The invention provides a vehicle steering control method, a controller, a steering control system, a vehicle and a program product, the vehicle comprises a front driving motor and a rear driving motor, the method responds to the situation that the vehicle enters a pivot steering mode, and steering information and motion information of the vehicle are obtained; the steering information of the vehicle comprises steering information of a steering wheel and steering angle information of wheels; determining a front wheel longitudinal torque and a rear wheel longitudinal torque based on the turning angle information of the wheels, the vehicle motion information and a rotation balance constraint condition; wherein the rotation balance constraint condition is used for constraining the longitudinal and transverse movement amplitudes of the vehicle to be within a preset range and constraining the vehicle to rotate around the mass center of the vehicle; and controlling the front driving motor to work to output front wheel longitudinal torque, and controlling the rear driving motor to work to output rear wheel longitudinal torque so as to control the vehicle to perform pivot steering according to the steering information of the steering wheel. According to the embodiment of the invention, the vehicle can be controlled to steer in situ.

    本公开提供了一种车辆转向控制方法、控制器、转向控制系统、车辆及程序产品,车辆包括前驱动电机以及后驱动电机,该方法响应于车辆进入原地转向模式,获取车辆的转向信息以及车辆运动信息;车辆的转向信息包括方向盘的转向信息以及车轮的转角信息;基于车轮的转角信息、车辆运动信息以及转动平衡约束条件,确定前轮纵向扭矩以及后轮纵向扭矩;其中,转动平衡约束条件用于约束车辆在纵向以及横向的移动幅度在预设范围内,且约束车辆能够围绕车辆的质心进行旋转;控制前驱动电机工作以输出前轮纵向扭矩,且控制后驱动电机工作以输出后轮纵向扭矩,以控制车辆按照方向盘的转向信息进行原地转向。本公开实施例,可以控制车辆进行原地转向。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle steering control method, controller, steering control system, vehicle and product


    Additional title:

    车辆转向控制方法、控制器、转向控制系统、车辆及产品


    Contributors:
    LI MENGJUN (author)

    Publication date :

    2024-11-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    STEERING CONTROLLER, VEHICLE, STEERING CONTROL METHOD, AND STEERING CONTROL PROGRAM

    NAKAJIMA JUN / YASUI YORITO / FURUKURA KAZUMASA | European Patent Office | 2017

    Free access

    Vehicle steering control method, driving controller, steering system and vehicle

    XU DALI / MIAO HUI / ZHOU YIQUN | European Patent Office | 2022

    Free access

    Control method of steering system, steering system, controller and vehicle

    ZHOU XUEWEI / LI JIAXI / HU ANHUI | European Patent Office | 2024

    Free access

    Vehicle steering control method, controller, vehicle, medium and program product

    ZHANG LIANG / SHI BO / ZHANG XINYU et al. | European Patent Office | 2025

    Free access

    Vehicle steering controller, vehicle steering system and vehicle

    YUAN ZHONGCHENG / LI YONGFENG / JIANG XIANPING et al. | European Patent Office | 2022

    Free access