The invention provides an in-situ steering control method and device of a distributed driving vehicle, the vehicle and a medium, and relates to the technical field of vehicles. In the method, after it is detected that an in-situ steering function is started, whether a preset in-situ steering activation condition is met or not is judged according to the state of the vehicle, and if the vehicle meets the in-situ steering activation condition, the vehicle is started; if yes, the pivot steering direction of the vehicle is determined according to the steering angle of a steering wheel, the target rotating speed difference of each wheel is calculated according to the opening degree of an accelerator pedal and the actual wheel speed of each wheel, and according to the pivot steering direction, the target rotating speed difference of each wheel, the adhesion coefficient of each wheel and the preset system capacity limitation, the vehicle speed is determined. And controlling the vehicle to steer in situ. Wherein the system capability limitation comprises torque limitation, rotating speed limitation and available power limitation. According to the technical scheme, the stability of a vehicle body in the in-situ steering process is guaranteed, and the turning radius is reduced.

    本申请提供一种分布式驱动车辆的原地转向控制方法、装置、车辆及介质,涉及车辆技术领域,在该方法中,在检测到原地转向功能开启后,根据车辆自身状态判断是否满足预设的原地转向激活条件,若车辆的满足原地转向激活条件,则根据方向盘的转角确定车辆的原地转向方向,根据油门踏板开度以及每个车轮的实际轮速,分别计算出每个车轮的目标转速差,根据原地转向方向,每个车轮的目标转速差,每个车轮的附着系数以及预设系统能力限制,控制车辆进行原地转向。其中,系统能力限制包括扭矩限制,转速限制以及可用功率限制。该技术方案保证了原地转向过程中车身的平稳度,减小了转弯半径。


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    Titel :

    Pivot steering control method and device for distributed driving vehicle, vehicle and medium


    Weitere Titelangaben:

    分布式驱动车辆的原地转向控制方法、装置、车辆及介质


    Beteiligte:
    LIU YITAO (Autor:in) / SUN YUHANG (Autor:in) / LI SHUNBO (Autor:in) / HU CHENGSHUAI (Autor:in) / WANG ZHENLONG (Autor:in) / MENG XIANGKE (Autor:in)

    Erscheinungsdatum :

    14.06.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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