The invention relates to a vehicle floating cruise steering control method, device and equipment and a storage medium, and belongs to the technical field of steering control. The method comprises the steps that the target rotating speed of a left water sprayer and the target rotating speed of a right water sprayer are calculated according to parameters of a floating vehicle on water; calculating the minimum step number of the left water sprayer and the minimum step number of the right water sprayer which reach the target rotating speed according to the target rotating speed of the left water sprayer, the target rotating speed of the right water sprayer and the parameters of the overwater floating vehicle; calculating the expected rotating speed of the left water sprayer and the expected rotating speed of the right water sprayer at the current moment according to the minimum step number of the left water sprayer, the minimum step number of the right water sprayer, the target rotating speed of the left water sprayer and the target rotating speed of the right water sprayer; and the left water sprayer is driven to rotate at the left water sprayer expected rotating speed, and the right water sprayer is driven to rotate at the right water sprayer expected rotating speed. The expected rotating speed of the left water sprayer and the expected rotating speed of the right water sprayer at the current moment are gradually determined according to the parameters of the overwater floating vehicle, steering control over the overwater floating vehicle is achieved, and the structure of the overwater floating vehicle does not need to be changed.

    本发明涉及一种车辆浮行巡航转向控制方法、装置、设备及存储介质,属于转向控制技术领域,该方法包括:根据水上浮行车辆参数计算左喷水器目标转速和右喷水器目标转速;根据左喷水器目标转速、右喷水器目标转速和水上浮行车辆参数计算达到目标转速的左喷水器最小步数和右喷水器最小步数;根据左喷水器最小步数、右喷水器最小步数、左喷水器目标转速和右喷水器目标转速计算当前时刻的左喷水器期望转速和右喷水器期望转速;驱动左喷水器至左喷水器期望转速、右喷水器至右喷水器期望转速进行转向。本发明根据水上浮行车辆参数逐步确定当前时刻的左喷水器期望转速和右喷水器期望转速,实现对水上浮行车辆进行转向控制,不需要改变水上浮行车辆的结构。


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    Titel :

    Vehicle floating cruise steering control method, device and equipment and storage medium


    Weitere Titelangaben:

    一种车辆浮行巡航转向控制方法、装置、设备及存储介质


    Beteiligte:
    LIU QING (Autor:in) / LI JUN (Autor:in) / CHEN LINLIN (Autor:in) / CAO YU (Autor:in) / LI SHENG (Autor:in)

    Erscheinungsdatum :

    30.08.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen



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