The invention discloses a vehicle, a control method and device of the vehicle and a computer readable storage medium. The method comprises the steps that a control instruction of the vehicle is received and responded; when the control instruction is a braking instruction, if the actually-estimated side slip angle and the actual yaw velocity of the vehicle do not meet preset conditions, a braking force curve is obtained, and the front axle braking torque and the rear axle braking torque are determined according to the total braking force requirement of the vehicle and the braking force curve; and if the actually-estimated side slip angle or the actual yaw velocity of the vehicle meets the preset condition, the braking torque of each wheel after intervention of the stability yaw moment is determined according to the braking torque of the front axle, the braking torque of the rear axle and the braking yaw moment. According to the control method, the computing power can be saved, the control speed is increased, and the stability of the vehicle body is ensured.

    本发明公开了一种车辆及其控制方法和控制装置、计算机可读存储介质,所述方法包括:接收并响应车辆的控制指令;在控制指令为制动指令时,若车辆的实际估测的质心侧偏角和实际橫摆角速度不满足预设条件,则获取制动力曲线,并根据车辆的制动力总需求和制动力曲线确定前轴制动力矩和后轴制动力矩;若车辆的实际估测的质心侧偏角或实际橫摆角速度满足预设条件,则根据前轴制动力矩、后轴制动力矩和制动橫摆力矩确定稳定性横摆力矩介入后的各轮制动力矩。本发明的控制方法,能够节省算力,并且提升控制速度,确保了车身稳定性。


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    Title :

    Vehicle, control method and control device thereof and computer readable storage medium


    Additional title:

    车辆及其控制方法和控制装置、计算机可读存储介质


    Contributors:
    DONG YUEHANG (author) / GUO MENGMENG (author) / YANG YUANYUAN (author) / CHEN BOYAN (author) / SUN XIAOWEN (author)

    Publication date :

    2023-05-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF



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