The invention provides a transverse movement control method, a vehicle and a readable storage medium, and the method is applied to the technical field of vehicles, and comprises the steps: obtaining the actual movement data of the vehicle in a current period, determining the deviation between the actual movement data and preset movement data, and determining the deviation between the actual movement data and the preset movement data; the initial torque of at least one of front wheels and rear wheels of the vehicle is adjusted according to the deviation to obtain the target torque, and/or the initial rotation angle of at least one of the front wheels and the rear wheels is adjusted according to the deviation to obtain the target rotation angle. And in the next adjacent period, the vehicle is controlled to move transversely according to the target torque and/or the target rotation angle. The torque and/or the rotation angle of the front and rear wheels of the vehicle are/is adjusted through the deviation between the actual movement data and the preset movement data of the vehicle, longitudinal deviation possibly existing in the transverse movement process of the vehicle can be reduced or even eliminated, and then the probability that the vehicle is scratched can be reduced; and the safety and the reliability of the vehicle in the transverse moving process can be improved.
本申请提供了一种横向移动控制方法、车辆和可读存储介质,该方法应用于车辆技术领域,包括:获取车辆在当前周期内的实际运动数据,确定实际运动数据与预设运动数据之间的偏差,根据偏差调整车辆的前轮和后轮中的至少一个的初始扭矩得到目标扭矩,和/或根据偏差调整前轮和后轮中的至少一个的初始转角得到目标转角。在相邻的下一个周期内,根据目标扭矩和/或目标转角控制车辆进行横向移动。通过车辆实际运动数据与预设运动数据之间的偏差调整车辆前后轮的扭矩和/或转角,可以减小甚至消除车辆在横向移动过程中可能存在的纵向偏移,进而可以降低车辆发生剐蹭的概率,以及可以提高车辆横向移动过程中的安全性和可靠性。
Transverse movement control method, vehicle and readable storage medium
一种横向移动控制方法、车辆和可读存储介质
2024-04-02
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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