CN112477982B - Vehicle and differential steering torque distribution control method and system thereof - Google Patents
Vehicle and differential steering torque distribution control method and system thereof Download PDFInfo
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- CN112477982B CN112477982B CN201910866202.7A CN201910866202A CN112477982B CN 112477982 B CN112477982 B CN 112477982B CN 201910866202 A CN201910866202 A CN 201910866202A CN 112477982 B CN112477982 B CN 112477982B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Arrangement And Mounting Of Devices That Control Transmission Of Motive Force (AREA)
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Abstract
The invention relates to a vehicle and a torque distribution control method and a system for differential steering of the vehicle, wherein the method comprises the steps of obtaining the current yaw rate, the current opening degree of an accelerator pedal, the current speed information and the steering wheel angle information, and calculating the ideal yaw rate according to the current speed information and the steering wheel angle information; comparing the current yaw rate with the ideal yaw rate to obtain an adjusted yaw rate, and obtaining a basic adjusting torque according to a relation table of the adjusted yaw rate and the basic adjusting torque; and calculating to obtain an adjusting torque according to the basic adjusting torque and the current opening degree of the accelerator pedal, and adjusting the driving torques of the left wheel and the right wheel according to the adjusting torque. The method has the advantages of simple realization of calculation of the driving torque adjustment quantity during differential steering, less influence factors in the calculation process, higher precision, better real-time performance and contribution to safety control of vehicle steering.
Description
Technical Field
The invention relates to a vehicle and a torque distribution control method and system for differential steering of the vehicle.
Background
The wheel driving system adopts a double-motor structure, and compared with a direct-drive motor, the wheel driving system adopts a single-motor structure, and because double motors can be independently controlled, the possibility of adjusting the torque of the left motor and the right motor in the turning process is provided, and the difference torque can be realized by distributing different driving torques of the left motor and the right motor in the turning process, so that the strength of the driver for operating the steering wheel and the turning radius are reduced. However, this technique has the following problems: in the process of turning and climbing in a mountain area, because the torque distribution only considers the moment reduced by the motor on one side and the moment increased by the motor on the other side calculated by the yaw velocity of the vehicle, when the slope is large and the large torque output of the motor is required, the situation that the motor on one side exceeds the external characteristic of the motor and does not reach the required torque, and the torque on the other side is reduced, so that the dynamic loss of the vehicle is caused; meanwhile, because the closed-loop control is not adopted, the risk of vehicle side inclination caused by excessive torque adjustment exists, the operation stability of the vehicle is reduced, and the driving safety is endangered.
The invention patent application document with Chinese patent application publication No. CN109177746A discloses a control system and method for differential steering of a wheel-side motor-driven vehicle, the method determines a yaw moment required by realizing the differential steering according to an expected yaw angle and current vehicle motion state parameters, and directly calculates corresponding torque according to expected longitudinal force and the yaw moment to control the torque of an inner side motor and an outer side motor, but the method has complex torque calculation mode, the expected longitudinal force and the yaw moment must be obtained, a motor torque value cannot be obtained, fine adjustment of the motor torque cannot be realized according to the yaw velocity and the opening degree of an accelerator pedal, more influence factors are calculated, the precision is poor, and the safety of the whole vehicle operation is not facilitated.
Disclosure of Invention
The invention aims to provide a vehicle and a differential steering torque distribution control method and system thereof, which are used for solving the problems that the existing motor-driven vehicle is complex in differential steering torque calculation and not beneficial to the use and operation safety of the whole vehicle.
In order to achieve the above object, the present invention provides a torque distribution control method for differential steering of a vehicle, comprising the steps of:
1) acquiring current yaw angular velocity, current accelerator pedal opening, current vehicle speed information and steering wheel angle information, and calculating ideal yaw angular velocity according to the current vehicle speed information and the steering wheel angle information;
2) comparing the current yaw rate with the ideal yaw rate to obtain an adjusted yaw rate, and obtaining a basic adjusting torque according to a relation table of the adjusted yaw rate and the basic adjusting torque;
3) and calculating to obtain an adjusting torque according to the basic adjusting torque and the current opening degree of the accelerator pedal, and adjusting the driving torques of the left wheel and the right wheel according to the adjusting torque.
