US 12,128,775 B1
Multi-constraint optimal distribution method for torque vectoring of distributed drive electric vehicle
Lin Zhang, Shanghai (CN); Hong Chen, Shanghai (CN); Haobo Sun, Shanghai (CN); Hanghang Liu, Shanghai (CN); and Wei Pan, Shanghai (CN)
Assigned to TONGJI UNIVERSITY, Shanghai (CN)
Filed by TONGJI UNIVERSITY, Shanghai (CN)
Filed on Dec. 14, 2023, as Appl. No. 18/540,734.
Claims priority of application No. 202310734337.4 (CN), filed on Jun. 20, 2023.
Int. Cl. B60L 3/10 (2006.01); B60L 15/20 (2006.01)
CPC B60L 3/106 (2013.01) [B60L 15/2036 (2013.01); B60L 2240/22 (2013.01); B60L 2240/24 (2013.01); B60L 2240/423 (2013.01); B60L 2240/461 (2013.01); B60L 2240/463 (2013.01); B60L 2240/465 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A controlling method for a distributed drive electric vehicle, comprising:
obtaining a vehicle real-time motion state, taking a pre-constructed tire rotation dynamics model as a control object of an optimal distribution problem, establishing an objective function for tracking a desired additional yaw moment, tracking a desired tire slip ratio, and suppressing a motor output energy consumption to a minimum value, establishing a corresponding system constraint, solving the optimal distribution problem, and obtaining an optimal distribution solution for a torque vectoring of each tire,
determining an additional torque of each wheel of the distributed drive electric vehicle according to the optimal distribution solution for a torque vectoring;
controlling corresponding hub motor of the distributed drive electric vehicle according to the additional torque of each wheel of the vehicle;
wherein the system constraint comprises a constraint limit on an important system state to make the important system state satisfy requirements of driving safety of the vehicle, and a constraint limit on a system control input to be optimized to avoid excessive interference caused by application of the control input with driving of the vehicle; wherein the constraint limit on an important system state comprises a slip ratio constraint, and the constraint limit on a system control input to be optimized comprises a tire additional torque constraint and a total additional torque constraint.