Vehicle control method and system
Vehicle control method and system
- Neue Suche nach: HU YANTING
- Neue Suche nach: XU HAO
- Neue Suche nach: LI FENG
- Neue Suche nach: SHI YAMENG
- Neue Suche nach: HU YAWEI
- Neue Suche nach: HU YANTING
- Neue Suche nach: XU HAO
- Neue Suche nach: LI FENG
- Neue Suche nach: SHI YAMENG
- Neue Suche nach: HU YAWEI
The invention provides a vehicle control method and system, and the method comprises the steps: obtaining a control result based on the vehicle speed of a vehicle center at the current moment, the turning radius of the vehicle center at the current moment, the turning radius of a wheel corresponding to each drive motor, the wheel radius of the vehicle, and the reduction ratio of each drive motor to a tire integrated reduction gearbox; determining the target rotating speed of each driving motor at the current moment; determining the actual angular acceleration of each driving motor based on the target rotating speed of each driving motor at the current moment, the transient rotating speed of each driving motor at the previous moment, the maximum value of the angular acceleration and the angular acceleration control coefficient; determining the transient rotating speed of each driving motor at the current moment based on the actual angular acceleration of each driving motor; by continuously adjusting and updating the transient rotating speed of each driving motor at the current moment, each driving motor simultaneously reaches the target rotating speed corresponding to each driving motor, so that the problem that the rotating speed of each driving motor cannot synchronously reach the target rotating speed corresponding to each driving motor is avoided, and the stability of vehicle movement is ensured.
本申请提供了一种车辆控制方法及系统，方法包括：基于车辆中心当前时刻的车速、车辆中心当前时刻的转弯半径、各驱动电机对应车轮的转弯半径、车辆的车轮半径和各驱动电机与轮胎集成减速箱的减速比，确定各驱动电机当前时刻的目标转速；基于各驱动电机当前时刻的目标转速、各驱动电机在上一时刻的瞬态转速、角加速度最大值和角加速度控制系数，确定各驱动电机的实际角加速度；基于各驱动电机的实际角加速度确定各驱动电机当前时刻的瞬态转速；通过不断调整更新各驱动电机当前时刻的瞬态转速，使得各驱动电机同时到达各驱动电机对应的目标转速，避免了各驱动电机转速不能同步到达各驱动电机对应的目标转速的问题，保证了车辆运动的稳定性。
Dokumentinformationen
Vehicle control method and system
一种车辆控制方法及系统
2024-04-09
Patent
Elektronische Ressource
Chinesisch
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