The invention relates to the technical field of vehicle control, in particular to a vehicle control method and device based on distributed driving steering, a vehicle and a medium. The method comprises the following steps: firstly, acquiring target motion data of a vehicle in moving sub-directions based on driver input, namely, one moving sub-direction corresponds to one target motion data, and then calculating initial wheel end torque which needs to be applied to each wheel by the vehicle to realize each target motion data; and then calculating the target motion data of the whole vehicle which can be realized by the vehicle under the action of the initial wheel end torque of each wheel, and finally calculating the final torque of each vehicle based on the target motion data of the whole vehicle and the actual motion data of the whole vehicle. The final torque is used for the vehicle to realize the target motion data in each sub-direction. The final torque comprehensively considers the motion data in each moving direction, so that the final torque of each wheel is coupled with the motion data in each direction to realize multidirectional coupling motion of the vehicle.
本申请涉及车辆控制技术领域,具体是涉及基于分布式驱动转向的车辆控制方法、装置、车辆及介质。本申请首先基于驾驶员输入获取车辆在移动子方向上的目标运动数据,也就是一个移动子方向对应一个目标运动数据,然后计算车辆为实现上述各个目标运动数据,需要给每个车轮施加的初始轮端扭矩,之后再计算在上述每个车轮的各个初始轮端扭矩的作用下,车辆能够实现的整车目标运动数据,最后再基于整车目标运动数据和整车的实际运动数据,计算各个车辆的最终扭矩,该最终扭矩用于车辆实现上述各个子方向上的目标运动数据。本申请的最终扭矩综合考虑了各个移动方向上的运动数据,从而使得每个车轮的最终扭矩耦合了各个方向的运动数据,以实现车辆的多向耦合运动。
Vehicle control method and device based on distributed driving steering, vehicle and medium
基于分布式驱动转向的车辆控制方法、装置、车辆及介质
23.08.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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