The invention discloses a vehicle steering control method and device, a vehicle and a storage medium. The method comprises the steps that under the condition that it is detected that a vehicle is in a preset state, a steering factor is determined according to the target control yaw velocity and the yaw velocity; determining a first wheel torque according to the steering factor, the driver demand torque and the additional yaw demand torque; determining a second wheel torque according to the target wheel speed and the actual wheel speed of the wheels of the vehicle; and according to the first wheel torque, the second wheel torque and a preset inter-wheel torque difference threshold value, target torque is determined. According to the technical scheme, the longitudinal driving traction performance and the lateral control stability are both considered, and the stable steering running capacity and the track following capacity of the vehicle are improved.

    本发明公开了一种车辆转向控制方法、装置、车辆及存储介质。该方法包括:检测到车辆处于预设状态的情况下,根据目标操纵横摆角速度以及横摆角速度确定转向因子;根据所述转向因子、驾驶员需求转矩以及附加横摆需求扭矩确定第一车轮扭矩;根据所述车辆的车轮目标轮速以及实际车轮轮速,确定第二车轮扭矩;根据所述第一车轮扭矩、所述第二车轮扭矩以及预设轮间扭矩差门限值,确定目标扭矩。本发明实施例的技术方案,兼顾了纵向驱动牵引性和侧向操纵稳定性,提高了车辆的稳定转向行驶能力和轨迹跟随能力。


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    Title :

    Vehicle steering control method and device, vehicle and storage medium


    Additional title:

    一种车辆转向控制方法、装置、车辆及存储介质


    Contributors:
    CUI JINLONG (author) / WANG DEPING (author) / YU CHANGHONG (author) / YANG FANG (author) / ZHOU ZEHUI (author) / NI JIANTU (author) / LIU YUANZHI (author) / WU AIBIN (author) / ZHAO YANG (author)

    Publication date :

    2022-07-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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