips, the feedback control method is used to determine the feedback pressing force based on the wheel speed difference; 将所述预压紧力和所述反馈压紧力的和值，确定为所述目标限滑差速器的锁止力。The sum of the preloading force and the feedback pressing force is determined as the locking force of the target limited slip differential. 根据权利要求1所述的确定方法，其特征在于，所述基于预设的附着系数，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力，包括：The determination method according to claim 1, characterized in that, based on the preset adhesion coefficient, it is determined that when the target vehicle is not slipping, the target limited slip differential will advance to the clutch plate corresponding to the target limited slip differential. The preload applied includes: 基于预设的附着系数，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值；Based on the preset adhesion coefficient, determine the initial critical value of the pre-pressure force that the target limited-slip differential applies to the clutch plate corresponding to the target limited-slip differential in advance when the target vehicle is not slipping; 基于所述初始临界值和所述目标限滑差速器对应的离合片的状态，确定在所述目标车辆未打滑时所述目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力。Based on the initial critical value and the state of the clutch plate corresponding to the target limited slip differential, it is determined that the target limited slip differential corresponds to the target limited slip differential in advance when the target vehicle is not slipping. The preloading force exerted by the clutch plate. 根据权利要求2所述的确定方法，其特征在于，所述基于预设的附着系数，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值，包括：The determination method according to claim 2, characterized in that, based on the preset adhesion coefficient, it is determined that when the target vehicle is not slipping, the target limited slip differential will advance to the clutch plate corresponding to the target limited slip differential. Initial critical values for applied preload, including: 获取左侧车轮的载荷和右侧车轮的载荷，并在左侧车轮的载荷和右侧车轮的载荷中确定出相对小的车轮的载荷；所述左侧车轮的载荷和右侧车轮的载荷均被基于所述目标车辆的车身姿态和车身重量被确定；Obtain the load of the left wheel and the load of the right wheel, and determine the load of the relatively small wheel among the load of the left wheel and the load of the right wheel; the load of the left wheel and the load of the right wheel are both is determined based on the body posture and body weight of the target vehicle; 获取所述目标车辆的总驱动扭矩；Obtain the total driving torque of the target vehicle; 根据所述相对小的车轮的载荷、总驱动扭矩和所述预设的附着系数，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值。According to the load of the relatively small wheel, the total driving torque and the preset adhesion coefficient, it is determined that the target limited slip differential applies a force to the corresponding clutch plate of the target limited slip differential in advance when the target vehicle is not slipping. the initial critical value of the preloading force. 根据权利要求2所述的确定方法，其特征在于，所述基于所述初始临界值和所述目标限滑差速器对应的离合片的状态，确定在所述目标车辆未打滑时所述目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力，包括：The determination method according to claim 2, characterized in that, based on the initial critical value and the state of the clutch plate corresponding to the target limited-slip differential, it is determined that the target vehicle is not slipping. The pre-pressure force that the limited-slip differential applies to the clutch plate corresponding to the target limited-slip differential in advance includes: 基于所述目标限滑差速器对应的离合片的状态，确定所述目标限滑差速器对所述离合片施加的最大压紧力；Based on the state of the clutch plate corresponding to the target limited-slip differential, determine the maximum pressing force exerted by the target limited-slip differential on the clutch plate; 将所述最大压紧力和所述初始临界值中的最小值作为在目标车辆未打滑时所述目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力。The minimum value of the maximum pressing force and the initial critical value is used as the pre-pressure applied by the target limited-slip differential to the corresponding clutch plate of the target limited-slip differential when the target vehicle is not slipping. Tight force. 根据权利要求3所述的确定方法，其特征在于，所述根据所述相对小的车轮的载荷、总驱动扭矩和所述预设的附着系数，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值，包括：The determination method according to claim 3, wherein the target limited slip differential is determined when the target vehicle is not slipping based on the load of the relatively small wheel, the total driving torque and the preset adhesion coefficient. The initial critical value of the pre-pressure force applied by the device to the clutch plate corresponding to the target limited-slip differential in advance includes: 基于所述预设的附着系数和所述相对小的车轮的载荷，确定所述相对小的车轮的载荷所对应的车轮的极限驱动力；Based on the preset adhesion coefficient and the load of the relatively small wheel, determine the ultimate driving force of the wheel corresponding to the load of the relatively small wheel; 当所述相对小的车轮的载荷达到打滑的临界状态时，根据所述目标车辆的总驱动扭矩和预设预压紧力，确定所述相对小的车轮的载荷所对应的车轮的最大驱动力；When the load of the relatively small wheel reaches the critical state of slipping, the maximum driving force of the wheel corresponding to the load of the relatively small wheel is determined based on the total driving torque of the target vehicle and the preset pre-tensioning force. ; 基于所述极限驱动力与所述最大驱动力之间的预设关系，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值。 Based on the preset relationship between the limit driving force and the maximum driving force, determine the preload applied by the target limited slip differential to the clutch plate corresponding to the target limited slip differential when the target vehicle is not slipping. Initial critical value of tightening force. 根据权利要求3所述的确定方法，其特征在于，根据所述相对小的车轮的载荷、总驱动扭矩和所述预设的附着系数，利用以下公式确定在目标车辆未打滑时所述目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值Fc’：
