The invention provides a vehicle steering control method and device, electronic equipment and a storage medium. Relates to the technical field of automatic driving. The method comprises the steps that a starting instruction of an automatic driving mode of the vehicle is detected, a preset handshake protocol is executed, a steering error coefficient of the vehicle is set to be a preset lower limit value, the steering error coefficient is used for determining compensation torque of a steering wheel of the vehicle, and the compensation torque is used for compensating steering errors of the steering wheel; under the condition that the preset handshake protocol is executed, the steering error coefficient is increased by adopting a target increasing rate, and the target increasing rate is smaller than a preset threshold value; and determining the compensation torque of the steering wheel through the increased steering error coefficient so as to control the steering wheel to steer. The problem that in the prior art, the compensation torque is too large at the moment when the vehicle completes the handshake protocol, and consequently a steering wheel is fiercely hit can be solved. And therefore, the stable driving of the vehicle can be better realized, and the steering safety of the vehicle is improved.

    本公开提供一种车辆的转向控制方法、装置、电子设备和存储介质。涉及自动驾驶技术领域。上述方法包括:检测到车辆自动驾驶模式的启动指令,执行预设握手协议,将车辆的转向误差系数设置为预设下限值,其中,转向误差系数用于确定车辆的方向盘的补偿扭矩,补偿扭矩用于补偿方向盘的转向误差;在预设握手协议执行完毕的情况下,采用目标增大速率,增大转向误差系数,目标增大速率小于预设阈值;通过增大后的转向误差系数确定方向盘的补偿扭矩,以控制方向盘进行转向。本公开可以避免现有技术中在车辆完成握手协议的一瞬间补偿扭矩过大,所导致的方向盘猛打的问题。进而可以更好地实现车辆的平稳驾驶,提升了车辆转向的安全性。


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    Title :

    Vehicle steering control method and device, electronic equipment and storage medium


    Additional title:

    车辆的转向控制方法、装置、电子设备和存储介质


    Contributors:
    ZHANG YANGYU (author) / WANG XIANG (author) / LI SHIJUN (author) / LUO ZHENXING (author)

    Publication date :

    2025-05-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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