Vehicle and method of controlling same

Abstract

The present invention relates to a vehicle and a method of controlling the same, in which the vehicle may include: a first electronic limited slip differential disposed on a first drive shaft and limiting differential motion of left and right wheels of the first drive shaft; a second electronic limited slip differential provided on the second drive shaft and restricting differential motion of left and right wheels of the second drive shaft; and a controller operably connected to the first electronic limited slip differential and the second electronic limited slip differential and configured to control a torque limit value of the first electronic limited slip differential and a torque limit value of the second electronic limited slip differential based on a difference between an axle load of the first drive shaft and an axle load of the second drive shaft.

Description

[0001] Cross - reference to related applications

[0002] This application claims the priority of Korean Patent Application No. 10 - 2023 - 0197137, filed on December 29, 2023, the entire contents of which are incorporated herein for all purposes by this reference. Technical field

[0003] The present invention relates to a vehicle and a method for controlling the vehicle. More specifically, the present invention relates to a vehicle having an electronic limited - slip differential provided in a main drive wheel and an auxiliary drive wheel, and a method for controlling the vehicle. Background art

[0004] Generally, a differential device provided in a vehicle can rotate left and right wheels at different speeds when the vehicle is turning.

[0005] However, in a case where the traction forces of the left and right drive wheels are different from each other, the differential device distributes more power to the drive wheel with a smaller traction force and cannot transmit sufficient power to the drive wheel with a relatively larger traction force. That is, in a case where the traction forces of the left and right drive wheels are different from each other, there is a situation where the left and right drive wheels cannot be smoothly controlled by the differential device.

[0006] To solve such a problem, a limited - slip differential (LSD) that limits the differential of the left and right drive wheels is adopted. Types of LSD include Torsen LSD, Biscus LSD, and multi - disc clutch type LSD, etc.

[0007] The related - art LSD is installed on the drive shaft of the main drive wheel of the vehicle to limit the differential of the left and right drive wheels.

[0008] When the LSD is installed on a four - wheel drive vehicle, the maximum driving force of the main drive wheel (e.g., the rear wheels of a rear - wheel drive vehicle) can be utilized by suppressing wheel spin of the main drive wheel by the LSD. However, since the LSD is not installed on the auxiliary drive wheel (e.g., the front wheels of a rear - wheel drive vehicle), there is a limitation that the total driving force of the vehicle cannot be fully utilized.

[0009] The information included in the background art section of the present invention is only intended to enhance the understanding of the overall background of the present invention and should not be regarded as an admission or any form of suggestion that this information constitutes prior art known to those skilled in the art. Summary of the invention

[0010] Aspects of the present invention are directed to providing a vehicle and a method of controlling the vehicle, which can improve the driving performance of the vehicle during straight driving and turning by respectively restricting the differential of the main drive wheels and the auxiliary drive wheels.

[0011] Exemplary embodiments of the present invention provide a vehicle, which may include: a first electronic limited slip differential disposed on a first drive shaft and restricting the differential action of the left and right wheels of the first drive shaft; a second electronic limited slip differential disposed on a second drive shaft and restricting the differential action of the left and right wheels of the second drive shaft; a controller operably connected to the first electronic limited slip differential and the second electronic limited slip differential and configured to control the torque limit value of the first electronic limited slip differential and the torque limit value of the second electronic limited slip differential based on the difference between the axle load of the first drive shaft and the axle load of the second drive shaft.

[0012] In some exemplary embodiments of the present invention, when the difference between the axle load of the first drive shaft and the axle load of the second drive shaft is less than a predetermined value, the controller sets the torque limit value of the first electronic limited slip differential to the maximum torque and sets the torque limit value of the second electronic limited slip differential to the maximum torque.

[0013] In some exemplary embodiments of the present invention, when the difference between the axle load of the first drive shaft and the axle load of the second drive shaft is greater than or equal to a predetermined value, the controller may set the torque limit value of the electronic limited slip differential of the drive shaft with the larger axle load disposed between the first drive shaft and the second drive shaft to the maximum torque, and set the torque limit value of the electronic limited slip differential of the drive shaft with the smaller axle load disposed between the first drive shaft and the second drive shaft to a limit torque less than the maximum torque.

[0014] In some exemplary embodiments of the present invention, the limit torque may be determined by the maximum torque of the electronic limited slip differential, an axle load ratio gain determined according to the axle load of the first drive shaft and the axle load of the second drive shaft, and a friction coefficient gain determined according to the road surface friction coefficient.

