The invention provides a vehicle steering control method and device, a vehicle and a storage medium. The method comprises the steps that an anchor point wheel, a steering direction and a given turning angle of a wheel on a non-anchor point shaft are determined; determining a first feed-forward torque of the first motor and a second feed-forward torque of the second motor; obtaining a first correction torque and a second correction torque through torque feedback control; determining a first target torque according to the first feed-forward torque and the first correction torque, and determining a second target torque according to the second feed-forward torque and the second correction torque; controlling the anchor point wheel to brake and controlling the wheel on the non-anchor point shaft to rotate; and when the anchor point wheel is in a braking state and the wheel on the non-anchor point shaft rotates to a given rotating angle, the first motor is controlled to output a first target torque and the second motor is controlled to output a second target torque, so that the vehicle steers around the anchor point wheel according to the steering direction. According to the method, the problem of difficulty in driving in and out of the narrow parking space on the side can be solved, the driving difficulty is reduced, and the driving convenience is improved.
本申请提供了一种车辆的转向控制方法、装置、车辆和存储介质,该方法包括:确定锚点车轮、转向方向和非锚点轴上的车轮的给定转角;确定第一电机的第一前馈扭矩和第二电机的第二前馈扭矩;通过扭矩反馈控制得到第一修正扭矩和第二修正扭矩;根据第一前馈扭矩和第一修正扭矩确定第一目标扭矩并根据第二前馈扭矩和第二修正扭矩确定第二目标扭矩;控制锚点车轮制动并控制非锚点轴上的车轮转动;在锚点车轮处于制动状态且非锚点轴上的车轮转动至给定转角时,控制第一电机输出第一目标扭矩以及第二电机输出第二目标扭矩,以使车辆按照转向方向绕锚点车轮转向。该方法能够解决侧方狭小车位驶入和驶出困难的问题,降低驾驶难度,以提升驾驶便利性。
Vehicle steering control method and device, vehicle and storage medium
一种车辆的转向控制方法、装置、车辆和存储介质
2024-10-29
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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