In-situ steering control method and system for off-road vehicle driven by hub motor and medium

The invention discloses a hub motor driven off-road vehicle pivot steering control method and system and a medium, and is widely applied to the technical field of vehicles. According to the method, after the peak yaw angular acceleration is determined, the expected yaw angular velocity at the current moment is determined by taking a road adhesion coefficient and an accelerator pedal opening signal as system input quantities in combination with the peak yaw angular acceleration, and then the expected yaw angular velocity at the current moment is determined after the target function under the multi-constraint optimization condition is determined. The driving electrode output torque required at the expected yaw velocity is determined through a target function, then vector adjustment is conducted on the electrode output torque of each wheel based on the required driving electrode output torque, a torque control model of a single wheel is obtained, and then the steering process of vehicles on different road surfac