The invention provides a steering control method, device and equipment for a distributed driving vehicle and a medium. In the scheme, after a vehicle controller detects that a pivot steering function is started, whether a preset pivot steering activation condition is met or not is judged, after the vehicle meets the pivot steering activation condition, a target yaw velocity is obtained according to the opening degree of an accelerator pedal, and then the pivot steering function is determined based on the actual yaw velocity and a road adhesion coefficient. The target yawing torque of each wheel motor is determined according to the target yawing angular velocity, the vehicle is controlled to steer in situ with the geometric center as the circle center based on the target yawing torque of each wheel motor, the steering radius of the steering mode is greatly reduced to 0 compared with the prior art, a chassis controller does not need to be combined, only torque control is adopted, and the steering efficiency is greatly improved. The method is more efficient and direct, and parasitic loss is reduced.

    本申请提供一种分布式驱动车辆的转向控制方法、装置、设备及介质。在该方案中,车辆控制器检测原地转向功能开启后,判断是否满足预设的原地转向激活条件,在车辆满足原地转向激活条件之后,根据油门踏板开度获取目标横摆角速度,然后基于实际横摆角速度,路面附着系数,目标横摆角速度确定出每个车轮电机的目标横摆扭矩,基于每个车轮电机的目标横摆扭矩控制车辆以几何中心为圆心原地进行转向,这种转向方式转向半径相较于现有技术极大缩小,缩小到0,并且不需要结合底盘控制器,只采用扭矩控制,更加高效直接,减少了寄生损耗。


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    Titel :

    Steering control method, device and equipment for distributed driving vehicle and medium


    Weitere Titelangaben:

    分布式驱动车辆的转向控制方法、装置、设备及介质


    Beteiligte:
    ZHAO YU (Autor:in) / LI XIAOMENG (Autor:in) / LIU YITAO (Autor:in) / LI PENGFEI (Autor:in) / DENG YUFAN (Autor:in) / HU CHENGSHUAI (Autor:in) / ZHANG DEWANG (Autor:in)

    Erscheinungsdatum :

    07.04.2023


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62D MOTOR VEHICLES , Motorfahrzeuge



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