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

Abstract

The present application discloses a vehicle transverse movement control method and device, a storage medium, and a computer program product for a dual-motor vehicle, relating to the field of vehicles. The method includes: when a vehicle transverse movement request is received, switching the working mode of the wheel steering system of the dual-motor vehicle to a target mode; determining the output motor torque of the dual-motor vehicle when wheel slip starts to occur within a target area of the dual-motor vehicle, and determining a feedforward torque item based on the output motor torque; respectively determining the PID item closed-loop torques of multiple wheels according to the real-time rotational speeds of the multiple wheels during the vehicle transverse movement process; determining the real-time required torques of the front axle motor and the rear axle motor of the vehicle during the vehicle transverse movement process according to the feedforward torque item and the PID item closed-loop torques, and controlling the front axle motor, the rear axle motor, and the wheel brakes according to the real-time required torques, so as to control the dual-motor vehicle to perform vehicle transverse movement within the target area by means of coordinated control of driving and braking.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and in particular, 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 the urbanization process, parking spaces in densely populated areas have gradually become scarce resources. Especially for emerging means of transportation such as new energy vehicles, there are differences in their body shapes and power characteristics compared with traditional vehicles, and the problem of difficult parking is even more prominent. In many modern cities, the parking environment is often restricted. The length of side parking spaces may be short, and the safety distance between the front and rear vehicles may also be very limited, which poses challenges to the parking and driving out operations of vehicles. When traditional vehicles park in such an environment, they usually need to move forward and backward multiple times, or make large-angle turns, which not only makes the operation complex and time-consuming, but also may pose potential risks to the vehicle and the surrounding environment.

[0003] In the scenario of parking or driving out of a side parking space, the vehicle needs to complete a lateral movement in a very small space, which requires each wheel of the vehicle to be able to independently and quickly respond to different torque demands to achieve stable and precise lateral movement.

[0004] In response to the above problems, most of the existing parking assistance technologies focus on environmental perception through sensors such as cameras and radars, and achieving parallel parking or perpendicular parking through automatic steering and braking. However, in scenarios involving vehicle lateral movement, especially in extremely limited spaces, these technologies are often difficult to be effectively applied.

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

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

[0007] According to one aspect of the embodiments of the present application, a vehicle lateral translation control method for a dual-motor vehicle is provided, which is applied to a dual-motor vehicle and includes: when a vehicle lateral translation request is received, switching the working mode of the wheel steering system of the dual-motor vehicle to a target mode, where the vehicle lateral translation request is used to indicate that the dual-motor vehicle is to perform vehicle lateral translation within a target area, 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 directions for the front wheels and the rear wheels of the vehicle in the target mode; determining the output motor torque of the dual-motor vehicle when wheel slip starts to occur within the target area of the dual-motor vehicle, and determining a feedforward torque item based on the output motor torque, where the output motor torque is the output motor torque of the front axle motor and / or the rear axle motor, and the feedforward torque item is used to predict the required torque of multiple wheels of the dual-motor vehicle during the vehicle lateral translation process; respectively determining the PID item closed-loop torque of the multiple wheels according to the real-time rotation speeds of the multiple wheels during the vehicle lateral translation process, where the PID item closed-loop torque is used to compensate the torque of the multiple wheels to control the vehicle slip rate of the dual-motor vehicle to be a target slip rate during the vehicle lateral translation process; determining the real-time required torque of the front axle motor and the rear axle motor during the vehicle lateral translation process according to the feedforward torque item 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 translation within the target area, where the wheel brakes are used to provide a 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, determining the real-time required torque of the front axle motor and the rear axle motor during the vehicle lateral translation process according to the feedforward torque item and the PID item closed-loop torque includes: respectively determining the target required torque of the multiple wheels according to the sum of the feedforward torque item and the PID item closed-loop torque of the multiple wheels; determining the maximum value of the first required torque of 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 torque of 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, where 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, controlling the front axle motor, the rear axle motor, and the wheel brakes according to the real-time demand torque includes: controlling the front axle motor according to the first real-time demand torque, and controlling the rear axle motor according to the second real-time demand torque; respectively subtracting and taking the absolute value of the multiple first demand torques and the second demand torques to obtain the first demand braking torques of the multiple front vehicle wheels, and respectively subtracting and taking the absolute value of the multiple third demand torques and the fourth demand torques to obtain the second demand braking torques of the multiple rear vehicle wheels; providing braking torques to the multiple front vehicle wheels through the wheel brakes according to the multiple first demand braking torques, and providing braking torques to the multiple rear vehicle wheels through the wheel brakes according to the multiple second demand braking torques, so as to control the actual driving torques of the multiple wheels to be the multiple target demand torques.

