The invention relates to the technical field of vehicle control, in particular to a vehicle deviation compensation control method and device, a vehicle and a computer program product.The method comprises the steps that the current steering wheel rotation angle, the current rear wheel rotation angle, the current yaw angle and the current torque value of the vehicle are obtained; based on the current steering wheel turning angle, the current rear wheel turning angle, the current yaw angle and the current torque value, whether the vehicle has a deviation trend or not is judged; and if the vehicle has the deviation trend, determining the current deviation trend of the vehicle, and determining a target compensation value based on the current deviation trend so as to control the vehicle to run based on the target compensation value. Therefore, the problems that an existing vehicle deviation compensation technology is only suitable for manual compensation when the vehicle is subjected to lateral force and cannot conduct turning angle compensation on the vehicle are solved, manual compensation can be conducted on the deviation trend of the vehicle, angle compensation can be achieved, and the vehicle has the perfect control feeling and higher safety.

    本申请涉及车辆控制技术领域,特别涉及一种车辆跑偏补偿控制方法、装置、车辆及计算机程序产品,其中,方法包括:获取车辆的当前方向盘转角、当前后轮转角、当前横摆角度和当前扭矩值;基于当前方向盘转角、当前后轮转角、当前横摆角度和当前扭矩值判断车辆是否存在跑偏趋势;若车辆存在跑偏趋势,则确定车辆的当前跑偏趋势,并基于当前跑偏趋势确定目标补偿值,以基于目标补偿值控制车辆行驶。由此,解决了已有的车辆跑偏补偿技术只适合车辆在受到侧向力的时候的手力补偿,并不能对车辆进行转角补偿等问题,即可对车辆跑偏趋势的手力补偿,又可以实现角度补偿,使得车辆具有完美的操控感及更高的安全性。


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    Titel :

    Vehicle deviation compensation control method and device, vehicle and computer program product


    Weitere Titelangaben:

    车辆跑偏补偿控制方法、装置、车辆及计算机程序产品


    Beteiligte:
    LIU CONG (Autor:in) / HE CHEN (Autor:in) / DING LING (Autor:in)

    Erscheinungsdatum :

    15.11.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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