The invention relates to the technical field of intelligent control, and discloses a steering control method and device of a steer-by-wire system, a vehicle and a storage medium. Calculating a first wheel end reference position of the vehicle based on the current steering wheel angle and the current vehicle speed of the vehicle; estimating a torque change rate of a steering wheel of the vehicle based on the first parameter data of the vehicle, and calculating a second wheel end reference position of the vehicle in combination with a current speed of the vehicle; calculating a steering control angle of the vehicle based on the first wheel end reference position and the current steering wheel angle, and calculating a steering deviation angle of the vehicle based on the current steering wheel angle, the first wheel end reference position and the second wheel end reference position; and weights corresponding to the steering control angle and the steering deviation angle are determined based on the current steering wheel state, weighted summation is carried out, and a target control angle is obtained for steering control. The problem that steering control cannot be carried out when the steering wheel is blocked is solved, and the safety of the steer-by-wire system is improved.
本发明涉及智能控制技术领域,公开了线控转向系统的转向控制方法、装置、车辆及存储介质,该方法包括:对车辆的方向盘进行状态检测;基于车辆的当前方向盘角度和当前车速计算车辆的第一轮端参考位置;基于车辆的第一参数数据估计车辆的方向盘的扭矩变化率,结合车辆的当前车速计算车辆的第二轮端参考位置;基于第一轮端参考位置和当前方向盘角度,计算车辆的转向控制角度,并基于当前方向盘角度、第一轮端参考位置和第二轮端参考位置计算车辆的转向偏差角度;基于当前方向盘状态确定转向控制角度和转向偏差角度对应的权重并进行加权求和,得到目标控制角度进行转向控制。避免方向盘卡滞时无法进行转向控制的问题,提高了线控转向系统的安全性。
Steering control method and device of steer-by-wire system, vehicle and storage medium
线控转向系统的转向控制方法、装置、车辆及存储介质
2024-08-27
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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