A control method and system for adjusting the steering characteristics of an electric vehicle

Abstract

The application belongs to the technical field of electric vehicle steering control, and discloses a control method and system for adjusting the steering characteristics of an electric vehicle, which comprises the following steps: setting a target vehicle to travel around a preset circle at a fixed steering wheel angle and medium throttle, collecting data such as vehicle speed, yaw rate, steering wheel angle corresponding to the tire angle in real time, and calculating the actual side slip angle deviation value of the front and rear axles; establishing a corresponding relationship between the side slip angle deviation value and the front and rear axle torque distribution ratio; and dynamically adjusting the torque distribution ratio according to the comparison result of the actual circle radius and the preset value, and referring to the established corresponding relationship. The method can accurately calculate the numerical value of the side slip angle deviation value of the front and rear axles, and quantitatively analyze and judge the steering trend and degree of the vehicle by using mathematical methods, so that the control target of vehicle tracking steering is realized by adjusting the distribution of the front and rear axle torque.

Description

Technical Field

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

[0002] When turning or circling on low-adhesion surfaces like ice and snow, front-wheel drive vehicles are prone to understeer and rear-wheel drive vehicles to oversteer due to limited ground adhesion, affecting vehicle stability and safety. Electric vehicles with dual front and rear motors can theoretically adjust their steering characteristics by distributing torque between the front and rear (ideally, achieving neither understeer nor oversteer, ensuring the vehicle follows the track).

[0003] Currently, some industry solutions employ closed-loop torque control based on the deviation between the target slip angle and the actual slip angle. However, due to the difficulty in calculating the slip angle and the large error, the vehicle's lateral control is poor. Other open-loop control solutions modify the front-to-rear torque distribution based on factors such as steering wheel angle and steering wheel angle change rate. These solutions can only qualitatively determine the vehicle's steering tendency, but cannot quantitatively link the steering angle and steering angle change rate to target torque control. Therefore, existing control methods that target the front-to-rear axle slip angle deviation value have difficulty accurately calculating the front-to-rear axle slip angle deviation value, and lack mathematical methods to quantitatively analyze and determine the vehicle's steering tendency and degree. This makes achieving the vehicle's tracking steering control goal through front-to-rear axle torque distribution adjustment still challenging. Summary of the Invention

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

[0005] A first aspect of the present application provides a control method for adjusting the steering characteristics of an electric vehicle, the method comprising:

[0006] Maintaining a steering wheel angle and a medium accelerator pedal of the target electric vehicle unchanged so that the target electric vehicle travels around a preset circle radius;

[0007] Obtain the vehicle's speed, yaw rate, and tire angle corresponding to the steering wheel angle while driving around a preset circle radius, and combine this with the vehicle's wheelbase design parameters to determine the actual deviation of the front and rear axle slip angles.

[0008] 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;

[0009] 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;

[0010] If the actual circle radius is equal to the preset circle radius, the corresponding relationship is maintained unchanged;

[0011] If the actual circle radius is greater than the preset circle radius, reducing the front axle torque distribution ratio in the corresponding relationship;

[0012] If the actual circle radius is smaller than the preset circle radius, the front axle torque distribution ratio is increased in the corresponding relationship.

[0013] Compared with the prior art, the present application provides a control method for regulating 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; based on 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 vehicle's steering trend and degree, so that the vehicle's tracking steering control goal can be achieved by adjusting the distribution of front and rear axle torque. In addition, the front and rear axle torque distribution ratio can be adjusted in real time according to actual driving conditions and vehicle status to adapt to different driving conditions, such as slippery roads, high-speed driving, etc.

[0014] As an optional implementation manner of the first aspect, in the step of obtaining the vehicle speed, yaw angular velocity, and tire angle corresponding to the steering wheel angle during driving around a preset circle radius,

[0015] The vehicle speed V and yaw rate are obtained by the vehicle sensor during the process of driving around the preset circle radius. The tire angle corresponding to the steering wheel angle .

[0016] 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 the relationship:

[0017] ,

[0018] 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, Indicates the distance from the rear axle to the center of mass.

[0019] 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 as follows: .

[0020] As an optional implementation manner of the first aspect, in the step of establishing the correspondence between the actual deviation value of the front and rear axle slip angle and the front and rear axle torque distribution,

[0021] Set the actual deviation value change , and 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 through theoretical analysis and experimental calibration methods;

[0022] The corresponding relationship is formulated into a calibration table, and the formulation of the calibration table includes:

[0023] When the change in the actual deviation value is 0, the front and rear axle torque distribution ratio is the vehicle driving control target;

[0024] 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;

[0025] 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.

[0026] 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%.

[0027] As an optional implementation manner 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.

