CN114771530A - Vehicle steering control method and device, vehicle and storage medium - Google Patents
Vehicle steering control method and device, vehicle and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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Abstract
The invention discloses a vehicle steering control method and device, a vehicle and a storage medium. The method comprises the following steps: under the condition that the vehicle is detected to be in a preset state, determining a steering factor according to the target steering yaw rate and the yaw rate; determining a first wheel torque according to the steering factor, the driver demand torque and the additional yaw demand torque; determining a second wheel torque according to a target wheel speed and an actual wheel speed of the vehicle; and determining a target torque according to the first wheel torque, the second wheel torque and a preset wheel torque difference threshold value. The technical scheme of the embodiment of the invention gives consideration to longitudinal driving traction and lateral control stability, and improves the stable steering driving capability and the track following capability of the vehicle.
Description
Technical Field
The invention relates to the technical field of electric automobiles, in particular to a vehicle steering control method, a vehicle steering control device, a vehicle and a storage medium.
Background
With the continuous development of the electric automobile field technology, the distributed driving electric automobile has the advantage that the wheel torque is independently controllable, and the operation stability of the automobile can be improved.
Currently, research focus on distributed drive control includes yaw control, drive slip control, and the like. The yaw control of the automobile is active safety control, so that the transverse stability of the automobile in the driving process is effectively guaranteed, and the phenomena of oversteer, understeer instability and sideslip in high-speed driving are prevented; the drive anti-slip control means that when the automobile accelerates, the slip control is controlled within a certain range, so that the drive wheel is prevented from rapidly sliding, the direction stability and the steering control capability during the braking of the automobile are improved, and the traction performance and the stability of the automobile are improved.
However, when the vehicle turns and accelerates, because the antiskid control system and the yaw control system are used for controlling the vehicle at the same time, how to coordinate the control of the two control systems on the vehicle and give consideration to the longitudinal driving traction and the lateral operation stability of the vehicle is a difficulty in the distributed driving stability control at present.
Disclosure of Invention
The invention provides a vehicle steering control method, a vehicle steering control device, a vehicle and a storage medium, and aims to solve the problem that longitudinal driving traction and lateral operation stability of the vehicle cannot be well considered.
In a first aspect, an embodiment of the present invention provides a vehicle steering control method, including:
under the condition that the vehicle is detected to be in a preset state, determining a steering factor according to a target steering yaw rate and a yaw rate, wherein the preset state comprises a steering acceleration state, the steering factor comprises an understeer factor and an oversteer factor, and the yaw rate comprises a target yaw rate and an actual yaw rate;
determining a first wheel torque according to the steering factor, the driver required torque and an additional yaw required torque, wherein the additional yaw required torque is determined based on the yaw velocity and the rear wheel side slip angle, and the first wheel torque comprises first torques respectively corresponding to four wheels of the vehicle;
determining a second wheel torque according to a target wheel speed of a wheel of the vehicle and an actual wheel speed, wherein the target wheel speed of the wheel is determined based on a target slip rate, the target slip rate is determined based on a steering factor, and the second wheel torque comprises second torques respectively corresponding to four wheels of the vehicle;
determining a target torque according to the first wheel torque, the second wheel torque and a preset inter-wheel torque difference threshold value, wherein the preset inter-wheel torque difference threshold value is determined based on the actual wheel speed of the vehicle
In a second aspect, an embodiment of the present invention provides a vehicle steering control apparatus, including:
the device comprises a steering factor determining module, a judging module and a judging module, wherein the steering factor determining module is used for determining a steering factor according to a target steering yaw rate and a yaw rate under the condition that the vehicle is detected to be in a preset state, the preset state comprises a steering acceleration state, the steering factor comprises an understeer factor and an oversteer factor, and the yaw rate comprises a target yaw rate and an actual yaw rate;
a first wheel torque determination module, configured to determine a first wheel torque according to the steering factor, the driver required torque, and an additional yaw required torque, wherein the additional yaw required torque is determined based on the yaw rate and the rear wheel-side slip angle, and the first wheel torque includes first torques corresponding to four wheels of the vehicle, respectively;
the second wheel torque determination module is used for determining second wheel torque according to a target wheel speed and an actual wheel speed of a wheel of the vehicle, wherein the target wheel speed of the wheel is determined based on a target slip rate, the target slip rate is determined based on a steering factor, and the second wheel torque comprises second torques respectively corresponding to four wheels of the vehicle;
the target torque determining module is used for determining a target torque according to the first wheel torque, the second wheel torque and a preset wheel torque difference threshold value, wherein the preset wheel torque difference threshold value is determined based on the actual wheel speed of the vehicle.
