The invention discloses a vehicle rear wheel steering angle control method and device, electronic equipment and a storage medium. The method comprises the steps that the initial feed-forward steering angle ratio and the initial feedback steering angle ratio in the vehicle steering process are obtained; the feed-forward rotation angle ratio and the feedback rotation angle ratio are the ratio of the front wheel rotation angle to the rear wheel rotation angle; determining a feedforward weight corresponding to the initial feedforward steering angle ratio and a feedback weight corresponding to the initial feedback steering angle ratio based on the steering information of the vehicle; the steering information comprises a current vehicle speed value and a front wheel steering angle value; the sum of the target feedforward steering angle ratio and the target feedback steering angle ratio serves as a target steering angle ratio, and rear wheel steering of the vehicle is controlled based on the target steering angle ratio; the target feed-forward rotation angle ratio is the product of the initial feed-forward rotation angle ratio and the feed-forward weight, and the target feedback rotation angle ratio is the product of the initial feedback rotation angle ratio and the feedback weight. Therefore, the feedforward weight and the feedback weight can be determined according to the current vehicle speed value and the front wheel steering angle value, then the target steering angle ratio is determined, and the specific steering requirements of the vehicle under different working conditions are met.

    本申请公开一种车辆后轮转角控制方法、装置、电子设备及存储介质,方法包括:获取车辆转向过程中的初始前馈转角比以及初始反馈转角比;前馈转角比与反馈转角比为前轮转角与后轮转角之比;基于车辆的转向信息确定出初始前馈转角比对应的前馈权重,以及初始反馈转角比对应的反馈权重;转向信息包括当前车速值与前轮转角值;将目标前馈转角比与目标反馈转角比之和作为目标转角比,并基于目标转角比控制车辆的后轮转向;目标前馈转角比为初始前馈转角比与前馈权重之积,目标反馈转角比为初始反馈转角比与反馈权重之积。因此,能够根据当前车速值与前轮转角值确定出前馈权重与反馈权重,进而确定出目标转角比,符合车辆在不同工况下的具体转向需求。


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    Title :

    Vehicle rear wheel turning angle control method and device, electronic equipment and storage medium


    Additional title:

    车辆后轮转角控制方法、装置、电子设备及存储介质


    Contributors:
    LIU HAI (author) / LYU LINHUA (author) / QIANG YI (author) / WANG XUELI (author)

    Publication date :

    2024-04-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / B62D MOTOR VEHICLES , Motorfahrzeuge




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