The invention relates to a vehicle deviation compensation control method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining the current state information of the vehicle; judging whether the vehicle meets a preset deviation condition or not based on the current state information; and if the vehicle meets the preset deviation condition, determining that the vehicle is in a linear deviation state, obtaining a corresponding compensation torque based on the steering wheel torque of the vehicle, and compensating the steering wheel torque by using the compensation torque to reduce the steering wheel torque of a driver for maintaining linear driving of the vehicle until the steering wheel torque is reduced to zero. The direction of the compensation torque is consistent with the torque direction of the steering wheel and the power assisting direction of the motor. Therefore, the technical problems that in the related technology, a driver needs to continuously apply external force to the steering wheel to guarantee continuous driving of the vehicle, the requirement for experience of the driver is high, certain potential safety hazards exist, and the driving experience of the driver cannot be improved easily are solved.

    本申请涉及一种车辆的跑偏补偿控制方法、装置、车辆及存储介质,其中,方法包括:获取车辆的当前状态信息;基于当前状态信息判断车辆是否满足预设跑偏条件;如果车辆满足预设跑偏条件,则确定车辆处于直线偏离状态,基于车辆的方向盘扭矩得到相应的补偿扭矩,并利用补偿扭矩进行方向盘扭矩补偿,以降低驾驶员维持车辆直线行驶的方向盘扭矩,直至方向盘扭矩降低至零,并使得车辆脱离直线偏离状态,其中,补偿扭矩的方向与方向盘扭矩方向和电机助力方向一致。由此,解决了相关技术中,需要驾驶员持续对方向盘施加外力以保证车辆持续行驶,对驾驶员的经验要求较高,且存在一定的安全隐患,不利于提高驾驶员的驾驶体验的技术问题。


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    Title :

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


    Additional title:

    车辆的跑偏补偿控制方法、装置、车辆及存储介质


    Contributors:
    XU XIANGFEI (author) / QU YUAN (author) / WANG ZHICHAO (author) / LIU JIABAO (author) / ZHANG YAOYAO (author)

    Publication date :

    2024-10-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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