The invention discloses a vehicle front wheel steering control method, device and equipment and a vehicle and relates to the technical field of vehicles, and the vehicle front wheel steering control method comprises the steps that under the condition that the vehicle speed of the vehicle is larger than or equal to a preset value, a first compensation angle is determined through a first PID controller, and a second compensation angle is determined through a second PID controller; a first compensation angle is determined through a first PID controller, a second compensation angle is determined through a second PID controller, the input quantity of the first PID controller comprises the actual yaw velocity and the theoretical yaw velocity of the vehicle at the vehicle speed, and the input quantity of the second PID controller comprises the actual side slip angle and the theoretical side slip angle of the vehicle at the vehicle speed; then, performing weighted summation on the first compensation angle and the second compensation angle to obtain a third compensation angle; and according to the third compensation angle, the front wheel steering angle of the vehicle is compensated. Therefore, the flexibility of vehicle front wheel steering control is improved.

    本申请公开了一种车辆前轮转向的控制方法、装置、设备及车辆,涉及车辆技术领域,车辆前轮转向的控制方法包括:通过在所述车辆的车速大于或者等于预设值的情况下,通过第一PID控制器确定第一补偿角度,以及,通过第二PID控制器确定第二补偿角度,其中,第一PID控制器的输入量包括车辆在所述车速下的实际横摆角速度与理论横摆角速度,第二PID控制器的输入量包括车辆在所述车速下的实际质心侧偏角与理论质心侧偏角;之后,通过对第一补偿角度与第二补偿角度进行加权求和,得到第三补偿角度;根据第三补偿角度,对车辆的前轮转向角度进行补偿。以此提高了车辆前轮转向控制的灵活性。


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    Title :

    Vehicle front wheel steering control method, device and equipment and vehicle


    Additional title:

    一种车辆前轮转向的控制方法、装置、设备及车辆


    Contributors:
    ZHANG KAI (author) / JIANG YONGFENG (author) / LI LUN (author) / HAO WENQUAN (author) / WANG XIAOYAN (author)

    Publication date :

    2024-09-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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