Vehicle transverse movement control method and device for dual-motor vehicle, storage medium and computer program product

Abstract

The invention discloses a vehicle transverse movement control method and device of a dual-motor vehicle, a storage medium and a computer program product, and relates to the field of vehicles, the method comprises the steps that under the condition that a vehicle transverse movement request is received, the working mode of a wheel steering system of the dual-motor vehicle is switched to a target mode; determining an output motor torque of the dual-motor vehicle when the dual-motor vehicle starts to slip in the target area, and determining a feed-forward item torque according to the output motor torque; pID item closed-loop torques of the multiple wheels are determined according to the real-time rotating speeds of the multiple wheels in the vehicle transverse moving process; and according to the feedforward item torque and the PID item closed-loop torque, real-time demand torque of a vehicle front axle motor and a vehicle rear axle motor in the vehicle transverse moving process is determined, and the vehicle front axle motor, the vehicle rear axle motor and a wheel brake are controlled according to the real-time demand torque. And the dual-motor vehicle is controlled to transversely move in the target area in a driving and braking cooperative control mode.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and more specifically, to a vehicle lateral movement control method and device, a storage medium, and a computer program product for a dual-motor vehicle. Background Art

[0002] With the acceleration of urbanization, parking spaces in densely populated areas have gradually become a scarce resource, especially for emerging vehicles such as new energy vehicles, whose size and power characteristics are different from traditional vehicles, and the problem of parking difficulty is more prominent. In many modern cities, the parking environment is often restricted, the length of the side parking space may be short, and the safe distance between the front and rear vehicles may be very limited, which poses a challenge to the parking and exit operations of the vehicle. When traditional vehicles park in such an environment, they usually need to move forward and backward multiple times, or turn at a large angle, which is not only complicated and time-consuming to operate, but also may cause potential risks to the vehicle and the surrounding environment.

[0003] When parking or driving out of a parallel parking space, the vehicle needs to complete lateral movement in a very small space, which requires that each wheel of the vehicle can respond independently and quickly to different torque requirements to achieve stable and precise lateral movement.

[0004] In response to the above problems, existing parking assistance technologies mostly focus on environmental perception through sensors such as cameras and radars, and parallel parking or perpendicular parking through automatic steering and braking. However, in scenarios involving lateral movement of vehicles, especially when space is extremely limited, these technologies are often difficult to apply effectively.

[0005] In the related art, there is no effective solution to the problem that the side parking space is short or the safety distance between the front and rear vehicles is small, making it difficult for the vehicle to park in or out of the parking space. Summary of the invention

[0006] The embodiments of the present application provide a vehicle lateral movement control method and device, storage medium and computer program product for a dual-motor vehicle, so as to at least solve the problem in the related art that the length of the side parking space is short or the safety distance between the front and rear vehicles is small, making it difficult for the vehicle to park in or out of the parking space.

[0007] According to one aspect of an embodiment of the present application, a vehicle lateral movement control method for a dual-motor vehicle is provided, which is applied to the dual-motor vehicle, comprising: upon receiving a vehicle lateral movement request, switching the working mode of the wheel steering system of the dual-motor vehicle to a target mode, wherein the vehicle lateral movement request is used to instruct the dual-motor vehicle to stay in a target area for vehicle lateral movement, the dual-motor vehicle comprises: a front axle motor and a rear axle motor, and in the target mode, the wheel steering system has the same rotation angle and opposite rotation direction for the front wheels and the rear wheels of the vehicle; determining the output motor torque of the dual-motor vehicle when the wheels of the dual-motor vehicle begin to slip within the target area, and determining a feedforward item torque based on the output motor torque, wherein the output motor torque is the output motor torque of the front axle motor and / or the rear axle motor, and the feedforward item torque is used to predict the The multiple wheels of the dual-motor vehicle require torque during the vehicle lateral movement; the PID item closed-loop torques of the multiple wheels are respectively determined according to the real-time rotational speeds of the multiple wheels during the vehicle lateral movement, wherein the PID item closed-loop torque is used to perform torque compensation on the multiple wheels to control the vehicle slip rate of the dual-motor vehicle to be a target slip rate during the vehicle lateral movement; the real-time required torques of the front axle motor and the rear axle motor during the vehicle lateral movement are determined according to the feedforward item torque and the PID item closed-loop torque, and the front axle motor, the rear axle motor and wheel brakes are controlled according to the real-time required torque to control the dual-motor vehicle to perform vehicle lateral movement within the target area, wherein the wheel brake is used to provide braking torque to the multiple wheels, and the braking torque is used to adjust the actual driving torque of the multiple wheels.

[0008] In an exemplary embodiment, the real-time required torques of the front axle motor and the rear axle motor during the vehicle lateral movement are determined according to the feedforward item torque and the PID item closed-loop torque, including: respectively determining the target required torques of the multiple wheels according to the sum of the feedforward item torque and the PID item closed-loop torques of the multiple wheels; determining the maximum value of the first required torques of the multiple front wheels as the second required torque, and determining the first real-time required torque of the front axle motor according to the second required torque; and determining the minimum value of the third required torques of the multiple rear wheels as the fourth required torque, and determining the second real-time required torque of the rear axle motor according to the fourth required torque, wherein the multiple wheels include the multiple front wheels and the multiple rear wheels, the target required torque includes the first required torque and the third required torque, and the third required torque is a negative torque.

[0009] In an exemplary embodiment, the front axle motor, the rear axle motor and the wheel brakes are controlled according to the real-time required torque, including: controlling the front axle motor according to the first real-time required torque, and controlling the rear axle motor according to the second real-time required torque; respectively subtracting a plurality of the first required torques from the second required torques and taking the absolute values ​​to obtain the first required braking torques for the plurality of front wheels, and respectively subtracting a plurality of the third required torques from the fourth required torques and taking the absolute values ​​to obtain the second required braking torques for the plurality of rear wheels; respectively providing braking torques to the plurality of front wheels according to the plurality of the first required braking torques through the wheel brakes, and respectively providing braking torques to the plurality of rear wheels according to the plurality of the second required braking torques through the wheel brakes, so as to control the actual driving torques of the plurality of wheels to be the plurality of the target required torques respectively.

[0010] In an exemplary embodiment, determining the output motor torque of the dual-motor vehicle when the dual-motor vehicle begins to slip in the target area, and determining the feedforward term torque according to the output motor torque, includes: determining the current gravity G of the dual-motor vehicle, and determining the output motor torque according to the current gravity G and the following formula: ,in, is the output motor torque, is the adhesion coefficient, is the wheel radius, i is the transmission ratio from the vehicle motor to the vehicle wheel end; the feedforward torque is determined by the following formula: ,in, is the feedforward term torque, It is the offset torque between the maximum static friction and the sliding friction of the dual-motor vehicle.

[0011] In an exemplary embodiment, the PID closed-loop torques of the multiple wheels are determined respectively according to the real-time rotation speeds of the multiple wheels during the lateral movement of the vehicle, including: calculating the target rotation speeds of the multiple wheels according to the target slip rate; determining the speed difference between the real-time rotation speed and the target rotation speed; and determining the PID closed-loop torque by the following formula: ,in, is the PID term closed loop torque, is the proportional gain coefficient, e(t) is the speed difference, is the integral gain coefficient, is the differential gain coefficient.

[0012] In an exemplary embodiment, upon receiving a vehicle lateral movement request, after switching the operating mode of the wheel steering system of the dual-motor vehicle to a target mode, the method further includes: sending steering prompt information to the target object to prompt the target object to control the front wheels and the rear wheels of the vehicle to turn to a target turning angle; when it is determined that the front wheels and the rear wheels of the vehicle are turned to the target turning angle, sending acceleration prompt information to the target object to prompt the target object to control the accelerator pedal to control the front axle motor of the vehicle to output positive torque and control the rear axle motor of the vehicle to output negative torque, until the dual-motor vehicle begins to experience wheel slip.