In a third aspect, an embodiment of the present invention provides a vehicle, including:
a memory, a processor and a computer program stored on the memory and executable on the processor to enable at least one processor to perform the vehicle steering control method of the first aspect described above.
In a fourth aspect, the embodiments of the present invention provide a computer-readable storage medium, where computer instructions are stored, and the computer instructions are used for enabling a processor to implement the vehicle steering control method of the first aspect when executed.
The vehicle steering control scheme according to the embodiment of the invention determines a steering factor according to a target steering yaw rate and a yaw rate in a case where it is detected that the vehicle is in a preset state, wherein the preset state includes a steering acceleration state, the steering factor includes an understeer factor and an oversteer factor, the yaw rate includes a target yaw rate and an actual yaw rate, determines a first wheel torque according to the steering factor, a driver required torque, and an additional yaw required torque, wherein the additional yaw required torque is determined based on the yaw rate and a rear wheel yaw angle, the first wheel torque includes first torques respectively corresponding to four wheels of the vehicle, determines a second wheel torque according to a target wheel speed of the wheels of the vehicle determined based on the target slip rate, which is determined based on the steering factor, the second wheel torque comprises second torques corresponding to four wheels of the vehicle respectively, and the target torque is determined according to the first wheel torque, the second wheel torque and a preset wheel torque difference threshold value, wherein the preset wheel torque difference threshold value is determined based on the actual wheel speed of the vehicle. By adopting the technical scheme, when the vehicle is in a preset state, the first wheel torque is determined by determining the steering factor, the second wheel torque is determined according to the rotating speed of the vehicle, and the target torque of the vehicle can be determined according to the first wheel torque, the second wheel torque and the preset inter-wheel torque difference threshold value.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a vehicle steering control method according to an embodiment of the present invention;
FIG. 2 is a flow chart of a vehicle steering control method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle steering control device according to a third embodiment of the invention;
fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. In the description of the present invention, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a flowchart of a vehicle steering control method according to an embodiment of the present invention, where the embodiment is applicable to a situation where a vehicle is controlled to steer stably, the method may be performed by a vehicle steering control device, the vehicle steering control device may be implemented in a form of hardware and/or software, and the method may be performed by a vehicle, and may specifically be implemented in a form of hardware and/or software.
As shown in fig. 1, a vehicle steering control method provided by a first embodiment of the present invention specifically includes the following steps:
s101, under the condition that the vehicle is detected to be in a preset state, determining a steering factor according to the target steering yaw rate and the target yaw rate.
Wherein the preset state includes a steering acceleration state, the steering factor includes an understeer factor and an oversteer factor, and the yaw rate includes a target yaw rate and an actual yaw rate.
In this embodiment, the preset states may further include a vehicle steering state, a vehicle acceleration state, a vehicle deceleration running state, a vehicle straight-line uniform speed running state, and the like, and the vehicle steering control method of this embodiment is applicable to at least one of the preset states. The yaw rate is mainly used for representing the integral inclination state of the vehicle body, the yaw angle refers to the deflection angle of the vehicle around a vertical axis, wherein the target steering yaw rate can be determined according to the vehicle speed and the front wheel rotation angle in a calculation mode, the target yaw rate can be determined according to the target steering yaw rate and the road adhesion coefficient, and the actual yaw rate can be obtained through measurement of a sensor. The steering factor can be used to represent the steering state of the vehicle, which can be divided into understeer and oversteer, which is an important criterion for measuring the balance of the vehicle handling. The understeer factor corresponds to an understeer condition of the vehicle and the oversteer factor corresponds to an oversteer condition of the vehicle.
