The invention discloses a vehicle torque distribution control method and device, a storage medium and a program product, and relates to the technical field of vehicle control. The method comprises the steps that motion state data of a vehicle and a steering request input by a driver are obtained; a reference quantity is established through the two-degree-of-freedom vehicle dynamics model; the reference quantity and the motion state data are input into an upper-layer controller, additional yaw moment is obtained, and the upper-layer controller is a yaw controller designed through a backstepping type nonlinear control method; and the additional yawing moment and the motion state data are input into a lower-layer controller, the additional motor torque of the vehicle is obtained, and the lower-layer controller is a torque controller designed through a wheel dynamics model. Due to the fact that backstepping and optimization of the upper-layer controller and the lower-layer controller are combined, the longitudinal stability and the transverse stability of the vehicle can be ensured, the stability of the four-wheel independent drive vehicle under extreme conditions is improved, and interference to expectation of a driver is reduced.
本申请公开了一种车辆扭矩分配控制方法、装置、存储介质及程序产品,涉及车辆控制技术领域,该方法包括:获取车辆的运动状态数据和驾驶员输入的转向请求;并通过两自由度车辆动力学模型建立参考量;将参考量和运动状态数据输入至上层控制器中,得到附加横摆力矩,上层控制器为通过反步式非线性控制方法设计的横摆控制器;将附加横摆力矩和运动状态数据输入至下层控制器中,得到车辆的额外的电机扭矩,下层控制器为通过车轮动力学模型设计的扭矩控制器。由于本申请通过上层控制器和下层控制器的反步与最优化相结合,可确保车辆纵向和横向稳定性,提高了四轮独立驱动车辆在极端条件下的稳定性,减少了对驾驶员期望的干扰。
Vehicle torque distribution control method and device, storage medium and program product
车辆扭矩分配控制方法、装置、存储介质及程序产品
2024-12-17
Patent
Electronic Resource
Chinese
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 / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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