[0015] In some exemplary embodiments of the present invention, the limit torque may be determined by the equation T lim = Cf × Cm × T max wherein, T lim may represent the limit torque, Cf may represent the axle load ratio gain, Cm may represent the friction coefficient gain, and T max may represent the maximum torque of the electronic limited slip differential.

[0016] In some exemplary embodiments of the present invention, the axle load ratio gain may decrease as the ratio of the axle load of the first drive axle to the axle load of the second drive axle decreases.

[0017] In some exemplary embodiments of the present invention, the coefficient of friction gain may decrease as the coefficient of friction of the road surface decreases.

[0018] Another exemplary embodiment of the present invention provides a method for controlling a vehicle, which may include: comparing the axle load of the first drive axle with the axle load of the second drive axle; and controlling the torque limit value of the first electronic limited slip differential provided on the first drive axle and the torque limit value of the second electronic limited slip differential provided on the second drive axle based on the difference between the axle load of the first drive axle and the axle load of the second drive axle.

[0019] In some exemplary embodiments of the present invention, when the difference between the axle load of the first drive axle and the axle load of the second drive axle is less than a predetermined value, the torque limit value of the first electronic limited slip differential may be set to the maximum torque, and the torque limit value of the second electronic limited slip differential may be set to the maximum torque.

[0020] In some exemplary embodiments of the present invention, when the difference between the axle load of the first drive axle and the axle load of the second drive axle is greater than or equal to a predetermined value, the torque limit value of the electronic limited slip differential of the drive axle with the larger axle load provided between the first drive axle and the second drive axle may be set to the maximum torque, and the torque limit value of the electronic limited slip differential of the drive axle with the smaller axle load provided between the first drive axle and the second drive axle may be set to a limit torque less than the maximum torque.

[0021] In some exemplary embodiments of the present invention, the limit torque may be determined by the maximum torque of the electronic limited slip differential, the axle load ratio gain determined according to the axle load of the first drive axle and the axle load of the second drive axle, and the coefficient of friction gain determined according to the coefficient of friction of the road surface.

[0022] In some exemplary embodiments of the present invention, the limit torque may be determined by the equation T lim = Cf × Cm × T max where T lim may represent the limit torque, Cf may represent the axle load ratio gain, Cm may represent the coefficient of friction gain, and T max may represent the maximum torque of the electronic limited slip differential.

[0023] In some exemplary embodiments of the present invention, the axle load ratio gain may decrease as the ratio of the axle load of the first drive axle to the axle load of the second drive axle decreases.

[0024] In some exemplary embodiments of the present invention, the friction coefficient gain may decrease as the road surface friction coefficient decreases.

[0025] According to an exemplary embodiment of the present invention, by adjusting the torque limit values of the first limited-slip differential and the second limited-slip differential based on the loads applied to the front-wheel drive shaft and the rear-wheel drive shaft of the vehicle, the driving performance of the vehicle during traction driving and steering driving can be enhanced.

[0026] Furthermore, the effects that can be obtained or predicted through the exemplary embodiments of the present invention are directly or implicitly included in the detailed description of the exemplary embodiments of the present invention. That is, various effects predicted according to the exemplary embodiments of the present invention will be included in the detailed description described below.

[0027] The methods and apparatuses of the present invention have other characteristics and advantages, which will be apparent from the accompanying drawings incorporated herein and the subsequent detailed description, or will be described in detail in the accompanying drawings incorporated herein and the subsequent detailed description, which together are used to explain the specific principles of the present invention. Description of the Drawings

[0028] Figure 1 is a conceptual diagram exemplarily showing the configuration of a vehicle according to an exemplary embodiment of the present invention.

[0029] Figure 2 is a block diagram showing the configuration of a vehicle according to an exemplary embodiment of the present invention.

[0030] Figure 3 is a flowchart showing a method of controlling a vehicle according to an exemplary embodiment of the present invention.

[0031] Figure 4 is a schematic diagram showing the behavior of a vehicle in the case where the method of controlling a vehicle according to an exemplary embodiment of the present invention is not applied.

[0032] Figure 5 is a schematic diagram showing experimental data in the case where the method of controlling a vehicle according to an exemplary embodiment of the present invention is not applied.

[0033] Figure 6 is a schematic diagram showing the behavior of a vehicle in the case where the method of controlling a vehicle according to an exemplary embodiment of the present invention is applied.

