The embodiment of the invention provides a vehicle steering control method and device, a vehicle and a storage medium. The method comprises the steps that a first model is obtained; obtaining training data obtained based on the output relation and the adjustment relation, and obtaining a second model according to the training data; wherein the second model is obtained by training based on yaw moment, slip rate and centroid displacement as state variables, output torque during vehicle steering as an action variable and torque change rate as a loss function; and generating a torque control strategy according to the second model. When the vehicle state parameters in the in-situ steering process are subjected to closed-loop control based on the output relation and the adjustment relation indicated by the first model, the output torque, obtained based on the closed-loop control, of the vehicle during steering can be smoothly output as much as possible, and then the situation that the vehicle shakes due to large torque output fluctuation is prevented.

    本发明实施例提供了一种车辆转向控制方法、装置、车辆及存储介质,所述方法包括:获取第一模型;获取基于输出关系和调整关系得到的训练数据,根据训练数据得到第二模型;其中,第二模型基于横摆力矩、滑移率和质心位移作为状态变量,将车辆转向时的输出扭矩作为动作变量,以及将扭矩变化率作为损失函数训练得到;根据第二模型生成扭矩控制策略。在基于第一模型所指示的输出关系以及调整关系对原地转向过程中的车辆状态参数进行闭环控制的同时,使得基于前述闭环控制得到的车辆在转向时的输出扭矩能够尽量平滑输出,进而防止扭矩输出波动大导致车辆出现抖动。


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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:
    JU TING (author) / ZHANG YANG (author) / CHEN YI (author) / LIU XIAOFEI (author) / WANG ZIQIANG (author) / LIN ZHINENG (author)

    Publication date :

    2024-10-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62D MOTOR VEHICLES , Motorfahrzeuge



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