[0028] A second aspect of the embodiments of the present application provides a control system for adjusting the steering characteristics of an electric vehicle, the system comprising:

[0029] The round driving module is used for maintaining the steering wheel angle and the medium accelerator pedal of the target electric vehicle unchanged, so that the target electric vehicle drives around a preset circle radius;

[0030] The data acquisition module is used for acquiring the vehicle speed, the yaw rate and the steering wheel angle corresponding to the tire during the driving around the preset circle radius, and obtaining the actual deviation value of the front and rear axle side slip angles in combination with the vehicle wheelbase design parameter;

[0031] The torque distribution module is used for establishing the corresponding relationship between the actual deviation value of the front and rear axle side slip angles and the front and rear axle torque distribution;

[0032] The data comparison module is used for calculating the actual circle radius according to the actual deviation value, and judging the size of the actual circle radius and the preset circle radius;

[0033] The torque distribution adjustment module is used for maintaining the corresponding relationship unchanged if the actual circle radius is equal to the preset circle radius, reducing the front axle torque distribution proportion in the corresponding relationship if the actual circle radius is greater than the preset circle radius, and increasing the front axle torque distribution proportion in the corresponding relationship if the actual circle radius is less than the preset circle radius.

[0034] The third aspect of the embodiment of the present application provides a computer device, which comprises a memory, a processor and a processing program stored in the memory and executable on the processor, and the processing program is executed by the processor to realize the control method for adjusting the steering characteristics of the electric vehicle.

[0035] The fourth aspect of the embodiment of the present application provides a storage medium, which stores a processing program, and the processing program is executed by the processor to execute the control method for adjusting the steering characteristics of the electric vehicle.

[0036] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 A flow chart of the control method for adjusting the steering characteristics of the electric vehicle is provided for the first embodiment of the present application;

[0038] Figure 2 A structure schematic diagram of the control system for adjusting the steering characteristics of the electric vehicle is provided for the third embodiment of the present application.

[0039] The following specific implementation will further illustrate the present application in combination with the above drawings. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0041] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects and are not used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments of this application can be implemented in an order other than those illustrated or described herein. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0042] In order to illustrate the technical solution described in this application, specific embodiments are provided below.

[0043] Example 1

[0044] See also Figure 1 , which 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, wherein the proposed method includes:

[0045] S01: Maintaining a steering wheel angle and a medium accelerator pedal of a target electric vehicle unchanged, so that the target electric vehicle travels around a preset circle radius.

[0046] In this step, "medium accelerator pedal" refers to the accelerator pedal opening that allows the vehicle to maintain a stable speed. The specific value can be set according to actual conditions. During the driving process of the electric vehicle, the steering wheel angle and the position of the medium accelerator pedal are maintained unchanged so that the vehicle travels according to a preset circle radius. The preset circle radius can be set according to driving requirements or road conditions.

[0047] For example, the steering wheel angle is kept unchanged through the vehicle's steering system; the accelerator pedal is controlled to keep the electric vehicle at a medium throttle opening to maintain a stable speed; and the vehicle's sensors (such as gyroscopes, speed sensors, etc.) are used to monitor the electric vehicle's driving status in real time, including the steering wheel angle, vehicle speed, yaw angular velocity, and wheel angle.

[0048] S02: Obtain the vehicle speed, yaw rate, and tire angle corresponding to the steering wheel angle during driving around a preset circle radius, and combine the vehicle wheelbase design parameters to obtain the actual deviation value of the front and rear axle slip angles.

[0049] In this step, the vehicle speed V and yaw rate during the process of traveling around the preset circle radius can be obtained through the vehicle sensor. The tire angle corresponding to the steering wheel angle The actual deviation of the front and rear axle slip angles can be calculated using the following formula.

[0050] The front axle slip angle is expressed as: (1)

[0051] The rear axle slip angle is expressed as: (2)

[0052] 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:

[0053] (3)

[0054] 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, Indicates the distance from the rear axle to the center of mass.

[0055] S03: 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.

[0056] In this step, the correspondence between the actual deviation of the front and rear axle slip angles and the front and rear axle torque distribution can be obtained through experiments, simulations, or optimization algorithms. This correspondence can be stored in a lookup table in the vehicle control unit or described by a mathematical model.

[0057] For example, the actual deviation value is set to , and through theoretical analysis and experimental calibration methods, 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: .

[0058] The corresponding relationship is formulated into a calibration table, and the formulation of the calibration table includes:

[0059] When the change in the actual deviation value is 0, the front and rear axle torque distribution ratio is the vehicle driving control target;

[0060] 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;

[0061] 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.

[0062] Table 1 Correspondence between the actual deviation of the front and rear axle slip angles and the front and rear axle torque distribution

[0063]

[0064] S04: Calculating an actual circle radius according to the actual deviation value, and determining a difference between the actual circle radius and the preset circle radius.

[0065] Specifically, the calculation formula for calculating the actual circle radius according to the actual deviation value is:

[0066] (4)

[0067] in Indicates the actual circle radius.

[0068] S05: If the actual circle radius is equal to the preset circle radius, the corresponding relationship is maintained unchanged.