[0034] Figure 7 is a schematic diagram showing experimental data in the case where the method of controlling a vehicle according to an exemplary embodiment of the present invention is applied.

[0035] Figure 8 FIG. is a schematic diagram of a determination device according to an exemplary embodiment of the present invention.

[0036] It can be understood that the accompanying drawings are not drawn to scale, but are appropriately simplified drawings for illustrating various features of the basic principles of the present invention. Specific design features of the present invention disclosed herein, including, for example, specific dimensions, directions, positions, and shapes, will be determined in part by the specific application and use environment.

[0037] In the drawings, throughout the several views, like reference numerals indicate the same or equivalent parts of the present invention. Detailed Embodiments

[0038] Reference will now be made in detail to various embodiments of the present invention, examples of which are illustrated in the accompanying drawings and described below. Although the present invention will be described in conjunction with the exemplary embodiments of the present invention, it will be understood that this specification is not intended to limit the present invention to those exemplary embodiments. On the other hand, the present invention is intended to cover not only the exemplary embodiments of the present invention, but also various alternative embodiments, modified embodiments, equivalent embodiments, and other embodiments that may be included within the spirit and scope of the present invention as defined by the appended claims.

[0039] The terms used herein are for the purpose of describing particular exemplary embodiments of the present invention only and are not intended to limit the present invention. As used herein, the singular forms are also intended to include the plural forms unless the context clearly dictates otherwise. It should be understood that when the terms "comprises" and / or "comprising" are used in this specification, the terms "comprises" and / or "comprising" are intended to mean the presence of the recited features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. As used herein, the term "and / or" includes any and all combinations of the associated listed items.

[0040] In addition, it should be understood that one or more of the following methods or aspects thereof may be performed by one or more controllers 70. The term "controller 70" may refer to a hardware device that includes a memory and a processor. The memory is configured to store program instructions, and the processor is programmed to execute the program instructions to more specifically perform one or more of the processes described below. As included herein, controller 70 may be configured to control similar units, modules, parts, devices, or operations thereto. In addition, as will be appreciated by those skilled in the art, it should be understood that the following methods may be performed in conjunction with a device including controller 70 and one or more other components.

[0041] In addition, the controller 70 of the present invention can be implemented as a non-volatile computer-readable recording medium including executable program instructions executed by a processor. Examples of the computer-readable recording medium include, but are not limited to, ROM, RAM, CD-ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage device. The computer-readable recording medium is also distributed throughout the computer network, and the program instructions can be stored and executed through a distribution scheme such as a telematics server or a local area network (CAN) of the controller (70).

[0042] The present invention will be described in detail so that those skilled in the art to which the present invention pertains can understand it. However, the present invention can be implemented in various different ways and is not limited to the exemplary specific embodiments described herein.

[0043] Parts irrelevant to the description will be omitted to clearly describe the present invention, and throughout the specification, the same elements will be denoted by the same reference numerals.

[0044] The suffixes "module" and / or "unit" of the components used in the following description are provided or used interchangeably only for the ease of preparation of the present invention and do not have their own different meanings or functions.

[0045] In addition, when describing the exemplary embodiments of the present invention, if it is determined that the detailed description makes the gist of the exemplary embodiments of the present invention unclear, the detailed description of the related known technologies will be omitted.

[0046] In addition, the drawings are provided to help easily understand the exemplary embodiments included in this specification, and it should be understood that the technical spirit included in this specification is not limited by the drawings, and the present invention includes all modifications, equivalents, and substitutions included in the spirit and scope of the present invention.

[0047] Terms using ordinary numbers such as first and second are used to describe various components, but the components are not limited by these terms.

[0048] In the flowchart described with reference to the drawings, the order of operations can be changed, multiple operations can be combined, any operation can be divided, and a specific operation can be omitted.

[0049] Hereinafter, vehicles according to various exemplary embodiments of the present invention will be described in detail with reference to the drawings.

[0050] Figure 1 is a conceptual diagram exemplarily showing the configuration of a vehicle according to an exemplary embodiment of the present invention. In addition, Figure 2 is a block diagram showing the configuration of a vehicle according to an exemplary embodiment of the present invention.

[0051] As Figure 1 andFigure 2 As shown, a vehicle according to various exemplary embodiments of the present invention may include limited slip differentials 40 and 50, and a controller 70 that controls torque limit values of the limited slip differentials 40 and 50.

