The embodiment of the invention provides a vehicle steering angle determining method and device, a vehicle control unit and a computer readable storage medium. The vehicle steering angle determining method comprises the steps that the current position and the target position of a vehicle are obtained; according to the current position and the target position, determining a target vehicle turning radius required by the vehicle to run from the current position to the target position; determining a front axle side slip angle and a rear axle side slip angle corresponding to the turning radius of the target vehicle based on the vehicle physical parameters and the driving speed of the vehicle; determining a target front axle steering angle based on the front axle slip angle and the rear axle slip angle; wherein the target front axle steering angle is used for controlling the vehicle to turn at the target vehicle turning radius. According to the front axle steering angle generated through the scheme, the side slip angle which can be generated by the vehicle can be considered in advance, the front axle steering angle capable of correcting the side slip angle is generated in advance to control the vehicle to turn, route deviation caused by the wheel side slip angle in the turning process of the vehicle is avoided, and the turning accuracy and stability of the vehicle are improved.

    本申请实施例提供了一种车辆转向角度确定方法、装置、整车控制器及计算机可读存储介质,包括:获取车辆的当前位置和目标位置;根据当前位置和目标位置,确定车辆从当前位置行驶到目标位置所需的目标车辆转弯半径;基于车辆的车辆物理参数和行驶速度,确定目标车辆转弯半径对应的前轴侧偏角和后轴侧偏角;基于前轴侧偏角和后轴侧偏角确定目标前轴转向角;其中,目标前轴转向角用于控制车辆以目标车辆转弯半径进行转弯。通过本方案生成的前轴转向角,可以提前考虑车辆会产生的侧偏角,并提前生成能够对侧偏角进行修正的前轴转向角控制车辆进行转弯,避免了车辆在转弯过程中由车轮侧偏角引发的路线偏移,提升了车辆过弯的准确性和稳定性。


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    Title :

    Vehicle steering angle determination method and device, vehicle control unit and storage medium


    Additional title:

    车辆转向角度确定方法、装置、整车控制器及存储介质


    Contributors:
    PENG TAO (author) / CUI WENFENG (author) / PENG KANG (author)

    Publication date :

    2023-03-14


    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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