The invention discloses a vehicle rear wheel steering angle control method and device, electronic equipment and a storage medium. The vehicle rear wheel steering angle control method comprises the steps that the proportionality coefficient of the rear wheel steering angle and the front wheel steering angle of a vehicle is calculated based on physical parameters of the vehicle and the vehicle speed; determining a first rear wheel turning angle based on the proportionality coefficient and the real-time turning angle of the front wheels of the vehicle; calculating an ideal yaw velocity of the vehicle based on the vehicle speed and the real-time rotation angle of the front wheels of the vehicle; determining a second rear wheel steering angle based on the ideal yaw velocity and an actual yaw velocity of the vehicle; determining a target rear wheel turning angle according to the first rear wheel turning angle and the second rear wheel turning angle; and performing steering control on rear wheels of the vehicle according to the target rear wheel steering angle. The problems that calibration is repeated, consistency is difficult to guarantee and robustness is poor are solved, the determination reasonability of the steering angle of the rear wheels of the vehicle is improved, the operation stability of the vehicle is improved, and then the driving experience is improved.
本发明公开一种车辆后轮转向角控制方法、装置、电子设备和存储介质,车辆后轮转向角控制方法包括:基于车辆的物理参数以及车速计算车辆的后轮转角与前轮转角的比例系数;基于所述比例系数和车辆前轮的实时转角确定第一后轮转角;基于所述车速和所述车辆前轮的实时转角计算车辆的理想横摆角速度;基于所述理想横摆角速度和车辆的实际横摆角速度确定第二后轮转角;根据所述第一后轮转角以及所述第二后轮转角确定目标后轮转角;根据所述目标后轮转角对车辆的后轮进行转向控制。解决了重复标定、一致性难以保证以及鲁棒性差的问题,提高了车辆后轮转向角的确定合理性,提高了车辆操纵稳定性,进而有助于提升驾乘体验。
Vehicle rear wheel steering angle control method and device, electronic equipment and storage medium
车辆后轮转向角控制方法、装置、电子设备和存储介质
2024-05-14
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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