[0013] In an exemplary embodiment, the method further includes: receiving a target lateral displacement distance sent by a target object, and when it is determined that the lateral displacement distance of the dual-motor vehicle during the lateral displacement process reaches the target lateral displacement distance, controlling the dual-motor vehicle to stop moving and controlling the wheel steering system to exit the target mode; or, when a vehicle braking request is received, controlling the dual-motor vehicle to stop moving and controlling the wheel steering system to exit the target mode.

[0014] According to another aspect of an embodiment of the present application, a vehicle lateral movement control device for a dual-motor vehicle is also provided, including: a switching module, used to switch the working mode of the wheel steering system of the dual-motor vehicle to a target mode when a vehicle lateral movement request is received, wherein the vehicle lateral movement request is used to instruct the dual-motor vehicle to stay in a target area for vehicle lateral movement, and the dual-motor vehicle includes: a front axle motor and a rear axle motor, and the wheel steering system has the same rotation angle and opposite rotation direction of the front wheels and the rear wheels in the target mode; a first determination module, used to determine the output motor torque of the dual-motor vehicle when the wheels of the dual-motor vehicle begin to slip in the target area, and determine a feedforward item torque based on the output motor torque, wherein the output motor torque is the output motor torque of the front axle motor and / or the rear axle motor, and the feedforward item torque is used to predict the a second determination module, for respectively determining the PID item closed-loop torques of the multiple wheels during the vehicle lateral movement according to the real-time rotational speeds of the multiple wheels during the vehicle lateral movement, wherein the PID item closed-loop torque is used to perform torque compensation on the multiple wheels to control the vehicle slip rate of the dual-motor vehicle to be a target slip rate during the vehicle lateral movement; a control module, for determining the real-time required torques of the front axle motor and the rear axle motor during the vehicle lateral movement according to the feedforward item torque and the PID item closed-loop torque, and controlling the front axle motor, the rear axle motor and the wheel brakes according to the real-time required torque to control the dual-motor vehicle to perform vehicle lateral movement within the target area, wherein the wheel brakes are used to provide braking torque to the multiple wheels, and the braking torque is used to adjust the actual driving torque of the multiple wheels.

[0015] According to another aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the vehicle lateral movement control method of the dual-motor vehicle described above when running.

[0016] According to another aspect of an embodiment of the present application, an electronic device is also provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the vehicle lateral movement control method of the dual-motor vehicle through the computer program.

[0017] According to another aspect of the embodiments of the present application, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of the method described in each embodiment of the present application are implemented.

[0018] In an embodiment of the present application, after receiving a vehicle lateral movement request, the working mode of the vehicle's wheel steering system is switched to a target mode, wherein the vehicle lateral movement request is used to indicate that the dual-motor vehicle is ready to perform vehicle lateral movement within a target area, the dual-motor vehicle includes a front axle motor and a rear axle motor, and the wheel steering system has the same rotation angle and opposite rotation directions for the front wheels and the rear wheels in the target mode; the output motor torque of the dual-motor vehicle when the wheels begin to slip within the target area is recorded, and a feedforward item torque is determined based on the output motor torque, wherein the output motor torque is the output motor torque of the front axle motor and / or the rear axle motor, and the feedforward item torque is used to predict the required torque for multiple wheels of the dual-motor vehicle to perform stable lateral movement during the vehicle lateral movement process; the real-time PID item closed-loop torque of the multiple wheels is determined respectively according to the real-time rotation speed of the multiple wheels during the vehicle lateral movement process, wherein the PID item closed-loop torque is used to control the multiple wheels to perform stable lateral movement during the vehicle lateral movement process; The wheels perform torque compensation to control the vehicle slip rate of the dual-motor vehicle to be stable at the target slip rate during the vehicle lateral movement, so that the vehicle can move sideways stably; the real-time required torque of the front axle motor and the rear axle motor of the vehicle during the vehicle lateral movement is determined according to the feedforward item torque and the PID item closed-loop torque, and the front axle motor, the rear axle motor and the wheel brakes are controlled according to the real-time required torque, so as to control the dual-motor vehicle to perform stable vehicle lateral movement in the target area, wherein the wheel brake is used to provide braking torque to each wheel, and the braking torque is used to adjust the actual driving torque of the wheel; the above scheme is adopted, through the rear wheel steering, the feedforward item torque of each wheel end and the PID torque obtained by the wheel speed closed loop, and then the brake coordinated control is adopted to realize the closed-loop control of the speed of each wheel end, so as to realize the stable lateral movement of the dual-motor vehicle, which can facilitate lateral parking and exiting the warehouse; thereby solving the problem in the related technology that the length of the lateral parking space is short or the safety distance left by the front and rear vehicles is small, making it difficult for the vehicle to park in the warehouse or exit the warehouse. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0021] Figure 1 is a flow chart of an optional vehicle lateral movement control method of a dual-motor vehicle according to an embodiment of the present application;

[0022] Figure 2is a schematic diagram of an optional force analysis of a vehicle during lateral movement according to an embodiment of the present application;

[0023] Figure 3 is a schematic diagram of an optional driving and braking coordinated control process during the lateral movement of a vehicle according to an embodiment of the present application;

[0024] Figure 4 It is a structural block diagram of an optional vehicle lateral movement control device for a dual-motor vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only 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 should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] In order to solve the technical problems existing in the related art, a vehicle lateral movement control method for a dual-motor vehicle is provided in this embodiment, which is applied to a dual-motor vehicle. Figure 1 : is a flow chart of an optional vehicle lateral movement control method of a dual-motor vehicle according to an embodiment of the present application, the process includes the following steps S102-S108:

[0028] Step S102, in the case of receiving a vehicle lateral movement request, switching the working mode of the wheel steering system of the dual-motor vehicle to a target mode, wherein the vehicle lateral movement request is used to instruct the dual-motor vehicle to stay in a target area to perform vehicle lateral movement, the dual-motor vehicle comprises: a front axle motor and a rear axle motor, and the wheel steering system in the target mode has the front wheels and rear wheels having the same rotation angle and opposite rotation directions;

[0029] Step S104, determining the output motor torque of the dual-motor vehicle when the wheels of the dual-motor vehicle begin to slip in the target area, and determining a feedforward item torque based on the output motor torque, wherein the output motor torque is an absolute value of the output motor torque of the front axle motor and / or the rear axle motor of the vehicle, and the feedforward item torque is used to predict the required torque of multiple wheels of the dual-motor vehicle during the lateral movement of the vehicle;

[0030] Step S106, determining the PID closed-loop torques of the multiple wheels respectively according to the real-time rotation speeds of the multiple wheels during the lateral movement of the vehicle, wherein the PID closed-loop torques are used to perform torque compensation on the multiple wheels to control the vehicle slip rate of the dual-motor vehicle to be a target slip rate during the lateral movement of the vehicle;

[0031] Step S108, determining the real-time required torque of the front axle motor and the rear axle motor during the vehicle lateral movement according to the feedforward item torque and the PID item closed-loop torque, and controlling the front axle motor, the rear axle motor and the wheel brakes according to the real-time required torque to control the dual-motor vehicle to perform lateral movement within the target area, wherein the wheel brake is used to provide braking torque to the multiple wheels, and the braking torque is used to adjust the actual driving torque of the multiple wheels.

