The invention provides a steering control method, device and equipment and a storage medium, and relates to the field of automatic control, the method comprises the steps that the first yaw velocity of a vehicle and steering hand force information of a driver acting on a steering wheel are obtained, and the first yaw velocity is the yaw velocity corresponding to the maximum turning angle of the steering wheel; determining a second yaw velocity according to the steering hand force information; when the second yaw velocity is greater than the first yaw velocity, taking a difference value between the second yaw velocity and the first yaw velocity as a target yaw velocity; determining a target driving force of the vehicle according to the target yaw velocity; and controlling the vehicle to steer according to the target driving force of the vehicle. In this way, the vehicle can have the torque rotating along the Z axis of the whole vehicle to control steering of the vehicle, and the steering capacity of the vehicle is larger than that provided by a steering system.

    本申请提供一种转向控制方法、装置、设备及存储介质,涉及自动控制领域,该方法包括:获取车辆的第一横摆角速度和驾驶员作用于方向盘的转向手力信息,所述第一横摆角速度为所述方向盘的最大转角对应的横摆角速度;根据所述转向手力信息确定第二横摆角速度;在所述第二横摆角速度大于所述第一横摆角速度时,将所述第二横摆角速度和所述第一横摆角速度的差值作为目标横摆角速度;根据所述目标横摆角速度确定所述车辆的目标驱动力;根据所述车辆的目标驱动力控制所述车辆转向。这样可以使车辆有一个沿着整车Z轴旋转的扭矩去控制车辆转向,使得车辆获得比转向系统提供的转向能力更大的转向能力。


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    Title :

    Steering control method and device, equipment and storage medium


    Additional title:

    转向控制方法、装置、设备及存储介质


    Contributors:
    GU SHIYING (author) / YAO YUAN (author) / ZHANG HUIGEN (author) / ZHANG YAN (author) / HU LEI (author) / XIA SHUAISHUAI (author) / WANG ZHENYE (author)

    Publication date :

    2023-07-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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