The invention relates to a four-wheel-drive vehicle turning control method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining a current vehicle speed and a steering wheel turning angle when the vehicle turns in a cruise mode; the cruise mode corresponds to a target cruise speed; determining a braking control target wheel according to the steering wheel angle; according to the target cruising speed and the current vehicle speed, the braking force of the braking control target wheel is determined; according to the braking force, the target cruising speed and the current vehicle speed, the torque of a front axle and a rear axle is determined; and controlling the vehicle based on the front and rear axle torques and the braking force. According to the embodiment of the invention, the turning radius of the vehicle can be reduced, so that the turning performance of the vehicle on a narrow road is ensured, and the escape and flexibility of the vehicle are improved.
本发明涉及一种四驱车辆转弯控制方法、装置、车辆和存储介质,所述方法包括:在车辆处于巡航模式下进行转弯时,获取当前车速和方向盘转角;所述巡航模式对应目标巡航速度;依据所述方向盘转角确定制动控制目标车轮;依据所述目标巡航速度和所述当前车速,确定所述制动控制目标车轮的制动力;依据所述制动力、所述目标巡航速度和所述当前车速确定前后轴扭矩;基于所述前后轴扭矩和所述制动力进行车辆控制。通过本发明实施例可以缩小车辆转弯调头的半径,以保证车辆在窄路的转弯性能,提高车辆的脱困性和灵活性。
Four-wheel-drive vehicle turning control method and device, vehicle and storage medium
一种四驱车辆转弯控制方法、装置、车辆和存储介质
18.04.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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