Vehicle steering control method and device, storage medium and equipment

Abstract

The invention provides a vehicle steering control method and device, a storage medium and equipment. The method comprises the steps of obtaining a target steering angle; if the controlled vehicle is not located in the expected driving track, determining the steering angle correction amount through an active front wheel steering system; detecting whether the difference value between the actual yaw velocity and the ideal angular velocity of the vehicle is within the deviation range or not; if the difference value is not within the deviation range, determining a first torque and a second torque based on a difference torque control strategy; the first torque is not equal to the second torque. According to the target steering angle and the steering angle correction amount, controlling a steering wheel to steer, and controlling a first hub motor and a second hub motor of the controlled vehicle to output a first torque and a second torque respectively so as to obtain the additional yawing moment. When the actual yaw velocity is too large, the torque output by the hub motor is further adjusted, the actual yaw velocity of the vehicle is reduced through the additional yaw moment, and the effect of keeping the transverse stability of the vehicle under the non-linear working condition is achieved.

Description

technical field [0001] The present invention relates to the technical field of vehicle control, in particular to a method, device, storage medium and equipment for vehicle steering control. Background technique [0002] Active front steering (AFS, active front steering) is a kind of driver assistance control. When the driver controls the steering wheel, the AFS system can determine the steering angle correction based on the vehicle speed, yaw rate, steering wheel angle and other information collected by the sensor. The steering angle correction amount is superimposed on the target steering angle provided by the driver to obtain the optimal steering angle control amount. The advantage of AFS is that it does not need to change the speed of the vehicle and the magnitude of the driving and braking force. It can only achieve the purpose of stable steering through the control of the front wheel angle, improve the energy utilization rate of the vehicle and ensure the comfort of dri...

AI Technical Summary

Problems solved by technology

However, when the vehicle is in some extreme conditions, the lateral force of the tires will be in a nonlinear range (such extreme conditions can be called nonlinear conditions), and the AFS system cannot control the lateral stability of the vehicle. in the right range

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