The invention provides a reversing control method and device based on four-wheel steering, a storage medium and a vehicle. The method comprises the following steps: in response to a triggered reversing request, acquiring a driving track corresponding to the current moment; wherein the driving track is obtained by recording a driving route of the vehicle before the current moment; in the process that the vehicle backs up from the vehicle position at the current moment, determining a front wheel target turning angle and a rear wheel target turning angle of the vehicle in real time according to the driving track and the vehicle position; and a first turning angle request carrying the front wheel target turning angle is sent to a front wheel steering controller, and a second turning angle request carrying the rear wheel target turning angle is sent to a rear wheel steering controller, so that the vehicle backs up according to the driving track.

    本发明提供了一种基于四轮转向的倒车控制方法、装置、存储介质及车辆。所述方法包括:响应于被触发的倒车请求,获取当前时刻所对应的行驶轨迹;其中,所述行驶轨迹为所述车辆对当前时刻之前所行进的行驶路线进行记录得到的;在所述车辆从当前时刻的车辆位置开始倒车的过程中,实时根据所述行驶轨迹和所述车辆位置,确定所述车辆的前轮目标转角及后轮目标转角;将携带所述前轮目标转角的第一转角请求发送给前轮转向控制器,将携带所述后轮目标转角的第二转角请求发送给后轮转向控制器,以使所述车辆按照所述行驶轨迹进行倒车行驶。


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    Title :

    Reversing control method and device based on four-wheel steering, storage medium and vehicle


    Additional title:

    基于四轮转向的倒车控制方法、装置、存储介质及车辆


    Contributors:
    YANG ZHEN (author)

    Publication date :

    2022-11-22


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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