The invention discloses a rear wheel turning angle control method of a vehicle, electronic equipment, the vehicle and a computer readable storage medium. The rear wheel turning angle control method of the vehicle comprises the steps that a front wheel turning angle of the vehicle is obtained; according to the front wheel rotation angle, a rear wheel rotation angle feed-forward quantity is calculated; the steady-state yaw velocity and the actual yaw velocity of the vehicle are obtained; according to the steady-state yaw velocity and the actual yaw velocity of the vehicle, a rear wheel rotation angle adjustment amount is obtained through calculation; according to the rear wheel steering angle adjustment amount and the rear wheel steering angle feed-forward amount, a rear wheel target steering angle delta r is obtained through calculation; and rear wheels of the vehicle are controlled to rotate according to the rear wheel target rotation angle delta r. Therefore, the controller assembly can calculate the target rotation angle of the rear wheel through the adjustment amount of the rotation angle of the rear wheel and the feed-forward amount of the rotation angle of the rear wheel, and correspondingly controls the rotation of the rear wheel of the vehicle, so that the rotation angle of the rear wheel of the vehicle can be better controlled, the real-time performance and the flexibility can be ensured, and the stability can be improved.

    本发明公开了一种车辆的后轮转角控制方法、电子设备、车辆和计算机可读存储介质,车辆的后轮转角控制方法包括:获取车辆的前轮转角;根据前轮转角计算得到后轮转角前馈量;获取车辆的稳态横摆角速度和实际横摆角速度;根据车辆的稳态横摆角速度和实际横摆角速度计算得到后轮转角调整量;根据后轮转角调整量和后轮转角前馈量计算得到后轮目标转角δr;控制车辆的后轮按照后轮目标转角δr转动。由此,控制器总成可以通过后轮转角调整量和后轮转角前馈量计算得到后轮目标转角,并对应控制车辆的后轮进行转动,这样可以对车辆的后轮转动角度实现更优的控制,不仅可以保证实时性和灵活性,而且可以提高稳定性。


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    Title :

    Vehicle rear wheel steering angle control method, electronic equipment, vehicle and computer readable storage medium


    Additional title:

    车辆的后轮转角控制方法、电子设备、车辆和计算机可读存储介质


    Contributors:
    ZHANG NING (author) / SUN DAOXIN (author) / XU BIN (author) / WANG HAI (author) / LIU LI (author)

    Publication date :

    2024-04-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge




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