The invention discloses a vehicle steering control method, device and equipment and a medium. The method comprises the steps that the current state of each steering controller of a vehicle is determined, and a vehicle steering state equation matched with the current state of each steering controller is determined; solving the vehicle steering state equation matched with the current state of each steering controller to obtain expected turning angle values of at least three wheels; and performing steering control on the vehicle according to each expected steering angle value. According to the method, different control methods are matched according to the states of different steering controllers, different control strategies can be adopted according to different fault states, control over the vehicle is achieved, and safe driving of the vehicle when the vehicle breaks down is guaranteed.
本发明公开了一种车辆的转向控制方法、装置、设备及介质。该方法包括:确定车辆的各转向控制器的当前状态,并确定与各转向控制器的当前状态匹配的车辆转向状态方程;对与各转向控制器的当前状态匹配的车辆转向状态方程进行求解,得到至少三个车轮的期望转角值;根据各期望转角值,对车辆进行转向控制。该方法根据不同的转向控制器的状态匹配不同的控制方法,能够实现根据不同的故障状态采用不同的控制策略,实现对车辆的控制,保证了车辆在出现故障时的安全行驶。
Vehicle steering control method, device, equipment and medium
车辆的转向控制方法、装置、设备及介质
2024-01-02
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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