The invention discloses a vehicle steering control method and device, equipment and a storage medium. The method comprises the steps of obtaining motion track information of a vehicle; determining a yaw velocity according to the motion track information, wherein the yaw velocity comprises a yaw velocity corresponding to feedforward control and a yaw velocity corresponding to feedback control; determining a target yaw velocity according to the yaw velocity corresponding to the feedforward control and the yaw velocity corresponding to the feedback control; determining a steering wheel turning angle according to the target yaw velocity; and performing steering control on the vehicle according to the steering wheel turning angle. According to the method, the steering angle of the steering wheel is reasonably controlled, so that the transverse running error of the vehicle is made up, and the accuracy and safety of vehicle steering control are improved.

    本发明公开一种车辆转向控制方法、装置、设备及存储介质,该方法包括:获取车辆的运动轨迹信息;根据所述运动轨迹信息确定横摆角速度,所述横摆角速度包括前馈控制对应的横摆角速度与反馈控制对应的横摆角速度;根据所述前馈控制对应的横摆角速度与反馈控制对应的横摆角速度确定目标横摆角速度;根据所述目标横摆角速度确定方向盘转角;根据所述方向盘转角对所述车辆进行转向控制。本发明通过对方向盘转角的合理控制,弥补了车辆横向行驶的误差,提高了车辆转向控制的准确性和安全性。


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    Title :

    Vehicle steering control method and device, equipment and storage medium


    Additional title:

    一种车辆转向控制方法、装置、设备及存储介质


    Contributors:
    LI FENGJUN (author) / ZHOU JIANGUANG (author) / QIN HONGZHOU (author) / ZHOU GUANGJUN (author) / ZHANG FEI (author)

    Publication date :

    2021-09-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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