Steering control method and device for vehicle, storage medium and controller

Abstract

The invention relates to the technical field of computers and provides a steering control method and device for a vehicle, a storage medium and a controller. The steering control method comprises thefollowing steps of acquiring steering angle data of a left wheel of a vehicle collected by a first absolute value encoder and steering angle data of a right wheel of the vehicle by a second absolute value encoder; performing fused calculation on the steering angle data of the left wheel of the vehicle and the steering angle data of the right wheel of the vehicle to acquire a calculation result; and controlling the rotating speed of a steering motor of the vehicle according to the calculation result to achieve steering control of the vehicle. By arranging the two absolute value encoders to collect the steering angle data of the left and right wheels of the vehicle separately, when one of the absolute value encoders fails, one effective steering angle data can be further acquired, and at thetime, steering control still can be completed by means of the effective steering angle data, so that the stability and the redundancy of a steering control system are improved.

Description

technical field [0001] The present invention relates to the technical field of vehicle control, in particular to a vehicle steering control method, device, storage medium and controller. Background technique [0002] With the development of unmanned vehicle technology, outdoor unmanned vehicles have gradually developed from low speed to high speed, and unmanned vehicles with drive + steering control models have become the mainstream of outdoor high-speed unmanned vehicles. Vehicle control technology is one of the cores of unmanned vehicle technology, which mainly includes speed control and steering control, and the performance of steering control is one of the most critical and important indicators to measure the unmanned vehicle system, mainly including the correctness of automatic steering , stability, real-time and timeliness. At present, the steering control method of unmanned vehicles mostly adopts a single-line control method, which lacks redundancy and poor control s...

AI Technical Summary

Problems solved by technology

[0003] In view of this, the embodiment of the present invention provides a vehicle steering control method, device, storage medium and controller, aiming to solve the problem of lack of redundancy and poor control stability in the current steering control method of unmanned vehicles

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