The invention discloses a front and rear axle torque distribution method, device and equipment and a medium. The method comprises the steps that the vehicle speed and lateral acceleration of a vehicle are obtained; when the vehicle speed and the lateral acceleration meet the preset dynamic torque distribution condition, the steering state of the vehicle is determined according to the lateral acceleration; calculating a reference yaw velocity of the vehicle by using a lateral acceleration of the vehicle, a rear wheel speed and a preset constant coefficient based on the steering state; and the actual yaw velocity of the vehicle is obtained, a first target torque distribution ratio is obtained from a preset dynamic torque distribution table according to the actual yaw velocity and the reference yaw velocity, and front and rear axle torque distribution is conducted on the vehicle according to the first target torque distribution ratio. Dynamic torque distribution of the front axle and the rear axle can be achieved only through the vehicle speed, the lateral acceleration, the rear wheel speed and the actual yaw velocity of the vehicle, the torque distribution effect is not affected by vehicle modification, and high robustness is achieved.
本发明公开一种前后轴扭矩分配方法、装置、设备及介质,方法包括:获取车辆的车速和侧向加速度;当车速和侧向加速度符合预设的动态扭矩分配条件时,根据侧向加速度确定车辆的转向状态;基于转向状态,利用车辆的侧向加速度、后轮轮速和预设常系数计算车辆的参考横摆角速度;获取车辆的实际横摆角速度,根据实际横摆角速度和参考横摆角速度从预设的动态扭矩分配表中获取第一目标扭矩分配比,并根据第一目标扭矩分配比对车辆进行前后轴扭矩分配。本发明仅利用车辆的车速、侧向加速度、后轮轮速和实际横摆角速度便能够实现前后轴的动态扭矩分配,扭矩分配的效果不受车辆改装的影响,具有较高的鲁棒性。
Torque distribution method, device and equipment for front and rear shafts and medium
一种前后轴扭矩分配方法、装置、设备及介质
2024-01-05
Patent
Elektronische Ressource
Chinesisch
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 |
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