Pivot steering driving torque control method for distributed driving vehicle

The invention belongs to the technical field of vehicle torque control, and particularly relates to a distributed driving vehicle pivot steering driving torque control method which comprises the following steps: according to longitudinal and lateral speeds and accelerations at the center of mass of a vehicle, combining the influence of slip rate changes of four wheels on the longitudinal and lateral accelerations of the whole vehicle; a single wheel with the longitudinal force or the lateral force greatly changing along with the longitudinal slip rate is selected in one adjusting period to adjust the driving torque, and the original output torque of other wheels is kept unchanged. By the adoption of the torque distribution strategy, pivot steering can be achieved for a vehicle with the center of mass centered left and right and longitudinally back, and the center of mass can move within a small range. By adopting the control method, the working state of the system can be automatically and flexibly adjusted th