The invention provides a vehicle steering control method and device, a vehicle and a storage medium. When the automatic turning-around mode is started, the vehicle control unit obtains auxiliary parameters of the vehicle according to a pre-activation signal input by a user, generates a target direction, a rotation angle, a feed-forward torque and a target wheel speed, and then sends a steering instruction to the motor controller. And the motor controller makes a response according to the feedforward torque to obtain a response signal and sends the response signal to the vehicle control unit. And the vehicle control unit obtains swing angle sensor information and side longitudinal acceleration information according to the response signal, calculates a wheel rotation angle and sends the wheel rotation angle to the motor controller. And the motor controller carries out self-closed-loop control according to the target direction, the target wheel speed, the wheel rotation angle, the rotation angle and the auxiliary parameters, and the vehicle is controlled to complete steering. According to the invention, the automatic turning of the vehicle with zero turning radius is realized, so that the steering of the vehicle is more flexible, accurate and efficient, the rotation error is reduced, and the millisecond-level driving control is realized.

    本申请提供一种车辆转向的控制方法、装置、车辆和存储介质。在自动调头模式开启时,整车控制器根据用户输入的预激活信号,获取车辆的辅助参数,并生成目标方向、旋转角度、前馈扭矩、目标轮速,然后向电机控制器发送转向指令。电机控制器根据前馈扭矩做出响应,得到响应信号,并发送至整车控制器。整车控制器根据响应信号,获取摆角度传感器信息和侧纵向加速度信息计算得到车轮转动角度并发送至电机控制器。电机控制器根据目标方向、目标轮速、车轮转动角度、旋转角度和辅助参数,进行自闭环控制,控制车辆完成转向。实现了车辆自动调头0转弯半径转向,使得车辆转向更加灵活,精准高效,并且减少了旋转误差,实现了毫秒级的驱动控制。


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    Titel :

    Vehicle steering control method and device, vehicle and storage medium


    Weitere Titelangaben:

    车辆转向的控制方法、装置、车辆和存储介质


    Beteiligte:
    WU JINGMING (Autor:in) / SUN LIHE (Autor:in) / WANG PENG (Autor:in) / CHEN QIMIAO (Autor:in) / DENG XIANG (Autor:in) / LIU CHAO (Autor:in) / HUANG PENG (Autor:in) / ZHANG TANG (Autor:in) / QIU JIAN (Autor:in) / FENG RUI (Autor:in)

    Erscheinungsdatum :

    2023-09-22


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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