Control method and system for adjusting steering characteristics of electric vehicle

Abstract

The invention belongs to the technical field of electric vehicle steering control, and discloses a control method and system for adjusting the steering characteristic of an electric vehicle, and the method comprises the steps: setting a target vehicle to run around a preset circle at a fixed steering wheel rotation angle and a medium accelerator, and collecting data such as vehicle speed, yaw velocity, rotation angles of tires corresponding to the steering wheel rotation angle and the like in real time; calculating the actual slip angle deviation value of the front and rear shafts; establishing a corresponding relation between a slip angle deviation value and a front and rear shaft torque distribution proportion; according to the comparison result of the actual circle radius and the preset value, the torque distribution proportion is dynamically adjusted by referring to the established corresponding relation. According to the method, the value of the deviation value of the front and rear axle slip angles can be accurately calculated, and the steering trend and degree of the vehicle are quantitatively analyzed and judged by adopting a mathematical method, so that the control target of vehicle tracking steering is realized through distribution adjustment of the torque of the front and rear axles.

Description

Technical Field

[0001] The invention belongs to the technical field of electric vehicle steering control, and in particular relates to a control method and system for adjusting the steering characteristics of an electric vehicle. Background Art

[0002] When turning or driving in circles on low-adhesion roads such as ice and snow, due to limited ground adhesion, front-wheel drive vehicles are prone to understeering and rear-wheel drive vehicles are prone to oversteering, which affects the stability and safety of the vehicle. Electric vehicles with front and rear dual motors can theoretically adjust the steering characteristics of the vehicle by distributing the front and rear torque (the ideal effect is neither understeering nor oversteering, so that the vehicle can follow the track).

[0003] At present, there are schemes in the industry that use closed-loop torque control for the deviation between the target center of mass slip angle and the actual center of mass slip angle. However, due to the difficulty in calculating the center of mass slip angle of the vehicle and the large error, the lateral control effect of the vehicle is poor. There are also open-loop control schemes that correct the front and rear distribution torque based on factors such as the steering wheel angle and the steering wheel angle change rate. This type of scheme can only qualitatively determine the steering trend of the vehicle, and cannot quantitatively establish the relationship between the change process of the steering wheel angle and the steering angle change rate and the target torque control. Therefore, the existing control method with the front and rear axle slip angle deviation value as the target is difficult to accurately calculate the value of the front and rear axle slip angle deviation value, and does not use mathematical methods to quantitatively analyze and determine the steering trend and degree of the vehicle, so that the control goal of achieving vehicle tracking steering through the distribution adjustment of the front and rear axle torque is still facing challenges. Summary of the invention

[0004] Based on this, the present application proposes a control method and system for adjusting the steering characteristics of an electric vehicle, aiming to accurately calculate the values ​​of the side slip angle deviations of the front and rear axles, and to use mathematical methods to quantitatively analyze and judge the steering trend and degree of the vehicle, so as to achieve the control goal of vehicle tracking steering by adjusting the distribution of the front and rear axle torques.

[0005] A first aspect of the present application provides a control method for adjusting the steering characteristics of an electric vehicle, the method comprising: Maintaining the steering wheel angle and the medium accelerator pedal of the target electric vehicle unchanged so that the target electric vehicle travels around a preset circle radius; The vehicle speed, yaw rate and steering wheel angle corresponding to the tire angle during driving around a preset circle radius are obtained, and the actual deviation value of the front and rear axle slip angle is obtained by combining the vehicle wheelbase design parameters; Establishing a corresponding relationship between the actual deviation value of the front and rear axle sideslip angle and the front and rear axle torque distribution; Calculate the actual circle radius according to the actual deviation value, and determine the difference between the actual circle radius and the preset circle radius; If the actual circle radius is equal to the preset circle radius, the corresponding relationship is maintained unchanged; If the actual circle radius is greater than the preset circle radius, reducing the front axle torque distribution ratio in the corresponding relationship; If the actual circle radius is smaller than the preset circle radius, the front axle torque distribution ratio is increased in the corresponding relationship.