The method has the advantages that an ideal yaw velocity during steering is obtained according to the vehicle speed and the steering wheel angle, the current yaw velocity is collected and compared with the ideal yaw velocity to obtain the adjustment quantity, the adjustment torque is further determined by combining the opening degree of the accelerator pedal to realize the adjustment of the driving torques of the left and right vehicles, the calculation of the adjustment quantity of the driving torques during differential steering is simply realized, fewer influence factors are involved in the calculation process, the precision is higher, the real-time performance is better, and the safety control of vehicle steering is facilitated.
Further, in order to keep the total torque output by the left and right motors unchanged during the adjustment process and ensure that the dynamic property of the whole vehicle is not lost, when the vehicle turns to the left, the driving torque of the left wheel is adjusted to be the basic driving torque minus half of the adjustment torque, and the driving torque of the right wheel is adjusted to be the basic driving torque plus half of the adjustment torque; when the vehicle turns to the right, adjusting the driving torque of the left wheel to be the adjusting torque increased by half of the basic driving torque, and adjusting the driving torque of the right wheel to be the adjusting torque decreased by half of the basic driving torque; the basic driving torque is determined according to the current vehicle speed information and the current accelerator pedal opening.
Further, in order to prevent overload operation of the motor on any side and prolong the service life of the motor, the maximum motor torque of the corresponding side is determined according to the rotating speed of the motor on the current left side and the right side, the smaller value of the maximum motor torque is used as the upper limit of the current motor torque, whether the driving torque of the adjusted wheels on the left side and the right side is larger than the upper limit of the current motor torque is judged, and if yes, 2 (T) is used (T)max-T0) For said adjustment of torque, TmaxIs the current upper motor torque limit, T0Is the base drive torque.
Further, in order to prevent the vehicle from rolling and improve driving safety, after the driving torques of the left and right wheels are adjusted, a centroid roll angle is obtained, whether the centroid roll angle is larger than a set roll angle is judged, if yes, the driving torque of the left wheel is increased when the vehicle turns left, and the driving torque of the right wheel is reduced; when the vehicle turns to the right, the drive torque of the right wheel is increased, and the drive torque of the left wheel is decreased.
Further, in order to simply realize the anti-roll function of the vehicle and reduce the control complexity, when the centroid roll angle is larger than the set roll angle, the increased or decreased torque value is a fixed value, the relation between the centroid roll angle and the set roll angle is judged after the driving torque is adjusted every time, and corresponding adjustment is carried out until the centroid roll angle is smaller than or equal to the set roll angle.
Further, in order to guarantee driving safety, the vehicle side inclination is adjusted in advance, the set side inclination is the maximum side inclination of a set multiple, and the set multiple is 0.8-0.9.
The invention provides a torque distribution control system for vehicle differential steering, which comprises a processor, a memory and a program stored in the memory and operated in the processor, wherein the processor operates the program to realize the torque distribution control method for vehicle differential steering and the steps in the improvement thereof.
The method has the advantages that an ideal yaw velocity during steering is obtained according to the vehicle speed and the steering wheel angle, the current yaw velocity is collected and compared with the ideal yaw velocity to obtain the adjustment quantity, the adjustment torque is further determined by combining the opening degree of the accelerator pedal to realize the adjustment of the driving torques of the left and right vehicles, the calculation of the adjustment quantity of the driving torques during differential steering is simply realized, fewer influence factors are involved in the calculation process, the precision is higher, the real-time performance is better, and the safety control of vehicle steering is facilitated.
The invention provides a vehicle, which comprises a vehicle body and a motor drive control system arranged on the vehicle body, wherein the motor drive control system comprises a processor, a memory and a program stored in the memory and operated in the processor, and the processor operates the program to realize the torque distribution control method for the differential steering of the vehicle and the steps in the improvement.
