The invention discloses a steering control method and device of an unmanned vehicle. The steering control method comprises the steps that actual left-turning oil cylinder telescopic information and actual right-turning oil cylinder telescopic information are obtained; an actual left wheel steering angle is determined according to the actual left-turning oil cylinder telescopic information, and an actual right wheel steering angle is determined according to the actual right-turning oil cylinder telescopic information; determining a first neutral position steering angle according to the actual left wheel steering angle, and determining a second neutral position steering angle according to the actual right wheel steering angle; according to the telescopic information of the left turning oil cylinder, the telescopic information of the right turning oil cylinder and a preset neutral position steering angle priority, an actual neutral position steering angle is determined, and the actual neutral position steering angle comprises a first neutral position steering angle or a second neutral position steering angle; and steering of the unmanned vehicle is controlled according to the actual neutral-position steering angle and the preset neutral-position steering angle. By the adoption of the steering control method, redundancy calculation of the neutral position angle is achieved, and steering safety can be improved.

    本发明公开了一种无人驾驶车辆的转向控制方法及装置。该转向控制方法包括:获取实际左转油缸伸缩信息和实际右转油缸伸缩信息;根据实际左转油缸伸缩信息确定实际左轮转向角度,根据实际右转油缸伸缩信息确定实际右轮转向角度;根据实际左轮转向角度确定第一中位转向角度,根据实际右轮转向角度确定第二中位转向角度;根据左转油缸伸缩信息、右转油缸伸缩信息和预设中位转向角度优先级确定实际中位转向角度,其中,实际中位转向角度包括第一中位转向角度或者第二中位转向角度;根据实际中位转向角度和预设中位转向角度控制无人驾驶车辆的转向。本发明通过采用上述转向控制方法实现了中位角度的冗余计算,有利于提高转向的安全性。


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    Title :

    Steering control method and device for unmanned vehicle


    Additional title:

    一种无人驾驶车辆的转向控制方法及装置


    Contributors:
    ZHENG JIE (author) / WANG FUSHENG (author) / XU JILIN (author) / WANG MINGZHEN (author) / YU MENGSHENG (author)

    Publication date :

    2025-03-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge





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