[0052] The limited slip differentials 40 and 50 may include a first electronic limited slip differential 40 disposed on a first drive shaft 10 (e.g., a drive shaft of front wheels) of the vehicle and a second electronic limited slip differential 50 disposed on a second drive shaft 20 (e.g., a drive shaft of rear wheels) of the vehicle.

[0053] An electric limited slip differential (eLSD) may limit a differential action between a left wheel and a right wheel generated by a differential device 30. That is, the electronic limited slip differentials 40 and 50 may limit a rotational speed difference between the left wheel and the right wheel generated by the differential device 30.

[0054] The differential device 30 is disposed on each of the first drive shaft 10 and the second drive shaft 20, and the left and right wheels of each of the first drive shaft 10 and the second drive shaft 20 may rotate at different rotational speeds through the differential device 30. The differential device 30 generates a rotational speed difference between an inner wheel during turning and an outer wheel during turning when the vehicle is turning.

[0055] However, when the vehicle travels on a road where a friction coefficient of a road surface in contact with the left wheel and a friction coefficient of a road surface in contact with the right wheel are different from each other, excessive power may be transmitted to a wheel on a low friction road (e.g., an icy road) having a relatively small friction coefficient through the differential device 30, and relatively little power may be transmitted to a wheel on a high friction road having a relatively large friction coefficient. In this case, when the wheel on the low friction road exceeds a limit driving force, the wheel on the low friction road slips. To prevent this situation, the limited slip differentials 40 and 50 limit a rotational speed difference between the left wheel and the right wheel generated by the differential device 30 (or synchronize rotational speeds of the left wheel and the right wheel) to limit excessive power transmission to a wheel in contact with the low friction road.

[0056] The electronic limited slip differentials 40 and 50 may synchronize the left wheel and the right wheel through a clutch 60 when a rotational speed difference is generated between the left wheel and the right wheel.

[0057] The clutch 60 may include a clutch disc 61 and a friction disc 63. The clutch disc 61 may be connected to the axle gear (or differential gear) 33 of the differential device 30, and the friction disc 63 of the clutch 60 may be connected to the differential case 31. Thus, when the limited-slip differentials 40 and 50 are actuated, the left and right wheels may be synchronized by the torque applied to the clutch disc 61 and the friction disc 63 of the clutch 60. The planetary gear 32 may rotate on its own axis and revolve around the drive shaft 10. The planetary gear may be in meshing engagement with the axle gear 33, and the axle gear 33 may rotate as the planetary gear 32 rotates.

[0058] When the maximum torque is applied to the clutch 60 of the electronic limited-slip differentials 40 and 50, the left and right wheels are fully synchronized, and the left and right wheels rotate at the same rotational speed. In this case, the differential device 30 is actuated to lock the differential.

[0059] When no torque is applied to the clutch 60 of the electronic limited-slip differentials 40 and 50, the left and right wheels are not synchronized, and the left and right wheels rotate at different rotational speeds according to the driving conditions. In this case, the differential device 30 is actuated to start the differential.

[0060] As the torque applied to the clutch 60 of the electronic limited-slip differentials 40 and 50 increases, relatively greater power can be transmitted from the drive source 3 via the axle 1 and the differential device 30 to the wheel in contact with the high-friction road. In addition, as the torque applied to the clutch 60 decreases, relatively greater power can be transmitted from the drive source 3 via the axle 1 and the differential device 30 to the wheel in contact with the low-friction road.

[0061] The controller 70 may be configured to control the torque limit values of the first electronic limited-slip differential 40 and the second electronic limited-slip differential 50 based on the difference between the axle load of the first drive shaft 10 and the axle load of the second drive shaft 20.

[0062] Here, the torque limit value may represent the maximum torque that can be applied to the clutch 60 of the limited-slip differentials 40 and 50.

[0063] In the normal state, the torque limit value may be the maximum torque allowed in the technical parameters of the limited-slip differentials 40 and 50. When the torque limit value decreases, the torque that can be applied to the clutch 60 of the limited-slip differentials 40 and 50 may be less than the maximum torque.

[0064] For this purpose, the controller 70 may be implemented as one or more processors operating through a set program, and the memory of the controller 70 stores program instructions that are programmed to execute each step of the method for controlling a vehicle according to an exemplary embodiment of the present invention through the one or more processors.

[0065] Hereinafter, a method of controlling a vehicle according to an exemplary embodiment will be described in detail with reference to the accompanying drawings.

[0066] Figure 3 is a flowchart showing a method of controlling a vehicle according to an exemplary embodiment of the present invention.

