The invention provides a vehicle control method and device, a vehicle and a computer readable storage medium, and relates to the technical field of vehicle control, the method comprises the following steps: under the condition that the vehicle activates a crabbing mode, if it is judged that there is a difference between a front wheel rotation angle and a rear wheel rotation angle, compensating the rear wheel rotation angle of a rear wheel, and if there is a difference between the front wheel rotation angle and the rear wheel rotation angle, compensating the rear wheel rotation angle of the rear wheel; then, the steering angle compensation direction of rear wheels is calculated according to the driving data of the vehicle, the rear wheel steering angle compensation speed corresponding to the rear wheels is calculated according to the rotating speed of a steering wheel, and then the rear wheels are controlled to steer towards the steering angle compensation direction according to the rear wheel steering angle compensation speed; therefore, the difference value between the actual yaw velocity and the target yaw velocity of the vehicle is located in the yaw velocity error interval corresponding to the driver control parameters, and the stability of the vehicle in the crabbing mode can be improved.
本申请提供了一种车辆控制方法、装置、车辆和计算机可读存储介质,涉及车辆控制技术领域,该方法包括:在车辆激活蟹行模式的情况下,如果判定前车轮转角和后车轮转角之间存在差异,则对后车轮的后车轮转角进行补偿,然后根据车辆的行驶数据计算出后车轮的转角补偿方向,以及根据方向盘转速计算出后车轮对应的后车轮转角补偿速度,进而根据后车轮转角补偿速度控制后车轮朝向转角补偿方向转向,以使车辆的实际横摆角速度与目标横摆角速度之间差值位于驾驶员控制参数对应的横摆角速度误差区间,有利于提高车辆处于蟹行模式下的稳定性。
Vehicle control method and device, vehicle and computer readable storage medium
车辆控制方法、装置、车辆和计算机可读存储介质
2025-03-14
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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