The invention relates to an energy-consumption-optimized torque distribution control method and system for a distributed electrically-driven unmanned vehicle, belongs to the technical field of automatic driving, and solves the problems that in an existing distributed driving system, path tracking precision and energy consumption efficiency are difficult to consider at the same time, multi-motor cooperative control is complex, and the tire adhesion utilization rate is unbalanced. The method includes: acquiring a current driving state of an unmanned vehicle; obtaining a required traction torque and an equivalent required steering angle of the unmanned vehicle based on the current driving state and the expected driving state of the unmanned vehicle; on the basis of the equivalent demand steering angle and the transverse stability constraint, the needed direct yawing moment is obtained; taking the required traction torque and the required vehicle speed as indexes, and selecting a current optimal driving mode from a pre-constructed optimal driving mode partition table; and in the optimal driving mode, based on the required direct yawing moment, obtaining an output torque distribution result of each driving motor and distributing the output torque distribution result to the corresponding driving wheel.
本发明涉及一种能耗优化的分布式电驱动无人车扭矩分配控制方法和系统,属于自动驾驶技术领域,解决了现有分布式驱动系统中路径跟踪精度与能耗效率难以兼顾、多电机协同控制复杂以及轮胎附着力利用率不均衡的问题。包括:获得无人车当前行驶状态;基于无人车当前行驶状态和期望行驶状态,得到无人车的需求牵引扭矩和等效需求转向角;基于等效需求转向角和横向稳定约束,得到所需的直接横摆力矩;以需求牵引扭矩和需求车速为索引,在预先构建的最优驱动模式分区表中选取当前的最优驱动模式;在最优驱动模式下,基于所需的直接横摆力矩,得到各驱动电机的输出扭矩分配结果并分配至对应的驱动轮。
Distributed electric drive unmanned vehicle torque distribution control method and system with optimized energy consumption
一种能耗优化的分布式电驱动无人车扭矩分配控制方法和系统
2025-04-15
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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