The invention relates to a steering control method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring a corresponding steering radius of a target vehicle from a current position to a target position, and acquiring a first lane width corresponding to the current position and a second lane width corresponding to the target position; under the condition that the first parameter value is larger than a first threshold value, the deviation range of the projection point relative to the geometric center of the axle is obtained according to the steering radius; the first parameter value is an absolute value corresponding to a difference value between the first lane width and the second lane width; the projection point is used for representing the projection of the steering center on the longitudinal axis of the vehicle; determining a target deviation value from the deviation range according to the steering radius and the vehicle wheelbase and the vehicle width of the target vehicle; and obtaining a target steering parameter according to the target deviation value, and performing steering control on the target vehicle according to the target steering parameter. By adopting the method, the steering efficiency of the four-wheel steering vehicle can be improved.

    本申请涉及一种转向控制方法、装置、计算机设备和存储介质。所述方法包括:获取目标车辆从当前位置到目标位置对应的转向半径,并获取当前位置对应的第一车道宽度和目标位置对应的第二车道宽度;在第一参数值大于第一阈值的情况下,根据转向半径,获取投影点相对车轴几何中心的偏移范围;第一参数值为第一车道宽度与第二车道宽度的差值对应的绝对值;投影点用于表征转向中心在车辆纵轴线上的投影;根据转向半径,以及目标车辆的车辆轴距和车辆宽度,从偏移范围中,确定目标偏移值;根据目标偏移值,获取目标转向参数,并根据目标转向参数对目标车辆进行转向控制。采用本方法能够提高四轮转向车辆的转向效率。


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    Title :

    Steering control method and device, computer equipment and storage medium


    Additional title:

    转向控制方法、装置、计算机设备和存储介质


    Contributors:
    HAO ZHI (author) / YANG SHOUCHEN (author) / ZHAO ZIJIAN (author) / WANG YANG (author) / ZHANG YUXUAN (author)

    Publication date :

    2024-01-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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