The invention relates to the technical field of steer-by-wire, and discloses a steering control method and device for relieving vehicle sideslip, a vehicle and a controller, whether a target vehicle meets trigger conditions or not is checked, the trigger conditions comprise wheel locking of the target vehicle and sideslip of the target vehicle, and when the trigger conditions are met, the target vehicle is controlled to slip. The yaw velocity error between the yaw velocity of the target vehicle and the expected yaw velocity is calculated, finally, a rear wheel target rotation angle is determined based on the yaw velocity error, rear wheel steering of the target vehicle is controlled according to the rear wheel target rotation angle, the vehicle is controlled to generate yaw resisting moment, and the purposes of correcting the posture of the vehicle and improving the stability of the vehicle are achieved. The vehicle is kept in the expected advancing direction of a driver, and the vehicle driving stability is improved.
本发明涉及线控转向技术领域,公开了一种缓解车辆侧滑的转向控制方法、装置、车辆及控制器,本发明检查目标车辆是否满足触发条件,其中,触发条件包括目标车辆的车轮抱死和目标车辆发生侧滑,当满足触发条件时,计算目标车辆的横摆角速度和期望横摆角速度之间的横摆角速度误差,最后基于横摆角速度误差,确定后轮目标转角,并根据后轮目标转角控制目标车辆的后轮转向,控制车辆产生横摆阻力矩,达到纠正车辆姿态,使车辆保持在驾驶员期望的行进方向,提高车辆行驶的稳定性。
Steering control method and device for relieving vehicle sideslip, vehicle and controller
一种缓解车辆侧滑的转向控制方法、装置、车辆及控制器
2025-03-21
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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