[0010] In an exemplary embodiment, determining the output motor torque of the dual-motor vehicle when wheel slip starts to occur within the target area, and determining a 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: , where is the output motor torque, is the adhesion coefficient, is the wheel radius, and i is the transmission ratio from the vehicle motor to the vehicle wheel end; determining the feedforward term torque through the following formula: , where is the feedforward term torque, is the offset torque between the maximum static friction and the sliding friction of the dual-motor vehicle.

[0011] In an exemplary embodiment, determining the PID term closed-loop torques of the multiple wheels respectively according to the real-time rotational speeds of the multiple wheels during the vehicle transverse movement includes: calculating the target rotational speeds of the multiple wheels according to the target slip ratio; determining the rotational speed difference between the real-time rotational speed and the target rotational speed; determining the PID term closed-loop torque through the following formula: , where is the PID term closed-loop torque, is the proportional gain coefficient, e(t) is the rotational speed difference, is the integral gain coefficient, is the derivative gain coefficient.

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

[0013] In an exemplary embodiment, the method further includes: receiving a target lateral movement distance sent by a target object, and when it is determined that the lateral movement distance of the dual-motor vehicle during vehicle lateral movement 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 receiving a vehicle braking request, 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 the embodiments of the present application, there is also provided a vehicle lateral translation control device for a dual-motor vehicle, including: a switching module, 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 translation request, where the vehicle lateral translation request is used to indicate that the dual-motor vehicle is to perform vehicle lateral translation within a target area, the dual-motor vehicle includes: a front axle motor and a rear axle motor of the vehicle, and the rotation angles of the front wheels and the rear wheels of the vehicle are the same and the rotation directions are opposite in the target mode; a first determination module, configured to determine the output motor torque of the dual-motor vehicle when wheel slip starts to occur within the target area of the dual-motor vehicle, and determine a feedforward torque according to the output motor torque, where 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 torque is used to predict the required torque of multiple wheels of the dual-motor vehicle during the vehicle lateral translation process; a second determination module, configured to respectively determine the PID-term closed-loop torque of the multiple wheels according to the real-time rotation speeds of the multiple wheels during the vehicle lateral translation process, where the PID-term closed-loop torque is used to perform torque compensation on the multiple wheels to control the vehicle slip ratio of the dual-motor vehicle to be a target slip ratio during the vehicle lateral translation process; a control module, configured to determine the real-time required torque of the front axle motor and the rear axle motor of the vehicle during the vehicle lateral translation process according to the feedforward torque and the PID-term 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 translation within the target area, where the wheel brakes are used to provide a 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 still another aspect of the embodiments of the present application, there is also provided a computer-readable storage medium, in which a computer program is stored, where the computer program is configured to execute the vehicle lateral translation control method of the above dual-motor vehicle when running.

[0016] According to still another aspect of the embodiments of the present application, there is also provided an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the above processor executes the vehicle lateral translation control method of the above dual-motor vehicle through the computer program.

[0017] According to still another aspect of the embodiments of the present application, there is also provided a computer program product, including a computer program, where the steps of the methods described in various embodiments of the present application are implemented when the computer program is executed by a processor.

[0018] In an embodiment of the present application, after receiving a vehicle lateral translation request, the working mode of the wheel steering system of the vehicle is switched to a target mode. Herein, the vehicle lateral translation request is used to indicate that a dual-motor vehicle is ready to perform vehicle lateral translation within a target area. The dual-motor vehicle includes a front axle motor and a rear axle motor. In the target mode, the rotation angles of the front wheels and the rear wheels of the vehicle are the same and the rotation directions are opposite; record the output motor torque of the dual-motor vehicle when wheel slip starts to occur in the target area, and determine a feedforward torque based on the output motor torque. Herein, the output motor torque is the output motor torque of the front axle motor and / or the rear axle motor, and the feedforward torque is used to predict the required torque for stable lateral translation of multiple wheels of the dual-motor vehicle during vehicle lateral translation; respectively determine the real-time PID term closed-loop torque of these multiple wheels based on the real-time rotation speeds of these multiple wheels during vehicle lateral translation. Herein, the PID term closed-loop torque is used to perform torque compensation on these multiple wheels to control the vehicle slip rate of the dual-motor vehicle to be stable at a target slip rate during vehicle lateral translation, so that the vehicle performs stable lateral translation; determine the real-time required torque of the front axle motor and the rear axle motor during vehicle lateral translation based on the feedforward torque and the PID term closed-loop torque, and control the front axle motor, the rear axle motor, and the wheel brakes according to the real-time required torque, so as to control the dual-motor vehicle to perform stable vehicle lateral translation within the target area. Herein, the wheel brakes are used to provide a braking torque to each wheel, and the braking torque is used to adjust the actual driving torque of the wheel; adopting the above solution, through the rear-wheel steering, the feedforward torque of each wheel end, and the PID torque obtained by the wheel speed closed-loop, and then adopting braking cooperative control, the rotation speed closed-loop control of each wheel end is realized, and the stable lateral translation of the dual-motor vehicle is realized, which is convenient for side parking and exiting the warehouse; thus, the problem in the related art that it is difficult for a vehicle to park in or exit a warehouse due to a short side parking space length or a small safety distance left by the vehicle in front and behind is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is a flowchart of an optional vehicle lateral translation control method for a dual-motor vehicle according to an embodiment of the present application;

