The invention provides a vehicle control method and device under the working condition of insufficient steering, a medium and equipment. Motion state parameters of a target vehicle are obtained when the target vehicle steers; calculating a predicted yaw velocity of the target vehicle based on the motion state parameter; calculating a yaw state index of the target vehicle based on the predicted yaw velocity and the actually measured yaw velocity of the target vehicle; if the yaw state index shows that the steering of the target vehicle is insufficient, calculating a target slip rate of the target vehicle; controlling the target vehicle to run based on the target slip rate; the method comprises the following steps: acquiring motion state parameters of a target vehicle during steering, calculating a predicted yaw velocity based on the motion state parameters, judging whether steering is insufficient or not according to the predicted yaw velocity and an actually measured yaw velocity, and if steering is insufficient, calculating a target slip rate to control the target vehicle to run stably. Therefore, the stability and the safety are improved.

    本发明提供了一种转向不足工况下的车辆控制方法、装置、介质及设备,通过在目标车辆转向时获取目标车辆的运动状态参数;基于运动状态参数,计算目标车辆的预测横摆角速度;基于预测横摆角速度和目标车辆的实测横摆角速度,计算目标车辆的横摆状态指标;若横摆状态指标表示目标车辆的转向不足,则计算目标车辆的目标滑移率;基于目标滑移率,控制目标车辆运行;即在目标车辆转向时采集其运动状态参数,并基于其运动状态参数计算预测横摆角速度,根据预测横摆角速度和实测横摆角速度判断是否为转向不足,若存在转向不足则计算目标滑移率以控制目标车辆稳定运行,从而提高稳定性和安全性。


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    Title :

    Vehicle control method and device under insufficient steering working condition, medium and equipment


    Additional title:

    一种转向不足工况下的车辆控制方法、装置、介质及设备


    Contributors:
    CHENG YUE (author) / LI ZHE (author) / CHEN CHENG (author) / LIU JINGYANG (author) / LIU TINGTING (author) / LYU LINHUA (author)

    Publication date :

    2025-05-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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