The method has the advantages that an ideal yaw velocity during steering is obtained according to the vehicle speed and the steering wheel angle, the current yaw velocity is collected and compared with the ideal yaw velocity to obtain the adjustment quantity, the adjustment torque is further determined by combining the opening degree of the accelerator pedal to realize the adjustment of the driving torques of the left and right vehicles, the calculation of the adjustment quantity of the driving torques during differential steering is simply realized, fewer influence factors are involved in the calculation process, the precision is higher, the real-time performance is better, and the safety control of vehicle steering is facilitated.
Drawings
FIG. 1 is a flow chart of a torque split control method for differential steering of a vehicle according to method embodiment 1 of the present invention;
FIG. 2 is a flow chart of a torque split control method for differential steering of a vehicle according to method embodiment 2 of the present invention;
fig. 3 is a flowchart of a torque distribution control method for differential steering of a vehicle according to method embodiment 3 of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Method example 1:
the invention provides a torque distribution control method for vehicle differential steering, which comprises the following steps as shown in figure 1:
1) and acquiring the current yaw velocity, the current opening degree of an accelerator pedal, the current vehicle speed information and the steering wheel angle information.
Current yaw rate omega of vehicle1Is acquired by an angular velocity sensor module and is obtained by acquiring the current yaw angular velocity | omega1The angular velocity sensor module is turned on for acquisition when | is greater than 1 °/s, and as other embodiments, the angular velocity sensor module may also be in pace with the vehicle start.
2) And calculating the ideal yaw angular speed according to the current vehicle speed information and the steering wheel rotation angle information.
During steering, the calculation formula of the ideal yaw rate is as follows:
in the formula, V is the current vehicle speed, δ is the steering wheel angle, L is the vehicle wheel base, K is the vehicle stability factor, and m is the wheel angle ratio. L, K, m are all known parameters of the vehicle.
3) And comparing the current yaw rate with the ideal yaw rate to obtain an adjusted yaw rate, and obtaining a basic adjusting torque according to a relation table of the adjusted yaw rate and the basic adjusting torque.
Adjusting yaw angular velocity omega2＝ω1ω according to the adjusted yaw rate ω2Looking up a table to obtain a basic adjusting torque T5For example, table 1:
TABLE 1
| Adjusting yaw angular velocity omega2 | -ωc | ωb | -ωa | 0 | ωa | ωb | ωc |
| Basic regulating torque T5 | a | b | c | d | e | f | g |
The relation table of the adjusting yaw rate and the basic adjusting torque is obtained by actual vehicle calibration, and in the calibration process, the adjusting yaw rate is mainly referred to the adjusting yaw rate and whether the adjusting yaw rate is reduced after debugging. Relationship between base adjustment torque and adjustment yaw rate: as the adjustment yaw rate increases, the larger the base adjustment torque is required.
4) And calculating to obtain an adjusting torque according to the basic adjusting torque and the current opening degree of the accelerator pedal, and adjusting the driving torques of the left wheel and the right wheel according to the adjusting torque.
According to the coefficient K of the opening degree of the accelerator pedal corresponding to the current opening degree of the accelerator pedal1And then obtaining an adjusting torque T according to the basic adjusting torque1＝K1*T5(ii) a The accelerator pedal opening and the coefficient corresponding relation thereof are mainly characterized in that the larger the accelerator pedal opening is, the larger the coefficient is, as shown in table 2:
TABLE 2
The specific adjustment of the left and right side wheel drive torque is as follows:
1. determining the basic driving torque T of the current wheel according to the current speed information and the current accelerator pedal opening0And obtaining the driving torque of the left and right wheels of the vehicle under the working condition of no steering.
2. When the vehicle turns to the left, the driving torque of the left wheel is adjusted to be T which is the half of the basic driving torque minus the adjusting torque2＝T0-(T1) Regulating the drive of the right-hand wheelThe driving torque increases by half of the regulating torque, T, based on the dynamic torque3＝T0+(T1)/2. As shown in fig. 1, the left turn is taken as an example.