Fc’＝2μH×FnH-Fd；The determination method according to claim 3, characterized in that, based on the load of the relatively small wheel, the total driving torque and the preset adhesion coefficient, the following formula is used to determine the target limit when the target vehicle is not slipping. The initial critical value Fc' of the pre-pressure force that the slip differential applies to the clutch plate corresponding to the target limited-slip differential in advance:
Fc'=2μ H ×Fn H -Fd; 其中，μH为预设的附着系数；FnH为相对小的载荷；Fd为总驱动扭矩。Among them, μ H is the preset adhesion coefficient; Fn H is a relatively small load; Fd is the total driving torque. 根据权利要求3或5任一项所述的确定方法，其特征在于，通过以下公式确定目标车辆未打滑时所述目标限滑差速器预先向目标限滑差速器对应的离合片施加的预压紧力Fc：
Fc＝min(Fc’，Fcmax)；The determination method according to any one of claims 3 or 5, characterized in that, when the target vehicle is not slipping, it is determined by the following formula that the target limited slip differential applies a force to the clutch plate corresponding to the target limited slip differential in advance Preloading force Fc:
Fc=min(Fc', Fc max ); 其中，Fcmax为所述目标限滑差速器对所述离合片施加的最大压紧力。Wherein, Fc max is the maximum pressing force exerted by the target limited-slip differential on the clutch plate. 一种限滑差速器的锁止力的确定装置，其特征在于，所述确定装置包括：A device for determining the locking force of a limited-slip differential, characterized in that the device includes: 预压紧力确定模块，配置成在目标车辆启动后，基于预设的附着系数，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力；所述预压紧力为目标限滑差速器向所述离合片施加的压紧力；The pre-tensioning force determination module is configured to, after the target vehicle is started, determine based on the preset adhesion coefficient when the target vehicle is not slipping, the target limited-slip differential will pre-apply force to the clutch plate corresponding to the target limited-slip differential. The pre-pressing force; the pre-pressing force is the pressing force exerted by the target limited-slip differential on the clutch plate; 轮速差检测模块，配置成实时检测所述目标限滑差速器所控制的左侧车轮和右侧车轮之间的轮速差；a wheel speed difference detection module configured to detect the wheel speed difference between the left wheel and the right wheel controlled by the target limited-slip differential in real time; 驱动力差确定模块，配置成基于所述轮速差，利用反馈控制方式确定反馈压紧力；a driving force difference determination module configured to determine the feedback pressing force using a feedback control method based on the wheel speed difference; 锁止力确定模块，配置成将所述预压紧力和所述反馈压紧力的和值，确定为所述目标限滑差速器的锁止力。The locking force determination module is configured to determine the sum of the preloading force and the feedback pressing force as the locking force of the target limited slip differential. 根据权利要求8所述的确定装置，其特征在于，所述预压紧力确定模块，具体配置成：The determination device according to claim 8, characterized in that the pre-compression force determination module is specifically configured to: 基于预设的附着系数，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值；Based on the preset adhesion coefficient, determine the initial critical value of the pre-pressure force that the target limited-slip differential applies to the clutch plate corresponding to the target limited-slip differential in advance when the target vehicle is not slipping; 基于所述初始临界值和所述目标限滑差速器对应的离合片的状态，确定在所述目标车辆未打滑时所述目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力。Based on the initial critical value and the state of the clutch plate corresponding to the target limited slip differential, it is determined that the target limited slip differential corresponds to the target limited slip differential in advance when the target vehicle is not slipping. The preloading force exerted by the clutch plate. 根据权利要求9所述的确定装置，其特征在于，所述预压紧力确定模块，具体配置成：The determination device according to claim 9, characterized in that the pre-compression force determination module is specifically configured to: 获取左侧车轮的载荷和右侧车轮的载荷，并在左侧车轮的载荷和右侧车轮的载荷中确定出相对小的车轮的载荷；所述左侧车轮的载荷和右侧车轮的载荷均被基于所述目标车辆的车身姿态和车身重量被确定；Obtain the load of the left wheel and the load of the right wheel, and determine the load of the relatively small wheel among the load of the left wheel and the load of the right wheel; the load of the left wheel and the load of the right wheel are both is determined based on the body posture and body weight of the target vehicle; 获取所述目标车辆的总驱动扭矩；Obtain the total driving torque of the target vehicle; 根据所述相对小的车轮的载荷、总驱动扭矩和所述预设的附着系数，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值。