The invention provides a vehicle control method and device, an electronic device, a vehicle and a storage medium, and relates to the field of automobile control, and the method comprises the steps: determining a rear wheel expected turning angle value of the vehicle according to the obtained current yaw velocity, lateral acceleration and longitudinal velocity of the vehicle; and controlling the rear wheel to rotate according to the rear wheel expected corner value. According to the vehicle control method provided by the invention, the control of the rear wheels is only determined by the yaw angle and the centroid sideslip angle of the vehicle in the current state. According to the method, the yaw angle and the side slip angle of the vehicle are taken as control quantities, the traditional self-adaptive LQR control theory is improved, and the rear wheel steering angle value with higher precision is calculated in real time, so that the accuracy and the reliability of vehicle steering control can be effectively improved, the stability and the safety of the vehicle are better, and the driving and riding requirements of the vehicle are well met.
本发明提供一种车辆控制方法、控制装置、电子装置、车辆及存储介质,涉及汽车控制领域,根据获取到的车辆当前的横摆角速度侧向加速度以及纵向速度确定车辆的后轮期望转角值;根据后轮期望转角值控制后轮转动。本发明所提车辆控制方法,后轮的控制仅由车辆当前状态下的横摆角度和质心侧偏角度决定。以车辆自身的横摆角和质心侧偏角为控制量,改进传统自适应LQR控制理论,实时计算得到精准度更高的后轮转角值,从而能够有效提升车辆转向控制的准确性和可靠性,使得车辆的稳定性和安全性更好,很好的满足了车辆驾乘需求。
Vehicle control method, control device, electronic device, vehicle and storage medium
车辆控制方法、控制装置、电子装置、车辆及存储介质
2025-04-18
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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