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 comprises the steps that when the in-situ steering condition of the vehicle is met, the actual rotating speed and the target rotating speed of each wheel are obtained; determining feed-forward torque for driving the wheels to rotate according to the target rotating speed; pID control is conducted on the difference value between the target rotating speed and the actual rotating speed, and feedback torque for driving wheels to rotate is obtained; determining a target torque according to the feed-forward torque, or determining the target torque according to the feed-forward torque and the feedback torque; the driving motors corresponding to the wheels are controlled to output target torque so that the actual rotating speed can reach the target rotating speed, the torque directions of the output torque of the driving motors corresponding to the wheels located on the same side in the vehicle are the same, and the torque directions of the output torque of the driving motors corresponding to the wheels on the opposite sides are opposite; according to the invention, the vehicle can be rapidly and stably controlled to steer in situ.

    本申请提供了一种车辆控制方法、车辆和计算机可读存储介质,涉及车辆技术领域,该方法包括:在满足车辆的原地转向条件时,对于每个车轮,获取车轮的实际转动速度和目标转动速度;根据目标转动速度确定驱动车轮转动的前馈扭矩;对目标转动速度与实际转动速度的差值进行PID控制得到驱动车轮转动的反馈扭矩;根据前馈扭矩确定目标扭矩,或者根据前馈扭矩和反馈扭矩确定目标扭矩;控制车轮对应的驱动电机输出目标扭矩,以使实际转动速度达到目标转动速度,车辆中位于同侧的车轮对应的驱动电机的输出扭矩的扭矩方向相同,互为相对侧的车轮对应的驱动电机的输出扭矩的扭矩方向相反,本申请能够快速且稳定的控制车辆进行原地转向。


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    Titel :

    Vehicle control method, vehicle and computer readable storage medium


    Weitere Titelangaben:

    车辆控制方法、车辆和计算机可读存储介质


    Beteiligte:
    QUAN XIAOYU (Autor:in) / HAN DONGXUE (Autor:in) / JING LIXIN (Autor:in) / LIU SHUXIAO (Autor:in) / MA SHAOCHONG (Autor:in) / GUO JIAWEI (Autor:in) / SUN HUIYUN (Autor:in)

    Erscheinungsdatum :

    2024-04-30


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

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



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