The invention provides a vehicle steering control method, a controller, a steering control system, a vehicle and a program product, the vehicle comprises a front driving motor and a rear driving motor, the method responds to the situation that the vehicle enters a pivot steering mode, and steering information and motion information of the vehicle are obtained; the steering information of the vehicle comprises steering information of a steering wheel and steering angle information of wheels; determining a front wheel longitudinal torque and a rear wheel longitudinal torque based on the turning angle information of the wheels, the vehicle motion information and a rotation balance constraint condition; wherein the rotation balance constraint condition is used for constraining the longitudinal and transverse movement amplitudes of the vehicle to be within a preset range and constraining the vehicle to rotate around the mass center of the vehicle; and controlling the front driving motor to work to output front wheel longitudinal torque, and controlling the rear driving motor to work to output rear wheel longitudinal torque so as to control the vehicle to perform pivot steering according to the steering information of the steering wheel. According to the embodiment of the invention, the vehicle can be controlled to steer in situ.
本公开提供了一种车辆转向控制方法、控制器、转向控制系统、车辆及程序产品,车辆包括前驱动电机以及后驱动电机,该方法响应于车辆进入原地转向模式,获取车辆的转向信息以及车辆运动信息;车辆的转向信息包括方向盘的转向信息以及车轮的转角信息;基于车轮的转角信息、车辆运动信息以及转动平衡约束条件,确定前轮纵向扭矩以及后轮纵向扭矩;其中,转动平衡约束条件用于约束车辆在纵向以及横向的移动幅度在预设范围内,且约束车辆能够围绕车辆的质心进行旋转;控制前驱动电机工作以输出前轮纵向扭矩,且控制后驱动电机工作以输出后轮纵向扭矩,以控制车辆按照方向盘的转向信息进行原地转向。本公开实施例,可以控制车辆进行原地转向。
Vehicle steering control method, controller, steering control system, vehicle and product
车辆转向控制方法、控制器、转向控制系统、车辆及产品
01.11.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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