[0032] Through the above steps, after receiving the vehicle lateral movement request, the working mode of the vehicle's wheel steering system is switched to the target mode, wherein the vehicle lateral movement request is used to indicate that the dual-motor vehicle is ready to perform vehicle lateral movement in the target area, the dual-motor vehicle includes a front axle motor and a rear axle motor, and the wheel steering system has the same rotation angle and opposite rotation direction for the front wheels and the rear wheels in the target mode; the output motor torque of the dual-motor vehicle when the wheels begin to slip in the target area is recorded, and a feedforward item torque is determined based on the output motor torque, wherein the output motor torque is the output motor torque of the front axle motor and / or the rear axle motor, and the feedforward item torque is used to predict the required torque for multiple wheels of the dual-motor vehicle to perform stable lateral movement during the vehicle lateral movement process; the real-time PID item closed-loop torque of the multiple wheels is determined according to the real-time rotation speed of the multiple wheels during the vehicle lateral movement process, wherein the PID item closed-loop torque is used to control the multiple wheels to move sideways. The wheels are used for torque compensation to control the vehicle slip rate of the dual-motor vehicle to be stable as the target slip rate during the lateral movement of the vehicle, so that the vehicle can move sideways stably; the real-time required torque of the front axle motor and the rear axle motor of the vehicle during the lateral movement of the vehicle is determined according to the feedforward item torque and the PID item closed-loop torque, and the front axle motor, the rear axle motor and the wheel brake are controlled according to the real-time required torque, so as to control the dual-motor vehicle to perform stable vehicle lateral movement in the target area, wherein the wheel brake is used to provide braking torque to each wheel, and the braking torque is used to adjust the actual driving torque of the wheel; the above scheme is adopted, through the rear wheel steering, the feedforward item torque of each wheel end and the PID torque obtained by the wheel speed closed loop, and then the brake coordinated control is adopted to realize the closed-loop control of the speed of each wheel end, realize the stable lateral movement of the dual-motor vehicle, and facilitate lateral parking and exiting the warehouse; thereby solving the problem in the related technology that the length of the lateral parking space is short or the safety distance left by the front and rear vehicles is small, making it difficult for the vehicle to park in the warehouse or exit the warehouse.

[0033] In an exemplary embodiment, the real-time required torques of the front axle motor and the rear axle motor during the vehicle lateral movement are determined according to the feedforward item torque and the PID item closed-loop torque, including: respectively determining the target required torques of the multiple wheels according to the sum of the feedforward item torque and the PID item closed-loop torques of the multiple wheels; determining the maximum value of the first required torques of the multiple front wheels as the second required torque, and determining the first real-time required torque of the front axle motor according to the second required torque; and determining the minimum value of the third required torques of the multiple rear wheels as the fourth required torque, and determining the second real-time required torque of the rear axle motor according to the fourth required torque, wherein the multiple wheels include the multiple front wheels and the multiple rear wheels, the target required torque includes the first required torque and the third required torque, and the third required torque is a negative torque.

[0034] Optionally, the front axle motor, the rear axle motor and wheel brakes are controlled according to the real-time required torque, including: controlling the front axle motor according to the first real-time required torque, and controlling the rear axle motor according to the second real-time required torque; subtracting a plurality of the first required torques from the second required torques and taking the absolute values ​​to obtain the first required braking torques for the plurality of front wheels, and subtracting a plurality of the third required torques from the fourth required torques and taking the absolute values ​​to obtain the second required braking torques for the plurality of rear wheels; providing braking torques to the plurality of front wheels respectively according to the plurality of the first required braking torques through the wheel brakes, and providing braking torques to the plurality of rear wheels respectively according to the plurality of the second required braking torques through the wheel brakes, so as to control the actual driving torques of the plurality of wheels to be the plurality of the target required torques respectively.

[0035] In the dual-motor vehicle lateral movement control method, the key to achieving stable lateral movement is to accurately control the speed of each wheel to adapt to the complex road conditions and power requirements during the lateral movement of the vehicle. This embodiment details how to combine the feedforward torque and the PID closed-loop torque to determine the real-time required torque of the front and rear axle motors of the vehicle during the lateral movement, thereby achieving independent closed-loop control of the wheel speed and ensuring stable lateral movement of the vehicle in a narrow space.

[0036] The steps are as follows:

[0037] 1. Comprehensive calculation of feedforward torque and PID closed-loop torque: Before the vehicle starts to move sideways, the system first calculates the feedforward torque based on the vehicle state (such as accelerator pedal opening, target slip rate, etc.) to estimate the external resistance and power requirements that may be encountered during the vehicle's sideways movement. At the same time, based on the deviation between the actual speed of each wheel and the target speed, the PID control algorithm is used to calculate the PID closed-loop torque to instantly correct the wheel speed to ensure that it is consistent with the target value.

[0038] 2. Determine the target torque required by the wheel: Add the feedforward torque to the PID closed-loop torque of each wheel to obtain the target torque required by the wheel during the lateral movement. This step is the basis for achieving independent closed-loop control of the wheels, ensuring that each wheel can obtain the most suitable torque distribution according to its specific working environment and needs, reduce slip and control delay, and enhance the stability and responsiveness of lateral movement.

[0039] 3. Calculation of real-time required torque of front and rear axle motors: After determining the target required torque of all wheels, for the front axle, the system selects the maximum value of the target required torque of the front two wheels (left front wheel and right front wheel) as the second required torque. This maximum value represents the maximum resistance that the front axle needs to overcome or the maximum speed requirement to be reached during the lateral movement. The first real-time required torque of the front axle motor is obtained by multiplying the second required torque by 2 (considering that the front axle motor needs to meet the maximum requirements of both front wheels at the same time). For the rear axle, the system selects the minimum value of the target required torque of the rear two wheels (left rear wheel and right rear wheel) as the fourth required torque. This is because the rear axle motor may need to apply braking torque (usually expressed as negative torque) to some wheels to control the speed or direction of the vehicle when lateral movement. The second real-time required torque of the rear axle motor is obtained by multiplying the fourth required torque (negative torque with the largest absolute value) by 2 to ensure that the rear axle can provide sufficient braking force or control force to meet the minimum requirements when the vehicle is lateral.

[0040] It should be noted that for the rear axle motor torque (i.e. the fourth required torque mentioned above), it is necessary to select the one with the smaller required torque among the rear two wheels because the rear axle output torque is a negative torque, that is, the one with the smaller value is actually the one with the larger absolute value.

[0041] For the front and rear axles, the larger absolute value of the torque of the corresponding front and rear wheels should be selected and multiplied by 2. This is because there is only one motor for each of the front and rear axles, and the motor needs to meet the torque requirements of the corresponding axles at the same time. After outputting a large torque, it is evenly distributed according to the torque of the differential. The wheel-end torque requirement with a larger torque requirement is met, while the other wheel with a smaller torque requirement can control the final wheel-end torque to the target value by outputting braking force.

[0042] 4. Coordinated control of brakes: While the front and rear axle motors provide corresponding torque, if the wheel requires a smaller torque (the absolute value is smaller, especially in the rear axle, which may appear as a smaller negative torque), the system will provide additional braking torque through the brake of that wheel to compensate for the difference between the motor output and the actual demand of the wheel, ensuring that each wheel can accurately follow its target demand torque to achieve stable lateral movement of the vehicle.

[0043] Through this series of calculation and control strategies in the embodiment, the dual-motor vehicle can flexibly adapt to various external conditions during the lateral movement, realize four-wheel independent speed closed-loop control, and thus ensure the stable lateral movement of the vehicle in a narrow space, improving the efficiency and safety of parking and exiting. This drive-brake coordinated control method not only overcomes the technical bottleneck of dual-motor vehicles in lateral movement operations, but also provides new possibilities for the application of new energy vehicles in complex parking environments.

