The invention provides a rear wheel steering control method and device, a vehicle and a storage medium. In the running process of the vehicle, the vehicle responds to a rear wheel steering control instruction, and compensation coefficients for gain compensation and phase compensation of a rear wheel steering angle during rear wheel steering are determined through response speed parameters and oscillation attenuation parameters of a rear wheel steering system. Furthermore, the rear wheels are controlled to rotate through the product of the compensation coefficient and the front wheel rotation angle (the rear wheel rotation angle), so that rear wheel steering is achieved. Due to the fact that the rear wheel rotation angle is the rotation angle obtained after gain compensation and phase compensation, in the process that the rear wheel rotation angle controls the vehicle to steer, the vehicle can steer with high stability through the rear wheel rotation angle obtained after gain compensation, and the vehicle can rapidly respond to a steering instruction through the rear wheel rotation angle through phase compensation. A smaller steering delay is achieved, thereby improving the response speed of a rear wheel steering system of a vehicle.
本申请提供后轮转向的控制方法、装置、车辆及存储介质。在车辆行驶的过程中,车辆响应于后轮转向的控制指令,通过后轮转向系统的响应快慢参数和振荡衰减参数,确定对后轮转向时的后轮转角进行增益补偿和相位补偿的补偿系数。进一步地,通过补偿系数和前轮转角之间的乘积(后轮转角)控制后轮进行转动,以实现后轮转向。由于后轮转角是经过增益补偿和相位补偿后的转角,因此,以后轮转角控制车辆转向的过程中,车辆能够通过增益补偿后的后轮转角以较高的稳定性进行转向,以及通过相位补偿车辆能够较为迅速地通过后轮转角响应转向指令,实现更小的转向延迟,从而提高车辆的后轮转向系统的响应速度。
Rear wheel steering control method and device, vehicle and storage medium
后轮转向的控制方法、装置、车辆及存储介质
2024-12-10
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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