[0067] Referring to Figure 3 , the controller 70 may be configured to determine the axle load of the first drive axle 10 (hereinafter, referred to as the "first axle load" as needed) and the axle load of the second drive axle 20 (hereinafter, referred to as the "second axle load" as needed).

[0068] The first axle load and the second axle load may be determined according to the technical parameters of the vehicle, which include the longitudinal acceleration and lateral acceleration of the vehicle, as well as the wheelbase and the weight of the vehicle. The method of determining the first axle load and the second axle load is a well-known technique, and thus its detailed description will be omitted.

[0069] The controller 70 may be configured to determine an axle load ratio based on the first axle load and the second axle load, and determine an axle load ratio gain according to the axle load ratio (S10).

[0070] The torque limit values of the electronic limited slip differentials 40 and 50 may be reduced according to the axle load ratio gain. The axle load ratio gain may include a value between 0 and 1, and may approach 0 as the axle load ratio decreases.

[0071] For example, when the first axle load and the second axle load are equal to each other (for example, when the vehicle is traveling on flat ground), the axle load ratio becomes 1, and in this case, the axle load ratio gain may become "1". When the first axle load is less than the second axle load (for example, when the vehicle is traveling on an uphill road), the axle load ratio becomes 0.7, and in this case, the axle load ratio gain may become "0.75".

[0072] The controller 70 may be configured to determine the road surface friction coefficient. The road surface friction coefficient may be determined based on the wheel speed and the vehicle speed. The method of determining the road surface friction coefficient is a well-known technique, and thus its detailed description will be omitted.

[0073] The controller 70 may be configured to determine a friction coefficient gain according to the road surface friction coefficient (S20). The torque limit values of the electronic limited slip differentials 40 and 50 may be reduced according to the friction coefficient gain. The friction coefficient gain may include a value between 0 and 1, and may approach 0 as the road surface friction coefficient decreases.

[0074] The controller 70 may compare the difference between the first axle load and the second axle load (S30).

[0075] When the difference between the first axle load and the second axle load is less than a predetermined value, the controller 70 may set the torque limit value of the first electronic limited slip differential 40 to the maximum torque, and set the torque limit value of the second electronic limited slip differential 50 to the maximum torque (S40). Here, the maximum torque may refer to the maximum torque allowed in the technical parameters of the electronic limited slip differentials 40 and 50.

[0076] When the difference between the first axle load and the second axle load is less than a predetermined value (when the difference between the first axle load and the second axle load is not large), set the torque limit values of the first electronic limited slip differential 40 and the second electronic limited slip differential 50 to the maximum torque, so as to continuously transmit the maximum driving force to the wheels.

[0077] When the difference between the first axle load and the second axle load is greater than or equal to the predetermined value, the controller 70 may set the torque limit values of the electronic limited slip differentials 40 and 50 of the drive axle with the larger axle load provided between the first drive axle 10 and the second drive axle 20 to the maximum torque, and set the torque limit values of the electronic limited slip differentials 40 and 50 of the drive axle with the smaller axle load provided between the first drive axle 10 and the second drive axle 20 to the limit torque. Here, the limit torque may be less than the maximum torque.

[0078] When the first axle load is greater than the second axle load (S50), the controller 70 may set the torque limit value of the first electronic limited slip differential 40 to the maximum torque, and set the torque limit value of the second electronic limited slip differential 50 to the limit torque (S60).

[0079] On the contrary, when the first axle load is less than the second axle load (S50), the controller 70 may set the torque limit value of the first electronic limited slip differential 40 to the limit torque, and set the torque limit value of the second electronic limited slip differential 50 to the maximum torque (S70).

[0080] The limit torque may be determined according to the maximum torque of the electronic limited slip differentials 40 and 50, the axle load ratio gain, and the friction coefficient gain. The limit torque may be determined by the following equation.

[0081] [Equation 1]

[0082] T lim = Cf × Cm × T max

[0083] Wherein, T lim may be the limit torque, Cf may be the axle load ratio gain, Cm may be the friction coefficient gain, and T max may be the maximum torque of the electronic limited slip differential.

[0084] When the first axle load and the second axle load deviate from or are greater than a predetermined level, the electronic limited slip differentials 40 and 50 including the larger axle load can adopt the maximum torque allowed in the technical parameters. In addition, the electronic limited slip differentials 40 and 50 including the smaller axle load can adopt a limiting torque smaller than the maximum torque.

[0085] The operation of the vehicle according to an exemplary embodiment will be described in detail with reference to the accompanying drawings.