[0044] Further, determining the output motor torque of the dual-motor vehicle when the dual-motor vehicle begins to slip in the target area, and determining the feedforward term torque according to the output motor torque, includes: determining the current gravity G of the dual-motor vehicle, and determining the output motor torque according to the current gravity G and the following formula: ,in, is the output motor torque, is the adhesion coefficient, is the wheel radius, i is the transmission ratio from the vehicle motor to the vehicle wheel end; the feedforward torque is determined by the following formula: ,in, is the feedforward term torque, It is the offset torque between the maximum static friction and the sliding friction of the dual-motor vehicle.

[0045] In the lateral control method of new energy vehicles driven by dual motors, accurately calculating and controlling the output motor torque is the key to achieving stable lateral movement of the vehicle. When the vehicle starts to perform lateral movement in the target area, the wheels may encounter different ground conditions, resulting in slippage. Wheel slip not only reduces the vehicle's handling and safety, but may also affect the efficiency and stability of lateral movement. Therefore, determining the output motor torque of the vehicle when the wheels begin to slip and calculating the feedforward torque based on this is crucial for optimizing the lateral control strategy.

[0046] 1. Determine the output motor torque:

[0047] When the wheels start to slip during vehicle lateral movement, the current gravity (G) of the vehicle needs to be determined first, which is usually calculated based on the product of the total mass of the vehicle and the acceleration of gravity. Then, based on the friction between the wheels and the ground and the transmission characteristics of the vehicle, the output motor torque that just causes the wheels to slip is calculated. The torque is calculated as: ,in: is the adhesion coefficient between the wheel and the ground, which indicates the ratio between the maximum lateral force and the vertical load that the wheel can withstand on the ground. r is the radius of the wheel, which affects the pressure distribution of the contact area between the wheel and the ground. i is the transmission ratio from the vehicle motor to the vehicle wheel end, which reflects the amplification or reduction ratio of the motor output torque when it is transmitted to the wheel end through the transmission system.

[0048] Calculated It is the maximum motor output torque that ensures that the wheels do not slip when the vehicle starts to move sideways. This information is crucial for the subsequent feedforward torque calculation and closed-loop control of the four-wheel speed.

[0049] 2. Determine the feedforward torque:

[0050] Feedforward term torque Based on the output motor torque It is used to pre-distribute torque at the beginning of lateral movement to reduce the risk of wheel slip due to dynamic response time. The formula for calculating the feedforward torque is:

[0051] ,in: It is the offset torque between the maximum static friction and sliding friction of a dual-motor vehicle. Since there is a certain difference between the maximum static friction of the vehicle and the sliding friction after sliding (the offset is defined according to the difference), the sliding friction is obtained by subtracting the difference from the maximum static friction. The feedforward term is determined based on the sliding friction. During PID control, it will be easier to converge to the target under the same parameters. The vehicle performance is able to respond faster and more flexibly to different lateral movement requirements and road conditions.

[0052] The feed-forward term torque is calculated by , can provide an initial torque distribution benchmark for the lateral control strategy, ensuring that each wheel can obtain sufficient torque to overcome ground friction in the early stage of vehicle lateral movement, while avoiding wheel slip caused by excessive torque. This torque benchmark combined with the PID closed-loop torque will jointly determine the actual required torque of each wheel during the vehicle's lateral movement, thereby achieving stable lateral movement.

[0053] In summary, in the lateral control of dual-motor vehicles, the output motor torque is determined and the feedforward term torque It provides a key torque distribution strategy to achieve stable lateral movement of the vehicle. By considering the vehicle's gravity, adhesion coefficient, wheel radius, transmission ratio and other parameters, it can not only estimate the motor torque demand when the wheel starts to slip, but also provide a reasonable torque pre-distribution for the wheel at the beginning of lateral movement, ensuring that the vehicle can effectively cope with complex road conditions, achieve precise lateral movement, and improve the efficiency and safety of parking and exiting.

[0054] Optionally, the PID closed-loop torques of the multiple wheels are determined respectively according to the real-time rotation speeds of the multiple wheels during the lateral movement of the vehicle, including: calculating the target rotation speeds of the multiple wheels according to the target slip rate; determining the speed difference between the real-time rotation speed and the target rotation speed; and determining the PID closed-loop torque by the following formula: ,in, is the PID term closed loop torque, is the proportional gain coefficient, e(t) is the speed difference, is the integral gain coefficient, is the differential gain coefficient.

[0055] In the lateral control strategy of new energy vehicles driven by dual motors, achieving independent and precise speed control of the four wheels is the key to ensuring stable lateral movement of the vehicle. The dynamic calculation of the closed-loop torque of the PID (Proportional-Integral-Derivative) term can adjust the torque output of the wheel in real time, so that the wheel speed can closely track the target speed, and even in complex lateral movement, it can avoid wheel slippage and ensure the controllability and safety of the vehicle.

[0056] The following are the specific steps and instructions for determining the closed-loop torque of the PID term:

[0057] 1. Calculation of target slip rate and target speed: First, based on the driving intention and current state of the vehicle, the system determines a target slip rate. The target slip rate reflects the desired lateral motion characteristics of the vehicle during the lateral movement and is the core parameter of the vehicle's lateral movement control. Then, using the target slip rate and the actual driving parameters of the vehicle (such as current vehicle speed, lateral movement direction, etc.), the system calculates the target speed of each wheel during the lateral movement. The setting of the target speed ensures that the vehicle can move laterally according to the predetermined path and speed, and at the same time, it also provides a basis for the subsequent PID closed-loop torque calculation. Among them, the relationship between slip rate and wheel speed is: , s is the slip rate.

[0058] 2. Determination of real-time speed and speed difference: During the lateral movement of the vehicle, the actual speed (real-time speed) of each wheel will be monitored in real time through the wheel speed sensor. By comparing the real-time speed of each wheel with the previously calculated target speed, the speed difference e(t) can be determined. The speed difference reflects the deviation between the wheel speed and the target state, and is the direct basis for the PID control algorithm to adjust the torque output.

[0059] 3. Calculation of PID closed-loop torque: Based on the speed difference e(t), the system uses the PID control algorithm to calculate the PID closed-loop torque of each wheel. The closed-loop torque calculation formula for the PID term is as follows: , in the formula, , , Represent the proportional gain coefficient, integral gain coefficient and differential gain coefficient respectively. The adjustment of these parameters is crucial to the performance of PID control. They control the immediate response to the deviation, the cumulative response to the continuous deviation and the predicted response to the deviation change rate respectively, and together determine the system's control strategy for the speed difference.

[0060] Proportional term :This term provides an immediate response to the current speed difference, the coefficient The size of determines the strength of the response. This allows the system to correct deviations quickly, but may cause oscillation of the control system.

[0061] Integral Item :The integral term is responsible for accumulating deviations and ensuring the elimination of deviations over a long period of time. By adjusting the integral gain , static errors in the system can be avoided, but excessive integral action may cause system overshoot or response lag.

[0062] Differential term :The differential term predicts the rate of change of the speed difference, which helps the system adjust in advance and reduce overshoot and oscillation. Appropriate selection can improve the response speed and stability of the system.

[0063] 4. Torque adjustment and distribution: Calculated PID closed-loop torque It will be used to adjust the motor output torque of each wheel. For dual-motor vehicles with four-wheel independent control, this torque adjustment strategy allows each wheel to obtain the optimal torque calculated according to its actual needs and deviation status when the vehicle moves sideways. In this way, even in a small parking space or complex road conditions, the vehicle can maintain stable lateral movement, avoid wheel slippage, and improve the efficiency and safety of parking and exiting.

[0064] Through this series of calculation and control steps in the embodiment, the dual-motor vehicle can realize real-time monitoring and precise control of the wheel speed, ensuring that each wheel can obtain the optimal torque distribution during the lateral movement, thereby achieving stable and controllable lateral movement of the vehicle. The dynamic adjustment mechanism of the PID closed-loop torque provides strong adaptability and robustness for the vehicle's lateral movement control, and is an important technical means to realize the intelligent parking and exit functions of new energy vehicles.

