The invention discloses a vehicle, a control method and device of the vehicle and a computer readable storage medium. The method comprises the steps that the actually-estimated side slip angle and the actual yaw velocity of the vehicle are obtained; when the actually estimated side slip angle or the actual yaw velocity meets a preset condition, the steering characteristic of the vehicle is determined; determining a braking wheel according to the steering characteristic; and correcting the driving torque for braking the wheels according to the driving torque of each wheel and the braking torque of the hydraulic ESP of the vehicle so as to determine the actual driving torque of each wheel. According to the control method, the motor and the ESP can cooperatively control the stability of the vehicle body, and the control precision of the stability of the vehicle body is improved.

    本发明公开了一种车辆及其控制方法和控制装置、计算机可读存储介质,所述方法包括:获取车辆的实际估测的质心侧偏角和实际横摆角速度;在实际估测的质心侧偏角或实际橫摆角速度满足预设条件时,确定车辆的转向特性;根据转向特性确定制动车轮;根据各轮驱动力矩和车辆液压ESP制动力矩对制动车轮的驱动力矩进行修正,以确定各轮实际驱动力矩。本发明的控制方法,能够将电机和ESP协同控制车身稳定性,提升了车身稳定性的控制精度。


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    Titel :

    Vehicle, control method and control device thereof and computer readable storage medium


    Weitere Titelangaben:

    车辆及其控制方法和控制装置、计算机可读存储介质


    Beteiligte:
    DONG YUEHANG (Autor:in) / SUN XIAOWEN (Autor:in) / GUO MENGMENG (Autor:in) / CHEN BOYAN (Autor:in)

    Erscheinungsdatum :

    2023-05-23


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

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




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