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

[0023] Figure 3 It is a schematic diagram of the coordinated drive and brake control process during the vehicle lateral translation according to an embodiment of the present application;

[0024] Figure 4 It is a structural block diagram of a vehicle lateral translation control device for a dual-motor vehicle according to an embodiment of the present application. Detailed implementation manners

[0025] To enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope 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 do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances 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 "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

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

[0028] Step S102, when a vehicle lateral translation request is received, switch the working mode of the wheel steering system of the dual-motor vehicle to the target mode, where the vehicle lateral translation request is used to indicate that the dual-motor vehicle is to perform vehicle lateral translation within a target area. The dual-motor vehicle includes a front axle motor and a rear axle motor, and the rotation angles of the front wheels and the rear wheels of the wheel steering system are the same and the rotation directions are opposite in the target mode;

[0029] Step S104, determine the output motor torque of the dual-motor vehicle when wheel slip starts to occur within the target area, and determine the feedforward torque based on the output motor torque. The output motor torque is the absolute value of the output motor torque of the front axle motor and / or the rear axle motor of the vehicle. The feedforward torque is used to predict the required torque of multiple wheels of the dual-motor vehicle during the vehicle lateral movement;

[0030] Step S106, respectively determine the PID closed-loop torque of the multiple wheels according to the real-time rotational speeds of the multiple wheels during the vehicle lateral movement. The PID closed-loop torque is used to perform torque compensation on the multiple wheels to control the vehicle slip ratio of the dual-motor vehicle to be the target slip ratio during the vehicle lateral movement;

[0031] Step S108, determine the real-time required torque of the front axle motor and the rear axle motor of the vehicle during the vehicle lateral movement according to the feedforward torque and the PID 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. 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.

[0032] Through the above steps, after receiving a vehicle lateral translation request, the working mode of the wheel steering system of the vehicle is switched to the target mode. Herein, the vehicle lateral translation request is used to indicate that a dual-motor vehicle is ready to perform vehicle lateral translation within a target area. The dual-motor vehicle includes a front axle motor and a rear axle motor of the vehicle. In the target mode, the rotation angles of the front wheels and the rear wheels of the vehicle are the same and the rotation directions are opposite; record the output motor torque of the dual-motor vehicle when wheel slip starts to occur in the target area for the dual-motor vehicle, and determine a feedforward torque according to the output motor torque. Herein, 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 torque is used to predict the required torque for stable lateral translation of multiple wheels of the dual-motor vehicle during vehicle lateral translation; respectively determine the real-time PID-term closed-loop torques of multiple wheels according to the real-time rotation speeds of the multiple wheels during vehicle lateral translation. Herein, the PID-term closed-loop torque is used to perform torque compensation on the multiple wheels to control the vehicle slip ratio of the dual-motor vehicle to be stable at the target slip ratio during vehicle lateral translation, so that the vehicle performs stable lateral translation; determine the real-time required torques of the front axle motor and the rear axle motor of the vehicle during vehicle lateral translation according to the feedforward torque and the PID-term closed-loop torque, and control the front axle motor, the rear axle motor and the wheel brakes according to the real-time required torque, so as to control the dual-motor vehicle to perform stable vehicle lateral translation within the target area. Herein, the wheel brakes are used to provide a braking torque to each wheel, and the braking torque is used to adjust the actual driving torque of the wheel; adopting the above solution, through the PID torque obtained by rear-wheel steering, the feedforward torque of each wheel end and the wheel speed closed-loop, and then adopting braking collaborative control, the rotation speed closed-loop control of each wheel end is realized, and the stable lateral translation of the dual-motor vehicle is realized, which can facilitate parallel parking and exiting the warehouse; thus, the problem in the related art that it is difficult to park the vehicle into the parking space or exit the warehouse due to the short length of the side parking space or the small safety distance left by the vehicle in front and behind is solved.

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

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

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

[0036] The steps are described as follows:

[0037] 1. Comprehensive calculation of the feedforward torque and the PID-term closed-loop torque: Before the vehicle starts to move sideward, the system first calculates the feedforward torque based on the vehicle state (such as the accelerator pedal opening, the target slip ratio, etc.), estimating the external resistance and power requirements that may be encountered during the sideward movement of the vehicle. At the same time, according to the deviation between the actual rotational speed and the target rotational speed of each wheel, the PID control algorithm is used to calculate the PID-term closed-loop torque to instantaneously correct the wheel rotational speed and ensure its consistency with the target value.

