The invention provides a motor-driven vehicle longitudinal and transverse coupling control method and system, and a storage medium. The method comprises the following steps: acquiring a road adhesioncoefficient and a lateral vehicle speed parameter; generating a driving anti-skid control strategy according to the lateral vehicle speed parameter, and performing preliminary distribution of a vehicle longitudinal driving torque; obtaining a target yawing moment according to the road adhesion coefficient and the lateral vehicle speed parameter; and performing longitudinal and transverse couplingcontrol according to the result of the preliminary distribution of the longitudinal driving torque, the driving anti-skid control strategy and the target yawing torque. According to the method, aimingat the longitudinal and transverse coupling characteristics of the vehicle, longitudinal and transverse nonlinearity of the vehicle can be effectively overcome through centralized coordination control and longitudinal and transverse coordination control laws formed by the longitudinal driving torque and the target yawing torque, and a high coupling characteristic of the vehicle is exerted; and the method is simple in implementation mode, small in calculation amount, high in calculation speed, suitable for being used by a real vehicle, capable of achieving a multi-target coordination optimal effect and capable of being widely applied to the technical field of hub motor driving vehicle control.

    本发明的提供了电机驱动车辆纵横向耦合控制方法、系统和存储介质,方法包括以下步骤:获取路面附着系数和侧向车速参数;根据侧向车速参数生成驱动防滑控制策略,并进行车辆纵向驱动力矩初步分配;根据路面附着系数以及侧向车速参数得到目标横摆力矩;根据纵向驱动力矩初步分配的结果、驱动防滑控制策略以及目标横摆力矩进行纵横向耦合控制;方法针对车辆的纵横向耦合特性,通过纵向驱动力矩,以及目标横摆力矩形成的集中式协调控制,纵横向协调控制律,可有效克服车辆纵横向非线性、发挥其强耦合特性;实现方式简单,计算量少,计算速度快,适合实车使用,能够达到多目标协调最优的效果,可广泛应用于轮毂电机驱动车辆控制技术领域技术领域。


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    Title :

    Motor-driven vehicle longitudinal and transverse coupling control method and system, and storage medium


    Additional title:

    电机驱动车辆纵横向耦合控制方法、系统及存储介质


    Contributors:
    FU XIANG (author) / XU CHAO (author) / HE ZONGQUAN (author) / YUAN YUEXU (author) / LIU DAOYUAN (author) / LI LIANGBO (author) / YE PENGLIN (author) / ZHAO SHUXIANG (author)

    Publication date :

    2020-11-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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