The invention relates to a vehicle steering assisting method and device, a medium, a system, equipment and a vehicle. The method comprises the following steps: determining a target yaw moment in response to detecting that a steering assist function is in an activated state; applying a braking force to a first wheel and a second wheel and applying a forward driving force to a third wheel when the steering assist function is in the activated state so that a yaw moment of the vehicle is the target yaw moment; wherein the first wheel and the second wheel are two wheels located on the inner side when the vehicle steers, and the third wheel is a wheel which is controlled by a driving motor and located on the outer side when the vehicle steers. In this way, the effect of reducing the turning radius can be achieved, control is more efficient, hardware does not need to be additionally arranged, conversion between sliding and rolling of the wheels is less in the control process, and abrasion to the wheels is reduced.
本公开涉及一种车辆转向辅助方法、装置、介质、系统、设备及车辆。所述方法包括:响应于检测到转向辅助功能处于激活状态,确定目标横摆力矩;在所述转向辅助功能处于所述激活状态期间,向第一车轮和第二车轮施加制动力,并向第三车轮施加正向驱动力,以使所述车辆的横摆力矩为所述目标横摆力矩;其中,所述第一车轮和所述第二车轮为在所述车辆转向时位于内侧的两个车轮,所述第三车轮为受控于驱动电机且在所述车辆转向时位于外侧的车轮。这样,可以达到减小转弯半径的效果,控制更高效,且无需额外增加硬件,控制过程中车轮较少出现滑动与滚动的转换,减少对车轮的磨损。
Vehicle steering assisting method, device, medium, system, equipment and vehicle
车辆转向辅助方法、装置、介质、系统、设备及车辆
2024-07-02
Patent
Electronic Resource
Chinese
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 |
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