Method, device, storage medium and device for vehicle steering control

Abstract

The present application provides a method, device, storage medium and device for vehicle steering control. The method includes: obtaining a target steering angle; if the controlled vehicle is not located on a desired driving trajectory, determining a steering angle correction through an active front wheel steering system; detecting Whether the difference between the actual yaw angular velocity and the ideal angular velocity of the vehicle is within the deviation range; if the difference is not within the deviation range, the first torque and the second torque are determined based on the differential torque control strategy; the first torque is not equal to the second torque. The steering wheel steering is controlled according to the target steering angle and the steering angle correction amount, and the first in-wheel motor and the second in-wheel motor of the controlled vehicle are controlled to output the first torque and the second torque respectively, so as to obtain the additional yaw moment. When the actual yaw angular velocity is too large, the scheme further adjusts the torque output by the in-wheel motor, and uses the additional yaw moment to reduce the actual yaw angular velocity of the vehicle, so as to achieve the effect of maintaining the lateral stability of the vehicle under nonlinear working conditions.

Description

technical field [0001] The present invention relates to the technical field of vehicle control, and in particular, to a method, device, storage medium and device 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 according to the vehicle speed, yaw rate, steering wheel angle and other information collected by the sensor. The steering angle correction amount is superimposed with 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, driving and braking force. It only realizes the purpose of stable steering through the control of the front wheel angle, improves the energy utilization rate of the whole vehicle and ensures the comfort of driving and riding. It is a v...

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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