And S102, determining a first wheel torque according to the steering factor, the driver required torque and the additional yaw required torque.
Wherein the additional yaw demand torque is determined based on the yaw rate and the rear-wheel-side slip angle, and the first wheel torque includes first torques corresponding to the four wheels of the vehicle, respectively.
In the present embodiment, the first torques of the four wheels of the vehicle can be calculated by the steering factor calculated as described above, and the driver required torque, which can be understood as a correction value of the yaw required torque, and the additional yaw required torque, which can be understood as a wheel torque calculated for controlling the yaw of the vehicle, can be calculated by the torque controller of the vehicle.
S103, determining second wheel torque according to the target wheel speed and the actual wheel speed of the vehicle.
Wherein the wheel target wheel speed is determined based on a target slip rate determined based on the steering factor, and the second wheel torque comprises second torques respectively corresponding to four wheels of the vehicle.
In this embodiment, the target slip rate may be determined according to the steering factor, the target wheel speed of the wheel may be calculated according to the determined target slip rate, and the second torques corresponding to the four wheels of the vehicle may be determined according to the target wheel speed and the actual wheel speed of the wheel. The second wheel torque, that is, the second torque corresponding to each of the four wheels, may be understood as a wheel torque calculated for controlling vehicle yaw, the slip ratio may be understood as a slip generated between a tire footprint and a road surface when a tire of the wheel is braked or accelerated while running straight, and the target slip ratio may be understood as a corrected slip ratio.
And S104, determining a target torque according to the first wheel torque, the second wheel torque and a preset wheel torque difference threshold value.
Wherein the preset inter-wheel torque difference threshold value is determined based on an actual wheel speed of the vehicle.
In the present embodiment, the threshold value of the torque difference between the wheels may be an upper limit value of the torque difference between the four wheels of the vehicle, and may be preset according to the difference of the actual running speed of the vehicle, such as a threshold value of a larger torque difference between the wheels in a low-speed running state. The target torque may be determined according to a magnitude relationship between the first wheel torque and the second wheel torque based on a preset threshold value of the torque difference between the wheels.
The vehicle steering control method provided by the embodiment of the invention determines a steering factor according to a target steering yaw rate and an actual yaw rate in a case where it is detected that a vehicle is in a preset state, wherein the preset state includes a steering acceleration state, the steering factor includes an understeer factor and an oversteer factor, the yaw rate includes the target yaw rate and the actual yaw rate, determines a first wheel torque according to the steering factor, a driver required torque, and an additional yaw required torque, wherein the additional yaw required torque is determined based on the yaw rate and a rear wheel side slip angle, the first wheel torque includes first torques respectively corresponding to four wheels of the vehicle, determines a second wheel torque according to target wheel speeds of the wheels of the vehicle determined based on the target slip rate and the actual wheel speeds of the wheels of the vehicle, the second wheel torque comprises second torques corresponding to four wheels of the vehicle respectively, and the target torque is determined according to the first wheel torque, the second wheel torque and a preset wheel torque difference threshold value, wherein the preset wheel torque difference threshold value is determined based on the actual wheel speed of the vehicle. According to the technical scheme of the embodiment of the invention, when the vehicle is in a preset state, the first wheel torque is determined by determining the steering factor, the second wheel torque is determined according to the rotating speed of the vehicle, and the target torque of the vehicle can be determined according to the first wheel torque, the second wheel torque and the preset inter-wheel torque difference threshold value.
Example two
Fig. 2 is a flowchart of a vehicle steering control method according to a second embodiment of the present invention, and the technical solution of the second embodiment of the present invention is further optimized based on the above optional technical solutions, and a specific manner of vehicle steering control is given.
