The invention provides a vehicle control method, a vehicle and a computer readable storage medium, and relates to the technical field of vehicles, the method is applied to the vehicle with four-wheel steering and front and rear axle independent driving, when a pivot steering mode of the vehicle is activated, front and rear wheels are controlled to steer to respective corresponding target angles in the same direction, and the vehicle is controlled to steer to the target angles. Controlling front and rear drive motors to output torques with the same magnitude and opposite directions to obtain transverse and longitudinal accelerations of the vehicle, determining the magnitude relationship between the transverse and longitudinal accelerations and a preset acceleration threshold value, and adjusting the torques output by the front and rear drive motors, the rotation angles of front and rear wheels and the yaw velocity of the vehicle according to the magnitude relationship. The longitudinal force borne by the front shaft and the rear shaft in the longitudinal direction is the same in magnitude and opposite in direction, and the transverse force borne by the front shaft and the rear shaft in the transverse direction forms a pair of force couples. In-situ steering of the vehicle can be achieved, and the problem that turning around is difficult on a narrow road is solved.

    本申请提供了一种车辆的控制方法、车辆和计算机可读存储介质,涉及车辆技术领域,该方法法应用于配备四轮转向和前后桥独立驱动的车辆,在车辆的原地转向模式激活时,控制前后车轮向同一方向转向至各自对应的目标角度,控制前后驱电机输出大小相同且方向相反的扭矩获取车辆的横纵向加速度,确定横纵向加速度与预设加速度阈值的大小关系,根据大小关系调整前后驱电机输出的扭矩、前后车轮的转角和车辆横摆角速度,以使前后轴在纵向方向上受到的纵向力的大小相同且方向相反、前后轴在横向方向上受到的横向力形成一对力偶。本申请能够实现车辆的原地转向,解决窄路调头困难的问题。


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    Title :

    Vehicle control method, vehicle and computer readable storage medium


    Additional title:

    车辆的控制方法、车辆和计算机可读存储介质


    Contributors:
    MA SHAOCHONG (author) / JIA GUANYONG (author) / JIA JUBIN (author) / GUO JIAWEI (author)

    Publication date :

    2025-05-30


    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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