The invention discloses a steering angle control method, device and equipment of a four-wheel steering automobile and a storage medium, and the method comprises the following steps: calculating to obtain a first proportionality coefficient of each steering wheel according to a target compensation steering angle of each steering wheel, and calculating to obtain a second proportionality coefficient of each steering wheel according to a maximum allowable use compensation steering angle of each steering wheel and a maximum allowable use compensation steering angle of the whole automobile; and calculating to obtain a second proportionality coefficient of each steering wheel, and calculating to obtain an execution compensation steering angle of each steering wheel according to the maximum allowable use compensation steering angle of the whole vehicle, the first proportionality coefficient and the second proportionality coefficient. According to the method, the maximum allowable use compensation steering angle of each steering wheel is considered, the calculated execution compensation steering angle of each steering wheel does not exceed the maximum allowable use compensation steering angle, and reduction of the service life caused by super capacity change is avoided. In addition, the steering angles of all the steering wheels change cooperatively, and the running stability of the vehicle in the steering process is guaranteed.

    本发明公开了一种四轮转向汽车的转向角控制方法、装置、设备及存储介质,其中,方法包括:根据各转向轮的目标补偿转向角,计算得到各转向轮的第一比例系数,根据各转向轮的最大允许使用补偿转向角和整车的最大允许使用补偿转向角,计算得到各转向轮的第二比例系数,根据整车的最大允许使用补偿转向角、第一比例系数以及第二比例系数,计算得到各转向轮的执行补偿转向角。本发明中考虑了各转向轮的最大允许使用补偿转向角,计算得到的各转向轮的执行补偿转向角均不会超出其最大允许使用补偿转向角,避免超能力变化导致工作寿命的降低。此外,本发明中各转向轮的转向角协同变化,保证了车辆转向过程中的行驶稳定性。


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    Titel :

    Steering angle control method, device and equipment of four-wheel steering automobile and storage medium


    Weitere Titelangaben:

    四轮转向汽车的转向角控制方法、装置、设备及存储介质


    Beteiligte:
    LIU QING (Autor:in) / CAO YU (Autor:in) / ZHAO FENG (Autor:in) / MENG XIANGLIN (Autor:in) / ZHAO YAMING (Autor:in)

    Erscheinungsdatum :

    2023-11-03


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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