The invention discloses a wheel steering control method and device, and the method comprises the steps: obtaining a first actual rotation angle of a first wheel, a first target rotation angle, and a first rotation angle difference value between the first actual rotation angle and the first target rotation angle; acquiring a second actual rotation angle of a second wheel, a second target rotation angle and a second rotation angle difference value between the second actual rotation angle and the second target rotation angle; when the difference value of the actual turning angle difference value and the target turning angle difference value does not meet the coordinated steering threshold value condition, determining the target turning angle of the other wheel according to the actual turning angle of the wheel corresponding to the larger turning angle difference value in the first turning angle difference value and the second turning angle difference value; and controlling a steering actuator to perform wheel steering control according to the adjusted target turning angle. According to the wheel steering control method, the coordination of the first wheel and the second wheel in the steering process can be improved, and the safety coefficient of vehicle running is improved.

    一种车轮转向控制方法及装置,其中,车轮转向控制方法包括:获取第一车轮的第一实际转角、第一目标转角及第一实际转角和第一目标转角的第一转角差值;获取第二车轮的第二实际转角、第二目标转角及第二实际转角和第二目标转角的第二转角差值;当实际转角差值和目标转角差值的差值不满足协调转向阈值条件时,根据第一转角差值和第二转角差值中的较大转角差值所对应的车轮的实际转角,确定另一车轮的目标转角;通过控制转向执行器根据调整后的目标转角进行车轮转向控制。该车轮转向控制方法能够提高第一车轮和第二车轮在转向过程中的协调性,提高了车辆行驶的安全系数。


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    Titel :

    Wheel steering control method and device


    Weitere Titelangaben:

    车轮转向控制方法及装置


    Beteiligte:
    WANG JIMING (Autor:in) / LU GANG (Autor:in)

    Erscheinungsdatum :

    2021-08-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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