The invention provides a steering control method, device and equipment for a distributed driving vehicle and a medium. In the scheme, after detecting that a pivot steering function is started, a vehicle control unit judges whether a preset pivot steering activation condition is met or not, after the pivot steering activation condition is met, a road adhesion coefficient is firstly calculated, the pivot steering direction of a vehicle is determined, then a control time table is inquired according to the opening degree of an accelerator pedal and the road adhesion coefficient, and the pivot steering function of the vehicle is controlled. And the control response time of the rear inner side driving motor is obtained. And finally, the vehicle is controlled to conduct pivot steering according to the pivot steering direction, the target yaw torque and the control response time of the rear inner side driving motor, in this way, stable control over pivot steering of the distributed driving vehicle is achieved, and thus pivot steering of the vehicle is achieved in the stable state.

    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,整车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,在满足原地转向激活条件之后,首先计算路面附着系数,根确定车辆的原地转向方向,然后根据油门踏板开度,路面附着系数查询控制时间表,得到后内侧驱动电机的控制响应时间。最后根据原地转向方向,目标横摆扭矩以及后内侧驱动电机的控制响应时间控制车辆进行原地转向,通过这种方式实现分布式驱动车辆的原地转向的稳定控制,使得车辆在稳定的状态下实现原地转向。


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    Title :

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


    Additional title:

    分布式驱动车辆的转向控制方法、装置、设备及介质


    Contributors:
    LIU YITAO (author) / LI PENGFEI (author) / HU CHENGSHUAI (author) / LI XIAOMENG (author) / ZHAO YU (author) / DENG YUFAN (author)

    Publication date :

    2023-05-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62D MOTOR VEHICLES , Motorfahrzeuge



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