[0086] Figure 4 is a schematic diagram showing the behavior of a vehicle in a case where the method of controlling a vehicle according to an exemplary embodiment of the present invention is not applied. In addition, Figure 5 is a schematic diagram showing experimental data when the method of controlling a vehicle according to an exemplary embodiment of the present invention is not applied.

[0087] Reference Figure 4 and Figure 5 , shows a situation where the vehicle is traveling on an uphill road and a situation where the left and right friction coefficients of the road are different. For example, there may be a case where the friction coefficient of the road (low friction road) in contact with the left wheel is relatively small and the friction coefficient of the road (high friction road) in contact with the right wheel is relatively large. That is, the road in contact with the left wheel is a low friction road, and the road in contact with the right wheel is a high friction road.

[0088] In a situation where the vehicle is traveling on an uphill road, the axle load of the first drive shaft 10 (front wheel drive shaft) is smaller than the axle load of the second drive shaft 20 (rear wheel drive shaft). In addition, the limiting driving force of the left wheel in contact with the low friction road is relatively smaller than the limiting driving force of the right wheel in contact with the high friction road. Here, the limiting driving force may refer to the maximum driving force of the wheel without slipping.

[0089] When the vehicle starts, the first electronic limited slip differential 40 and the second electronic limited slip differential 50 synchronize the left and right front wheels and the left and right rear wheels without considering the axle loads of the first drive shaft 10 and the second drive shaft 20. In this case, excessive torque can be transmitted to the front wheels with a relatively small axle load, and the left and right front wheels can be synchronized by the first limited slip differential 40. When the left and right front wheels are synchronized, a limiting driving force or greater excessive torque is transmitted to the right wheel in contact with the high friction road ahead, and the right wheel in contact with the high friction road ahead may slip. Therefore, the force that the vehicle can withstand laterally decreases, torque steer occurs, and an undesired lateral behavior of the vehicle occurs for the driver.

[0090] Figure 6 is a schematic diagram showing the behavior of a vehicle in a case where the method of controlling a vehicle according to an exemplary embodiment of the present invention is applied. In addition, Figure 7It is a schematic diagram showing experimental data in the case of applying the method for controlling a vehicle according to an exemplary embodiment of the present invention. Figure 6 It shows the case of Figure 4 applying the method for controlling a vehicle according to an exemplary embodiment of the present invention in the same case.

[0091] Referring to Figure 6 and Figure 7 , when the vehicle starts, the first electronic limited-slip differential 40 can preset the torque limit value of the front wheels to a limit torque based on the axle load of the vehicle.

[0092] When the vehicle starts, the first electronic limited-slip differential 40 can synchronize the left and right wheels of the front wheels, and the second electronic limited-slip differential 50 can synchronize the left and right wheels of the rear wheels.

[0093] In this case, the controller 70 estimates the road surface friction coefficient in real time to additionally reduce the torque limit value of the first electronic limited-slip differential 40.

[0094] As a result, a torque smaller than the limit driving force can be transmitted to the first drive shaft 10 including a relatively small axle load, so that the vehicle can travel on an uphill road in a state where the right front wheel in contact with the high-friction road does not slip.

[0095] According to an exemplary embodiment of the present invention, by controlling the torque limit values of the first limited-slip differential and the second limited-slip differential based on the loads applied to the front-wheel drive shaft and the rear-wheel drive shaft of the vehicle, the driving performance of the vehicle during traction driving and steering driving can be enhanced.

[0096] In addition, by controlling the wheels of the vehicle not to slip through the first limited-slip differential and the second limited-slip differential, the intervention of the driver in the automatic control is minimized, thereby improving the convenience of the driver.

[0097] In addition, since the wheel spin of both the front wheels and the rear wheels is suppressed during traction driving and the maximum driving force according to the road surface can be adopted, the starting performance and the emergency path escape performance of the vehicle can be improved, and the vehicle can be driven in a direction corresponding to the intention of the driver.

[0098] Figure 8 It is a schematic diagram describing a computing device according to an exemplary embodiment of the present invention.

[0099] Referring to Figure 8 , the method for controlling a vehicle according to various exemplary embodiments of the present invention can be implemented by using the computing device 100.

[0100] The computing device 100 may include at least one of a processor 110, a memory 130, a user interface input device 140, a user interface output device 150, and a storage device 160, which communicate with each other via a bus 120. The computing device 100 may further include a network interface 170 electrically connected to a network 190. The network interface 170 may send signals to or receive signals from another entity via the network 190.

