The invention discloses a vehicle crabbing mode control method, device and equipment and a medium, and belongs to the technical field of vehicle control. The vehicle crabbing mode control method is applied to a vehicle with rear wheel steering and comprises the steps that when a vehicle crabbing mode is started, the vehicle speed, the front wheel steering angle and the current rear wheel steering angle of the vehicle are obtained; the yaw velocity of the vehicle is determined based on the vehicle wheelbase, the vehicle speed, the front wheel rotation angle and the current rear wheel rotation angle; on the basis of the yaw velocity, whether yaw exists in the motion track of the vehicle body or not is judged; if yawing exists, the current rear wheel turning angle is corrected based on the preset angular speed until yawing does not exist in the vehicle body motion trail, the rear wheel turning angle can be corrected in real time when the vehicle crabbing mode is started, the linearity of the vehicle crabbing trail can be guaranteed, the vehicle head keeps horizontal crabbing, and the driving experience is improved.
一种车辆蟹行模式控制方法、装置、设备及介质,属于车辆控制技术领域。所述车辆蟹行模式控制方法应用于带后轮转向的车辆,所述车辆蟹行模式控制方法包括:当车辆蟹行模式被开启时,获取车辆车速、前轮转角和当前后轮转角;基于车辆轴距、所述车辆车速、所述前轮转角和所述当前后轮转角,确定车辆的横摆角速度;基于所述横摆角速度,判断车身运动轨迹是否存在偏航;若存在偏航,则基于预设角速度对所述当前后轮转角进行修正,直至车身运动轨迹不存在偏航,可实现当车辆蟹行模式被开启时,实时地对后轮转角进行修正,能够保证车辆蟹行轨迹的直线性,使车头保持水平蟹行,增加驾驶体验。
Vehicle crabbing mode control method, device, equipment and medium
车辆蟹行模式控制方法、装置、设备及介质
2025-03-21
Patent
Electronic Resource
Chinese
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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