The invention relates to the field of vehicle control, and discloses a vehicle steering control method and device, computer equipment and a storage medium, and the method comprises the steps: generating a first wheel steering instruction according to steering control information, and controlling wheels to perform first steering through the first vehicle steering instruction; acquiring the running speed and the lateral acceleration of the vehicle after the first steering as well as an actual deflection signal of wheels; the turning radius of the vehicle is calculated according to the running speed and the lateral acceleration; determining an Ackerman coefficient according to the driving speed; determining a target deflection signal of the vehicle according to the turning radius and the Ackerman coefficient; if the absolute value of the difference value between the target deflection signal and the actual deflection signal is larger than the preset threshold value, a second wheel steering instruction is generated according to the difference value, and the wheels are controlled to conduct second steering through the second vehicle steering instruction. The problem that the wheel steering direction and the driving direction are inconsistent when an automobile turns can be solved, and tire abrasion is reduced.

    本发明涉及车辆控制领域,公开了一种车辆转向控制方法、装置、计算机设备及存储介质,其方法包括:根据转向控制信息生成第一车轮转向指令,以通过第一车辆转向指令控制车轮进行第一次转向;获取进行第一次转向后车辆的行驶速度和侧向加速度,以及车轮的实际偏转信号;根据行驶速度和侧向加速度计算车辆的转弯半径;根据行驶速度确定阿克曼系数;根据转弯半径及阿克曼系数确定车辆的目标偏转信号;若目标偏转信号与实际偏转信号之间的差值的绝对值大于预设阈值,根据差值生成第二车轮转向指令,以通过第二车辆转向指令控制车轮进行第二次转向。本发明可以解决汽车转弯时出现车轮转向与行驶方向不一致的问题,减少轮胎磨损。


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    Title :

    Vehicle steering control method and device, computer equipment and storage medium


    Additional title:

    车辆转向控制方法、装置、计算机设备及存储介质


    Contributors:
    WANG YANLI (author) / TONG YUNCHUN (author) / LIAO YINSHENG (author) / LIU PENG (author)

    Publication date :

    2023-07-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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