The invention discloses a motor torque distribution method and device. The method comprises the steps that under the condition that it is detected that a target vehicle reaches a yaw control activation condition, the current yaw velocity corresponding to the target vehicle is obtained; determining a first yaw velocity based on the linear two-degree-of-freedom vehicle model, and determining a second yaw velocity based on the current lateral acceleration, the current vehicle speed, the current steering wheel angle change rate and the current yaw velocity corresponding to the target vehicle; the target yaw velocity is determined based on the first yaw velocity and the second yaw velocity, and the target motor torque corresponding to the target vehicle is distributed based on the target yaw velocity and the current yaw velocity, so that more accurate torques corresponding to the front and rear wheels can be determined, and the torques are distributed to the corresponding wheels. Therefore, the lateral stability can be better maintained when the vehicle steers, especially oversteers, and the driving experience of a user is improved.

    本发明公开了一种电机扭矩分配方法和装置。该方法包括:在检测到目标车辆达到横摆控制激活条件的情况下,获取目标车辆对应的当前横摆角速度;基于线性二自由度车辆模型确定第一横摆角速度,基于目标车辆对应的当前侧向加速度、当前车速、当前方向盘转角变化率和当前横摆角速度确定第二横摆角速度;基于第一横摆角速度和第二横摆角速度,确定目标横摆角速度,基于目标横摆角速度和当前横摆角速度,对目标车辆对应的目标电机扭矩进行分配,从而可以确定出前后轮各自对应的更准确的扭矩,并将扭矩分配至其对应的车轮,从而可以使车辆在转向,尤其是过度转向时,能更好地保持侧向稳定性,提高用户驾驶体验。


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    Titel :

    Motor torque distribution method and device


    Weitere Titelangaben:

    一种电机扭矩分配方法和装置


    Beteiligte:
    ZHENG TONG (Autor:in) / YANG YUNBO (Autor:in) / ZHONG YUNFENG (Autor:in) / ZHAO PENGYAO (Autor:in) / HONG SHICAI (Autor:in) / CHEN GUODONG (Autor:in) / WANG HAO (Autor:in)

    Erscheinungsdatum :

    2023-08-29


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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