The invention provides a torque feedforward control method, a vehicle and a storage medium. The method comprises the steps that the yaw control quantity of the vehicle is calculated; calculating a steady-state yaw control torque and a dynamic yaw control torque of the vehicle according to the yaw control quantity; obtaining a target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque; according to the method, the target yaw control torque is obtained according to the steady-state yaw control torque and the dynamic yaw control torque of the vehicle, so that the vehicle is controlled to carry out torque distribution on the left wheel and the right wheel of the vehicle according to the target yaw control torque; reasonable torque distribution is conducted on the left wheel and the right wheel of the vehicle, so that it is guaranteed that the vehicle moves in an expected state in a yawing mode, the stability and safety of the vehicle running state are improved, and the maneuverability of a driver to the vehicle is guaranteed.

    本发明提出一种扭矩的前馈控制方法、车辆和存储介质,方法包括:计算车辆的横摆控制量;根据横摆控制量计算车辆的稳态横摆控制转矩和动态横摆控制转矩;根据稳态横摆控制转矩和动态横摆控制转矩得到目标横摆控制转矩;根据目标横摆控制转矩对车辆的左右轮进行扭矩分配,本发明根据车辆的稳态横摆控制转矩和动态横摆控制转矩得到目标横摆控制转矩,以便控制车辆根据目标横摆控制转矩分别对车辆的左轮和右轮进行扭矩分配,实现对车辆的左右轮进行合理的扭矩分配,从而保证车辆自身横摆在预期的状态下运动,进而提高车辆行驶状态的稳定性和安全性,以及保证驾驶员对车辆的操纵性。


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    Title :

    Feedforward control method for torque, vehicle and storage medium


    Additional title:

    扭矩的前馈控制方法、车辆和存储介质


    Contributors:
    SUN HUIYUN (author) / ZHAO YONGPO (author) / JING LIXIN (author) / GUO JIAWEI (author) / MA SHAOCHONG (author)

    Publication date :

    2024-12-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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