The embodiment of the invention relates to the technical field of data processing, and discloses a steering control method, a steering control system, a vehicle and a medium. The method comprises the steps of determining a front wheel steering angle compensation feed-forward value according to a yaw moment and a vehicle model under the condition that the yaw moment of a vehicle is recognized; the yaw velocity deviation between the actual yaw velocity and the ideal yaw velocity of the vehicle is collected; determining a compensation steering feedback value according to the yaw velocity deviation; correcting the front wheel steering angle compensation feed-forward value according to the compensation steering feedback value, and determining a target steering angle value controlled by a front wheel angle of steer-by-wire; and controlling front wheels of the vehicle based on the target corner value. By adopting the scheme, feedforward compensation can be carried out on the front wheel turning angle and steering compensation can be carried out according to the yaw velocity under the working condition of the split road surface, so that violent yaw of the vehicle is eliminated before a driver senses danger, and the stability of the vehicle is improved.

    本申请实施例涉及数据处理技术领域,公开了一种转向控制方法、转向控制系统、车辆及介质。该方法包括:在识别到车辆出现偏航力矩的情况下,根据所述偏航力矩以及车辆模型确定前轮转角补偿前馈值;以及采集车辆实际横摆角速度与理想横摆角速度之间的横摆角速度偏差;根据所述横摆角速度偏差确定补偿转向反馈值;根据所述补偿转向反馈值对所述前轮转角补偿前馈值进行修正,确定线控转向前轮角度控制的目标转角值;基于所述目标转角值对车辆前轮进行控制。通过采用本方案,可以在对开路面工况下,对前轮转角进行前馈补偿和根据横摆角速度进行转向补偿,以在驾驶员感知到危险之前消除车辆剧烈横摆,提高车辆稳定性。


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    Title :

    Steering control method, steering control system, vehicle and medium


    Additional title:

    一种转向控制方法、转向控制系统、车辆及介质


    Contributors:
    SHU QIANG (author) / DENG NIAN (author) / MU JIANHUA (author) / LI SONG (author)

    Publication date :

    2024-12-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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