Optionally, determining a steering factor according to the target yaw rate and the target yaw rate includes: determining a first difference value of the target operation yaw velocity and the actual yaw velocity, and determining an understeer factor according to the ratio of the first difference value to the actual yaw velocity; a second difference between the actual yaw rate and the target yaw rate is determined, and an excess steering factor is determined based on a ratio of the second difference to the target yaw rate. This has the advantage that the steering state of the vehicle is accurately recognized.
Optionally, determining the second wheel torque according to the target wheel speed and the actual wheel speed of the wheel of the vehicle by using a first preset algorithm, including: determining a target slip rate according to a first preset slip rate, a second preset slip rate and an understeer factor, wherein the first preset slip rate is the slip rate when the vehicle runs in a straight line, the second preset slip rate is the corresponding preset slip rate when the vehicle runs in an understeer state, and the second preset slip rate is smaller than the first preset slip rate; determining the target wheel speed of the wheel according to the target slip rate and the actual wheel speed; and determining a second wheel torque according to the difference value of the target wheel speed and the actual wheel speed of the wheel. The advantage of this arrangement is that when the vehicle is in an acceleration steering state, and the longitudinal driving force of the wheels is large or the lateral force is large, the longitudinal vehicle speed and the driving force of the wheels can be kept stable, thereby ensuring the stable acceleration steering driving performance of the vehicle.
Optionally, determining the target torque according to the first wheel torque, the second wheel torque and a preset threshold value of torque difference between wheels includes: determining a torque difference between wheels of a first front axle according to a difference value of a first torque corresponding to the left front wheel and a first torque corresponding to the right front wheel; determining a torque difference between wheels of a first rear axle according to a difference value of a first torque corresponding to the left rear wheel and a first torque corresponding to the right rear wheel; determining a torque difference between wheels of a second front axle according to a difference value of a second torque corresponding to the left front wheel and a second torque corresponding to the right front wheel; determining a torque difference between wheels of a second rear shaft according to a difference value of a second torque corresponding to the left rear wheel and a second torque corresponding to the right rear wheel; and determining a target torque according to the torque difference between the wheels and a preset torque difference threshold value between the wheels based on a preset limiting condition, wherein the torque difference between the wheels comprises a first front axle torque difference, a first rear axle torque difference, a second front axle torque difference and a second rear axle torque difference. The advantage of this arrangement is that the vehicle running state and the requirement for the vehicle running performance are coordinately controlled, and the longitudinal and lateral stability of the vehicle is ensured.
As shown in fig. 2, a vehicle steering control method provided by the second embodiment of the present invention specifically includes the following steps:
s201, under the condition that the vehicle is detected to be in a preset state, determining a first difference value between a target operation yaw rate and an actual yaw rate, and determining an understeer factor according to the ratio of the first difference value to the actual yaw rate.
For example, the understeer factor may be expressed as:
wherein ξUSAs understeer factor, gammaHAnd the target manipulation yaw rate, gamma is the actual yaw rate, and | is the absolute value sign. Target steering vertical and horizontal swing angular velocity gammaHCan be expressed as:
wherein V is the vehicle speed, L is the wheelbase, K is the stability factor, δfIs the corner of the front wheel. Alternatively, the actual yaw rate may be obtained by a yaw-rate related sensor. Note that the target steering yaw rate and the actual yaw rate are vectors, and the absolute values thereof may be calculated when the understeer factor is calculated.
S202, determining a second difference value between the actual yaw rate and the target yaw rate, and determining an excessive steering factor according to the ratio of the second difference value to the target yaw rate.
Illustratively, the excess steering factor may be expressed as:
wherein xi isOSAs understeer factor, gammaTIs the target yaw rate, gamma is the actual yaw rate, | | is the absolute value sign, where the target yaw rate gammaTCan be expressed as:
wherein, gamma isHMu is the road adhesion coefficient, g is the gravitational acceleration, and v is the vehicle speed. It is to be noted that the above-mentioned target yaw rate and the actual yaw rateThe yaw rate is a vector, and the absolute value thereof can be calculated when the understeer factor is calculated.
