The invention discloses a vehicle rear wheel steering control method and device, a vehicle and a storage medium. The method comprises the steps that first real-time steering data of a vehicle in the driving process are obtained, and the first real-time steering data are used for representing vehicle state parameters related to steering operation of the vehicle; on the basis of the first real-time steering data and a preset control model, a target steering angle value of rear wheels of the vehicle is determined, the preset control model is used for representing a mapping relation between the first real-time steering data and the target steering angle value, and the preset control model is a model generated on the basis of time-varying dynamically-adjusted expected yaw velocity; and controlling the vehicle to steer according to the first real-time steering data and the target steering angle value. The technical problem that the stability of a steering system of the vehicle is poor due to the fact that the yaw velocity is directly adopted to adjust the steering angle value of the rear wheels of the vehicle is solved.
本发明公开了一种车辆后轮的转向控制方法、装置、车辆和存储介质。其中,该方法包括:获取车辆在行驶过程中的第一实时转向数据,其中,第一实时转向数据用于表征与车辆进行转向操作相关的车辆状态参数;基于第一实时转向数据和预设控制模型,确定车辆后轮的目标转角值,其中,预设控制模型用于表征第一实时转向数据和目标转角值之间的映射关系,以及预设控制模型为基于随时间变化的动态调整的期望横摆角速度所生成的模型;按照第一实时转向数据和目标转角值,控制车辆进行转向。本发明解决了由于直接采用横摆角速度调整车辆后轮的转角值造成的车辆的转向系统稳定性较差的技术问题。
Steering control method and device for rear wheels of vehicle, vehicle and storage medium
车辆后轮的转向控制方法、装置、车辆和存储介质
2023-08-08
Patent
Electronic Resource
Chinese
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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