The invention provides a steering control method and device, an articulated vehicle and a storage medium, and relates to the technical field of vehicle steering control. The steering control method is applied to a controller of the hinged vehicle, the hinged vehicle comprises wheels and motors which are equal in number, each motor is connected with one wheel, and the controller is electrically connected with each motor. Firstly, a steering control instruction is received, the steering control instruction comprises steering vehicle speed information, dynamic angular velocity information and steering angle information, and then the static linear velocity of each wheel is determined according to the steering angle information, the steering vehicle speed information and a preset static model; the dynamic linear speed of each wheel is determined according to the dynamic angular velocity information, the preset wheel base of the wheels and a dynamic model, the dynamic linear speed and the static linear speed of each wheel are integrated to determine the rotating speed of each wheel, and finally the rotating speed of each motor is controlled according to the rotating speed of each wheel. The method has the effect of reducing the use cost of a user.

    本申请提供了一种转向控制方法、装置、铰接车辆以及存储介质,涉及车辆转向控制技术领域。该转向控制方法应用于铰接车辆的控制器,铰接车辆包括数量相等的车轮与电机,每个电机均与一个车轮连接,控制器与每个电机均电连接;首先接收转向控制指令,其中,转向控制指令包括转向车速信息、动态角速度信息以及转向角度信息,然后依据转向角度信息、转向车速信息以及预设的静态模型确定每个车轮的静态线速度,再依据动态角速度信息、预设的车轮的轴距以及动态模型确定每个车轮的动态线速度,再将每个车轮的动态线速度与静态线速度进行整合,以确定每个车轮的转速,最后依据每个车轮的转速控制每个电机的转速。本申请具有降低了用户使用成本的效果。


    Access

    Download


    Export, share and cite



    Title :

    Steering control method and device, articulated vehicle and storage medium


    Additional title:

    一种转向控制方法、装置、铰接车辆以及存储介质


    Contributors:
    CHEN YIJUN (author) / HUANG JIAO (author)

    Publication date :

    2021-12-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge




    Articulated vehicle steering control method and device

    WANG XIAOJUAN / CAO LUMENG / JIA LI et al. | European Patent Office | 2021

    Free access

    STEERING DEVICE FOR ARTICULATED VEHICLE

    SVÄRDBY SVERKER / FORSBERG PATRIK | European Patent Office | 2018

    Free access

    Steering device for articulated vehicle

    THOREN MAX / CARLSSON MARTIN | European Patent Office | 2016

    Free access

    Steering device for articulated vehicle

    SVÄRDBY SVERKER / FORSBERG PATRIK | European Patent Office | 2015

    Free access