And S203, determining a first wheel torque according to the steering factor, the driver required torque and the additional yaw required torque.
Alternatively, the first torque corresponding to each of the four wheels is determined from the steering factor, the driver required torque, and the additional yaw required torque using the following expression:
wherein, TDYC,FL、TDYC,FR、TDYC,RLAnd TDYC,RRRespectively, a first torque corresponding to the left front wheel, a first torque corresponding to the right front wheel, a first torque corresponding to the left rear wheel and a first torque corresponding to the right rear wheel, TdTorque, xi, demanded for the driverUSFor understeer factor, ξOSFor excessive steering factor, Δ MZTo add yaw demand torque.
Specifically, as shown in the above expression, the first torques corresponding to the four wheels can be calculated using the steering factor, the driver required torque, and the additional yaw required torque. The driver demand torque may be determined based on a feedback signal of an accelerator pedal, and the additional yaw demand torque may be determined based on a wheel side slip angle, a yaw rate, and the like.
Optionally, before determining the first wheel torque based on the steering factor, the driver demand torque, and the additional yaw demand torque, determining the additional yaw demand torque based on a difference between the target yaw rate and the actual yaw rate, and a difference between the target yaw angle of the rear wheels and the actual yaw angle of the rear wheels.
For example, the additional yaw demand torque can be expressed as: Δ M ═ KPγ(γT-γ)+KPα(αrT-αr) Where Δ M is the additional yaw demand torque, γTIs the target yaw rate, gamma is the actual yaw rate, alpharTIs a target slip angle, alpha, of the rear wheelrIs the actual slip angle of the rear wheel, KPγFeedback control parameter for yaw-rate ratio, KPαAnd feeding back a control parameter for the side slip angle proportion of the rear wheel. Rear wheel target slip angle alpharTCan be expressed as: alpha is alpharT＝min(αr，αth) Wherein α isrIs the actual slip angle of the rear wheel, αthFor the rear wheel side deviation angle threshold, the rear wheel side deviation angle threshold may be preset, for example, preset to 5 degrees. Alternatively, the actual slip angle of the rear wheel may be obtained by a slip angle related sensor.
And S204, determining a target slip rate according to the first preset slip rate, the second preset slip rate and the understeer factor.
The first preset slip rate is the slip rate when the vehicle runs linearly, the second preset slip rate is the corresponding preset slip rate when the vehicle is under-steered, and the second preset slip rate is smaller than the first preset slip rate.
Illustratively, the target slip rate may be expressed as: lambdaT＝λ(1-ξUS)+λminξUSWherein λ isTThe target slip ratio is lambda, which is the slip ratio of the vehicle when the vehicle is running straight, and can be preset to 10%, lambdaminThe corresponding preset slip ratio can be preset to be 3 percent and xi when the steering is insufficientUSIs the understeer factor.
And S205, determining the target wheel speed of the wheel according to the target slip rate and the actual wheel speed.
For example, the target wheel speed may be represented as v0,ij＝vij(1+λT) Wherein v is0,ijTarget wheel speed, v, for the wheelijFor the wheel center speed, i ═ F, R denotes front and rear wheels, respectively, j ═ L, R denotes left and right wheels, respectively, λTIs the target slip rate. Alternatively, the wheel center speed may be obtained by a wheel center speed-related sensor.
And S206, determining second wheel torque according to the difference value of the target wheel speed and the actual wheel speed of the wheels.
For example, the second wheel torque may be expressed as: t is a unit ofTCS,ij＝Kp(v0,ij-vij)+∫Ki(v0,ij-vij) dt, wherein TTCS,ijSecond torque, v, for four wheels0,ijTarget wheel speed v for the wheelijFor the wheel center speed, i ═ F, R denotes front and rear wheels, respectively, j ═ L, R denotes left and right wheels, respectively, KpProportional feedback control parameter for the second torque, KiThe control parameter is fed back as an integral of the second torque.
