The invention provides a steering auxiliary control method and device, a storage medium, a vehicle controller and a vehicle. According to the steering auxiliary control method provided by the invention, when the vehicle is steered based on a first steering control mode, running state information of the vehicle is obtained; the first steering control mode is used for applying rotating torques in opposite directions to at least one pair of wheels located in the diagonal direction in the vehicle, judging whether the vehicle has a steering obstacle or not based on the running state information, and switching the first steering control mode to a second steering control mode when it is determined that the vehicle has the steering obstacle, the second steering control mode is used for applying rotation torque in the same direction to an outer side front wheel and an outer side rear wheel located on the outer steering side of the vehicle and applying braking torque to an inner side rear wheel located on the inner steering side of the vehicle so as to smoothly assist the vehicle in steering.

    本发明提出了一种转向辅助控制方法、装置、存储介质、车辆控制器及车辆,根据本发明提出的转向辅助控制方法,在车辆基于第一转向控制模式进行转向时,获取车辆的运行状态信息,第一转向控制模式用于对车辆中位于对角方向的至少一对车轮施加相反方向的转动扭矩,基于运行状态信息判断车辆是否存在转向障碍,在确定车辆存在转向障碍时,切换第一转向控制模式至第二转向控制模式,以使车辆基于第二转向控制模式进行转向,第二转向控制模式用于对位于车辆转向外侧的外侧前轮和外侧后轮施加相同方向的转动扭矩以及对位于车辆转向内侧的内侧后轮施加制动扭矩,以顺利辅助车辆实现转向。


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    Title :

    Steering auxiliary control method and device, storage medium, vehicle controller and vehicle


    Additional title:

    转向辅助控制方法、装置、存储介质、车辆控制器及车辆


    Contributors:
    ZHANG QI (author) / LIU QIANG (author) / GUO YULIANG (author)

    Publication date :

    2024-08-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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