The invention belongs to the technical field of multi-axle distributed vehicle chassis control, and particularly provides a driving control calculation method, device and equipment of a multi-axle distributed vehicle and a medium, and the method comprises the following steps: obtaining vehicle parameters according to a vehicle model, and calculating a vehicle steering instantaneous center and steering angles of each axle and each wheel when the vehicle steers; estimating the speed of the whole vehicle through the steering angle and the hub speed, and calculating the slip rate of the driving wheel through the speed of the whole vehicle; establishing a steering angle-driving vehicle speed # imgabs0 #-whole vehicle output maximum torque Map map, and mapping the opening degree of an accelerator pedal and the Map map to obtain whole vehicle demand torque; calculating a driving motor torque reference through a multi-objective optimization algorithm by taking a reference ratio of the whole vehicle demand torque to the driving motor output torque as a constraint condition; and the driving motor torque reference is corrected through the driving wheel slip rate to obtain the driving motor driving torque. And the optimal distribution of the driving torque of the whole vehicle is realized.

    本发明属于多轴分布式车辆底盘控制技术领域,具体提供一种多轴分布式车辆的驱动控制计算方法、装置、设备及介质,所述方法包括如下步骤:根据车辆车型获取车辆参数计算车辆转向瞬心及车辆转向时各车桥及车轮的转向角度;通过转向角度和轮边速度对整车车速进行估算,并通过整车车速计算驱动轮滑转率;建立转向角度-驱动车速#imgabs0#-整车可输出最大扭矩Map图,将油门踏板开度与所述Map图进行映射得到整车需求扭矩;将整车需求扭矩和驱动电机输出扭矩基准比作为约束条件,通过多目标优化算法计算驱动电机扭矩基准;通过驱动轮滑转率对驱动电机扭矩基准进行修正得到驱动电机驱动扭矩。实现了整车驱动扭矩的最优分配。


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    Title :

    Driving control calculation method, device and equipment of multi-axle distributed vehicle and medium


    Additional title:

    多轴分布式车辆的驱动控制计算方法、装置、设备及介质


    Contributors:
    ZHAO TONGJUN (author) / YU HAIXING (author) / WANG LUOBIN (author) / LIU XINGBO (author) / ZHU MINGHUI (author)

    Publication date :

    2024-02-06


    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



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