The invention relates to a vehicle control method and device and a vehicle, and the method comprises the steps: obtaining the driving information of the vehicle, determining a target weight corresponding to each preset control strategy in a plurality of preset control strategies according to a front wheel side slip angle and a rear wheel side slip angle, and according to the target weight, the vehicle speed, the actually measured yaw velocity, the running side slip angle and the steering wheel rotation angle, a target front wheel rotation angle and a target rear wheel rotation angle of the vehicle are determined through various preset control strategies, and the vehicle is controlled to steer according to the target front wheel rotation angle and the target rear wheel rotation angle. The lateral deviation characteristic of the tire is considered, the target front wheel turning angle and the target rear wheel turning angle can be determined according to the target weight and the driving information through multiple preset control strategies, the vehicle is controlled to conduct four-wheel steering, the steering response speed and steering flexibility are improved during low-speed driving, the turning radius is reduced, and the steering efficiency is improved. During high-speed driving, the steering stability and the lane changing flexibility of the vehicle are improved, and the safety and the stability of the vehicle are improved.
本公开涉及一种车辆的控制方法、装置和车辆,该方法包括:获取车辆的行驶信息,根据前轮侧偏角和后轮侧偏角,确定多种预设控制策略中每种预设控制策略对应的目标权重,根据目标权重、车速、实测横摆角速度、行驶质心侧偏角和方向盘转角,通过多种预设控制策略,确定车辆的目标前轮转角和目标后轮转角,根据目标前轮转角和目标后轮转角,控制车辆进行转向。本公开考虑了轮胎的侧偏特性,可以根据目标权重和行驶信息,通过多种预设控制策略,确定目标前轮转角和目标后轮转角,来控制车辆进行四轮转向,以在低速行驶时提高转向响应速度和转向灵活度,并减小转弯半径,在高速行驶时提高转向稳定性和车辆变道的灵活性,提高了车辆的安全性和稳定性。
Vehicle control method and device and vehicle
车辆的控制方法、装置和车辆
2023-11-28
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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