Torque calculation method for lane changing of bidirectional driving ferry vehicle

The invention belongs to the field of automobiles, and particularly relates to a torque calculation method during lane changing of a bidirectional driving ferry vehicle, which can finish solving of expected acceleration based on model prediction control according to reference speed, longitudinal speed and acceleration, and calculates required driving torque or braking torque through a vehicle model after the expected acceleration is obtained. The method can solve the problem of inaccurate calculation of vehicle driving or braking torque in the lane changing process of current automatic driving, and has the characteristics of being accurate in calculation result, conforming to the actual situation and being beneficial to vehicle control during lane changing. 本发明属于汽车领域，具体涉及一种双向行驶摆渡车变道时扭矩计算方法，能够根据参考速度、纵向速度、加速度，基于模型预测控制完成期望加速度的求解，得到期望加速度之后通过车辆模型计算所需的驱动扭矩或制动扭矩。本发明能够解决目前的自动驾驶在变道过程中对于车辆驱动或制动扭矩的计算并不准确的问题，具有计算结果准确，符合实际情况，有利于变道时的车辆控制的特点。