The invention discloses a vehicle traveling track adjusting method and device based on distributed motor driving. The method comprises the steps that when it is detected that a vehicle steers, the ideal steering radius and the actual steering radius are calculated when the vehicle steers; the deviation rate of vehicle steering is determined according to the ideal steering radius and the actual steering radius; and if the deviation rate of vehicle steering is larger than the deviation rate threshold value, the output torque of distributed driving motors on the two sides of vehicle driving wheels is adjusted, so that the motor output torque of the inner side wheels is larger than the motor output torque of the outer side wheels during vehicle steering. According to the method, the rotating speed signal of the driving motor is fully utilized, the running track is calculated in real time, meanwhile, the steering wheel rotating angle signal is utilized, the ideal vehicle steering motion track is analyzed based on the Ackermann model, the deviation of the vehicle running track is corrected according to the deviation rate of the actual running track and the ideal track, the motor response speed is high, and the accuracy is high. And the stability of the distributed motor-driven vehicle during steering running is improved.

    本发明公开了一种基于分布式电机驱动的车辆行驶轨迹调节方法和装置。其中,方法包括:当检测到车辆发生转向时,计算车辆转向时的理想转向半径和实际转向半径;根据理想转向半径和实际转向半径确定车辆转向的偏移率;若车辆转向的偏移率大于偏移率阈值,则调节车辆驱动轮两侧分布式驱动电机的输出扭矩,使车辆转向时内侧轮的电机输出扭矩大于外侧轮的电机输出扭矩。本发明充分利用了驱动电机的转速信号,实时计算运行轨迹,同时利用方向盘转角信号,基于Ackermann模型对车辆转向理想运动轨迹进行分析,根据实际运行轨迹和理想轨迹的偏移率对车辆运行轨迹偏移进行修正,电机响应速度快,提高了分布式电机驱动车辆转向行驶时的稳定性。


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    Title :

    Vehicle driving track adjusting method and device based on distributed motor driving


    Additional title:

    基于分布式电机驱动的车辆行驶轨迹调节方法和装置


    Contributors:
    QUE HAIXIA (author) / CHENG FANGBIN (author) / LI CHUN (author) / XIONG JINFENG (author)

    Publication date :

    2022-05-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62D MOTOR VEHICLES , Motorfahrzeuge



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