[0038] 2. Determining the target required torque of the wheel: Adding the feedforward torque and the PID-term closed-loop torque of each wheel to obtain the target required torque of the wheel during sideward 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 requirements, reducing wheel slip and control delay, and enhancing the stability and responsiveness of sideward movement.

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

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

[0041] For both the front and rear axles, the larger absolute value of the torque of the corresponding front and rear wheels is multiplied by 2 because there is only one motor for each of the front and rear axles, and this motor needs to meet the torque requirements of the corresponding axle simultaneously. After outputting a large torque, and then according to the torque equalization of the differential, the torque requirement of the wheel end with a larger torque requirement is met, while for the other wheel with a smaller required torque, the final wheel end torque can be controlled to the target value by outputting a braking force.

[0042] 4. Coordinated control of the brakes: While the front and rear axle motors provide the corresponding torques, for the case where the required torque of the wheel is smaller (smaller absolute value, especially in the rear axle, it may be a smaller negative torque), the system will provide additional braking torque through the brake of this wheel to compensate for the difference between the motor output and the actual requirement of the wheel, ensuring that each wheel can accurately follow its target required torque and realizing the 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 the closed-loop control of the rotational speed of the four wheels independently, and then ensure the stable lateral movement of the vehicle in a narrow space, improving the efficiency and safety of parking and driving out. This drive-brake coordinated control method not only overcomes the technical bottleneck of the dual-motor vehicle in the lateral movement operation but also provides new possibilities for the application of new energy vehicles in complex parking environments.

[0044] Further, determine the output motor torque of the dual-motor vehicle when wheel slip starts to occur within the target area, and determine the feedforward torque based on the output motor torque, including: 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: , where is the output motor torque, is the adhesion coefficient, is the wheel radius, and i is the transmission ratio from the vehicle motor to the vehicle wheel end; determine the feedforward torque through the following formula: , where is the feedforward torque, is the offset torque between the maximum static friction and the sliding friction of the dual-motor vehicle.

[0045] In the lateral movement control method of a new energy vehicle with dual-motor drive, 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 operations within the target area, the wheels may encounter different ground conditions, resulting in wheel slip. Wheel slip not only reduces the vehicle's maneuverability and safety but may also affect the efficiency and stability of lateral movement. Therefore, determining the output motor torque when the vehicle starts to experience wheel slip and calculating the feedforward torque based on this are crucial for optimizing the lateral movement control strategy.

[0046] 1. Determine the output motor torque:

[0047] During the lateral movement of the vehicle, when the wheels start to slip, it is first necessary to determine the current gravity (G) of the vehicle, which is usually calculated based on the product of the vehicle's total mass and the acceleration due to gravity. Then, according to the friction between the wheels and the ground and the transmission characteristics of the vehicle, calculate the output motor torque that just causes the wheels to start slipping . The calculation formula for this torque is: , where: is the adhesion coefficient between the wheel and the ground, representing the ratio between the maximum lateral force that the wheel can withstand on the ground and the vertical load. 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, reflecting the amplification or reduction ratio when the motor output torque is transmitted to the wheel end through the transmission system.

[0048] The calculated is the maximum motor output torque that ensures the wheels do not slip when the vehicle starts to perform lateral movement operations. This information is crucial for subsequent feedforward torque calculation and closed-loop control of the four-wheel speeds.

[0049] 2. Determine the feedforward torque:

[0050] Feedforward torque is determined based on the output motor torque and is used to pre - allocate torque at the beginning stage of lateral movement, reducing the risk of wheel slip caused by the dynamic response time. The formula for calculating the feedforward torque is as follows:

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

[0052] By calculating the feedforward torque , an initial torque distribution benchmark can be provided for the lateral movement control strategy, ensuring that each wheel can obtain sufficient torque to overcome the ground friction at the initial stage of vehicle lateral movement, while avoiding wheel slip caused by excessive torque. This torque benchmark, combined with the PID - term closed - loop torque, will jointly determine the actual required torque of each wheel during the lateral movement of the vehicle, thus achieving stable lateral movement.

[0053] In summary, in the lateral movement control of a dual - motor vehicle, determining the output motor torque and the feedforward torque provides a key torque distribution strategy for achieving stable lateral movement of the vehicle. By considering parameters such as the vehicle's gravity, adhesion coefficient, wheel radius, and transmission ratio, not only can the motor torque demand when the wheels start to slip be estimated, but also a reasonable torque pre - allocation can be provided for the wheels at the initial stage 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 driving out.

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

[0055] In the cross - movement control strategy of new - energy vehicles driven by dual motors, achieving independent and precise rotational speed control for all four wheels is the key to ensuring the stable cross - 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 wheels in real time, enabling the wheel rotational speed to closely track the target rotational speed. Even during complex cross - movement processes, wheel slip can be avoided, ensuring the vehicle's maneuverability and safety.

