The invention provides a pivot steering control method of a vehicle and the vehicle, the method is applied to the technical field of vehicles, the method is applied to the vehicle provided with three motors, and the method comprises the following steps: responding to a pivot steering request; according to the preset driving torque step length of the vehicle, the initial front wheel driving torque, the initial rear wheel driving torque and the maximum wheel driving torque, the in-situ steering constraint relation matched with the road surface where the vehicle is located currently is determined, and the in-situ steering constraint relation is used for constraining driving torques applied to front wheels and rear wheels of the vehicle; the initial front wheel driving torque and the initial rear wheel driving torque are opposite in direction and the same in size, and the in-situ steering request carries the steering direction of in-situ steering; acquiring the actual wheel rotating speed of the vehicle; according to the actual wheel rotating speed, the pivot steering direction and the pivot steering constraint relation, the vehicle is controlled to conduct pivot steering, and the method can improve the stability of pivot steering of the vehicle.
本申请提供了一种车辆的原地转向控制方法和车辆,该方法应用于车辆技术领域,该方法应用于配置三电机的车辆,该方法包括:响应于原地转向请求,根据车辆的预设驱动扭矩步长、初始前车轮驱动扭矩、初始后车轮驱动扭矩以及最大车轮驱动扭矩,确定与车辆当前所处路面匹配的原地转向约束关系,原地转向约束关系用于约束施加在车辆的前车轮和后车轮上的驱动扭矩,初始前车轮驱动扭矩与初始后车轮驱动扭矩的方向相反且大小相同,原地转向请求中携带原地转向的转向方向;获取车辆的实际车轮转速;根据实际车轮转速、原地转向的转向方向和原地转向约束关系,控制车辆进行原地转向,该方法能够提高车辆原地转向的稳定性。
Pivot steering control method of vehicle and vehicle
一种车辆的原地转向控制方法和车辆
2025-04-15
Patent
Electronic Resource
Chinese
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