[0069] 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 correspondence between the actual deviation value of the front and rear axle slip angle and the front and rear axle torque distribution established in step S03 can be maintained.

[0070] 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.

[0071] 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 understeer. Therefore, the correspondence 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.

[0072] S07: If the actual circle radius is smaller than the preset circle radius, then the front axle torque distribution ratio is increased in the corresponding relationship.

[0073] 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 (ie -N The smaller the value, the smaller the front axle torque distribution ratio is, and there is a tendency of oversteering. Therefore, the correspondence 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.

[0074] It's worth noting that in 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. Increasing the front axle torque distribution ratio means decreasing the rear axle torque distribution ratio.

[0075] In summary, the method monitors the deviation between the actual driving trajectory of the vehicle and the preset trajectory in real time. The method can adjust the front and rear axle torque distribution in time, 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 vehicle's steering trend and degree, so that the vehicle's tracking steering control goal can be achieved by adjusting the distribution of front and rear axle torque. In addition, the front and rear axle torque distribution ratio can be adjusted in real time according to actual driving conditions and vehicle status to adapt to different driving conditions, such as slippery roads, high-speed driving, etc.

[0076] Example 2

[0077] 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 conjunction with specific scenarios:

[0078] Suppose an electric car is undergoing a steady-state circular driving test with a preset circle radius of 50 meters.

[0079] 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 based on formulas (1) and (2) in the first embodiment, combined with parameters such as the vehicle wheelbase.

[0080] 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.

[0081] S003: According to formula (4) in the first embodiment, the real-time monitored vehicle speed and yaw rate data are used to calculate the actual radius of the circle the vehicle is traveling.

[0082] S004: Compare the actual circle radius with the preset circle radius (50 meters):

[0083] 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.

[0084] If the actual circle radius is greater than 50 meters, it means that the vehicle has understeer. 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%.

[0085] 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%.

[0086] S005: Based on the judgment result of step S004, the torque output of the front and rear axle motors is adjusted in real time, thereby correcting 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.

[0087] Example 3

[0088] See also Figure 2 , shown is a schematic structural diagram of a control system for adjusting the steering characteristics of an electric vehicle proposed in the third embodiment of the present application, the system comprising:

[0089] The turning module 10 is configured to maintain the steering wheel angle and the medium accelerator pedal of the target electric vehicle unchanged so as to make the target electric vehicle travel around a preset circle radius;

[0090] The data acquisition module 20 is used to obtain the vehicle speed, yaw rate, and tire angle corresponding to the steering wheel angle during the process of driving around a preset circle radius, and to obtain the actual deviation value of the front and rear axle slip angles in combination with the vehicle wheelbase design parameters;

[0091] 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;

[0092] A data comparison module 40 is configured to calculate an actual circle radius according to the actual deviation value, and determine a difference between the actual circle radius and the preset circle radius;

[0093] 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.

[0094] 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 capable of running 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.

[0095] 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.

[0096] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted 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 the opposite 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.

[0097] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a more preferred embodiment. Based on this understanding, the technical solution of this application, or the part that contributes to the existing technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of this application.

[0098] 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 this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. A control method for adjusting the steering characteristics of an electric vehicle, characterized in that: The method comprises: Maintaining a steering wheel angle and a medium accelerator pedal of the target electric vehicle unchanged so that the target electric vehicle travels around a preset circle radius; Obtain the vehicle's speed, yaw rate, and tire angle corresponding to the steering wheel angle while driving around a preset circle radius, and combine this with the vehicle's wheelbase design parameters to determine the actual deviation of the front and rear axle slip angles. 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; 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, characterized in that: In the step of obtaining the vehicle speed, yaw rate, 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 tire angle corresponding to the steering wheel angle .

3. The control method for adjusting the steering characteristics of an electric vehicle according to claim 2, 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, Indicates the distance from the rear axle to the center of mass.

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

5. The control method for adjusting the steering characteristics of an electric vehicle according to claim 4, 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 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 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. The control method for adjusting the steering characteristics of an electric vehicle according to claim 5, 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. The control method for adjusting the steering characteristics of an electric vehicle according to claim 6, 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, characterized in that: The system comprises: a curve driving module, configured to maintain a steering wheel angle and a medium accelerator pedal of a target electric vehicle unchanged so as to cause the target electric vehicle to travel around a preset circle radius; The data acquisition module is used to obtain the vehicle speed, yaw rate, and tire angle corresponding to the steering wheel angle while driving around a preset circle radius, and to obtain the actual deviation value of the front and rear axle slip angles based on the vehicle wheelbase design parameters; a torque distribution module, configured 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, configured to calculate an actual circle radius according to the actual deviation value, and determine a difference between the actual circle radius and the preset circle radius; The torque distribution adjustment module is configured 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, 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 claimed in any one of claims 1 to 7 is implemented.

10. A storage medium, 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 according to any one of claims 1 to 7 is implemented.

Images