[0065] In an exemplary embodiment, upon receiving a vehicle lateral movement request, after switching the operating mode of the wheel steering system of the dual-motor vehicle to a target mode, the method further includes: sending steering prompt information to the target object to prompt the target object to control the front wheels and the rear wheels of the vehicle to turn to a target turning angle; when it is determined that the front wheels and the rear wheels of the vehicle are turned to the target turning angle, sending acceleration prompt information to the target object to prompt the target object to control the accelerator pedal to control the front axle motor of the vehicle to output positive torque and control the rear axle motor of the vehicle to output negative torque, until the dual-motor vehicle begins to experience wheel slip.

[0066] In the lateral movement control method of a new energy vehicle driven by dual motors, the interaction between the driver and the vehicle is the key to achieving efficient and safe lateral movement. This embodiment guides the driver on how to operate the steering system and the accelerator pedal through the system's logical control to ensure that the vehicle can move laterally according to the predetermined trajectory and speed, while avoiding wheel slippage and ensuring the stability and safety of the vehicle.

[0067] The following are the detailed steps of the guidance logic described in the embodiment:

[0068] 1. Vehicle lateral movement request recognition: When the driver issues a lateral movement request through the user interface in the vehicle (such as a large screen), the vehicle control system responds immediately. The system first recognizes the lateral movement request and confirms that the current environment and state of the vehicle are suitable for lateral movement. This includes checking whether the vehicle's rear wheel steering system, braking system, and power system are working properly, and evaluating whether the current road conditions allow the vehicle to move sideways.

[0069] 2. Switching of the working mode of the wheel steering system: After confirming that the lateral movement conditions are met, the vehicle control system switches the working mode of the wheel steering system to the target mode, that is, the lateral movement mode. In the lateral movement mode, the steering control of the front and rear wheels will follow the pre-set logic to ensure that the absolute values ​​of the turning angles of the front and rear wheels are equal but in opposite directions. If the front wheel turns to the left, the rear wheel turns to the right. This steering mode is conducive to the smooth movement of the vehicle along the y-axis direction, which is very suitable for parallel parking or exiting from a narrow space.

[0070] 3. Send steering prompt information to the driver: The system sends steering prompt information to the driver through the vehicle interface (for example, the instrument panel or the central control screen), clearly instructing the driver how to control the steering wheel to turn the front and rear wheels to the target turning angle. The sending of this prompt information ensures that the driver can accurately perform the steering operation, laying the foundation for subsequent lateral movement preparation.

[0071] 4. Wheel steering confirmation and acceleration prompt information transmission: Once the system detects that the front and rear wheels of the vehicle have turned to the target turning angle, the system will send an acceleration prompt information to the driver. This prompt information guides the driver to gradually step on the accelerator pedal and start the lateral shift operation. Under the control of the accelerator pedal, the front axle motor outputs positive torque to push the vehicle forward; the rear axle motor outputs negative torque, which is transmitted to the two rear wheels through the reducer and differential, generating a backward force, thereby forming a lateral shift force of the vehicle along the y-axis direction.

[0072] 5. Wheel slip monitoring and control strategy adjustment: During the lateral movement of the vehicle, the system monitors the speed of each wheel and the contact with the ground in real time to prevent the wheel from slipping. When it is detected that the wheel is about to slip or begins to slip, the system will automatically adjust the current control strategy, including adjusting the output torque of the front and rear axle motors, and possibly starting the brake coordination control system to make the wheel end torque of the braked wheel meet the required torque, ensuring the stability and safety of the vehicle during the lateral movement.

[0073] Through the above steps, the new energy vehicle driven by dual motors can achieve efficient and stable lateral movement operation through precise steering control and torque distribution with the cooperation of the driver. The interactive logic in this embodiment not only simplifies the driver's operation process and improves the efficiency of lateral movement, but also ensures driving safety in complex environments. It is an important technical solution to improve the flexibility of new energy vehicles in side parking and exit.

[0074] Based on the above steps, the method also includes: receiving a target lateral displacement distance sent by a target object, and when it is determined that the lateral displacement distance of the dual-motor vehicle during the lateral displacement process reaches the target lateral displacement distance, controlling the dual-motor vehicle to stop moving and controlling the wheel steering system to exit the target mode; or, when a vehicle braking request is received, controlling the dual-motor vehicle to stop moving and controlling the wheel steering system to exit the target mode.

[0075] In the lateral movement control method of a dual-motor driven new energy vehicle, ensuring that the vehicle can accurately and safely complete the lateral movement operation according to the instructions of the driver or the system is one of the core goals of the entire control process. This embodiment describes in detail how to receive the target lateral movement distance during the lateral movement process, and safely stop the vehicle movement and exit the lateral movement mode when the specified distance is reached or a braking request is received.

[0076] The following are the key steps and their effects in the embodiment:

[0077] 1. Receive target lateral distance: The driver can set a target lateral distance through the vehicle's interactive interface (such as a touch screen or voice command system). This distance reflects the driver's specific requirements for the vehicle's final lateral position. The control system receives and stores this target value as a stop standard in the subsequent lateral movement process.

[0078] 2. Lateral movement distance monitoring and comparison: During the lateral movement of the vehicle, the system monitors the lateral movement distance of the vehicle in real time, collects data through sensors (such as wheel speed sensors, accelerometers or GPS (Global Positioning System) positioning systems), and calculates the actual lateral movement distance of the vehicle. This monitoring function ensures that the system can grasp the movement status of the vehicle at any time and provide data support for the precise control of the lateral movement distance.

[0079] 3. Control when the target lateral movement distance is reached: When the actual lateral movement distance of the vehicle reaches the target lateral movement distance set by the driver, the control system responds immediately and performs the following operations:

[0080] 4. Control the vehicle to stop moving: By adjusting the torque output of the front and rear axle motors and possibly activating the braking system, the vehicle can be decelerated smoothly and eventually stopped.

[0081] 5. Control the wheel steering system to exit the target mode: The system switches the working mode of the wheel steering system from the lateral movement mode back to the normal driving mode, restores the normal steering control logic of the vehicle, and prepares for subsequent driving or parking operations.

[0082] 6. Control when receiving a vehicle braking request: In addition to achieving the target lateral movement distance, the system should also have the ability to respond promptly to emergency situations or driver operations. When receiving a vehicle braking request (such as the driver pressing the brake pedal), the system immediately stops the vehicle from moving and simultaneously exits the target mode of the wheel steering system, ensuring that in an emergency or when the driver actively intervenes, the vehicle can respond quickly and stop the lateral movement operation to ensure the safety of the driver and the vehicle.

[0083] The control logic in this embodiment not only reflects the advanced nature of the dual-motor driven new energy vehicle in intelligent lateral control, but also takes into account the safety and controllability during actual driving, ensuring the vehicle's operational flexibility and responsiveness in complex environments. By accurately receiving and processing the target lateral distance and braking request, the vehicle control system can achieve precise control and timely termination of the lateral operation, improving the safety and convenience of new energy vehicles parking and exiting in narrow spaces.

[0084] In an optional embodiment, the present application is combined with Figure 2 The principle of the above vehicle lateral movement process is introduced as follows: Figure 2 As shown, Figure 2 The force on the vehicle during stable lateral movement is theoretically analyzed. The front wheel angle and rear wheel angle of the vehicle are and , and the front and rear wheel turning angles are opposite (for example, the front wheel turns right, the rear wheel turns left) and equal in magnitude. The vehicle moves along the negative y direction. The driving force, sliding friction and rolling resistance of each wheel are as follows: Figure 2 As shown, for the force analysis in the y direction, the following formula is satisfied:

[0085] ;

[0086] ; (1)

[0087] ; (2)

[0088] ; (3)

[0089] ; (4)

[0090] ; (5)

[0091] ; (6)

[0092] in, Indicates driving force; Indicates rolling resistance; represents the lateral sliding friction force, f is the rolling resistance coefficient, and μ is the adhesion coefficient. As shown in formulas (1)-(4), the component of the vehicle driving force in the x-axis direction of each wheel is balanced with the component of the friction force, so that the vehicle will not produce forward or backward displacement during the lateral movement, but only lateral displacement.