[0101] The processor 110 may be implemented in various types, including a microcontroller unit (MCU), an application processor (AP), a central processing unit (CPU), a graphics processing unit (GPU), and a neural processing unit (NPU), and may be any semiconductor device that executes instructions stored in the memory 130 or the storage device 160. The processor 110 may be configured to implement the functions and methods regarding Figures 1 to 7 .

[0102] The memory 130 and the storage device 160 may include various types of volatile or non-volatile storage media. For example, the memory may include a read-only memory (ROM) 131 and a random access memory (RAM) 132. In an exemplary embodiment of the present invention, the memory 130 may be located inside or outside the processor 110 and is connected to the processor 110 by various well-known means.

[0103] In some exemplary embodiments of the present invention, at least some components or functions of the vehicle and the method for controlling the vehicle according to the exemplary embodiments of the present invention may be implemented as a program or software executed by the computing device 100, or the program or software may be stored in a computer-readable medium.

[0104] In some exemplary embodiments of the present invention, at least some components or functions of the vehicle control method according to the exemplary embodiments of the present invention may be implemented by using the hardware or circuits of the computing device 100, or as separate hardware or circuits that can be electrically connected to the computing device 100.

[0105] The control device may be at least one microprocessor operated by a predetermined program, and the predetermined program may include a series of commands for executing the methods included in the foregoing various exemplary embodiments of the present invention.

[0106] In various exemplary embodiments of the present invention, each of the above operations may be performed by the control device, and the control device may be configured by a plurality of control devices or an integrated single control device.

[0107] In various exemplary embodiments of the present invention, the memory and the processor may be provided as one chip or as separate chips.

[0108] In various exemplary embodiments of the present invention, the scope of the present invention includes software or machine-executable commands (e.g., operating systems, applications, firmware, programs, etc.) for enabling the operation of the methods according to the various embodiments to be executed on a device or computer, and non-volatile computer-readable media storing such software or commands and executable on the device or computer.

[0109] In various exemplary embodiments of the present invention, the control device may be implemented in the form of hardware or software, or may be implemented in a combination of hardware and software.

[0110] Furthermore, terms such as "unit", "module", etc. included in the specification denote units for performing at least one function or operation, and may be implemented by hardware, software, or a combination thereof.

[0111] In an exemplary embodiment of the present invention, a vehicle may be referred to as being based on a concept including various means of transportation. In some cases, a vehicle may be interpreted as being based on a concept that includes not only various land vehicles traveling on roads, such as cars, motorcycles, trucks, and buses, but also various means of transportation, such as airplanes, drones, ships, etc.

[0112] For the convenience of explanation and to precisely define the appended claims, the terms "above", "below", "inside", "outside", "upper", "lower", "upward", "downward", "front", "rear", "back", "inner", "outer", "inward", "outward", "internal", "external", "medial", "lateral", "forward", "backward" are used to describe the features of the exemplary embodiments with reference to the positions of these features shown in the drawings. It will be further understood that the term "connected" or its derivatives refer to both direct connection and indirect connection.

[0113] The term "and / or" may include combinations of multiple related listed items or any one of more than one related listed item. For example, "A and / or B" includes all three cases, such as "A", "B", and "A and B".

[0114] In an exemplary embodiment of the present invention, "at least one of A and B" may refer to "at least one of A or B" or "at least one of the combinations of at least one of A and B". Furthermore, "one or more of A and B" may refer to "one or more of A or B" or "one or more of the combinations of one or more of A and B".

[0115] In this document, unless otherwise specified, the singular includes the plural, unless the context clearly indicates otherwise.

[0116] In an exemplary embodiment of the present invention, it should be understood that terms such as "comprising" or "having" are to be construed as indicating the presence of the features, numbers, steps, operations, elements, components, or combinations thereof described in the specification, and do not preclude the possibility of adding or existing one or more other features, numbers, steps, operations, elements, components, or combinations thereof.

[0117] According to an exemplary embodiment of the present invention, components may be combined with each other to be implemented as one, or some components may be omitted.

[0118] The foregoing description of the specific exemplary embodiments of the present invention has been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the invention to the precise forms disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain specific principles of the invention and its practical application so that others skilled in the art may implement and utilize the various exemplary embodiments of the invention and their various alternative forms and modifications. The scope of the invention is intended to be defined by the appended claims and their equivalents.

