The invention discloses a four-wheel steering control method for a distributed driving electric vehicle, and relates to the technical field of vehicle control. A driver model outputs a front wheel steering angle delta f, an accelerator pedal opening alpha p and an accelerator pedal opening change rate delta alpha p; an ideal side slip angle beta d and an ideal yaw velocity gamma d are obtained through a front wheel steering vehicle two-degree-of-freedom kinetic equation; on the basis of the characteristics of a distributed driving torque vector control method and a rear wheel active steering control method, vehicle target motion state tracking under different working conditions is conducted by combining the actual side slip angle beta and the actual yaw velocity gamma of the vehicle, and the additional yaw moment delta Mz and/or the rear wheel rotation angle delta r are/is obtained; and finally, cooperative control of the vehicle is realized through the four-wheel steering distributed driving vehicle model. According to the method, the driving habits and driving requirements of the driver are considered to the maximum extent while the control effect is considered, the overall performance of the vehicle control system is improved, and the sensitivity, controllability and stability of the vehicle are guaranteed.

    本发明公开了一种分布式驱动电动汽车四轮转向控制方法,涉及车辆控制技术领域,由驾驶员模型输出前轮转角δf、油门踏板开度αp和油门踏板开度变化率Δαp,并通过前轮转向车辆二自由度动力学方程获得理想质心侧偏角βd和理想横摆角速度γd;再基于分布式驱动转矩矢量控制方法和后轮主动转向控制方法的特点,同时结合车辆的实际质心侧偏角β和实际横摆角速度γ进行不同工况下的车辆目标运动状态跟踪,求取附加横摆力矩ΔMz和/或后轮转角δr,最后通过四轮转向分布式驱动车辆模型实现对车辆的协同控制。本发明在考虑控制效果的同时最大程度兼顾了驾驶员的驾驶习惯和驾驶需求,既提升了车辆控制系统的整体性能,又保证了车辆的灵敏性、操控性和稳定性。


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    Title :

    Distributed driving electric vehicle four-wheel steering control method


    Additional title:

    一种分布式驱动电动汽车四轮转向控制方法


    Contributors:
    LIU ZHIWEI (author) / SU LIANG (author) / CHEN CHAO (author) / BAI XUESEN (author) / SONG KWANG-KIL (author)

    Publication date :

    2023-10-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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