The invention provides a steering automatic return control method and device, a vehicle and a readable storage medium, and the steering automatic return control method comprises the following steps: controlling a steering wheel to carry out first steering operation from an initial steering angle so as to rotate to a zero position; at the zero position, a target steering angle is determined according to first torque applied to the steering wheel, the first torque is determined based on elastic stress of tires, the target steering angle is determined based on a first deviation angle, and the first deviation angle is the angle of the steering wheel rotating from the zero position under the condition that the first torque is released; the steering wheel is controlled to conduct second steering operation from the zero position so as to rotate to the target steering angle; and releasing the second torque applied to the steering wheel at the target steering angle. After the steering wheel is controlled to rotate to the zero position, the steering wheel is controlled to rotate by the deviation angle from the zero position, the rotation angle of the steering wheel due to the elastic stress of the tires is offset, and the accuracy of automatic aligning after steering is improved.
本申请提供了一种转向自动回正控制方法、装置、车辆以及可读存储介质,该转向自动回正控制方法包括:控制方向盘从初始转向角度进行第一转向操作,以转动至零位位置;在零位位置,根据施加在方向盘上的第一扭矩,确定目标转向角度,第一扭矩基于轮胎的弹性应力确定,目标转向角度基于第一偏差角度确定,第一偏差角度为在释放第一扭矩的情况下,方向盘从零位位置转动的角度;控制方向盘从零位位置进行第二转向操作,以转动至目标转向角度;在目标转向角度,释放施加在方向盘上的第二扭矩。本申请在控制方向盘转动至零位位置之后,再控制方向盘从零位位置转动一个偏差角度,抵消因轮胎的弹性应力方向盘转动的角度,以提升转向后自动回正的精准度。
Steering automatic return control method and device, vehicle and storage medium
转向自动回正控制方法、装置、车辆以及存储介质
2024-11-15
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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