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

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

[0058] 2. Determination of the real - time rotational speed and rotational speed difference: During the vehicle's cross - movement, the actual rotational speed (real - time rotational speed) of each wheel is monitored in real time by a wheel speed sensor. By comparing the real - time rotational speed of each wheel with the previously calculated target rotational speed, the rotational speed difference e(t) can be determined. The rotational speed difference reflects the deviation between the wheel rotational speed and the target state and is the direct basis for the PID control algorithm to adjust the torque output.

[0059] 3. Calculation of the closed - loop torque of the PID term: Based on the rotational speed difference e(t), the system uses the PID control algorithm to calculate the closed - loop torque of the PID term for each wheel . The formula for calculating the closed - loop torque of the PID term is as follows: , in the formula, , , represent the proportional gain coefficient, integral gain coefficient, and derivative gain coefficient respectively. The adjustment of these parameters is crucial for the performance of PID control. They control the immediate response to the deviation, the cumulative response to the continuous deviation, and the predictive response to the rate of change of the deviation respectively, and jointly determine the control strategy of the system for the rotational speed difference.

[0060] Proportional term : This term provides an immediate response to the current rotational speed difference. The magnitude of the coefficient determines the intensity of the response. A larger It can quickly correct the deviation of the system, but may cause oscillation of the control system.

[0061] Integral term : The integral term is responsible for accumulating the deviation to ensure the elimination of the deviation over a long period. By adjusting the integral gain , static errors in the system can be avoided, but excessive integral action may lead to overshoot or response lag in the system.

[0062] Derivative term : The derivative term predicts the rate of change of the rotational speed difference, which helps the system to make adjustments in advance, reducing overshoot and oscillation. The appropriate selection of the derivative gain can improve the response speed and stability of the system.

[0063] 4. Torque adjustment and distribution: The calculated PID-term closed-loop torque will be used to adjust the motor output torque of each wheel. For a dual-motor vehicle with four-wheel independent control, this torque adjustment strategy allows each wheel to obtain the optimal torque calculated according to its actual demand and deviation state when the vehicle moves laterally. In this way, even in a narrow parking space or complex road conditions, the vehicle can maintain stable lateral movement, avoid wheel slip, and improve the efficiency and safety of parking and driving out.

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

[0065] In an exemplary embodiment, after receiving a vehicle lateral movement request and switching the working mode of the wheel steering system of the dual-motor vehicle to the target mode, the method further includes: sending a steering prompt message to a 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 turn to the target rotation angle, sending an acceleration prompt message 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 starts to have wheel slip.

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

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

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

[0069] 2. Working mode switching 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, i.e., the lateral movement mode. In the lateral movement mode, the steering control of the front and rear wheels will follow a pre-set logic to ensure that the absolute values of the steering angles of the front and rear wheels are equal but in opposite directions. If the front wheels turn to the left, the rear wheels will turn to the right. This steering mode is conducive to the vehicle moving smoothly along the y-axis direction and is very suitable for parallel parking or driving out of narrow spaces.

[0070] 3. Sending 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 indicating how the driver should control the steering wheel to turn the front and rear wheels of the vehicle to the target rotation angles. The sending of this prompt information ensures that the driver can accurately perform the steering operation and lays the foundation for subsequent lateral movement preparation.

[0071] 4. Wheel steering confirmation and sending of acceleration prompt information: Once the system detects that the front and rear wheels of the vehicle have turned to the target rotation angles, the system will send an acceleration prompt information to the driver. This prompt information guides the driver to gradually press the accelerator pedal to start the lateral movement 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 to generate a backward force, thus forming a lateral movement force for the vehicle along the y-axis direction.

[0072] 5. Wheel Slip Monitoring and Control Strategy Adjustment: During the vehicle's lateral movement, the system continuously monitors the rotational speed of each wheel and its contact with the ground to prevent wheel slip. When it detects that a wheel is about to slip or has started to slip, the system automatically adjusts the current control strategy, including adjusting the output torque of the front and rear axle motors and possibly activating the braking coordination control system to ensure that the wheel-end torque of the braked wheel meets the required torque, thereby ensuring the stability and safety of the vehicle during lateral movement.

[0073] Through the above steps, the new energy vehicle with dual-motor drive can, with the cooperation of the driver, achieve efficient and stable lateral movement through precise steering control and torque distribution. The interaction logic in this embodiment not only simplifies the driver's operation process, improves the execution efficiency of lateral movement, but also ensures driving safety in complex environments, and is an important technical solution to enhance the flexibility of the new energy vehicle for parallel parking and driving out.

