Differential torque anti-rollover control method and device for vehicle driven by hub motor

Abstract

The invention discloses a differential torque anti-rollover control method and device for a wheel hub motor driven vehicle and a storage medium, and the method comprises the steps: obtaining the real-time transverse load transfer rate of the current vehicle, and judging the rollover state of the current vehicle according to the real-time transverse load transfer rate of a plurality of cycles, the change rate of the real-time transverse load transfer rate and a preset transverse load transfer rate threshold value; based on the rollover state of the current vehicle, adopting a variable universe fuzzy self-adaptive P ID controller to calculate additional yawing moment needed by the current vehicle; according to the additional yawing moment, based on a preset optimal wheel selection law, calculating target difference torsional moments of four wheels of the vehicle; and converting the target difference torsional moments of the four wheels into actual moments, and inputting the actual moments into the whole vehicle model, so that the vehicle acts according to the actual moments of the wheels. The technical problem that in the prior art, the anti-rollover stability of the vehicle based on differential torque control is not high is solved.

Description

technical field [0001] The invention relates to the technical field of vehicle safety, in particular to a differential torque anti-rollover control method, device and storage medium for a hub motor driven vehicle. Background technique [0002] With the continuous development of new energy vehicle technology, the form of electric drive is showing a trend of diversification, gradually developing from a single power source centralized drive system to a multi-power source distributed drive system. Among them, hub motor drive technology is a technical route of distributed drive architecture. In terms of structural integration, the hub motor vehicle integrates the power source, deceleration device, and braking device in the hub to form a power configuration that integrates power, transmission, and braking. It has the advantages of short transmission chain and compact structure, and has incomparable advantages in space layout and response speed. In terms of dynamic control, the i...

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to overcome the above-mentioned technical deficiencies, provide a differential torque anti-rollover control method, equipment and storage medium for vehicles driven by in-wheel motors, and solve the problem of low stability of vehicle anti-rollover based on differential torque control in the prior art technical problem

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