The invention relates to a differential return method and device for a steering wheel of a vehicle, the vehicle and a storage medium, and the method comprises the steps that whether the hand torque applied to the steering wheel by a driver is smaller than a preset threshold value or not is judged; if the hand torque is smaller than the preset threshold value and meets the preset time condition, it is judged that the driver does not control the steering wheel, and differential control is conducted on the steering wheel based on an ADRC; and the target differential return compensation torque is distributed to a target wheel of the vehicle, and the control torque, meeting the preset optimal condition, of a hub motor of the target wheel is obtained. According to the embodiment of the invention, the target differential return compensation torque can be distributed to the target wheel of the vehicle, the control torque of the hub motor of the target wheel meeting the preset certain optimal condition is obtained, the independent driving differential control of the electric wheel is completed through the active disturbance rejection controller, the active return of the steering wheel after the steering wheel is released by a driver is realized, and the driving safety is improved. And the return speed and the control robustness are effectively improved.

    本申请涉及一种车辆的方向盘差动回正方法、装置、车辆及存储介质,其中,方法包括:判断驾驶员施加在方向盘上的手力矩是否小于预设阈值;若手力矩小于预设阈值,且手力矩满足预设时间条件,则判定驾驶员未控制方向盘,并基于自抗扰控制器ADRC对方向盘进行差动控制;对目标差动回正补偿力矩向车辆的目标车轮进行分配,得到满足预设最优条件的目标车轮的轮毂电机的控制扭矩。本申请实施例可以对目标差动回正补偿力矩向车辆的目标车轮进行分配,得到满足预设一定最优条件的目标车轮的轮毂电机的控制扭矩,通过自抗扰控制器完成电动轮独立驱动差动控制,实现驾驶员对方向盘脱手后方向盘的主动回正,有效增加回正速度及控制鲁棒性。


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    Title :

    Differential return method and device for steering wheel of vehicle, vehicle and storage medium


    Additional title:

    车辆的方向盘差动回正方法、装置、车辆及存储介质


    Contributors:
    ZHU KEFU (author) / ZHANG JIAN (author) / WANG YU (author) / LI LINRUN (author) / JIANG HONGWEI (author) / ZHOU TIAN (author) / LI ZUOWEN (author) / SUN YUHANG (author) / ZHOU YUHANG (author) / MENG FANDUO (author)

    Publication date :

    2024-07-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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