The invention provides a steering control method, a vehicle and a storage medium, the vehicle performs independent control on each wheel based on an electronic mechanical braking system, and the method comprises the following steps: acquiring a steering angle signal of a steering wheel and an actual yaw angle of the vehicle; the target yaw angle of the vehicle is calculated according to the steering angle signal, and the steering state of the vehicle is determined according to the actual yaw angle and the target yaw angle; and based on the steering state, target braking force corresponding to each wheel of the vehicle is calculated, and an electronic mechanical braking system is driven to apply the corresponding target braking force to each wheel, so that the vehicle completes the steering action. According to the method, a power system and a braking system of the vehicle can be combined, the problems that due to the fact that the wheelbase is long, the vehicle is difficult to turn, the minimum turning radius is large, the vehicle cannot achieve expected steering and the like are solved, four-wheel independent control is used for assisting the vehicle in turning, and the turning flexibility of the vehicle is greatly improved.
本申请提供了转向控制方法、车辆及存储介质,车辆基于电子机械制动系统对每个车轮进行独立控制,其中,方法包括:获取方向盘的转角信号和车辆的实际横摆角;根据转角信号计算车辆的目标横摆角,并根据实际横摆角和目标横摆角确定车辆的转向状态;基于转向状态,计算车辆的每个车轮对应的目标制动力,并驱动电子机械制动系统对每个车轮施加对应的目标制动力,使得车辆完成转向动作。该方法能够将车辆的动力系统与制动系统相结合,解决了因轴距较长而导致车辆出现转弯困难,最小转弯半径较大而使车辆无法实现预期转向等问题,利用四轮独立控制辅助车辆转弯,大大提高车辆转弯的灵活性。
Steering control method, vehicle and storage medium
转向控制方法、车辆及存储介质
28.03.2025
Patent
Elektronische Ressource
Chinesisch
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