[0006] Compared with the prior art, the present application provides a control method for adjusting the steering characteristics of an electric vehicle. By real-time monitoring of the deviation between the actual driving trajectory of the vehicle and the preset trajectory, the method can timely adjust the front and rear axle torque distribution, correct the vehicle's driving direction, and make it travel more accurately along the preset circle; by obtaining parameters such as the vehicle speed, yaw angular velocity, and the steering wheel angle corresponding to the tire angle, combined with the vehicle wheelbase design parameters, the actual deviation value of the front and rear axle slip angle can be accurately calculated, thereby achieving precise control of the vehicle dynamics; by establishing a corresponding relationship between the actual deviation value of the front and rear axle slip angle and the front and rear axle torque distribution, the front and rear axle torque distribution ratio can be adjusted according to the actual deviation value to achieve better vehicle handling performance; according to the comparison result of the actual circle radius and the preset circle radius, the front and rear axle torque distribution ratio is adjusted in real time to keep the vehicle driving stably on the preset circle radius; when the actual circle radius is greater than the preset circle radius, the front axle torque distribution ratio is reduced; when the actual circle radius is less than the preset circle radius, the front axle torque distribution ratio is increased. Therefore, this control method can accurately calculate the values ​​of the front and rear axle slip angle deviations, and use mathematical methods to quantitatively analyze and judge the steering trend and degree of the vehicle, so that the control goal of the vehicle's tracking steering can be achieved by adjusting the distribution of the front and rear axle torques; in addition, the front and rear axle torque distribution ratio can be adjusted in real time according to the actual driving conditions and vehicle status to adapt to different driving conditions, such as slippery roads, high-speed driving, etc.

[0007] As an optional implementation manner of the first aspect, in the step of obtaining the vehicle speed, yaw angular velocity, and steering wheel angle corresponding to the tire angle during driving around a preset circle radius, The vehicle speed V and yaw rate are obtained by the vehicle sensor during the process of driving around the preset circle radius. The steering wheel angle corresponds to the tire angle .

[0008] As an optional implementation manner of the first aspect, the actual deviation value of the sideslip angle of the front and rear axles is expressed by a relationship as follows: , in, represents the front axle slip angle, represents the rear axle slip angle, represents the distance from the front axle to the center of mass, Represents the distance from the rear axle to the center of mass.

[0009] As an optional implementation manner of the first aspect, the front axle slip angle is expressed by a relationship: The rear axle slip angle is expressed by the relation: .

[0010] As an optional implementation manner of the first aspect, in the step of establishing the corresponding relationship between the actual deviation value of the front and rear axle slip angle and the front and rear axle torque distribution, Set the actual deviation value change , and establish a corresponding relationship between the actual deviation value of the front and rear axle slip angle and the front and rear axle torque distribution through theoretical analysis and experimental calibration methods; The corresponding relationship is formulated into a calibration table, and the formulation of the calibration table includes: When the change in the actual deviation value is 0, the front and rear axle torque distribution ratio is the vehicle driving control target; When the actual deviation value changes by N , N is greater than 0. The larger N is, the greater the front axle torque distribution ratio is; When the actual deviation value changes by -N , -N is less than 0. The smaller -N is, the smaller the front axle torque distribution ratio is.

[0011] As an optional implementation of the first aspect, the front and rear axle torque distribution ratio is adjusted by adjusting the motor controller, and the front axle torque distribution ratio + the rear axle torque distribution ratio = 100%.

[0012] As an optional implementation of the first aspect, a calculation formula for calculating the actual circle radius according to the actual deviation value is: ,in Indicates the actual circle radius.

[0013] A second aspect of an embodiment of the present application provides a control system for adjusting the steering characteristics of an electric vehicle, the system comprising: A turning module, used for maintaining the steering wheel angle and the medium accelerator pedal of the target electric vehicle unchanged, so that the target electric vehicle can drive around a preset circle radius; The data acquisition module is used to obtain the vehicle speed, yaw rate and the steering wheel angle corresponding to the tire during the process of driving around the preset circle radius, and obtain the actual deviation value of the front and rear axle slip angle in combination with the vehicle wheelbase design parameters; A torque distribution module, used to establish a corresponding relationship between the actual deviation value of the front and rear axle slip angles and the front and rear axle torque distribution; A data comparison module, used to calculate the actual circle radius according to the actual deviation value, and determine the size of the actual circle radius and the preset circle radius; The torque distribution adjustment module is used to maintain the corresponding relationship unchanged if the actual circle radius is equal to the preset circle radius; reduce the front axle torque distribution ratio in the corresponding relationship if the actual circle radius is greater than the preset circle radius; and increase the front axle torque distribution ratio in the corresponding relationship if the actual circle radius is less than the preset circle radius.

