Steering control method and device in vehicle running process and vehicle

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Steering control method and device in vehicle running process and vehicle

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HU LEI / YAO YUAN / ZHANG YAN / GU SHIYING / WANG ZHENYE / XIA SHUAISHUAI / HUANG HANG

The invention provides a steering control method and device in the vehicle running process and a vehicle, the method is applied to the vehicle, the vehicle integrates the four-wheel steering technology and the four-wheel driving technology, and the vehicle comprises a speed controller and a steering wheel; the method comprises the following steps: acquiring a first control signal acting on a speed controller and a second control signal acting on a steering wheel; determining an ideal longitudinal velocity based on the first control signal and an ideal wheel angle and an ideal yaw velocity based on the second control signal; determining a steering torque corresponding to each wheel according to the ideal wheel steering angle; determining a target torque expected to be applied to each wheel according to the ideal longitudinal velocity and the ideal yaw velocity; and controlling the vehicle to run based on the steering torque and the target torque. Through the method, driving according to an ideal driving track expected by a user is facilitated.

本说明书提供一种车辆行驶过程中的转向控制方法和装置、一种车辆，所述方法应用于车辆，所述车辆集成有四轮转向技术和四轮驱动技术，所述车辆包括速度控制器和方向盘；所述方法包括：获取作用于速度控制器的第一控制信号以及作用于方向盘的第二控制信号；基于所述第一控制信号确定理想纵向速度，基于所述第二控制信号确定理想车轮转角和理想横摆角速度；根据所述理想车轮转角确定每个车轮对应的转向力矩；根据所述理想纵向速度和所述理想横摆角速度，确定预计施加到每个车轮的目标扭矩；基于所述转向力矩和所述目标扭矩，控制所述车辆行驶。通过上述方法，有助于按照用户预期的理想行驶轨迹行驶。

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Title :

Steering control method and device in vehicle running process and vehicle

Additional title:

一种车辆行驶过程中的转向控制方法和装置、一种车辆

Contributors:

HU LEI (author) / YAO YUAN (author) / ZHANG YAN (author) / GU SHIYING (author) / WANG ZHENYE (author) / XIA SHUAISHUAI (author) / HUANG HANG (author)

Publication date :

2023-07-18

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