[0093] In another optional embodiment, the present application embodiment provides an optional driving and braking coordinated control method for a vehicle lateral movement process, the process of which is as follows: Figure 3 As shown, the following steps are included:

[0094] 1. The driver (i.e. the target object mentioned above) steps on the accelerator pedal, and the front axle motor outputs positive torque, which is transmitted to the two front wheels through the reducer and differential; the rear axle motor outputs negative torque, which is transmitted to the two rear wheels through the reducer and differential. During the static friction process when the wheels do not slip, the front and rear axle motor torques are gradually increased as the accelerator pedal is increased until the wheels begin to slip. When the slipping begins, the motor torque is: ,in, Represents the motor drive torque, i represents the transmission ratio from the motor to the wheel end; half of this motor torque minus the offset is used as the feedforward torque: ,in, is the feedforward term torque, Indicates the offset between the starting slip torque (maximum static friction) and the feedforward torque (sliding friction).

[0095] 2. After the wheels slip and enter the dynamic friction stage, the four-wheel target speed is calculated based on the four-wheel target slip rate and target lateral speed. The relationship between the slip rate and the wheel speed is: ; Then the PID closed-loop torque is obtained through speed closed-loop control. The specific calculation method is as follows: , e(t) represents the error signal, that is, the difference between the target speed and the actual speed, Represents the proportional gain coefficient, which is used to compensate for the error immediately. Indicates the integral gain coefficient, which is used to eliminate static errors, accumulate past error information, and make control more precise. It represents the differential gain coefficient, which is used to reduce overshoot and oscillation, predict the change of error, and adjust the control amount in advance.

[0096] 3. The feedforward torque and the closed-loop torque of each wheel PID item are added together to get the torque required by each wheel. ,in, Indicates the torque required at the wheel end.

[0097] 4. Since there is only one motor for each of the front and rear wheels, but the required torques of the two front wheels and the two rear wheels need to be provided respectively, it cannot be achieved by the motor output torque alone. Therefore, the embodiment of the present application proposes to achieve it through a method of driving and braking coordinated control, see Figure 3 Specifically, the demand for the two front wheels is larger and the demand for the two rear wheels is smaller (the demand for the rear wheels is negative torque). The braking torque is provided by the brake of that wheel to achieve the final torque demand of that wheel and realize stable lateral movement of the vehicle.

[0098] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this 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, disk, CD), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of each embodiment of the present application.

[0099] The present application also provides a vehicle lateral movement control device for a dual-motor vehicle, such as Figure 4 As shown, Figure 4 : is a structural block diagram of an optional vehicle lateral movement control device for a dual-motor vehicle according to an embodiment of the present application, the device comprising:

[0100] a switching module 42, configured to switch the working mode of the wheel steering system of the dual-motor vehicle to a target mode when receiving a vehicle lateral movement request, wherein the vehicle lateral movement request is used to instruct the dual-motor vehicle to stay in a target area to perform vehicle lateral movement, the dual-motor vehicle comprises: a front axle motor and a rear axle motor, and the wheel steering system has the same rotation angle and opposite rotation direction of the front wheels and the rear wheels in the target mode;

[0101] A first determination module 44 is used to determine the output motor torque of the dual-motor vehicle when the dual-motor vehicle begins to slip in the target area, and determine a feedforward item torque according to the output motor torque, wherein the output motor torque is the output motor torque of the front axle motor and / or the rear axle motor of the vehicle, and the feedforward item torque is used to predict the required torque of multiple wheels of the dual-motor vehicle during the lateral movement of the vehicle;

[0102] a second determination module 46, configured to respectively determine the PID closed-loop torques of the plurality of wheels according to the real-time rotation speeds of the plurality of wheels during the lateral movement of the vehicle, wherein the PID closed-loop torques are used to perform torque compensation on the plurality of wheels to control the vehicle slip rate of the dual-motor vehicle to be a target slip rate during the lateral movement of the vehicle;

[0103] The control module 48 is used to determine the real-time required torque of the front axle motor and the rear axle motor during the vehicle lateral movement according to the feedforward item torque and the PID item closed-loop torque, and control the front axle motor, the rear axle motor and the wheel brakes according to the real-time required torque to control the dual-motor vehicle to perform vehicle lateral movement within the target area, wherein the wheel brake is used to provide braking torque to the multiple wheels, and the braking torque is used to adjust the actual driving torque of the multiple wheels.

[0104] Through the above-mentioned device, after receiving the vehicle lateral movement request, the working mode of the vehicle's wheel steering system is switched to the target mode, wherein the vehicle lateral movement request is used to indicate that the dual-motor vehicle is ready to perform vehicle lateral movement in the target area, the dual-motor vehicle includes a front axle motor and a rear axle motor, and the wheel steering system has the same rotation angle and opposite rotation direction for the front wheels and the rear wheels in the target mode; the output motor torque of the dual-motor vehicle when the wheels begin to slip in the target area is recorded, and a feedforward item torque is determined based on the output motor torque, wherein the output motor torque is the output motor torque of the front axle motor and / or the rear axle motor, and the feedforward item torque is used to predict the required torque for multiple wheels of the dual-motor vehicle to perform stable lateral movement during the vehicle lateral movement process; the real-time PID item closed-loop torque of the multiple wheels is determined according to the real-time rotation speed of the multiple wheels during the vehicle lateral movement process, wherein the PID item closed-loop torque is used to adjust the speed of the multiple wheels to the desired speed. The wheels are used for torque compensation to control the vehicle slip rate of the dual-motor vehicle to be stable as the target slip rate during the lateral movement of the vehicle, so that the vehicle can move sideways stably; the real-time required torque of the front axle motor and the rear axle motor of the vehicle during the lateral movement of the vehicle is determined according to the feedforward item torque and the PID item closed-loop torque, and the front axle motor, the rear axle motor and the wheel brake are controlled according to the real-time required torque, so as to control the dual-motor vehicle to perform stable vehicle lateral movement in the target area, wherein the wheel brake is used to provide braking torque to each wheel, and the braking torque is used to adjust the actual driving torque of the wheel; the above scheme is adopted, through the rear wheel steering, the feedforward item torque of each wheel end and the PID torque obtained by the wheel speed closed loop, and then the brake coordinated control is adopted to realize the closed-loop control of the speed of each wheel end, realize the stable lateral movement of the dual-motor vehicle, and facilitate lateral parking and exiting the warehouse; thereby solving the problem in the related technology that the length of the lateral parking space is short or the safety distance left by the front and rear vehicles is small, making it difficult for the vehicle to park in the warehouse or exit the warehouse.

[0105] In an exemplary embodiment, the control module 48 is further used to determine the target required torques of the multiple wheels respectively based on the sum of the feedforward item torque and the PID item closed-loop torques of the multiple wheels; determine the maximum value of the first required torques of the multiple front wheels as the second required torque, and determine the first real-time required torque of the front axle motor according to the second required torque; and determine the minimum value of the third required torque of the multiple rear wheels as the fourth required torque, and determine the second real-time required torque of the rear axle motor according to the fourth required torque, wherein the multiple wheels include the multiple front wheels and the multiple rear wheels, the target required torque includes the first required torque and the third required torque, and the third required torque is a negative torque.

