The invention provides a pivot steering torque determining method, a vehicle and a storage medium, and belongs to the technical field of automobiles, the method comprises the steps that the target yaw rate and the actual yaw rate of the vehicle in the pivot steering process are obtained, and the target yaw rate is the yaw rate determined according to the depth of an accelerator pedal of the vehicle; determining a yaw rate difference value between the target yaw rate and the actual yaw rate; according to the yaw rate difference value, the rotational inertia of the vehicle and the friction coefficient of the current road surface, the feedforward yaw torque of the vehicle is determined; the yaw rate difference value serves as a control target, and feedback control torque is determined through a control algorithm; and according to the feedforward yaw torque and the feedback control torque, torque distribution is conducted on the multiple driving wheels in the in-situ steering process. In this way, discomfort brought by vehicle braking to passengers is avoided, a driver only needs to control the accelerator pedal to enable the vehicle to steer by a certain angle in situ, the vehicle can be easily parked out, and then the driving experience of in-situ steering is optimized.

    本申请提供了一种原地转向扭矩确定方法、车辆和存储介质,属于汽车技术领域,该方法包括:获取车辆在原地转向过程中的目标偏航率和实际偏航率,目标偏航率为根据车辆的加速踏板深度确定的偏航率;确定目标偏航率和实际偏航率之间的偏航率差值;根据偏航率差值、车辆的转动惯量和当前路面的摩擦系数,确定车辆的前馈横摆扭矩;以偏航率差值作为控制目标,通过控制算法确定反馈控制扭矩;根据前馈横摆扭矩和反馈控制扭矩,对原地转向过程中的多个驱动轮进行扭矩分配。这样避免了车辆制动带给乘员的不适感,驾驶员只需要控制加速踏板使车辆原地转向一定角度,便可以轻松泊出,进而优化了原地转向的驾驶体验。


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    Title :

    Pivot steering torque determination method, vehicle and storage medium


    Additional title:

    原地转向扭矩确定方法、车辆和存储介质


    Contributors:
    GAO GUOWEI (author) / LIAN ZHIYUAN (author) / LIU JIAHAN (author) / SHU JIE (author) / ZHOU DEXIANG (author)

    Publication date :

    2024-02-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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