The invention is suitable for the technical field of vehicles, and provides a rear wheel steering control method and device, a vehicle and a storage medium. The rear wheel steering control method comprises the steps that when a rear wheel steering function is in an open state, a feedforward rear wheel steering angle rate conforming to a current rear wheel steering mode of a vehicle can be determined according to an actual rear wheel steering angle rate and a correction coefficient; the correction coefficient is a coefficient corresponding to the rear wheel steering mode. According to the driving parameters of the vehicle and the vehicle body parameters of the vehicle, the feedback rear wheel steering angle rate conforming to the current state of the vehicle can be determined. And finally, according to the feedforward rear wheel steering angle rate and the feedback rear wheel steering angle rate, the determined target rear wheel steering angle rate not only conforms to the current rear wheel steering mode, but also conforms to the current state of the vehicle. And when the rear wheels of the vehicle rotate according to the target rear wheel rotation angle rate, the vehicle steers stably.
本申请适用于车辆技术领域,提供了一种后轮转向控制方法、装置、车辆及存储介质。后轮转向控制方法包括:当后轮转向功能处于开启状态时,根据实际后轮转角速率和修正系数,可以确定符合车辆当前后轮转向模式的前馈后轮转角速率;修正系数为后轮转向模式对应的系数。根据车辆的行驶参数和车辆的车身参数,可以确定符合车辆当前状态的反馈后轮转角速率。最后根据前馈后轮转角速率和反馈后轮转角速率,确定的目标后轮转角速率既符合当前的后轮转向模式,又符合车辆当前的状态。当车辆的后轮按照目标后轮转角速率转动,使车辆实现稳定的转向。
Rear wheel steering control method and device, vehicle and storage medium
后轮转向控制方法、装置、车辆及存储介质
2024-03-26
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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