3. When the vehicle turns to the right, adjusting the drive torque of the left wheel to the base drive torque increases by half the adjustment torque, T2＝T0+(T1) Adjusting the drive torque of the right wheel to the base drive torque minus one half of the adjusted torque, T3＝T0-(T1)/2。
Method example 2:
the invention provides a torque distribution control method for vehicle differential steering, as shown in figure 2, on the basis of the embodiment 1 of the method, in order to prevent the motor from overload operation, the maximum motor torque T of a left side motor is determined according to the current left side motor rotating speedmax1Determining the maximum motor torque T of the right motor according to the current right motor rotating speedmax2With Tmax1、Tmax2The smaller value of the upper limit value is taken as the upper limit T of the torque of the current motormax。
When adjusted drive torque, i.e. T0+(T1) The torque of the motor is more than the upper limit T of the current motor torquemaxAt 2X (T)max-T0) In order to adjust the torque, the overload operation of the motor is avoided. When the vehicle turns left, the left motor torque T is output2＝2T0-TmaxRight motor torque T3＝Tmax(ii) a When turning right, the left motor torque T is output2＝TmaxRight side motor torque T3＝2T0-Tmax。
When adjusted drive torque, i.e. T0+(T1) The torque of the motor is less than the upper limit T of the current motor torquemaxWhen is driven by T1To adjust the torque, the operation was still performed with the adjusted torque in method example 1.
Method example 3:
the invention provides a torque distribution control method for differential steering of a vehicle, which comprises the steps of obtaining a centroid roll angle as shown in figure 3, and obtaining a centroid roll angle when the centroid roll angle is larger than 0.9 alpha0And when the vehicle turns left, the driving torque of the left wheel is increasedT2+T4Reducing the drive torque T of the right wheel3-T4. The centroid roll angle and 0.9 alpha are also judged after each adjustment of the drive torque0And corresponding adjustment is carried out until the barycentric roll angle is less than or equal to 0.9 alpha0(ii) a Wherein alpha is0Is the maximum roll angle.
Increasing the drive torque T of the right wheel when the vehicle turns to the right3+T4Reducing the drive torque T of the left wheel2-T4。
In the present embodiment, the torque value to be increased or decreased is a fixed value T4The fixed value is a smaller torque, and the parameter setting should consider the adjustment time of the whole process and simultaneously needs to avoid excessive adjustment; in other embodiments, the increased or decreased torque value may be adjusted in real time based on conditions such as vehicle speed.
In this embodiment, the roll angle is set to 0.9 α0In another embodiment, the alpha may be 0.8 alpha0And the device can be specifically arranged according to different vehicles.
The embodiment of the system is as follows:
the invention provides a torque distribution control system for vehicle differential steering, which comprises a processor, a memory and a program stored in the memory and operated in the processor, wherein the processor operates the program to realize the steps in method embodiment 1, method embodiment 2 and method embodiment 3, and detailed contents are not repeated.
The embodiment of the vehicle is as follows:
the invention provides a vehicle, which comprises a vehicle body and a torque distribution control system arranged on the vehicle body, wherein a motor drive control system comprises a processor, a memory and a program which is stored in the memory and runs in the processor, and the processor runs the program to realize the steps in method embodiment 1, method embodiment 2 and method embodiment 3, and detailed contents are not repeated.
The present invention has been described in relation to particular embodiments thereof, but the invention is not limited to the described embodiments. In the thought given by the present invention, the technical means in the above embodiments are changed, replaced, modified in a manner that is easily imaginable to those skilled in the art, and the functions are basically the same as the corresponding technical means in the present invention, and the purpose of the invention is basically the same, so that the technical scheme formed by fine tuning the above embodiments still falls into the protection scope of the present invention.