[0014] A third aspect of an embodiment of the present application provides a computer device, which includes a memory, a processor, and a processing program stored in the memory and executable on the processor, wherein the processing program, when executed by the processor, implements the above-mentioned control method for adjusting the steering characteristics of an electric vehicle.

[0015] A fourth aspect of an embodiment of the present application provides a storage medium, on which a processing program is stored. When the processing program is executed by a processor, the above-mentioned control method for adjusting the steering characteristics of an electric vehicle is executed.

[0016] Additional aspects and advantages of the present application will be given in part in the following description, and in part will become apparent from the following description, or will be understood through the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flow chart of a control method for adjusting the steering characteristics of an electric vehicle proposed in the first embodiment of the present application; Figure 2 This is a schematic diagram of the structure of a control system for adjusting the steering characteristics of an electric vehicle proposed in the third embodiment of the present application.

[0018] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0020] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here. In addition, the "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally represents that the objects associated with each other are in an "or" relationship.

[0021] In order to illustrate the technical solution described in this application, a specific embodiment is provided below for illustration.

[0022] Example 1 See also Figure 1 , is a flow chart of a control method for adjusting the steering characteristics of an electric vehicle proposed in the first embodiment of the present application, the proposed method includes: S01: Maintaining the steering wheel angle and the medium accelerator pedal of the target electric vehicle unchanged, so that the target electric vehicle travels around a preset circle radius.

[0023] In this step, "medium accelerator pedal" refers to the accelerator pedal opening that enables the vehicle to maintain a stable speed, and the specific value can be set according to actual conditions. During the driving of the electric vehicle, the steering wheel angle and the position of the medium accelerator pedal are kept unchanged so that the vehicle can travel according to a preset circle radius, and the preset circle radius can be set according to driving needs or road conditions.

[0024] Illustratively, the steering wheel angle is kept unchanged by the vehicle's steering system; the accelerator pedal is controlled to keep the electric vehicle at a medium throttle opening to maintain a stable vehicle speed; and the vehicle's sensors (such as gyroscopes, vehicle speed sensors, etc.) are used to monitor the driving status of the electric vehicle in real time, including the steering wheel angle, vehicle speed, yaw angular velocity, and wheel angle.

[0025] S02: Obtain the vehicle speed, yaw rate and steering wheel angle corresponding to the tire angle during the vehicle driving around a preset circle radius, and obtain the actual deviation value of the front and rear axle slip angles in combination with the vehicle wheelbase design parameters.

[0026] In this step, the vehicle speed V and yaw rate during the process of driving around the preset circle radius can be obtained through the vehicle sensor. The steering wheel angle corresponds to the tire angle Among them, the actual deviation value of the front and rear axle slip angle can be calculated by the following formula.

[0027] The front axle slip angle is expressed as: (1) The rear axle slip angle is expressed as: (2) Therefore, according to formula (1) and formula (2), the actual deviation value of the sideslip angle of the front and rear axles can be obtained: (3) in, represents the front axle slip angle, represents the rear axle slip angle, represents the distance from the front axle to the center of mass, Represents the distance from the rear axle to the center of mass.

[0028] S03: Establishing a corresponding relationship between the actual deviation value of the front and rear axle slip angles and the front and rear axle torque distribution.

[0029] In this step, the correspondence between the actual deviation value of the front and rear axle slip angle and the front and rear axle torque distribution can be obtained through experiments, simulations or optimization algorithms. The correspondence can be stored in a lookup table in the vehicle control unit or described by a mathematical model.

[0030] Exemplarily, the change in the actual deviation value is set , and through the method of theoretical analysis and experimental calibration, the corresponding relationship between the actual deviation value of the front and rear axle slip angle and the front and rear axle torque distribution is established, as shown in Table 1, where: It represents the front axle torque distribution ratio, and the following relationship exists: , according to actual design experience, the front axle torque distribution ratio When the value is between 40% and 50%, the front and rear side slip angle deviation value can be achieved ( ) is 0, which means the vehicle follows the track. It represents the rear axle torque distribution ratio, and the following relationship exists: .