[0074] Based on the above steps, the method further includes: receiving the target lateral movement distance sent by the target object, and when it is determined that the lateral movement distance of the dual-motor vehicle during lateral movement 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, 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 new energy vehicle with dual-motor drive, 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 objectives of the entire control process. This embodiment details how to receive the target lateral movement distance during lateral movement 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 functions in the embodiment:

[0077] 1. Receiving the Target Lateral Movement Distance: The driver can set a target lateral movement distance through the vehicle's interaction interface (such as a touch screen or voice command system). This distance reflects the driver's specific requirements for the final lateral movement position of the vehicle. The control system receives and stores this target value as the stop criterion during subsequent lateral movement.

[0078] 2. Monitoring and Comparing the Lateral Movement Distance: During the vehicle's lateral movement, the system continuously monitors the vehicle's lateral movement distance, 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 always grasp the vehicle's motion state and provides 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] wherein, represents the driving force; represents the rolling resistance; represents the lateral sliding frictional force, f is the rolling resistance coefficient, and μ is the adhesion coefficient. As shown in formulas (1)-(4), the components of the vehicle driving force and the frictional force of each wheel in the x-axis direction are balanced, so that the vehicle will not generate forward or backward displacement during the lateral movement, but only generate lateral displacement.

[0093] In another optional embodiment, the embodiment of the present application provides an optional driving and braking cooperative control method for the vehicle lateral movement process, and its flow is as Figure 3 shown, including the following steps:

[0094] 1. The driver (i.e., the above-mentioned target object) steps on the accelerator pedal, and the front axle motor outputs a positive torque and transmits it to the two front wheels through the reducer and the differential; the rear axle motor outputs a negative torque and transmits it to the two rear wheels through the reducer and the differential. During the static friction process when the wheels do not slip, as the accelerator pedal is pressed harder, the torques of the front and rear axle motors are gradually increased until the wheels start to slip. The motor torque at the start of slipping is: , wherein, represents the motor driving torque, and 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 term torque: , wherein, is the feedforward term torque, represents the offset between the starting slip torque (maximum static friction) and the feedforward term torque (sliding friction).

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

[0096] 3. The sum of the feedforward torque and the closed-loop torque of each wheel's PID term is the required torque for each wheel. , where represents the required torque at the wheel end.

[0097] 4. Since there is only one motor for each of the front and rear wheels but it is required to provide the respective required torques for the two front wheels and the two rear wheels separately, it cannot be achieved only by the motor output torque. Therefore, the embodiment of the present application proposes to achieve it through the method of coordinated control of drive and brake. Refer to Figure 3 , specifically, take the larger value of the requirements of the two front wheels and the smaller value of the requirements of the two rear wheels (the requirement of the rear wheels is negative torque), and provide the braking torque through the brake of this wheel to reach the final torque requirement of this wheel, so as to realize the stable lateral movement of the vehicle.

[0098] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art 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 several instructions to enable a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of the present application.

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

[0100] A switching module 42, which is used to switch the working mode of the wheel steering system of the dual-motor vehicle to the target mode when receiving a vehicle lateral movement request. Among them, the vehicle lateral movement request is used to indicate that the dual-motor vehicle is to perform vehicle lateral movement within the target area. The dual-motor vehicle includes a front axle motor and a rear axle motor. In the target mode, the rotation angles of the front wheels and the rear wheels of the vehicle are the same and the rotation directions are opposite.

[0101] The first determination module 44 is configured to determine the output motor torque of the dual-motor vehicle when wheel slip starts to occur in the target area, and determine a feedforward torque item according to the output motor torque, where 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 torque item is used to predict the required torque of multiple wheels of the dual-motor vehicle during the vehicle side shift process;

[0102] The second determination module 46 is configured to respectively determine the PID item closed-loop torque of the multiple wheels according to the real-time rotation speeds of the multiple wheels during the vehicle side shift process, where 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 side shift process;