[0106] In an exemplary embodiment, the control module 48 is also used to control the front axle motor according to the first real-time required torque, and to control the rear axle motor according to the second real-time required torque; to subtract the first required torques from the second required torques and take the absolute values ​​to obtain the first required braking torques for the multiple front wheels, and to subtract the third required torques from the fourth required torques and take the absolute values ​​to obtain the second required braking torques for the multiple rear wheels; to provide braking torques to the multiple front wheels according to the first required braking torques through the wheel brakes, and to provide braking torques to the multiple rear wheels according to the second required braking torques through the wheel brakes, so as to control the actual driving torques of the multiple wheels to be the target required torques.

[0107] Furthermore, the first determination module 44 is further configured to determine the current gravity G of the dual-motor vehicle, and determine the output motor torque according to the current gravity G and the following formula: ,in, is the output motor torque, is the adhesion coefficient, is the wheel radius, i is the transmission ratio from the vehicle motor to the vehicle wheel end; the feedforward torque is determined by the following formula: ,in, is the feedforward term torque, It is the offset torque between the maximum static friction and the sliding friction of the dual-motor vehicle.

[0108] Optionally, the second determination module 46 is further configured to calculate the target rotation speeds of the multiple wheels according to the target slip rate; determine the rotation speed difference between the real-time rotation speed and the target rotation speed; and determine the PID closed-loop torque by the following formula: ,in, is the PID term closed loop torque, is the proportional gain coefficient, e(t) is the speed difference, is the integral gain coefficient, is the differential gain coefficient.

[0109] In an exemplary embodiment, the switching module 42 is further used to send steering prompt information to the target object to prompt the target object to control the front wheels and the rear wheels of the vehicle to turn to the target turning angle; when it is determined that the front wheels and the rear wheels of the vehicle are turned to the target turning angle, acceleration prompt information is sent to the target object to prompt the target object to control the accelerator pedal to control the front axle motor of the vehicle to output positive torque and control the rear axle motor of the vehicle to output negative torque until the dual-motor vehicle begins to slip.

[0110] Optionally, the control module 48 is also used to receive a target lateral displacement distance sent by a target object, and when it is determined that the lateral displacement distance of the dual-motor vehicle during the lateral displacement process reaches the target lateral displacement distance, control the dual-motor vehicle to stop moving and control the wheel steering system to exit the target mode; or, when a vehicle braking request is received, control the dual-motor vehicle to stop moving and control the wheel steering system to exit the target mode.

[0111] An embodiment of the present application further provides a storage medium, which includes a stored program, wherein the program executes any of the above methods when it is run.

[0112] Optionally, in this embodiment, the storage medium may be configured to store program codes for executing the following steps:

[0113] S1, upon receiving a vehicle lateral movement request, switching the working mode of the wheel steering system of the dual-motor vehicle to a target mode, wherein the vehicle lateral movement request is used to instruct the dual-motor vehicle to stay in a target area to perform vehicle lateral movement, the dual-motor vehicle comprises: a front axle motor and a rear axle motor, and in the target mode, the wheel steering system has the same rotation angle and opposite rotation direction for the front wheels and the rear wheels;

[0114] S2, determining the output motor torque of the dual-motor vehicle when the wheels of the dual-motor vehicle begin to slip in the target area, and determining a feedforward item torque based on the output motor torque, wherein the output motor torque is the output motor torque of the front axle motor and / or the rear axle motor of the vehicle, and the feedforward item torque is used to predict the required torque of multiple wheels of the dual-motor vehicle during the lateral movement of the vehicle;

[0115] S3, determining PID closed-loop torques of the multiple wheels respectively according to the real-time rotation speeds of the multiple wheels during the lateral movement of the vehicle, wherein the PID closed-loop torques are used to perform torque compensation on the multiple wheels to control the vehicle slip rate of the dual-motor vehicle to be a target slip rate during the lateral movement of the vehicle;

[0116] S4, determining the real-time required torque of the front axle motor and the rear axle motor during the lateral movement of the vehicle according to the feedforward item torque and the PID item closed-loop torque, and controlling the front axle motor, the rear axle motor and the wheel brakes according to the real-time required torque to control the dual-motor vehicle to perform lateral movement within the target area, wherein the wheel brake is used to provide braking torque to the multiple wheels, and the braking torque is used to adjust the actual driving torque of the multiple wheels.

[0117] An embodiment of the present application further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0118] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0119] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0120] S1, upon receiving a vehicle lateral movement request, switching the working mode of the wheel steering system of the dual-motor vehicle to a target mode, wherein the vehicle lateral movement request is used to instruct the dual-motor vehicle to stay in a target area to perform vehicle lateral movement, the dual-motor vehicle comprises: a front axle motor and a rear axle motor, and in the target mode, the wheel steering system has the same rotation angle and opposite rotation direction for the front wheels and the rear wheels;

[0121] S2, determining the output motor torque of the dual-motor vehicle when the wheels of the dual-motor vehicle begin to slip in the target area, and determining a feedforward item torque based on the output motor torque, wherein the output motor torque is the output motor torque of the front axle motor and / or the rear axle motor of the vehicle, and the feedforward item torque is used to predict the required torque of multiple wheels of the dual-motor vehicle during the lateral movement of the vehicle;

[0122] S3, determining PID closed-loop torques of the multiple wheels respectively according to the real-time rotation speeds of the multiple wheels during the lateral movement of the vehicle, wherein the PID closed-loop torques are used to perform torque compensation on the multiple wheels to control the vehicle slip rate of the dual-motor vehicle to be a target slip rate during the lateral movement of the vehicle;

[0123] S4, determining the real-time required torque of the front axle motor and the rear axle motor during the lateral movement of the vehicle according to the feedforward item torque and the PID item closed-loop torque, and controlling the front axle motor, the rear axle motor and the wheel brakes according to the real-time required torque to control the dual-motor vehicle to perform lateral movement within the target area, wherein the wheel brake is used to provide braking torque to the multiple wheels, and the braking torque is used to adjust the actual driving torque of the multiple wheels.

[0124] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0125] An embodiment of the present application further provides a computer program product, comprising a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program product, and when the computer program is executed by a processor, the steps of the method described in each embodiment of the present application are implemented.

[0126] Optionally, in this embodiment, the above computer program may be configured to implement the following steps when executed by a processor:

[0127] S1, upon receiving a vehicle lateral movement request, switching the working mode of the wheel steering system of the dual-motor vehicle to a target mode, wherein the vehicle lateral movement request is used to instruct the dual-motor vehicle to stay in a target area to perform vehicle lateral movement, the dual-motor vehicle comprises: a front axle motor and a rear axle motor, and in the target mode, the wheel steering system has the same rotation angle and opposite rotation direction for the front wheels and the rear wheels;

[0128] S2, determining the output motor torque of the dual-motor vehicle when the wheels of the dual-motor vehicle begin to slip in the target area, and determining a feedforward item torque based on the output motor torque, wherein the output motor torque is the output motor torque of the front axle motor and / or the rear axle motor of the vehicle, and the feedforward item torque is used to predict the required torque of multiple wheels of the dual-motor vehicle during the lateral movement of the vehicle;

[0129] S3, determining PID closed-loop torques of the multiple wheels respectively according to the real-time rotation speeds of the multiple wheels during the lateral movement of the vehicle, wherein the PID closed-loop torques are used to perform torque compensation on the multiple wheels to control the vehicle slip rate of the dual-motor vehicle to be a target slip rate during the lateral movement of the vehicle;

[0130] S4, determining the real-time required torque of the front axle motor and the rear axle motor during the lateral movement of the vehicle according to the feedforward item torque and the PID item closed-loop torque, and controlling the front axle motor, the rear axle motor and the wheel brakes according to the real-time required torque to control the dual-motor vehicle to perform lateral movement within the target area, wherein the wheel brake is used to provide braking torque to the multiple wheels, and the braking torque is used to adjust the actual driving torque of the multiple wheels.

