The invention provides a driving deviation correction control method, device and equipment and a readable storage medium. The method comprises the steps that the current yaw velocity and the current side slip angle of a target vehicle are obtained; based on the current yaw velocity, a preset target yaw velocity, the current side slip angle and a preset target side slip angle, calculating to obtain a target correction moment; and the target vehicle is controlled according to the target correction torque and the current driving working condition. Compared with the prior art, the control targets such as the yaw velocity and the side slip angle are considered, the current actual running working condition of the vehicle is also considered, the deviation rectification control is matched with the running working condition, and the accuracy of running deviation rectification control is improved.

    本发明申请提供了一种行驶纠偏控制方法、装置、设备及可读存储介质,所述方法包括:获取目标车辆的当前横摆角速度和当前质心侧偏角;基于当前横摆角速度、预设的目标横摆角速度、当前质心侧偏角和预设的目标质心侧偏角,计算得到目标纠正力矩;根据目标纠正力矩和当前的行驶工况对目标车辆进行控制。本发明申请相比于现有技术,除了考虑横摆角速度和质心侧偏角等控制目标,还考虑到车辆当前的实际行驶工况,实现纠偏控制和行驶工况相匹配,提高了行驶纠偏控制的精确性。


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    Title :

    Driving deviation correction control method, device and equipment and readable storage medium


    Additional title:

    行驶纠偏控制方法、装置、设备及可读存储介质


    Contributors:
    CAO XIHANG (author) / FANG WEI (author)

    Publication date :

    2024-12-27


    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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