[0103] The control module 48 is configured to determine the real-time required torque of the front axle motor and the rear axle motor of the vehicle during the vehicle side shift process according to the feedforward torque item 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 side shift in the target area, where the wheel brakes are configured to provide a 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 device, after receiving a vehicle lateral movement request, the working mode of the wheel steering system of the vehicle is switched to a target mode, where the vehicle lateral movement request is used to indicate that a 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 of the vehicle. In the target mode, the rotation angles of the front wheels and the rear wheels of the vehicle are the same and the rotation directions are opposite; record the output motor torque of the dual-motor vehicle when wheel slip starts to occur in the target area for the dual-motor vehicle, and determine a feedforward torque item based on the output motor torque, where 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 torque item is used to predict the required torque for stable lateral movement of multiple wheels of the dual-motor vehicle during vehicle lateral movement; respectively determine the real-time PID item closed-loop torque of these multiple wheels according to the real-time rotation speeds of these multiple wheels during vehicle lateral movement, where the PID item closed-loop torque is used to perform torque compensation on these multiple wheels to control the vehicle slip rate of the dual-motor vehicle to be stable at a target slip rate during vehicle lateral movement, so that the vehicle moves laterally stably; determine the real-time required torque of the front axle motor and the rear axle motor of the vehicle during vehicle lateral movement according to the feedforward torque item 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, so as to control the dual-motor vehicle to perform stable vehicle lateral movement within the target area, where the wheel brakes are used to provide a braking torque to each wheel, and the braking torque is used to adjust the actual driving torque of the wheel; adopting the above solution, through the rear-wheel steering, the feedforward torque item of each wheel end and the PID torque obtained by the wheel speed closed-loop, and then adopting braking collaborative control, the rotation speed closed-loop control of each wheel end is realized, and the stable lateral movement of the dual-motor vehicle is realized, which can facilitate parallel parking and exiting the garage; thus solving the problem in the related technology that the length of the side parking space is short or the safety distance left by the vehicle in front and behind is small, and it is difficult for the vehicle to park in the parking space or exit the garage.

[0105] In an exemplary embodiment, the above control module 48 is further configured to respectively determine the target required torque of the multiple wheels according to the sum of the feedforward torque item and the PID item closed-loop torque of the multiple wheels; determine the maximum value of the first required torque of multiple front wheels of the vehicle 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 multiple rear wheels of the vehicle as the fourth required torque, and determine the second real-time required torque of the rear axle motor according to the fourth required torque, where the multiple wheels include the multiple front wheels and the multiple rear wheels of the vehicle, 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 above control module 48 is further configured to control the front axle motor according to the first real-time required torque, and control the rear axle motor according to the second real-time required torque; subtract the multiple first required torques from the second required torques respectively and take the absolute value to obtain the first required braking torques of the multiple front wheels of the vehicle, and subtract the multiple third required torques from the fourth required torques respectively and take the absolute value to obtain the second required braking torques of the multiple rear wheels of the vehicle; provide braking torques to the multiple front wheels respectively according to the multiple first required braking torques through wheel brakes, and provide braking torques to the multiple rear wheels respectively according to the multiple second required braking torques through the wheel brakes, so as to control the actual driving torques of the multiple wheels to be the multiple target required torques.

[0107] Further, the above 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: , where is the output motor torque, is the adhesion coefficient, is the wheel radius, and i is the transmission ratio from the vehicle motor to the vehicle wheel end; determine the feedforward term torque through the following formula: , where is the feedforward term torque, is the offset torque between the maximum static friction and the sliding friction of the dual-motor vehicle.

[0108] Optionally, the above second determination module 46 is further configured to calculate the target speeds of the multiple wheels according to the target slip ratio; determine the speed difference between the real-time speed and the target speed; determine the PID term closed-loop torque through the following formula: , where 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 derivative gain coefficient.

[0109] In an exemplary embodiment, the above switching module 42 is further configured to send a steering prompt message 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 rotation angle; in the case of determining that the front wheels and the rear wheels of the vehicle turn to the target rotation angle, send an acceleration prompt message to the target object to prompt the target object to control the accelerator pedal to control the front axle motor to output a positive torque and control the rear axle motor to output a negative torque until the dual-motor vehicle starts to experience wheel slip.

[0110] Optionally, the above control module 48 is further configured to receive a target lateral movement distance sent by a target object, and when it is determined that the lateral movement distance of the dual-motor vehicle during vehicle lateral movement reaches the target lateral movement 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 above program executes the method of any one of the above when running.

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

[0113] S1. When a vehicle lateral movement request is received, switch the working mode of the wheel steering system of the dual-motor vehicle to a target mode, where the vehicle lateral movement request is used to indicate that the dual-motor vehicle is to perform vehicle lateral movement within a target area, the dual-motor vehicle includes: a front axle motor and a rear axle motor of the vehicle, and the rotation angles of the front wheels and the rear wheels of the vehicle are the same and the rotation directions are opposite in the target mode of the wheel steering system;

[0114] S2. Determine the output motor torque of the dual-motor vehicle when wheel slip starts to occur in the target area of the dual-motor vehicle, and determine a feedforward torque according to the output motor torque, where 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 torque is used to predict the required torque of multiple wheels of the dual-motor vehicle during vehicle lateral movement;

[0115] S3. Respectively determine the PID-term closed-loop torque of the multiple wheels according to the real-time rotation speeds of the multiple wheels during vehicle lateral movement, where the PID-term 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 vehicle lateral movement;

[0116] S4. Determine the real-time required torque of the front axle motor and the rear axle motor of the vehicle during vehicle lateral movement according to the feedforward torque and the PID-term 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, where 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.

[0117] An embodiment of the present application further provides an electronic device, including a memory and a processor. 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 above electronic device may further include a transmission device and an input / output device. Among them, the transmission device is connected to the above processor, and the input / output device is connected to the above processor.

