The invention discloses a multi-steering-wheel steering angle control method, device and equipment and a storage medium, and the method comprises the steps: calculating a first steering angle variable quantity of each steering wheel according to a steady-state target steering angle of each steering wheel, an instantaneous steering angle of each steering wheel at the last moment and the steering angle change capability of each steering wheel; according to the first rotation angle variable quantity and the rotation angle change capacity, second rotation angle variable quantity of each steering wheel is obtained through calculation; and according to the second rotation angle variable quantity, the execution rotation angle variable quantity of each steering wheel is obtained through calculation. According to the method, the turning angle change capacity of each steering wheel is considered, the execution turning angle change amount of each steering wheel is controlled within the turning angle change capacity range of each steering wheel, in addition, synchronous change of the turning angles of all the steering wheels can be achieved, and the control accuracy is improved. The vehicle body instability caused by insufficient steering or excessive steering due to the fact that the change of the turning angle between the steering wheels is not synchronous is effectively avoided, and the stability of the vehicle in the steering process is improved.
本发明公开了一种多转向轮转角控制方法、装置、设备及存储介质,其中,方法包括:根据各转向轮的稳态目标转角、上一时刻各转向轮的瞬时转角以及各转向轮的转角变化能力,计算得到各转向轮的第一转角变化量;根据第一转角变化量和转角变化能力,计算得到各转向轮的第二转角变化量;根据第二转角变化量,计算得到各转向轮的执行转角变化量。本发明考虑了各转向轮的转角变化能力,在各转向轮的转角变化能力范围内控制各转向轮的执行转角变化量,此外,本发明中可以实现各转向轮的转角同步变化,有效地避免了各转向轮之间的转角变化不同步引起转向不足或转向过度的车身失稳,提高了车辆转向过程中的稳定性。
Multi-steering-wheel steering angle control method, device and equipment and storage medium
多转向轮转角控制方法、装置、设备及存储介质
03.11.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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