According to the load of the relatively small wheel, the total driving torque and the preset adhesion coefficient, it is determined that the target limited-slip differential applies a force to the corresponding clutch plate of the target limited-slip differential in advance when the target vehicle is not slipping. The initial critical value of the preloading force. 根据权利要求9所述的确定装置，其特征在于，所述预压紧力确定模块，具体配置成：The determination device according to claim 9, characterized in that the pre-compression force determination module is specifically configured to: 基于所述目标限滑差速器对应的离合片的状态，确定所述目标限滑差速器对所述离合片施加的最大压紧力；Based on the state of the clutch plate corresponding to the target limited-slip differential, determine the maximum pressing force exerted by the target limited-slip differential on the clutch plate; 将所述最大压紧力和所述初始临界值中的最小值作为在目标车辆未打滑时所述目标限滑差速器预先向目标限滑差速器对应的离合片施加的预压紧力。The minimum value of the maximum pressing force and the initial critical value is used as the pre-pressing force that the target limited-slip differential applies to the clutch plate corresponding to the target limited-slip differential in advance when the target vehicle is not slipping. . 根据权利要求9所述的确定装置，其特征在于，所述预压紧力确定模块，具体配置成： The determination device according to claim 9, characterized in that the pre-compression force determination module is specifically configured to: 基于所述预设的附着系数和所述相对小的车轮的载荷，确定所述相对小的车轮的载荷所对应的车轮的极限驱动力；Based on the preset adhesion coefficient and the load of the relatively small wheel, determine the ultimate driving force of the wheel corresponding to the load of the relatively small wheel; 当所述相对小的车轮的载荷达到打滑的临界状态时，根据所述目标车辆的总驱动扭矩和预设预压紧力，确定所述相对小的车轮的载荷所对应的车轮的最大驱动力；When the load of the relatively small wheel reaches the critical state of slipping, the maximum driving force of the wheel corresponding to the load of the relatively small wheel is determined based on the total driving torque of the target vehicle and the preset pre-tensioning force. ; 基于所述极限驱动力与所述最大驱动力之间的预设关系，确定在目标车辆未打滑时目标限滑差速器预先向所述目标限滑差速器对应的离合片施加的预压紧力的初始临界值。Based on the preset relationship between the limit driving force and the maximum driving force, determine the preload applied by the target limited slip differential to the clutch plate corresponding to the target limited slip differential when the target vehicle is not slipping. Initial critical value of tightening force. 根据权利要求9所述的确定装置，其特征在于，所述预压紧力确定模块，具体配置成：The determination device according to claim 9, characterized in that the pre-compression force determination module is specifically configured to: 根据所述相对小的车轮的载荷、总驱动扭矩和所述预设的附着系数，利用以下公式确定在目标车辆未打滑时所述目标限滑差速器预先向目标限滑差速器对应的离合片施加的预压紧力的初始临界值Fc’：
Fc’＝2μH×FnH-Fd；According to the relatively small wheel load, the total driving torque and the preset adhesion coefficient, the following formula is used to determine the target limited slip differential to the target limited slip differential in advance when the target vehicle is not slipping. The initial critical value Fc' of the preload force exerted by the clutch plate:
Fc'=2μ H ×Fn H -Fd; 其中，μH为预设的附着系数；FnH为相对小的载荷；Fd为总驱动扭矩。Among them, μ H is the preset adhesion coefficient; Fn H is a relatively small load; Fd is the total driving torque. 根据权利要求9或12任意一项所述的确定装置，其特征在于，所述预压紧力确定模块，具体配置成通过以下公式确定目标车辆未打滑时所述目标限滑差速器预先向目标限滑差速器对应的离合片施加的预压紧力Fc：
Fc＝min(Fc’，Fcmax)；The determination device according to any one of claims 9 or 12, characterized in that the pre-tensioning force determination module is specifically configured to determine the pre-positioning of the target limited-slip differential when the target vehicle is not slipping through the following formula: The preloading force Fc applied to the clutch plate corresponding to the target limited-slip differential:
Fc=min(Fc', Fc max ); 其中，Fcmax为所述目标限滑差速器对所述离合片施加的最大压紧力。Wherein, Fc max is the maximum pressing force exerted by the target limited-slip differential on the clutch plate. 一种电子设备，其特征在于，包括：处理器、存储器和总线，所述存储器存储有所述处理器可执行的机器可读指令，当电子设备运行时，所述处理器与所述存储器之间通过所述总线进行通信，所述机器可读指令被所述处理器运行时执行如权利要求1至7任一所述的限滑差速器的锁止力的确定方法的步骤。An electronic device, characterized in that it includes: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the connection between the processor and the memory is The machine-readable instructions are communicated through the bus, and when the machine-readable instructions are run by the processor, the steps of the method for determining the locking force of the limited-slip differential according to any one of claims 1 to 7 are executed. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器运行时执行如权利要求1至7任一所述的限滑差速器的锁止力的确定方法的步骤。 A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, the limited-slip differential according to any one of claims 1 to 7 is executed. Steps to determine the locking force of the device.
PCT/CN2023/086797 2022-07-13 2023-04-07 Method and apparatus for determining locking force of limited-slip differential, and readable storage medium Ceased WO2024011970A1 (en)

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