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

[0120] S1. When a vehicle lateral movement request is received, switch the working mode of the wheel steering system of the dual-motor vehicle to a target mode. Among them, the vehicle lateral movement request is used to indicate that the dual-motor vehicle is to perform vehicle lateral movement within a target area. The dual-motor vehicle includes a front axle motor and a rear axle motor. In the target mode, the rotation angles of the front wheels and the rear wheels of the vehicle are the same and the rotation directions are opposite.

[0121] S2. Determine the output motor torque of the dual-motor vehicle when wheel slip starts to occur in the target area of the dual-motor vehicle, and determine a feedforward torque item according to the output motor torque. Among them, the output motor torque is the output motor torque of the front axle motor and / or the rear axle motor. The feedforward torque item is used to predict the required torque of multiple wheels of the dual-motor vehicle during the vehicle lateral movement process.

[0122] S3. Respectively determine the PID item closed-loop torque of the multiple wheels according to the real-time rotation speeds of the multiple wheels during the vehicle lateral movement process. Among them, 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 process.

[0123] S4. Determine the real-time required torque of the front axle motor and the rear axle motor during the vehicle lateral movement process according to the feedforward torque item 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. Among them, the wheel brakes are used to provide a 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 storage medium may include, but is not limited to: various media such as USB flash drives, read-only memories (ROM), random access memories (RAM), mobile hard disks, magnetic disks, or optical discs that can store program codes.

[0125] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, where the non-volatile computer-readable storage medium stores the computer program product, and when the computer program is executed by a processor, the steps of the methods in various embodiments of the present application are implemented.

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

[0127] S1. When a vehicle side shift request is received, switch the working mode of the wheel steering system of the dual-motor vehicle to a target mode, where the vehicle side shift request is used to indicate that the dual-motor vehicle is to perform vehicle side shift within a target area. The dual-motor vehicle includes a front axle motor and a rear axle motor, and in the target mode, the rotation angles of the front wheels and the rear wheels of the vehicle are the same and the rotation directions are opposite;

[0128] S2. Determine the output motor torque of the dual-motor vehicle when wheel slip starts to occur in the target area of the dual-motor vehicle, and determine a feedforward torque according to the output motor torque, where the output motor torque is the output motor torque of the front axle motor and / or the rear axle motor, and the feedforward torque is used to predict the required torque of multiple wheels of the dual-motor vehicle during the vehicle side shift process;

[0129] S3. Respectively determine the PID-term closed-loop torque of the multiple wheels according to the real-time rotation speeds of the multiple wheels during the vehicle side shift process, where the PID-term 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 side shift process;

[0130] S4. Determine the real-time required torque of the front axle motor and the rear axle motor during the vehicle side shift process according to the feedforward torque and the PID-term 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 side shift within the target area, where 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.

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

[0132] Obviously, those skilled in the art should understand that the above-mentioned modules or steps of the present application can be implemented by a general-purpose computing device. They can be centralized on a single computing device or distributed on a network composed of multiple computing devices. Optionally, they can be implemented by program codes executable by the computing device. Thus, 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 sequence different from that here, or they can be separately fabricated into individual integrated circuit modules, or multiple modules or steps among them can be fabricated into a single integrated circuit module to implement. In this way, the present application is not limited to any specific combination of hardware and software.

[0133] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the principle 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 and the rear axle motor are controlled according to the real-time required torque, and the wheel brakes are controlled according to the target required torque of the multiple wheels, so as to control the dual-motor vehicle to perform lateral movement within the target area through the front axle motor, the rear axle motor and the wheel brakes, 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, and the real-time required torque is determined according to the maximum value of the absolute values ​​of the multiple target required torques.

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; Subtract the multiple 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 subtract the multiple 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; provide braking torques to the multiple front wheels according to the multiple first required braking torques through the wheel brakes, and provide braking torques to the multiple rear wheels according to the multiple second required braking torques through the wheel brakes, 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: Among them, T Ft is the output motor torque, μ is the adhesion coefficient, r is the wheel radius, and i is the transmission ratio from the vehicle motor to the vehicle wheel end; The feedforward term torque is determined by the following formula: Among them, T FF is the feedforward term torque, T Ofst 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: Where, u(t) is the closed-loop torque of the PID term, K p is the proportional gain coefficient, e(t) is the speed difference, T i is the integral gain coefficient, T d 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 and the rear axle motor according to the real-time required torque, and control the wheel brakes according to the target required torque of the multiple wheels, so as to control the dual-motor vehicle to perform vehicle lateral movement within the target area through the front axle motor, the rear axle motor and the wheel brakes, 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, and the real-time required torque is determined according to the maximum value of the absolute values ​​of the multiple target required torques.

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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