The invention provides a vehicle steering control method and system and a vehicle, and the method is used for controlling the vehicle to steer when an electronic power-assisted steering system fails. The method comprises the following steps that current road information, vehicle information and obstacle information are obtained, and according to the current road information, the vehicle information and the obstacle information, the braking force FF of wheels on the single side of a front axle of the vehicle used for vehicle steering, the current acceleration a of the vehicle and the predicted vehicle steering radius and steering track are worked out; according to the braking force FF and the accelerated speed a, the longitudinal force FR to be applied to the rear axle of the vehicle is worked out to be used for balancing the total longitudinal force during steering of the vehicle; the braking force FF is applied to wheels on one side of a front axle of the vehicle to steer the vehicle, and the longitudinal force FR is applied to a rear axle of the vehicle.

    本发明提供了一种车辆转向控制方法、系统和车辆,所述方法用于在电子转向助力系统失效时控制车辆转向,其中,所述方法包括如下步骤:获取当前的道路信息、车辆信息和障碍物信息并根据其求出用于车辆转向的车辆前轴单侧车轮的制动力FF、车辆当前的加速度a以及预测的车辆转向半径和转向轨迹;根据所述制动力FF和加速度a求出待施加到车辆后轴的纵向力FR,以用于平衡车辆转向时的总纵向力;向车辆前轴单侧车轮施加所述制动力FF以使车辆转向,并向车辆后轴施加所述纵向力FR。


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    Title :

    Vehicle steering control method, vehicle steering control system and vehicle


    Additional title:

    车辆转向控制方法、车辆转向控制系统和车辆


    Contributors:
    FANG CHENG (author) / WU LIREN (author) / HAN JIANRONG (author) / HARA TORU (author) / XIAO BAIHONG (author)

    Publication date :

    2022-09-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



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