The embodiment of the invention provides a vehicle steering control method and device, a vehicle and a storage medium, and the method comprises the steps that total driving torque is obtained based on battery input power and driver demand torque; on the basis of the current yaw moment, the current slip rate, the current centroid displacement and the total driving moment, control weights when the motor driving torques of all the wheels are output are adjusted, and the motor driving torques of all the wheels are obtained; the actual yawing moment, the actual slip rate and the actual mass center displacement during wheel motor driving are obtained based on the motor driving torque of each wheel; and correcting the motor driving torque of each wheel according to the actual yaw moment, the actual slip rate and the actual centroid displacement to obtain the corrected motor driving torque of each wheel. The driving torque is corrected based on closed-loop feedback of parameters strongly related to vehicle pivot steering, and the control precision of torque output during vehicle pivot steering is guaranteed.

    本发明实施例提供了一种车辆转向控制方法、装置、车辆及存储介质,所述方法包括:基于电池输入功率和驾驶员需求扭矩,得到总驱动力矩;基于当前的横摆力矩、当前的滑移率和当前的质心位移和总驱动力矩,对在输出各个车轮的电机驱动扭矩时的控制权重进行调整,得到各个车轮的电机驱动扭矩;基于各个车轮的电机驱动扭矩得到在车轮电机驱动时的实际横摆力矩、实际滑移率和实际质心位移;根据实际横摆力矩、实际滑移率和实际质心位移对各个车轮的电机驱动扭矩进行修正,得到各个车轮修正后的电机驱动扭矩。通过基于与车辆原地转向时强相关的参数的闭环反馈,对驱动扭矩进行修正,保证车辆原地转向时扭矩输出的控制精度。


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    Title :

    Vehicle steering control method and device, vehicle and storage medium


    Additional title:

    一种车辆转向控制方法、装置、车辆及存储介质


    Contributors:
    JU TING (author) / HUANG DAFEI (author) / ZHANG YANG (author) / CHEN MING (author) / ZHOU BOLONG (author)

    Publication date :

    2024-10-22


    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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