The invention provides a vehicle control method, a storage medium and a control system. The vehicle control method comprises the steps of obtaining current driving data of a vehicle; determining a linear yaw velocity according to the current driving data of the vehicle and the vehicle characteristic data; determining a dynamic yaw velocity according to the vehicle characteristic data and the linear yaw velocity; determining a yaw velocity deviation according to the linear yaw velocity and the target yaw velocity; according to the yaw velocity deviation, feed-forward yaw torque is determined; and controlling a driving motor of the vehicle according to the feedforward yaw torque. According to the vehicle control method, the linear yaw velocity of the vehicle is calculated to obtain the dynamic yaw velocity, the deviation between the dynamic yaw velocity and the target yaw velocity is obtained, feedforward yaw control can be conducted according to the driving intention of a driver, the response speed of the vehicle is increased, the linear area of the vehicle is expanded, the control accuracy is improved, the technology is simple, and the method is easy to implement. And engineering mass production is easy.
本申请提供一种车辆控制方法、存储介质及控制系统。车辆控制方法包括:获取车辆当前行驶数据;根据车辆当前行驶数据和车辆特性数据,确定线性横摆角速度;根据车辆特性数据和线性横摆角速度,确定动态横摆角速度;根据线性横摆角速度和目标横摆角速度,确定横摆角速度偏差;根据横摆角速度偏差,确定前馈横摆扭矩;及根据前馈横摆扭矩,控制车辆的驱动电机。本申请提供的车辆控制方法计算车辆的线性横摆角速度得到动态横摆角速度,得到和目标横摆角速度之间的偏差,可以根据驾驶员驾驶意图进行前馈横摆控制,提升车辆的响应速度,拓展车辆线性区域,提高控制精准程度,且技术简单,易于工程化量产。
Vehicle control method, storage medium and control system
车辆控制方法、存储介质及控制系统
2024-01-09
Patent
Elektronische Ressource
Chinesisch
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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