[0031] The corresponding relationship is formulated into a calibration table, and the formulation of the calibration table includes: When the change in the actual deviation value is 0, the front and rear axle torque distribution ratio is the vehicle driving control target; When the actual deviation value changes by N , N is greater than 0. The larger N is, the greater the front axle torque distribution ratio is; When the actual deviation value changes by -N , -N is less than 0. The smaller -N is, the smaller the front axle torque distribution ratio is.

[0032] Table 1 Correspondence between the actual deviation of the front and rear axle slip angles and the front and rear axle torque distribution S04: Calculate the actual circle radius according to the actual deviation value, and determine the size of the actual circle radius and the preset circle radius.

[0033] Specifically, the calculation formula for calculating the actual circle radius according to the actual deviation value is: (4) in Indicates the actual circle radius.

[0034] S05: If the actual circle radius is equal to the preset circle radius, the corresponding relationship is maintained unchanged.

[0035] It should be noted that if the actual circle radius is equal to the preset circle radius, it means that the driving radius remains unchanged. According to formula (4), =0, that is, there is no understeer or oversteer tendency, therefore, the corresponding relationship between the actual deviation value of the front and rear axle slip angles and the front and rear axle torque distribution established in step S03 can be maintained.

[0036] S06: If the actual circle radius is greater than the preset circle radius, then reducing the front axle torque distribution ratio in the corresponding relationship.

[0037] It should be noted that if the actual circle radius is greater than the preset circle radius, it means that the driving radius increases. According to formula (4), >0, The larger (i.e. N The larger the value is), the larger the front axle torque distribution ratio is, that is, there is a tendency of understeering. Therefore, the corresponding relationship between the actual deviation value of the front and rear axle slip angles established in step S03 and the front and rear axle torque distribution is adaptively adjusted: the front axle torque distribution ratio is reduced.

[0038] S07: If the actual circle radius is smaller than the preset circle radius, the front axle torque distribution ratio is increased in the corresponding relationship.

[0039] It should be noted that if the actual circle radius is greater than the preset circle radius, it means that the driving radius is reduced. According to formula (4), <0, The smaller (i.e. -N The smaller the value, the smaller the front axle torque distribution ratio is, and there is a tendency of oversteering. Therefore, the corresponding relationship between the actual deviation value of the front and rear axle slip angles established in step S03 and the front and rear axle torque distribution is adaptively adjusted: the front axle torque distribution ratio is increased.

[0040] It is worth noting that in the above steps S05, S06 and S07, the front and rear axle torque distribution ratios are adjusted by adjusting the motor controller, and the front axle torque distribution ratio + the rear axle torque distribution ratio = 100%. Therefore, while the front axle torque distribution ratio is reduced, the rear axle torque distribution ratio is increased, and increasing the front axle torque distribution ratio means that the rear axle torque distribution ratio is reduced.

[0041] In summary, by real-time monitoring of the deviation between the actual driving trajectory of the vehicle and the preset trajectory, the method can timely adjust the front and rear axle torque distribution, correct the vehicle's driving direction, and make it travel more accurately along the preset circle; by obtaining parameters such as the vehicle speed, yaw angular velocity and steering wheel angle corresponding to the tire angle, combined with the vehicle wheelbase design parameters, the actual deviation value of the front and rear axle slip angle can be accurately calculated, thereby achieving precise control of the vehicle dynamics; by establishing a corresponding relationship between the actual deviation value of the front and rear axle slip angle and the front and rear axle torque distribution, the front and rear axle torque distribution ratio can be adjusted according to the actual deviation value to achieve better vehicle handling performance; according to the comparison result of the actual circle radius and the preset circle radius, the front and rear axle torque distribution ratio is adjusted in real time to keep the vehicle driving stably on the preset circle radius; when the actual circle radius is greater than the preset circle radius, the front axle torque distribution ratio is reduced; when the actual circle radius is less than the preset circle radius, the front axle torque distribution ratio is increased. Therefore, this control method can accurately calculate the values ​​of the front and rear axle slip angle deviations, and use mathematical methods to quantitatively analyze and judge the steering trend and degree of the vehicle, so that the control goal of the vehicle's tracking steering can be achieved by adjusting the distribution of the front and rear axle torques; in addition, the front and rear axle torque distribution ratio can be adjusted in real time according to the actual driving conditions and vehicle status to adapt to different driving conditions, such as slippery roads, high-speed driving, etc.

