The invention discloses an active front wheel steering and four-wheel torque vector control method and system for a vehicle on a split road surface, a medium and a product, and relates to the field of vehicle control, and the method comprises the following steps: determining an expected yaw velocity and an expected lateral acceleration by adopting an expected calculation formula; determining a four-wheel torque vector mode based on the road adhesion state, the expected yaw velocity and the expected lateral acceleration; determining torque data based on a four-wheel torque vector mode and a road adhesion state; determining an additional front wheel steering angle output by the AFS controller based on the expected yaw velocity and the expected lateral acceleration; and front wheel steering and four-wheel torque are controlled based on the steering wheel turning angle, the torque data and the additional front wheel turning angle output by the AFS controller. According to the method, the driving and braking potential of a full-drive-by-wire chassis automobile can be fully exerted on the premise that the safety of the automobile is guaranteed.

    本发明公开一种车辆对开路面主动前轮转向和四轮扭矩矢量控制方法、系统、介质及产品,涉及车辆控制领域,方法包括:采用期望计算公式确定期望横摆角速度和期望侧向加速度;基于路面附着状态、期望横摆角速度和期望侧向加速度确定四轮扭矩矢量模式;基于四轮扭矩矢量模式和路面附着状态确定力矩数据;基于期望横摆角速度和期望侧向加速度确定AFS控制器输出的附加前轮转角;基于方向盘转角、力矩数据和AFS控制器输出的附加前轮转角对前轮转向和四轮扭矩进行控制,本发明能够在保证车辆安全的前提下充分发挥全线控底盘汽车的驱动和制动潜力。


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    Title :

    Vehicle folio road active front wheel steering and four-wheel torque vector control method and system, medium and product


    Additional title:

    车辆对开路面主动前轮转向和四轮扭矩矢量控制方法、系统、介质及产品


    Contributors:
    ZHANG LEI (author) / WANG ZHENPO (author) / LI SIYANG (author)

    Publication date :

    2024-10-25


    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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