The invention provides a method and device for adjusting vehicle deviation, a vehicle and a storage medium. And when the vehicle deviates in the straight driving state, the vehicle performs weighted summation on the current rack force borne by a rack in a steering actuator and the previous cycle rack force borne by the rack when the target object corrects the vehicle deviation based on the first weight and the second weight, the target rack force is determined, and then the target rack force is compensated for the rack. That is to say, a driver applies a steering torque to the steering wheel and then converts the target rack force to the rack compensation into the target rack force to the rack compensation by directly controlling the assist motor by the vehicle. In a long time, the driver can be prevented from frequently controlling the steering wheel to correct vehicle deviation, the operation burden of the driver can be relieved, and the driving comfort is improved. In addition, driving fatigue can be relieved, and driving comfort is improved. Furthermore, unnecessary tire abrasion can be effectively avoided, the service life of the tire is prolonged, and the running process of a vehicle is smoother.
本申请提供调整车辆跑偏的方法、装置、车辆及存储介质。在车辆处于直线行驶状态中发生跑偏时,车辆基于第一权重和第二权重,对目标对象纠正车辆跑偏时转向执行器中齿条所受到的当前齿条力和齿条所受到的上一周期齿条力进行加权求和,确定目标齿条力,进而向齿条补偿目标齿条力。也就是说,由驾驶员向方向盘施加转向扭矩进而向齿条补偿目标齿条力转换为由车辆直接控制助力电机向齿条补偿目标齿条力。在长时间中,这能够避免驾驶员频繁地操控方向盘以纠正车辆跑偏,有利于减轻驾驶员的操作负担,提高驾驶的舒适性。此外,还能减轻驾驶疲劳,提升驾驶舒适性。再者,还能够有效地避免不必要的轮胎磨损,增加轮胎使用寿命,使车辆的行驶过程更顺畅。
Method and device for adjusting vehicle deviation, vehicle and storage medium
调整车辆跑偏的方法、装置、车辆及存储介质
2024-12-27
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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