The invention is suitable for the technical field of vehicles, and provides a vehicle pivot steering control method and device, a vehicle and a storage medium. The vehicle pivot steering control method comprises the steps that when wheels slip, the maximum driving torque of the slip wheels is calculated according to the loads of the slip wheels, the rolling radiuses of the slip wheels and the ground attachment coefficients corresponding to the slip wheels; according to the opening degree of the accelerator pedal and the ground attachment coefficient corresponding to the slipping wheel, the target wheel speed of the slipping wheel is determined; determining a correction coefficient according to the target wheel speed and the actual wheel speed of the slipping wheel; according to the correction coefficient, the maximum driving torque and the current driving torque of the slipping wheel, the target driving torque of the slipping wheel is determined; according to the target driving torque of the slipping wheel, the driving torque of other wheels of the vehicle is determined. According to the vehicle pivot steering control method provided by the embodiment of the invention, the problem that the vehicle is unstable due to wheel slipping during vehicle pivot steering can be solved.

    本申请适用于车辆技术领域,提供了一种车辆原地转向控制方法、装置、车辆及存储介质。所述车辆原地转向控制方法包括:当车轮打滑时,根据打滑车轮的载荷、打滑车轮的滚动半径和打滑车轮对应的地面附着系数,计算打滑车轮的最大驱动扭矩;根据加速踏板的开度和打滑车轮对应的地面附着系数,确定打滑车轮的目标轮速;根据目标轮速和打滑车轮的实际轮速,确定修正系数;根据修正系数、最大驱动扭矩和打滑车轮的当前驱动扭矩,确定打滑车轮的目标驱动扭矩;根据打滑车轮的目标驱动扭矩,确定车辆其余车轮的驱动扭矩。本申请实施例提供的车辆原地转向控制方法可以解决车辆原地转向时车轮打滑导致车辆不稳定的问题。


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    Title :

    Vehicle pivot steering control method and device, vehicle and storage medium


    Additional title:

    车辆原地转向控制方法、装置、车辆及存储介质


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

    Publication date :

    2024-03-19


    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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