Claims

1. A vehicle comprising: a first electronic limited slip differential, which is disposed on the first drive shaft and limits differential motion of the left and right wheels of the first drive shaft; a second electronic limited slip differential, which is disposed on the second drive shaft and limits the differential action of the left and right wheels of the second drive shaft; as well as A controller is operably connected to the first and second electronic limited slip differentials and is configured to control a torque limit value of the first and second electronic limited slip differentials based on a difference between an axle load of the first drive shaft and an axle load of the second drive shaft.

2. The vehicle according to claim 1, wherein: In response to a difference between the axle load of the first drive shaft and the axle load of the second drive shaft being less than a predetermined value, The controller is configured as follows: The torque limit value of the first electronic limited slip differential is set to the maximum torque, The torque limit value of the second electronic limited slip differential is set to the maximum torque.

3. The vehicle according to claim 1, wherein: In response to a difference between the axle load of the first drive shaft and the axle load of the second drive shaft being greater than or equal to a predetermined value, The controller is configured as follows: The torque limit value of the electronic limited slip differential of the first electronic limited slip differential and the second electronic limited slip differential, which is disposed between the first drive shaft and the second drive shaft and has a larger axle load, is set to the maximum torque. The torque limit value of the electronic limited slip differential of the first electronic limited slip differential and the second electronic limited slip differential, which is disposed between the first drive shaft and the second drive shaft and has a smaller axle load, is set to a limit torque that is smaller than the maximum torque.

4. The vehicle according to claim 3, wherein: The limit torque is determined by the maximum torque of the electronic limited slip differential, an axle load ratio gain determined according to the axle load of the first drive shaft and the axle load of the second drive shaft, and a friction coefficient gain determined according to the road surface friction coefficient of the road.

5. The vehicle according to claim 4, wherein: The limiting torque is given by the equation T lim =Cf×Cm×T max To confirm, T lim represents the limiting torque, Cf represents the axle load ratio gain, Cm represents the friction coefficient gain, T max Indicates the maximum torque of the electronic limited slip differential.

6. The vehicle according to claim 4, wherein: The axle load ratio gain decreases as the ratio of the axle load of the first drive shaft to the axle load of the second drive shaft decreases.

7. The vehicle according to claim 4, wherein: The friction coefficient gain decreases as the road surface friction coefficient of the road decreases.

8. A method of controlling a vehicle, the method comprising: The controller compares the axle load of the first drive shaft with the axle load of the second drive shaft; Based on the difference between the axle load of the first drive shaft and the axle load of the second drive shaft, the controller controls the torque limit value of the first electronic limited slip differential set on the first drive shaft and operably connected to the controller, and the torque limit value of the second electronic limited slip differential set on the second drive shaft and operably connected to the controller.

9. The method according to claim 8, wherein: In response to a difference between the axle load of the first drive shaft and the axle load of the second drive shaft being less than a predetermined value, The controller sets the torque limit value of the first electronic limited slip differential to the maximum torque. The torque limit value of the second electronic limited slip differential is set to the maximum torque by the controller.

10. The method according to claim 8, wherein: In response to a difference between the axle load of the first drive shaft and the axle load of the second drive shaft being greater than or equal to a predetermined value, The controller sets the torque limit value of the electronic limited slip differential of the first electronic limited slip differential and the second electronic limited slip differential, which is disposed between the first drive shaft and the second drive shaft and has a larger axle load, to the maximum torque. The controller sets a torque limit value of the electronic limited slip differential of the first electronic limited slip differential and the second electronic limited slip differential, which is disposed between the first drive shaft and the second drive shaft and has a smaller axle load, to a limit torque smaller than the maximum torque.

11. The method according to claim 10, wherein: The limit torque is determined by the maximum torque of the electronic limited slip differential, an axle load ratio gain determined according to the axle load of the first drive shaft and the axle load of the second drive shaft, and a friction coefficient gain determined according to the road surface friction coefficient of the road.

12. The method according to claim 11, wherein: The limiting torque is given by the equation T lim =Cf×Cm×T max To confirm, Among them, T lim represents the limiting torque, Cf represents the axle load ratio gain, Cm represents the friction coefficient gain, T max Indicates the maximum torque of the electronic limited slip differential.

13. The method according to claim 12, wherein: The axle load ratio gain decreases as the ratio of the axle load of the first drive shaft to the axle load of the second drive shaft decreases.

14. The method according to claim 12, wherein: The friction coefficient gain decreases as the road surface friction coefficient of the road decreases.

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