The invention provides a vehicle control method, a vehicle control device, a vehicle and a storage medium, and relates to the technical field of automatic driving, vehicle and unmanned vehicles. The method comprises the steps that a turning angle instruction sent by an intelligent driving domain controller of a target vehicle is acquired; determining a current turning angle corresponding to a hydraulic steering system of the target vehicle; based on the rotation angle instruction and the current rotation angle, a nonlinear controller corresponding to the hydraulic steering system is used for calculating a target rotation angle corresponding to the rotation angle instruction, and the control law of the nonlinear controller is determined based on a basic steady state control law, a feed-forward dynamic compensation control law and an error dynamic feedback control law; and the target turning angle is sent to a steer-by-wire system controller of the target vehicle, so that the steer-by-wire system controller conducts steering control over a hydraulic steering system based on the target turning angle, turning angle nonlinear control over the hydraulic steering system is achieved, and the system response speed and the vehicle transverse control precision are improved.

    本申请提供一种车辆控制方法和车辆控制装置、车辆和存储介质,涉及自动驾驶技术、车辆技术以及无人车技术领域。该方法包括:获取目标车辆的智能驾驶域控制器发送的转角指令;确定目标车辆的液压转向系统对应的当前转角;基于转角指令和当前转角,利用液压转向系统对应的非线性控制器计算转角指令对应的目标转角,其中,非线性控制器的控制律是基于基础稳态控制律、前馈动态补偿控制律以及误差动态反馈控制律确定的;将目标转角发送至目标车辆的线控转向系统控制器,以便线控转向系统控制器基于目标转角对液压转向系统进行转向控制,以实现对液压转向系统的转角非线性控制,提高系统响应速度和车辆横向控制精度。


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    Title :

    Vehicle control method, vehicle control device, vehicle and storage medium


    Additional title:

    车辆控制方法和车辆控制装置、车辆和存储介质


    Contributors:
    LI GUANGHAN (author) / JIANG HONGJIAN (author) / CHEN CHI (author) / FU RONG (author) / CHEN HUIYONG (author)

    Publication date :

    2024-05-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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