The invention discloses a steering control method of an electric vehicle and the electric vehicle. The method comprises the steps that in response to triggering of a pivot steering instruction, whether the vehicle is in a preset vehicle working condition or not is judged, and if yes, a steering controller is controlled to lock a steering wheel; acquiring a first tangential speed of any front wheel of the vehicle and a second tangential speed of a rear wheel arranged diagonally to the front wheel, determining a compensation speed of the rear wheel according to the first tangential speed and the second tangential speed, and determining a compensation torque according to the compensation speed; and obtaining an initial torque requested by a rear wheel driving motor for driving a rear wheel to rotate, and determining a driving torque of the rear wheel driving motor according to the initial torque and the compensation torque. The compensation torque is determined by obtaining the tangential speeds of the front wheel and the rear wheel which are arranged in the diagonal mode, the driving torque of the rear wheel driving motor is obtained according to the initial torque and the compensation torque, obvious deviation of the mass center of the vehicle caused by different road adhesion coefficients is avoided, and the stability and safety of pivot steering are improved.
本申请公开了一种电动车辆的转向控制方法及电动车辆,方法包括:响应于原地转向指令的触发,判断所述车辆是否处于预设的车辆工况,若是,则控制转向控制器锁止方向盘;获取车辆任一前轮的第一切向速度以及与前轮呈对角线设置的后轮的第二切向速度,并根据第一切向速度与第二切向速度确定后轮的补偿速度,根据补偿速度确定补偿扭矩;获取用于驱使后轮转动的后轮驱动电机请求的初始扭矩,根据初始扭矩与补偿扭矩确定后轮驱动电机的驱动扭矩。通过分别获取呈对角线设置的前轮与后轮的切向速度以确定补偿扭矩,根据初始扭矩与补偿扭矩得到后轮驱动电机的驱动扭矩,避免出现路面附着系数不同导致车辆质心明显发生偏移,提高原地转向的稳定性和安全性。
Steering control method of electric vehicle and electric vehicle
一种电动车辆的转向控制方法及电动车辆
2023-11-10
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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