The invention discloses a distributed vehicle pivot steering control method, device and equipment and a vehicle. The method comprises the steps that the maximum yaw velocity based on motor output performance and energy system power output capacity is obtained; according to the incidence relation between the longitudinal force and the lateral force of the vehicle and the road adhesion limit value, the yaw angle acceleration limit value of the maximum yaw angle speed is determined; on the basis of a preset MPC control algorithm, according to the limiting relation of the yaw angular acceleration to the maximum yaw angular velocity, an expected yaw angular velocity is determined; according to a preset sliding mode control algorithm, determining a yaw moment value required for realizing the expected yaw velocity; and based on the maximum output torque of the motor, a preset quadratic programming constraint solution algorithm is adopted, vehicle four-wheel distribution is carried out on the yawing torque value, and the expected driving force of each wheel of the vehicle is determined. The yaw speed of the vehicle is accurately controlled through the rotating speed of the motor, and therefore the purpose of in-situ steering of the vehicle is achieved.

    本发明公开了一种分布式车辆原地转向控制方法、装置、设备及车辆,方法包括:获取基于电机输出性能和能源系统功率输出能力的最大横摆角速度;根据车辆纵向力和侧向力与路面附着极限值之间的关联关系,确定所述最大横摆角速度的横摆角加速度极限值;基于预设的MPC控制算法,根据所述横摆角加速度对所述最大横摆角速度的限制关系,确定期望横摆角速度;根据预设的滑模控制算法,确定实现所述期望横摆角速度所需的横摆力矩值;基于电机最大输出力矩,采用预设的二次规划约束求解算法,对所述横摆力矩值进行车辆四轮分配,确定车辆各个车轮的期望驱动力。本发明实现了通过电机转速来精确控制车辆的横摆速度,从而实现车辆原地转向的目的。


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    Titel :

    Distributed vehicle pivot steering control method, device and equipment and vehicle


    Weitere Titelangaben:

    一种分布式车辆原地转向控制方法、装置、设备及车辆


    Beteiligte:
    XIANG XIAOLONG (Autor:in) / FU CHANG (Autor:in) / ZHAO WENHU (Autor:in) / WANG LONG (Autor:in) / HUANG ZUSHENG (Autor:in)

    Erscheinungsdatum :

    2023-02-24


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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