The invention discloses a vehicle in-situ steering control method and a related device. The method comprises the steps that the in-situ rotation direction and the target rotation angle set by a user are obtained; and an opening value applied to the accelerator pedal by the user is obtained, and the target yaw velocity is determined according to the opening value. The actual yaw velocity of the vehicle is obtained, the yaw velocity difference value is obtained according to the actual yaw velocity and the target yaw velocity, the total yaw torque of the whole vehicle is obtained with the yaw velocity difference value as the proportional-integral-differential control target, and the total yaw torque is equally divided to all wheels. And the distributed torque is corrected according to the rotation resistance of each wheel, and the actual torque of each wheel is obtained. The yaw velocity difference value serves as a control target for adjusting the driving force of the whole vehicle, precise control over the driving force of the vehicle is achieved, and then stable in-situ steering of the vehicle is assisted. And the vehicle is controlled to rotate to the target rotating angle in situ according to the actual torque and the in-situ rotating direction, so that the safety and comfort in the in-situ steering process can be improved.

    本申请公开了一种车辆原地转向控制方法及相关装置,方法包括:获取用户设置的原地转动方向以及目标转角。获取用户施加给加速踏板的开度值,根据开度值确定目标横摆角速度。获取车辆的实际横摆角速度,根据实际横摆角速度和目标横摆角速度得到横摆角速度差值,以横摆角速度差值作为比例‑积分‑微分控制目标,得到整车总横摆扭矩,将总横摆扭矩均分到各车轮,并根据各车轮转动阻力对分配扭矩进行修正,得到每个车轮的实际扭矩。通过横摆角速度差值作为调整整车驱动力控制目标,实现车辆驱动力的精确控制,进而辅助车辆的平稳原地转向。根据实际扭矩以及原地转动方向控制车辆原地转动至目标转角,就能够提高原地转向过程中的安全性以及舒适性。


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    Title :

    Vehicle pivot steering control method and related device


    Additional title:

    一种车辆原地转向控制方法及相关装置


    Contributors:
    ZHOU YUXING (author) / LI WEN (author) / ZHANG YAN (author) / LI ZHESHUAI (author) / YANG ZHIJIA (author) / ZHU RUI (author)

    Publication date :

    2025-05-20


    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 / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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