[0131] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0132] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0133] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle lateral movement control method for a dual-motor vehicle, characterized in that: Applicable to dual motor vehicles, including: In the case of receiving a vehicle lateral movement request, switching the working mode of the wheel steering system of the dual-motor vehicle to a target mode, wherein the vehicle lateral movement request is used to instruct the dual-motor vehicle to stay in a target area to perform vehicle lateral movement, the dual-motor vehicle comprises: a front axle motor and a rear axle motor, and in the target mode, the wheel steering system has the same rotation angle and opposite rotation direction for the front wheels and the rear wheels; Determine the output motor torque of the dual-motor vehicle when the dual-motor vehicle begins to experience wheel slip in the target area, and determine a feedforward item torque based on the output motor torque, wherein the output motor torque is the output motor torque of the front axle motor and / or the rear axle motor of the vehicle, and the feedforward item torque is used to predict the required torque of multiple wheels of the dual-motor vehicle during the lateral movement of the vehicle; Determining PID closed-loop torques of the multiple wheels respectively according to the real-time rotation speeds of the multiple wheels during the lateral movement of the vehicle, wherein the PID closed-loop torques are used to perform torque compensation on the multiple wheels to control the vehicle slip rate of the dual-motor vehicle to be a target slip rate during the lateral movement of the vehicle; The real-time required torque of the front axle motor and the rear axle motor during the vehicle lateral movement is determined according to the feedforward item torque and the PID item closed-loop torque, and the front axle motor, the rear axle motor and the wheel brakes are controlled according to the real-time required torque to control the dual-motor vehicle to perform lateral movement within the target area, wherein the wheel brake is used to provide braking torque to the multiple wheels, and the braking torque is used to adjust the actual driving torque of the multiple wheels.

2. The vehicle lateral movement control method of a dual-motor vehicle according to claim 1, characterized in that: Determining the real-time required torque of the front axle motor and the rear axle motor during the lateral movement of the vehicle according to the feedforward item torque and the PID item closed-loop torque includes: Determining target required torques of the multiple wheels respectively according to the sum of the feedforward item torque and the PID item closed-loop torques of the multiple wheels; The maximum value of the first required torques of the multiple front wheels is determined as the second required torque, and the first real-time required torque of the front axle motor is determined based on the second required torque, and the minimum value of the third required torques of the multiple rear wheels is determined as the fourth required torque, and the second real-time required torque of the rear axle motor is determined based on the fourth required torque, wherein the multiple wheels include the multiple front wheels and the multiple rear wheels, the target required torque includes the first required torque and the third required torque, and the third required torque is a negative torque.

3. The vehicle lateral movement control method of a dual-motor vehicle according to claim 2, characterized in that: Controlling the front axle motor, the rear axle motor and the wheel brakes according to the real-time required torque includes: Controlling the front axle motor of the vehicle according to the first real-time required torque, and controlling the rear axle motor of the vehicle according to the second real-time required torque; Subtracting the first required torques from the second required torques and taking their absolute values ​​respectively to obtain the first required braking torques for the front wheels, and subtracting the third required torques from the fourth required torques and taking their absolute values ​​respectively to obtain the second required braking torques for the rear wheels; The wheel brakes are used to provide braking torques to the multiple front wheels according to the multiple first required braking torques, and the wheel brakes are used to provide braking torques to the multiple rear wheels according to the multiple second required braking torques, so as to control the actual driving torques of the multiple wheels to be the multiple target required torques respectively.

4. The vehicle lateral movement control method of a dual-motor vehicle according to claim 1, characterized in that: Determining the output motor torque of the dual-motor vehicle when the dual-motor vehicle begins to experience wheel slip in the target area, and determining the feedforward term torque according to the output motor torque, including: The current gravity G of the dual-motor vehicle is determined, and the output motor torque is determined according to the current gravity G and the following formula: ,in, is the output motor torque, is the adhesion coefficient, is the wheel radius, i is the transmission ratio from the vehicle motor to the vehicle wheel end; The feedforward term torque is determined by the following formula: ,in, is the feedforward term torque, It is the offset torque between the maximum static friction and the sliding friction of the dual-motor vehicle.

5. The vehicle lateral movement control method of a dual-motor vehicle according to claim 1, characterized in that: Determining the PID closed-loop torques of the multiple wheels respectively according to the real-time rotation speeds of the multiple wheels during the lateral movement of the vehicle includes: Calculating target rotation speeds of the plurality of wheels according to the target slip ratio; determining a speed difference between the real-time speed and the target speed; The PID term closed loop torque is determined by the following formula: ,in, is the PID term closed loop torque, is the proportional gain coefficient, e(t) is the speed difference, is the integral gain coefficient, is the differential gain coefficient.

6. The vehicle lateral movement control method of a dual-motor vehicle according to claim 1, characterized in that: In the case of receiving a vehicle lateral movement request, after switching the working mode of the wheel steering system of the dual-motor vehicle to a target mode, the method further includes: Sending steering prompt information to the target object to prompt the target object to control the front wheels and the rear wheels of the vehicle to turn to a target rotation angle; When it is determined that the front wheels and the rear wheels of the vehicle are turned to the target turning angle, acceleration prompt information is sent to the target object to prompt the target object to control the accelerator pedal to control the front axle motor of the vehicle to output positive torque and control the rear axle motor of the vehicle to output negative torque until the wheels of the dual-motor vehicle begin to slip.

7. The vehicle lateral movement control method of a dual-motor vehicle according to claim 1, characterized in that: The method further comprises: receiving a target lateral movement distance sent by a target object, and when determining that the lateral movement distance of the dual-motor vehicle during the lateral movement of the vehicle reaches the target lateral movement distance, controlling the dual-motor vehicle to stop moving, and controlling the wheel steering system to exit the target mode; or, When a vehicle braking request is received, the dual-motor vehicle is controlled to stop moving, and the wheel steering system is controlled to exit the target mode.

8. A vehicle lateral movement control device for a dual-motor vehicle, characterized in that: include: a switching module, configured to switch the working mode of the wheel steering system of the dual-motor vehicle to a target mode upon receiving a vehicle lateral movement request, wherein the vehicle lateral movement request is used to instruct the dual-motor vehicle to stay in a target area to perform vehicle lateral movement, the dual-motor vehicle comprises: a front axle motor and a rear axle motor, and the wheel steering system has the same rotation angle and opposite rotation direction of the front wheels and the rear wheels in the target mode; A first determination module is used to determine the output motor torque of the dual-motor vehicle when the dual-motor vehicle begins to slip in the target area, and to determine a feedforward item torque according to the output motor torque, wherein the output motor torque is the output motor torque of the front axle motor and / or the rear axle motor of the vehicle, and the feedforward item torque is used to predict the required torque of multiple wheels of the dual-motor vehicle during the lateral movement of the vehicle; a second determination module, configured to respectively determine the PID closed-loop torques of the plurality of wheels according to the real-time rotation speeds of the plurality of wheels during the lateral movement of the vehicle, wherein the PID closed-loop torques are used to perform torque compensation on the plurality of wheels to control the vehicle slip rate of the dual-motor vehicle to be a target slip rate during the lateral movement of the vehicle; A control module is used to determine the real-time required torque of the front axle motor and the rear axle motor during the vehicle lateral movement according to the feedforward item torque and the PID item closed-loop torque, and control the front axle motor, the rear axle motor and the wheel brakes according to the real-time required torque to control the dual-motor vehicle to perform vehicle lateral movement within the target area, wherein the wheel brake is used to provide braking torque to the multiple wheels, and the braking torque is used to adjust the actual driving torque of the multiple wheels.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method described in any one of claims 1 to 7 when executed.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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