The invention relates to a vehicle deviation restraining method and device, electronic equipment and a storage medium, and the method comprises the steps that whether a vehicle deviates or not is judged according to the driving state of the vehicle; under the condition that the vehicle deviates, deviation compensation torque is calculated; and controlling a rear wheel steering motor to work according to the deviation compensation torque so as to restrain deviation of the vehicle. According to the method, whether the vehicle deviates or not can be judged according to the running state of the vehicle, if the vehicle deviates, the deviation compensation torque is calculated, the rear wheel steering motor is controlled to work according to the deviation compensation torque, and therefore the force opposite to the lateral force causing deviation is provided through rear wheel steering; as the deviation compensation torque for restraining deviation is output through the rear wheel steering motor and does not conflict with steering assistance, a driver can control the vehicle more easily, the driving comfort is improved, and the driving experience is improved.
本申请涉及一种车辆跑偏抑制方法、装置、电子设备及存储介质,方法包括:根据车辆的行驶状态,判断车辆是否出现跑偏;在所述车辆出现跑偏的情况下,计算跑偏补偿力矩;根据所述跑偏补偿力矩控制后轮转向电机工作,以抑制所述车辆跑偏。该方法,可以根据车辆的行驶状态判断车辆是否出现跑偏,若车辆出现跑偏的情况,则计算跑偏补偿力矩,并根据跑偏补偿力矩控制后轮转向电机工作,从而通过后轮转向提供一个与引起跑偏的侧向力相反的力,从而抑制车辆跑偏保持车辆的行驶方向,由于抑制跑偏的跑偏补偿力矩通过后轮转向电机输出,并不会与转向助力相冲突,可以让驾驶员更加轻松地控制车辆,提升驾驶的舒适性,改善驾驶体验。
Vehicle deviation suppression method and device, electronic equipment and storage medium
车辆跑偏抑制方法、装置、电子设备及存储介质
2025-03-28
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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