The invention provides a control method, a controller, a system and a vehicle for distributed driving of an electric vehicle. The control method comprises the following steps: determining the basic torque of each wheel according to the opening degree of an accelerator pedal and the fault grade of the vehicle; determining an additional anti-slip torque and/or an additional yaw torque of the vehicle; adjusting each basic torque based on the additional anti-skid torque and/or the additional yaw torque, and outputting the required torque of each wheel; determining a driving control strategy according to the required torque of the wheel and the maximum output torque of each hub motor; thus, when the vehicle is integrated with the distributed driving system and the traditional chassis integrated control system at the same time, after the required torque of each wheel is determined, a corresponding control strategy can be determined based on the maximum output torque of each hub motor, and if the maximum output torque is insufficient, compensation is provided by the chassis integrated control system; therefore, overall coordination of function control of the distributed driving system and the chassis integrated control system is achieved, the utilization rate of control resources is improved, and the whole vehicle control effect is ensured.

    本发明提供一种分布式驱动电动汽车的控制方法、控制器、系统及车辆,包括:根据油门踏板开度及车辆故障等级确定各车轮的基础扭矩;确定车辆的附加防滑扭矩和/或附加横摆扭矩;基于附加防滑扭矩和/或附加横摆扭矩对各基础扭矩进行调整,并输出各车轮的需求扭矩;根据车轮的需求扭矩以及各轮毂电机的最大输出扭矩确定驱动控制策略;如此,当车辆同时集成有分布式驱动系统和传统底盘集成控制系统时,在确定出各轮的需求扭矩后,可基于各轮毂电机的最大输出扭矩确定对应的控制策略,若最大输出扭矩不足时,再由底盘集成控制系统提供补偿;从而实现对分布式驱动系统和底盘集成控制系统功能控制的统筹协调,提高控制资源利用率,确保整车控制效果。


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    Title :

    Distributed driving electric vehicle control method, controller, system and vehicle


    Additional title:

    分布式驱动电动汽车的控制方法、控制器、系统及车辆


    Contributors:
    WANG NIAN (author) / GOU BIN (author) / YAN TAOWEI (author) / ZHANG ZEYANG (author) / CHE SHUN (author)

    Publication date :

    2023-11-07


    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 / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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