The invention provides a method and device for controlling steering of rear wheels, a vehicle and a storage medium. When a front wheel steer-by-wire system of the vehicle breaks down, the front wheel steer-by-wire system cannot control front wheel steering. Therefore, rear wheel intervention is needed to achieve vehicle steering. According to the scheme, when the front wheel steer-by-wire system fails, the steering control quantity of a steering wheel is determined; a target steering control amount of the rear wheels is determined based on the steering control amount, a target gear ratio between the steering wheel and the front wheels, and the yaw direction value. Due to the fact that yawing can be generated in front wheel steering, the yawing direction value is introduced when the target steering control quantity is determined in the scheme. Therefore, the steering effect of the rear wheel is the same as that of the front wheel. A target angle value for rear wheel rotation is also determined based on the steering control amount and the target gear ratio. Therefore, according to the scheme, when the front wheel steer-by-wire system fails, the vehicle can be assisted by the rear wheels to meet the steering requirement, the steering effect the same as that of the front wheels is achieved, and the steering habit of a vehicle user is met.
本申请提供控制后轮转向的方法、装置、车辆及存储介质。在车辆的前轮线控转向系统发生故障时,前轮线控转向系统不能控制前轮转向。因此,需要后轮介入来实现车辆转向。该方案在前轮线控转向系统失效时,确定方向盘的转向控制量;基于转向控制量、方向盘与前轮之间的目标传动比和横摆方向值,确定后轮的目标转向控制量。由于前轮转向会产生横摆,因此该方案在确定目标转向控制量时,引入横摆方向值。这可使得后轮转向与前轮转向产生同样的转向效果。还基于转向控制量和目标传动比,确定后轮转动的目标角度值。因此,该方案不仅能在前轮线控转向系统失效时,通过后轮辅助车辆实现转向需求,还达到与前轮相同的转向效果,符合车辆用户的转向习惯。
Method and device for controlling steering of rear wheels, vehicle and storage medium
控制后轮转向的方法、装置、车辆及存储介质
29.04.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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