The invention discloses a vehicle pivot steering control method and device, a vehicle controller and a vehicle, and relates to the technical field of vehicles. The method comprises the steps that when the vehicle is in a pivot steering mode, the target yawing moment of the vehicle is determined according to vehicle state information; controlling the vehicle to realize pivot steering according to the target yawing moment; the vehicle state information comprises a difference value and a difference value change rate, and the difference value is the difference value between the target yaw velocity and the current yaw velocity of the vehicle; the difference value change rate is the change rate of the difference value along with time. According to the method, the target yawing moment is adjusted in real time, and self-adaptive in-situ steering is achieved.

    本申请公开了一种车辆原地转向控制方法、装置、车辆控制器及车辆,涉及车辆技术领域。其中,方法包括:在车辆处于原地转向模式下,根据车辆状态信息确定车辆的目标横摆力矩;根据目标横摆力矩控制车辆实现原地转向;车辆状态信息包括差值及差值变化率,差值为目标横摆角速度和车辆的当前横摆角速度的差值;差值变化率为差值随时间的变化率。该方法对目标横摆力矩进行实时调整,实现了自适应的原地转向。


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    Title :

    Vehicle pivot steering control method and device, vehicle controller and vehicle


    Additional title:

    车辆原地转向控制方法、装置、车辆控制器及车辆


    Contributors:
    LIU PENG (author) / LIU LAILIN (author) / ZHANG ZHANPENG (author) / TONG YUNCHUN (author) / LIAO YINSHENG (author)

    Publication date :

    2024-04-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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