The invention relates to the technical field of vehicle control, in particular to a vehicle deviation control method and device, a vehicle and a storage medium. The method comprises the steps of obtaining a steering wheel control signal, a vehicle speed signal and a wheel signal of a vehicle, determining a speed compensation torque and an angle compensation torque, obtaining a target compensation torque according to the speed compensation torque and the angle compensation torque, compensating a steering wheel torque according to the target compensation torque to obtain a vehicle control torque, and controlling the vehicle according to the vehicle control torque. And controlling the vehicle to run according to the vehicle control torque.
本公开涉及车辆控制技术领域,具体地,涉及一种车辆跑偏控制方法、装置、车辆及存储介质。所述方法包括:获取车辆的方向盘控制信号、车速信号和车轮信号,确定速度补偿力矩和角度补偿力矩,根据所述速度补偿力矩和所述角度补偿力矩,获取目标补偿力矩,根据所述目标补偿力矩对方向盘力矩进行补偿,得到车辆控制力矩,根据所述车辆控制力矩控制所述车辆行驶。
Vehicle deviation control method and device, vehicle and storage medium
车辆跑偏控制方法、装置、车辆及存储介质
2024-11-22
Patent
Electronic Resource
Chinese
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