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机械工程学报

机械工程学报 ›› 2026, Vol. 62 ›› Issue (8): 125-138.doi: 10.3901/JME.260281

• 特邀专辑：汽车线控底盘 • 上一篇    下一篇

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单电机前驱电动汽车低速辅助转向控制研究

史彪飞1, 刘忠韬1, 孟宪夫1, 魏中康1, 张伟东1, 魏恒2   

  1. 1. 北京汽车研究总院有限公司 北京 101300;
    2. 合肥工业大学汽车与交通工程学院 合肥 230009
  • 收稿日期:2025-07-28 修回日期:2026-01-20 出版日期:2026-04-20 发布日期:2026-06-12
  • 作者简介:史彪飞,男,1993年出生,博士、博士后,底盘功能开发工程师。主要研究方向为汽车线控底盘、汽车动力学与控制。E-mail:1935792849@qq.com;魏恒,男,1995年出生,博士,副教授,硕士研究生导师。主要研究方向为汽车动力学与控制。E-mail:weih9520@163.com
  • 基金资助:
    国家自然科学基金资助项目(52402477)。

Research on Easy Turn Control of Single-motor Front-wheel Drive Electric Vehicles

SHI Biaofei1, LIU Zhongtao1, MENG Xianfu1, WEI Zhongkang1, ZHANG Weidong1, WEI Heng2   

  1. 1. Beijing Automotive Research Institute Company Limited, Beijing 101300;
    2. School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009
  • Received:2025-07-28 Revised:2026-01-20 Online:2026-04-20 Published:2026-06-12

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摘要： 电动汽车低速辅助转向(Easy turn,EZT)功能面向低速、大转向盘转角场景，在汽车常规行驶基础上，通过对转向内侧车轮施加制动力矩同时控制驱动电机增扭，在不影响原车加减速特性的情况下减小汽车转向半径，提高汽车机动灵活性。本文对单电机前驱电动汽车EZT功能进行原理分析、控制策略开发、仿真及实车验证。首先基于单轨车辆模型，分析EZT功能减小汽车转向半径的原理。其次以不影响原车加减速特性为目标设计EZT内侧车轮制动力矩与电机扭矩增量的匹配策略，分析对内后轮制动和对内前轮制动对汽车转向半径减小效果的差异。再次，建立Carsim-Simulink联合仿真平台，对EZT控制策略进行仿真验证，结果表明，EZT功能激活时能够在不影响原车加减速特性的情况下减小汽车转向半径。此外，施加相同制动力矩时，对内后轮制动比对内前轮制动转向半径减小量更大。最后搭建实车试验平台，设计转向半径估计算法，对EZT控制策略进行实车验证，结果表明，转向半径估计误差为0.4%，对内后轮施加制动力矩时，转向半径减小量随制动力矩增大近似线性增大，在车轮不抱死情况下可将最小转向半径减小0.18 m。

关键词: 单电机前驱电动汽车, 低速辅助转向, 控制策略, 转向半径

Abstract: The easy turn(EZT) function of electric vehicles is designed for scenarios with low speed and large steering wheel angles. Based on the normal driving of the vehicle, it reduces the steering radius of the vehicle and improves its maneuverability by applying braking torque to the inner steering wheel and controlling the torque increase of the drive motor simultaneously without affecting the original acceleration and deceleration characteristics of the vehicle. This paper conducts principle analysis, control strategy development, simulation and real vehicle verification of the EZT function of the single-motor front-wheel drive electric vehicle. Firstly, based on the single-track vehicle model, analyze the principle by which the EZT function reduces the steering radius of the vehicle. Secondly, with the goal of not affecting the acceleration and deceleration characteristics of the original vehicle, a matching strategy for the braking torque of the inner wheels of the EZT and the increment of the motor torque is designed, and the differences in the effect of reducing the steering radius of the vehicle between the braking of the inner rear wheel and the braking of the inner front wheel are analyzed. Secondly, a Carsim-Simulink joint simulation platform was established to simulate and verify the EZT control strategy. The results show that when the EZT function is activated, the steering radius of the vehicle can be reduced without affecting the original vehicle's acceleration and deceleration characteristics. In addition, when the same braking torque is applied, the reduction in the steering radius is greater when braking the inner rear wheel than when braking the inner front wheel. Finally, a real vehicle test platform was built, the steering radius estimation algorithm was designed, and the real vehicle verification of the EZT control strategy was carried out. The results show that the error of the steering radius estimation method is 0.4%, and the reduction of the steering radius increases approximately linearly with the increase of the braking torque of the inner rear wheel. The minimum steering radius can be reduced by 0.18 m without the wheels locking up.

Key words: single-motor front-wheel drive electric vehicles, easy turn, control strategy, steering radius

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