Vehicle towing driving control method

Patent metadata

Field	Value
Publication number	US-2025010862-A1
Application number	US-202418887861-A
Country	US
Kind code	A1
Filing date	Sep 17, 2024
Priority date	Feb 22, 2023
Publication date	Jan 9, 2025
Grant date	—

Abstract

When a towing vehicle is driven while towing a towed vehicle having driving force, a controller of the towed vehicle determines wheel slip of the towing vehicle based on driving information of the towing vehicle and determines wheel slip of the towed vehicle based on driving information of the towed vehicle, and upon determining that wheel slip of the towing vehicle or the towed vehicle has occurred or upon determining that wheel slip of each of the towing vehicle and the towed vehicle has occurred, control to increase or decrease driving force of the towed vehicle or control to change the driving force distribution ratio between left and right wheels of the towed vehicle is performed, whereby it is possible to improve driving stability and rough road escape performance of the towing vehicle and the towed vehicle.

First claim

What is claimed is:

1 . A vehicle towing driving control method comprising:
performing communication for vehicle information transmission and reception between a first controller of a towing vehicle and a second controller of a towed vehicle; comparing, by the second controller, a slip ratio of a driving wheel of the towing vehicle with a reference slip ratio; determining, by the second controller, whether all driving wheels of the towing vehicle are in a slip state or some of the all driving wheels of the towing vehicle are in the slip state; comparing, by the second controller, a slip ratio of a wheel of the towed vehicle with the reference slip ratio; and performing, by the second controller, control to increase left and right wheel driving forces of the towed vehicle when the slip ratio of the driving wheel of the towing vehicle is greater than the reference slip ratio, all of the driving wheels of the towing vehicle are in a slip state, and the slip ratio of the wheel of the towed vehicle is equal to or less than the reference slip ratio.

2 . The vehicle towing driving control method of claim 1 , wherein the control to increase the left and right wheel driving forces of the towed vehicle is implemented by simultaneously increasing driving forces of a left wheel and a right wheel of the towed vehicle to a predetermined level based on control of motor torque of the towed vehicle by a motor torque control unit of the second controller.

3 . The vehicle towing driving control method of claim 1 , further including:
performing, by the second controller, control to distribute the left and right wheel driving forces of the towed vehicle when the slip ratio of the driving wheel of the towing vehicle is greater than the reference slip ratio, some of the driving wheels of the towing vehicle are in a slip state, and the slip ratio of the wheel of the towed vehicle is equal to or less than the reference slip ratio.

4 . The vehicle towing driving control method of claim 3 , wherein the control to distribute the left and right wheel driving forces of the towed vehicle includes:
determining whether a right driving wheel of the towing vehicle is in a slip state or a left driving wheel of the towing vehicle is in a slip state; upon concluding that the right driving wheel of the towing vehicle is in the slip state, increasing a driving force distribution ratio of a right wheel of the towed vehicle to be greater than a driving force distribution ratio of a left wheel of the towed vehicle based on control of motor torque of the towed vehicle by a motor torque control unit of the second controller; and upon concluding that the right driving wheel of the towing vehicle is in the slip state, increasing the driving force distribution ratio of the left wheel of the towed vehicle to be greater than the driving force distribution ratio of the right wheel of the towed vehicle based on control of the motor torque of the towed vehicle by the motor torque control unit of the second controller.

5 . A vehicle towing driving control method comprising:
performing communication for vehicle information transmission and reception between a first controller of a towing vehicle and a second controller of a towed vehicle; comparing, by the second controller, a slip ratio of a driving wheel of the towing vehicle with a reference slip ratio; comparing, by the second controller, a slip ratio of a wheel of the towed vehicle with the reference slip ratio; determining, by the second controller, whether all wheels of the towed vehicle are in a slip state or some of the all wheels of the towed vehicle are in a slip state; and performing, by the second controller, control to limit left and right wheel driving forces of the towed vehicle when the slip ratio of the driving wheel of the towing vehicle is equal to or less than the reference slip ratio, the slip ratio of the wheel of the towed vehicle is greater than the reference slip ratio, and all wheels or some of the all wheels of the towed vehicle are determined to be in the slip state.

6 . The vehicle towing driving control method of claim 5 , wherein the control to limit the left and right wheel driving forces of the towed vehicle is implemented by controlling, by a motor torque control unit of the second controller, motor torque of the towed vehicle to simultaneously decrease driving forces of a left wheel and a right wheel of the towed vehicle to a predetermined level.

7 . The vehicle towing driving control method of claim 5 , further including:
performing ABS cooperation control to apply braking force to a braking device mounted to a left wheel and a right wheel of the towed vehicle at a predetermined cycle when all wheels of the towed vehicle are determined to be in the slip state, the control to limit the left and right wheel driving forces of the towed vehicle is performed, and the slip ratio of the wheel of the towed vehicle is continuously greater than the reference slip ratio.

8 . The vehicle towing driving control method of claim 5 , further including:
determining, by the second controller, whether a left wheel of the towed vehicle is in a slip state or a right wheel of the towed vehicle is in a slip state after some of the wheels of the towed vehicle are determined to be in a slip state and the control to limit the left and right wheel driving forces of the towed vehicle is performed.

9 . The vehicle towing driving control method of claim 8 , further including:
performing control to increase a driving force distribution ratio of the right wheel of the towed vehicle to be greater than a driving force distribution ratio of the left wheel of the towed vehicle based on control of motor torque of the towed vehicle by a motor torque control unit of the second controller and ABS cooperation control to apply braking force to a braking device mounted to the left wheel of the towed vehicle at a predetermined cycle upon concluding that the left wheel of the towed vehicle is in the slip state.

10 . The vehicle towing driving control method of claim 8 , further including:
performing control to increase a driving force distribution ratio of the left wheel of the towed vehicle to be greater than a driving force distribution ratio of the right wheel of the towed vehicle based on control of motor torque of the towed vehicle by a motor torque control unit of the second controller and ABS cooperation control to apply braking force to a braking device mounted to the right wheel of the towed vehicle at a predetermined cycle upon concluding that the right wheel of the towed vehicle is in the slip state.

11 . A vehicle towing driving control method comprising:
performing communication for vehicle information transmission and reception between a first controller of a towing vehicle and a second controller of a towed vehicle; comparing, by the second controller, a slip ratio of a driving wheel of the towing vehicle with a reference slip ratio; determining, by the second controller, whether all driving wheels of the towing vehicle are in a slip state or some of the all driving wheels of the towing vehicle are in the slip state; comparing, by the second controller, a slip ratio of a wheel of the towed vehicle with the reference slip ratio; determining, by the second controller, whether all wheels of the towed vehicle are in a slip state or some of the all wheels of the towed vehicle are in a slip state; and performing, by the second controller, control to limit left and right wheel driving forces of the towed vehicle first and then performing, by the second controller, control to increase the left wheel driving force or the right wheel driving force of the towed v

Assignees

• Hyundai Motor Co Ltd
• Kia Corp

Inventors

• Choi Woul Sun
• Suh Buhm Joo
• Choi Yeong Ii
• Lee Seung Wook
• Kim Seok Joon
• Kim Tal Chol
• Kwon Hyuk Joon

Classifications

• B60W10/04

  including control of propulsion units · CPC title

• B60W2520/266

  Slip values between left and right wheel · CPC title

• B60W2510/18

  Braking system · CPC title

• B60Y2300/28

  related to towing or towed situations · CPC title

• B60W2710/083

  Torque · CPC title