The invention relates to a steering control method and device, a medium, a program product, control equipment and a vehicle, and the method comprises the steps that the compensation angle of a current frame is determined according to the transverse error of multiple frames of the vehicle and the vehicle speed corresponding to each frame, and the multiple frames comprise the current frame; compensating the target steering wheel angle of the vehicle according to the compensation angle of the current frame to obtain a compensated steering wheel angle; and controlling the steering of the vehicle based on the compensated steering wheel angle. The required compensation amount is determined based on the transverse error of the current frame and the historical frame and the corresponding vehicle speed, so that the steady-state error of the angle of the steering wheel after compensation is reduced, the vehicle can track the target path more accurately, and the steering control precision and stability of the vehicle are improved.

    本申请涉及一种转向控制方法、装置、介质、程序产品、控制设备及车辆,其中所述方法包括:根据车辆的多帧的横向误差和各帧对应的车速,确定当前帧的补偿角度,多帧包括当前帧;根据当前帧的补偿角度车辆的目标方向盘角度进行补偿,得到补偿后方向盘角度;基于补偿后方向盘角度对车辆的转向进行控制。由于是基于当前帧以及历史帧的横向误差和对应的车速确定所需的补偿量,从而降低了补偿后方向盘角度的稳态误差,使车辆能够更加准确地跟踪目标路径,提高了对车辆的转向控制精度和稳定性。


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    Titel :

    Steering control method and device, medium, program product, control equipment and vehicle


    Weitere Titelangaben:

    转向控制方法、装置、介质、程序产品、控制设备及车辆


    Beteiligte:
    LI TING (Autor:in) / LIU BOYANG (Autor:in) / ZHANG GUANGLU (Autor:in) / CUI HONGBIN (Autor:in) / DU PENG (Autor:in)

    Erscheinungsdatum :

    13.05.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge



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