The invention discloses a driving method and device of an engineering vehicle and the engineering vehicle. The engineering vehicle comprises a plurality of wheel edge driving motors, and the wheel edge driving motors are arranged on a left front wheel, a right front wheel, a left rear wheel and a right rear wheel of the engineering vehicle correspondingly and used for driving the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the engineering vehicle to rotate correspondingly; the driving method comprises the steps of obtaining a target vehicle speed and a driving working condition in real time, calculating a target steering angle and a rotating center point during vehicle steering, calculating steering radiuses of four wheels based on the rotating center point and the target steering angle, and finally calculating rotating speeds of the four wheels based on the steering radiuses and the target vehicle speed so as to ensure synchronous steering of the four wheels. Serious abrasion of a single wheel or part of wheels is avoided, and therefore the service life of all wheels of the engineering vehicle is prolonged.

    本申请公开了一种工程车辆的驱动方法、装置及工程车辆,该工程车辆包括多个轮边驱动电机,多个轮边驱动电机分别设置于工程车辆的左前轮、右前轮、左后轮和右后轮处,用于分别驱动工程车辆的左前轮、右前轮、左后轮和右后轮转动;该驱动方法包括:实时获取目标车速和行驶工况,在车辆转向时计算目标转向角度和旋转中心点,并且基于旋转中心点和目标转向角度计算四轮的转向半径,最后基于转向半径和目标车速计算四轮的转速,以保证四轮同步转向,避免单个车轮或部分车轮磨损严重,从而提高工程车辆所有车轮的使用寿命。


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    Title :

    Driving method and device of engineering vehicle and engineering vehicle


    Additional title:

    工程车辆的驱动方法、装置及工程车辆


    Contributors:
    TANG JIAN (author) / LI SHUAI (author) / SUI WEILONG (author)

    Publication date :

    2023-05-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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