Steering auxiliary torque control method for pure electric all-wheel-drive automobile

The invention relates to the field of electric vehicle control, in particular to a pure electric all-wheel-drive vehicle steering auxiliary torque control method, which utilizes the characteristic that a front-rear dual-motor electric vehicle can independently control the front-rear power output direction and the output torque, locks an inner side front wheel and an outer side rear wheel during steering, and applies a forward torque to the outer side front wheel, so that the front-rear power output direction and the output torque are controlled. And reverse torque is applied to a rear wheel on the inner side, so that the vehicle approximately rotates around the mass center in situ, the turning radius is shortened to be 1/2 of that of a crossed shaft, and the passing performance and cross-country escape capacity of the vehicle are further improved. 本发明涉及电动汽车控制领域，特别涉及一种纯电动全驱汽车转向辅助扭矩控制方法，本发明利用前后双电机电动车辆可独立控制前后动力输出方向及输出扭矩的特点，转向时锁止内侧前轮和外侧后轮，并对外侧前轮施加正向力矩，内侧后轮施加反向力矩，从而实现车辆近似围绕质心的原地旋转，将转弯半径缩短为交叉轴的1/2，从而进一步提高车辆的通过性能及越野