[0042] Example 2 The following further describes a control method for adjusting the steering characteristics of an electric vehicle proposed in the second embodiment of the present application in combination with a specific scenario: Suppose an electric car is undergoing a steady-state circular driving test with a preset circle radius of 50 meters.

[0043] S001: When the vehicle is traveling around a circle at a constant speed and steering wheel angle, the vehicle control system monitors the vehicle's yaw rate, vehicle speed, steering wheel angle and other data in real time; and calculates the actual deviation value of the front and rear axle slip angles according to formulas (1) and (2) in the first embodiment in combination with parameters such as the vehicle wheelbase.

[0044] S002: Inputting the calculated actual deviation value into the established mathematical model of the corresponding relationship to obtain the ideal front and rear axle torque distribution ratio under the current driving state.

[0045] S003: According to formula (4) in the first embodiment, the actual radius of the circle traveled by the vehicle is calculated using the vehicle speed and yaw rate data monitored in real time.

[0046] S004: Compare the actual circle radius with the preset circle radius (50 meters): If the actual circle radius is equal to 50 meters, it means that the vehicle is traveling according to the preset trajectory, and the current front and rear axle torque distribution ratio is maintained unchanged.

[0047] If the actual circle radius is greater than 50 meters, it means that the vehicle has understeering. At this time, it is necessary to reduce the front axle torque distribution ratio and increase the rear axle torque distribution ratio. For example, reduce the front axle torque distribution ratio by 5% and increase the rear axle torque distribution ratio by 5%.

[0048] If the actual circle radius is less than 50 meters, it means that the vehicle is oversteering. At this time, it is necessary to increase the front axle torque distribution ratio and reduce the rear axle torque distribution ratio. For example, increase the front axle torque distribution ratio by 5% and reduce the rear axle torque distribution ratio by 5%.

[0049] S005: According to the judgment result of step S004, the torque output of the front and rear axle motors is adjusted in real time, so as to correct the vehicle's driving trajectory so that it coincides with the preset circular trajectory as much as possible, thereby improving the vehicle's handling stability.

[0050] Example 3 See also Figure 2 , which is a schematic diagram of the structure of a control system for adjusting the steering characteristics of an electric vehicle proposed in the third embodiment of the present application, the system includes: The turning module 10 is used to maintain the steering wheel angle and the medium accelerator pedal of the target electric vehicle unchanged so that the target electric vehicle can travel around a preset circle radius; The data acquisition module 20 is used to obtain the vehicle speed, yaw rate and the steering wheel angle corresponding to the tire during the vehicle driving around the preset circle radius, and obtain the actual deviation value of the front and rear axle slip angle in combination with the vehicle wheelbase design parameters; The torque distribution module 30 is used to establish a corresponding relationship between the actual deviation value of the front and rear axle slip angle and the front and rear axle torque distribution; A data comparison module 40 is used to calculate the actual circle radius according to the actual deviation value, and determine the size of the actual circle radius and the preset circle radius; The torque distribution adjustment module 50 is used to maintain the corresponding relationship unchanged if the actual circle radius is equal to the preset circle radius; reduce the front axle torque distribution ratio in the corresponding relationship if the actual circle radius is greater than the preset circle radius; and increase the front axle torque distribution ratio in the corresponding relationship if the actual circle radius is less than the preset circle radius.

[0051] On the other hand, the present application also proposes a computer device, which includes a memory, a processor, and a processing program stored in the memory and executable on the processor. When the processing program is executed by the processor, the above-mentioned control method for adjusting the steering characteristics of an electric vehicle is implemented.

[0052] On the other hand, the present application further proposes a storage medium, on which a processing program is stored. When the processing program is run by a processor, the control method for adjusting the steering characteristics of an electric vehicle is executed.

[0053] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0054] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0055] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A control method for adjusting the steering characteristics of an electric vehicle, It is characterized in that The method comprises: Maintaining the steering wheel angle and the medium accelerator pedal of the target electric vehicle unchanged so that the target electric vehicle travels around a preset circle radius; The vehicle speed, yaw rate and steering wheel angle corresponding to the tire angle during driving around a preset circle radius are obtained, and the actual deviation value of the front and rear axle slip angle is obtained by combining the vehicle wheelbase design parameters; Establishing a corresponding relationship between the actual deviation value of the front and rear axle sideslip angle and the front and rear axle torque distribution; Calculate the actual circle radius according to the actual deviation value, and determine the difference between the actual circle radius and the preset circle radius; If the actual circle radius is equal to the preset circle radius, the corresponding relationship is maintained unchanged; If the actual circle radius is greater than the preset circle radius, reducing the front axle torque distribution ratio in the corresponding relationship; If the actual circle radius is smaller than the preset circle radius, the front axle torque distribution ratio is increased in the corresponding relationship.

