The invention relates to a vehicle steering control method and device, a vehicle and a storage medium, and the method comprises the steps that a steering request of the vehicle is received, and the steering request carries a steering request angle; acquiring a steering mode and a driving direction of a current vehicle and a current wheel angle feedback value; searching a current axle center virtual tire angle corresponding to the wheel angle feedback value in a preset mapping table of the wheel angle and the axle center virtual tire angle; determining a steering demand angle of the vehicle based on the steering mode, the driving direction and the steering request angle; the steering demand angle is an axle center virtual tire angle of the single vehicle model; and controlling the vehicle to steer according to the steering request angle based on the steering demand angle and the current axle center virtual tire angle. According to the method, the virtual tire angle closed-loop operation of the axle center of the single vehicle model is realized during vehicle steering, and the control error during vehicle steering can be reduced.
本申请涉及一种车辆转向控制方法、装置、车辆和存储介质,所述方法包括:接收车辆的转向请求,转向请求中携带转向请求角度;获取当前车辆的转向模式、行驶方向以及当前的车轮角度反馈值;在车轮角度与车轴中心虚拟轮胎角度的预设映射表中查找车轮角度反馈值对应的当前车轴中心虚拟轮胎角度;基于转向模式、行驶方向以及转向请求角度确定车辆的转向需求角度;转向需求角度为单车模型的车轴中心虚拟轮胎角度;基于转向需求角度、当前车轴中心虚拟轮胎角度控制车辆按照转向请求角度进行转向。上述方法,在车辆转向时实现在单车模型的车轴中心的虚拟轮胎角度闭环运算,可减小车辆转向时的控制误差。
Vehicle steering control method and device, vehicle and storage medium
车辆转向控制方法、装置、车辆和存储介质
2022-10-11
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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