The invention provides a steering method and device of a distributed driving vehicle, the vehicle and a storage medium, and relates to the technical field of vehicles, the method comprises the steps that after it is detected that the in-situ steering function of the vehicle is activated, the road adhesion coefficient is calculated according to the ground adhesion force and the ground normal counter-acting force, and the road adhesion coefficient is calculated according to the steering angle of a steering wheel of the vehicle; the method comprises the steps of determining the pivot steering direction of a vehicle, determining the control response duration of a rear inner side driving motor of the vehicle according to the opening degree of an accelerator pedal of the vehicle and a road adhesion coefficient, and controlling the vehicle to conduct pivot steering according to the pivot steering direction according to the control response duration. And according to the actual yaw velocity and the motor state of the vehicle, whether the inner side driving motor is controlled to quit the 0-rotating-speed control or not is judged, and if the inner side driving motor is controlled to quit the 0-rotating-speed control, the left and right side motor differential torque of the vehicle is controlled according to the target yaw torque. According to the technical scheme, in-situ steering can be carried out under the condition that stability and safety of the vehicle are guaranteed.
本申请提供一种分布式驱动车辆的转向方法、装置、车辆及存储介质,涉及车辆技术领域,该方法包括:在检测到车辆的原地转向功能激活后,根据地面附着力和地面法向反作用力,计算路面附着系数,根据车辆的方向盘转角,确定车辆的原地转向方向,根据车辆的油门踏板开度和路面附着系数,确定车辆的后内侧驱动电机的控制响应时长,根据控制响应时长,控制车辆按照原地转向方向进行原地转向,在原地转向过程中,根据车辆的实际横摆角速度以及电机状态,判断是否控制内侧驱动电机退出0转速控制,若控制内侧驱动电机退出0转速控制,则根据目标横摆扭矩对车辆的左右侧电机差扭进行控制。该技术方案能够在保证车辆稳定和安全下进行原地转向。
Steering method and device for distributed driving vehicle, vehicle and storage medium
分布式驱动车辆的转向方法、装置、车辆及存储介质
2023-08-29
Patent
Electronic Resource
Chinese
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