2. A control method for adjusting the steering characteristics of an electric vehicle according to claim 1, It is characterized in that In the step of obtaining the vehicle speed, yaw rate and steering wheel angle corresponding to the tire angle during the vehicle driving around a preset circle radius, The vehicle speed V and yaw rate are obtained by the vehicle sensor during the process of driving around the preset circle radius. The steering wheel angle corresponds to the tire angle .

3. A control method for adjusting the steering characteristics of an electric vehicle according to claim 2, It is characterized in that The actual deviation value of the sideslip angle of the front and rear axles is expressed by the relationship: ， in, represents the front axle slip angle, represents the rear axle slip angle, represents the distance from the front axle to the center of mass, Represents the distance from the rear axle to the center of mass.

4. A control method for adjusting the steering characteristics of an electric vehicle according to claim 3, It is characterized in that The front axle slip angle is expressed by the relation: The rear axle slip angle is expressed by the relation: .

5. A control method for adjusting the steering characteristics of an electric vehicle according to claim 4, It is characterized in that In the step of establishing the corresponding relationship between the actual deviation value of the front and rear axle slip angle and the front and rear axle torque distribution, Set the actual deviation value change , and establish a corresponding relationship between the actual deviation value of the front and rear axle slip angle and the front and rear axle torque distribution through theoretical analysis and experimental calibration methods; The corresponding relationship is formulated into a calibration table, and the formulation of the calibration table includes: When the change in the actual deviation value is 0, the front and rear axle torque distribution ratio is the vehicle driving control target; When the actual deviation value changes by N , N is greater than 0. The larger N is, the greater the front axle torque distribution ratio is; When the actual deviation value changes by -N , -N is less than 0. The smaller -N is, the smaller the front axle torque distribution ratio is.

6. A control method for adjusting the steering characteristics of an electric vehicle according to claim 5, It is characterized in that The front and rear axle torque distribution ratio is adjusted by adjusting the motor controller, and the front axle torque distribution ratio + the rear axle torque distribution ratio = 100%.

7. A control method for adjusting the steering characteristics of an electric vehicle according to claim 6, It is characterized in that The calculation formula for calculating the actual circle radius according to the actual deviation value is: ,in Indicates the actual circle radius.

8. A control system for adjusting the steering characteristics of an electric vehicle, It is characterized in that The system comprises: A turning module, used for maintaining the steering wheel angle and the medium accelerator pedal of the target electric vehicle unchanged, so that the target electric vehicle can drive around a preset circle radius; The data acquisition module is used to obtain the vehicle speed, yaw rate and the steering wheel angle corresponding to the tire during the process of driving around the preset circle radius, and obtain the actual deviation value of the front and rear axle slip angle in combination with the vehicle wheelbase design parameters; A torque distribution module, used to establish a corresponding relationship between the actual deviation value of the front and rear axle slip angles and the front and rear axle torque distribution; A data comparison module, used to calculate the actual circle radius according to the actual deviation value, and determine the size of the actual circle radius and the preset circle radius; The torque distribution adjustment module is used to maintain the corresponding relationship unchanged if the actual circle radius is equal to the preset circle radius; reduce the front axle torque distribution ratio in the corresponding relationship if the actual circle radius is greater than the preset circle radius; and increase the front axle torque distribution ratio in the corresponding relationship if the actual circle radius is less than the preset circle radius.

9. A computer device, It is characterized in that The computer device includes a memory, a processor, and a processing program stored in the memory and executable on the processor. When the processing program is executed by the processor, a control method for adjusting the steering characteristics of an electric vehicle as described in any one of claims 1 to 7 is implemented.

10. A storage medium, It is characterized in that The storage medium stores a processing program, and when the processing program is executed by the processor, the control method for adjusting the steering characteristics of an electric vehicle as claimed in any one of claims 1 to 7 is implemented.

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