The embodiment of the invention provides a vehicle steering method and device, a vehicle control unit, a storage medium and a vehicle, and relates to the technical field of vehicle control. The method comprises the steps that the expected course angular velocity and the current course angular velocity of the vehicle are obtained; determining an angular velocity deviation value according to the expected course angular velocity and the current course angular velocity; and determining a target differential value between two target wheels which are oppositely arranged based on the angular velocity deviation value, and controlling the target wheels according to the target differential value. In the embodiment of the invention, the angular velocity deviation value can be calculated according to the expected course angular velocity and the current course angular velocity, and the target differential velocity value for controlling the two oppositely arranged wheels is calculated according to the angular velocity deviation value; the vehicle is controlled to run through the target differential value, so that the vehicle can keep the constant expected course angular speed in the steering process, the precise control over vehicle steering is achieved, and the steering precision of the vehicle is improved.

    本发明实施例提供了一种车辆转向方法、装置、整车控制器、存储介质及车辆,涉及车辆控制技术领域,包括:获取车辆的期望航向角速度和当前航向角速度;根据期望航向角速度和当前航向角速度确定角速度偏差值;基于角速度偏差值确定相对设置的两个目标车轮之间的目标差速值,并根据目标差速值控制目标车轮。本发明实施例中,可以根据期望航向角速度和当前航向角速度计算角速度偏差值,并通过角速度偏差值计算用于控制相对设置的两个车轮的目标差速值,通过目标差速值控制车辆行驶有助于使车辆在转向过程中保持恒定的期望航向角速度,实现了对车辆转向的精细化控制,提升了车辆的转向精度。


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    Titel :

    Vehicle steering method and device, vehicle control unit, storage medium and vehicle


    Weitere Titelangaben:

    车辆转向方法、装置、整车控制器、存储介质及车辆


    Beteiligte:
    ZHANG YANGENG (Autor:in) / TIAN JIA (Autor:in) / WANG JINGUANG (Autor:in) / WANG LINLIN (Autor:in)

    Erscheinungsdatum :

    2024-04-09


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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