Torque control method, device and vehicle for a distributed drive vehicle

Abstract

The present disclosure relates to a torque control method, device and vehicle for a distributed drive vehicle. In the present disclosure, the actual yaw angle speed of the vehicle and the expected yaw angle speed of the vehicle, and the front axle side slip angle and the rear axle side slip angle of the vehicle are used to calculate the respective corresponding yaw correction data, and the yaw correction coefficient for correcting the basic torque of the vehicle is determined based on the yaw correction data, so that the expected yaw torque is achieved. In this way, when it is identified that the basic yaw torque needs to be corrected to meet the target working condition, the difference between the driving longitudinal demand torque of the single wheel and the expected yaw torque is reduced or avoided, so that the torque of the single wheel changes from positive torque to negative torque, the frequency of positive and negative changes of the torque of the single wheel is reduced or avoided, the protection of the drive half shaft is realized in the case of responding to the demand torque of the driver as much as possible and ensuring the safety of the vehicle.

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