Claims (8)
1. A torque distribution control method for differential steering of a vehicle, characterized by comprising the steps of:
1) acquiring current yaw angular velocity, current accelerator pedal opening, current vehicle speed information and steering wheel angle information, and calculating ideal yaw angular velocity according to the current vehicle speed information and the steering wheel angle information;
the calculation formula of the ideal yaw rate is as follows:
in the formula, V is the current vehicle speed, delta is the steering wheel angle, L is the vehicle wheelbase, K is the vehicle stability coefficient, and m is the wheel angle ratio;
2) comparing the current yaw rate with the ideal yaw rate to obtain an adjusted yaw rate, and obtaining a basic adjusting torque according to a relation table of the adjusted yaw rate and the basic adjusting torque;
the relation table of the adjusting yaw rate and the basic adjusting torque is obtained by real vehicle calibration, and the relation between the basic adjusting torque and the adjusting yaw rate is as follows: as the adjustment yaw rate increases, the required basic adjustment torque increases;
3) calculating to obtain an adjusting torque according to the basic adjusting torque and the current opening degree of an accelerator pedal, and adjusting the driving torques of the left wheel and the right wheel according to the adjusting torque;
obtaining an accelerator pedal opening coefficient K according to the current accelerator pedal opening correspondence1And obtaining an adjusting torque T according to the basic adjusting torque1＝K1*T5Wherein T is5Namely, the basic adjusting torque is obtained; the corresponding relation between the opening degree of the accelerator pedal and the coefficient is as follows: the larger the accelerator pedal opening, the larger the accelerator pedal opening coefficient.
2. The torque distribution control method for differential steering of a vehicle according to claim 1, wherein when the vehicle turns left, the driving torque of the left wheel is adjusted to the basic driving torque minus half of the adjustment torque, and the driving torque of the right wheel is adjusted to the adjustment torque plus half of the basic driving torque; when the vehicle turns to the right, adjusting the driving torque of the left wheel to be the adjusting torque increased by half of the basic driving torque, and adjusting the driving torque of the right wheel to be the adjusting torque decreased by half of the basic driving torque; the basic driving torque is determined according to the current vehicle speed information and the current accelerator pedal opening.
3. The torque distribution control method for differential steering of a vehicle according to claim 2, wherein the maximum motor torques of the corresponding sides are determined according to the current left and right motor rotation speeds, the smaller value of the maximum motor torques is used as the current motor torque upper limit, whether the adjusted driving torques of the left and right wheels are greater than the current motor torque upper limit is judged, and if yes, 2 (T) is usedmax-T0) For said adjustment of torque, TmaxIs the current upper motor torque limit, T0Is the base drive torque.
4. The torque distribution control method for differential steering of a vehicle according to claim 1, 2 or 3, wherein after the driving torques of the left and right wheels are adjusted, a centroid roll angle is obtained, whether the centroid roll angle is greater than a set roll angle is judged, if yes, the driving torque of the left wheel is increased and the driving torque of the right wheel is decreased when the vehicle turns left; when the vehicle turns to the right, the drive torque of the right wheel is increased, and the drive torque of the left wheel is decreased.
5. The torque distribution control method for differential steering of a vehicle according to claim 4, wherein when the centroid roll angle is greater than the set roll angle, the increased or decreased torque value is a fixed value, and the relationship between the centroid roll angle and the set roll angle is determined after each adjustment of the driving torque, and corresponding adjustment is performed until the centroid roll angle is less than or equal to the set roll angle.
6. The torque distribution control method for vehicle differential steering according to claim 4, characterized in that the set roll angle is a maximum roll angle of a set multiple, the set multiple being 0.8-0.9.
7. A torque distribution control system for differential steering of a vehicle, comprising a processor, a memory, and a program stored in and executed in the memory, wherein the processor executes the program to implement the torque distribution control method for differential steering of a vehicle according to any one of claims 1 to 6.
8. A vehicle comprising a vehicle body, and a torque distribution control system provided on the vehicle body, the torque distribution control system comprising a processor, a memory, and a program stored in the memory and executed in the processor, wherein the processor executes the program to implement the torque distribution control method for differential steering of the vehicle according to any one of claims 1 to 6.
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| CN113442739B (en) * | 2021-07-30 | 2023-06-30 | 的卢技术有限公司 | Electronic differential control system, method, computer device, and computer-readable storage medium |
| CN116494777B (en) * | 2023-06-27 | 2023-09-19 | 江西泰豪军工集团有限公司 | Multi-wheel independent driving vehicle torque distribution control method and system |
| CN117022434A (en) * | 2023-08-18 | 2023-11-10 | 东风汽车集团股份有限公司 | Differential steering control method and two-stage steering system |
| CN117724406B (en) * | 2024-02-18 | 2024-06-11 | 中国汽车技术研究中心有限公司 | A method for calibrating lateral and longitudinal control of a four-wheel drive mobile platform |
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