The invention discloses a vehicle and a pivot steering control method thereof, a storage medium and a chassis domain controller, and the method comprises the following steps: determining that the vehicle enters a pivot steering mode, and enabling four active suspensions to vibrate up and down; acquiring a turning angle of a vehicle steering wheel, an accelerator pedal signal of the vehicle and a vertical acceleration of a vehicle body; the required torque is obtained according to the accelerator pedal signal, and torque distribution is conducted on the four driving motors according to the rotating angle of the steering wheel and the required torque; and when the vertical acceleration direction of the vehicle body is upward, the four driving motors are controlled to drive the four wheels according to the distributed torque. Therefore, according to the method, in-situ steering of the vehicle can be achieved, and meanwhile the tire friction smoking phenomenon is reduced.
本发明公开了一种车辆及其原地转向的控制方法、存储介质、底盘域控制器,所述方法包括:确定车辆进入原地转向模式,使四个主动悬架上下振动;获取车辆方向盘的转角、车辆的油门踏板信号、车身的垂向加速度;根据油门踏板信号得到需求扭矩,并根据方向盘的转角和需求扭矩对四个驱动电机进行扭矩分配;当车身的垂向加速度方向向上时,按照所分配的扭矩控制四个驱动电机驱动四个车轮。由此,该方法,能够在实现车辆原地转向的同时,减少轮胎摩擦冒烟现象的发生。
Vehicle and pivot steering control method thereof, storage medium and chassis domain controller
车辆及其原地转向的控制方法、存储介质、底盘域控制器
2023-06-27
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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