S207, determining a torque difference between wheels of a first front axle according to a difference value of a first torque corresponding to the left front wheel and a first torque corresponding to the right front wheel; determining a torque difference between wheels of a first rear axle according to a difference value of a first torque corresponding to the left rear wheel and a first torque corresponding to the right rear wheel; determining a torque difference between wheels of a second front axle according to a difference value of a second torque corresponding to the left front wheel and a second torque corresponding to the right front wheel; and determining the torque difference between the wheels of the second rear shaft according to the difference value of the second torque corresponding to the left rear wheel and the second torque corresponding to the right rear wheel.
For example, the first front axle wheelbase torque difference and the first rear axle wheelbase torque difference may be expressed as:
wherein, Delta TDYC,FIs the first front axle wheel to wheel torque difference, Δ TDYC,RIs the torque difference between the wheels of the first rear axle, TDYC,FLA first torque, T, corresponding to the left front wheelDYC,FRA first torque, T, corresponding to the right front wheelDYC,RLFirst torque, T, for the left rear wheelDYC,RRThe first torque is corresponding to the right rear wheel.
For example, the second front axle wheel-to-wheel torque difference and the second rear axle wheel-to-wheel torque difference may be expressed as:
wherein, Delta TTCS,FIs the second front axle wheel torque difference, Δ TTCS,RIs the torque difference between the wheels of the second rear axle, TTCS,FLA second torque, T, corresponding to the left front wheelTCS,FRA second torque, T, corresponding to the right front wheelTCS,RLFor left rear wheel corresponding toSecond torque of TTCS,RRAnd the second torque corresponds to the right rear wheel.
And S208, determining a target torque according to the torque difference between the wheels and a preset torque difference threshold value between the wheels based on a preset limiting condition, wherein the torque difference between the wheels comprises a first front axle torque difference, a first rear axle torque difference, a second front axle torque difference and a second rear axle torque difference.
Specifically, the preset limiting condition may be a limiting condition of a magnitude relation between the torque difference between the wheels and a preset threshold value of the torque difference between the wheels, or may be a limiting condition of magnitudes of the torque difference between the wheels and the preset threshold value of the torque difference between the wheels respectively.
Optionally, based on a preset limiting condition, determining the target torque according to the inter-wheel torque difference and a preset inter-wheel torque difference threshold value, where the method includes:
if the current torque difference between the second front axle wheels is larger than a first sum value, determining a target torque of the left front wheel according to the current torque of the right front wheel, the torque difference between the first front axle wheels and the sum value of a preset torque difference threshold value between the wheels, wherein the first sum value is the sum value of the torque difference between the first front axle wheels and the preset torque difference threshold value between the wheels;
illustratively, if Δ TTCS,F＞ΔTDYC,F+ΔTthThen T isFL＝TFR+(ΔTDYC,F+ΔTth) Wherein, Δ TTCS,FIs the current second front axle wheeltorque difference, Δ TDYC,F+ΔTthIs a first sum, i.e. the sum of the first front axle wheel-to-wheel torque difference and a preset wheel-to-wheel torque difference threshold value, TFLTarget torque for left front wheel, TFRFor the current right front wheel torque, Δ TDYC,FIs the first front axle wheel-to-wheel torque difference, Δ TthA threshold value for torque difference between the wheels is preset.
If the current second front axle wheel torque difference is smaller than or equal to a third difference value, determining a right front wheel target torque according to the sum of the current left front wheel torque, the first front axle wheel torque difference and a preset wheel torque difference threshold value, wherein the third difference value is the difference value of the first front axle wheel torque difference and the preset wheel torque difference threshold value;
illustratively, if Δ TTCS,F＜ΔTDYC,F-ΔTthThen T isFR＝TFL-(ΔTDYC,F-ΔTth) Wherein, Δ TTCS,FIs the current second front axle wheel-to-wheel torque difference, Δ TDYC,F-ΔTthIs a third difference value, namely the difference value between the torque difference between the wheels of the first front axle and a preset threshold value of the torque difference between the wheels, TFRTarget torque of right front wheel, TFLFor the current left front wheel torque, Δ TDYC,FIs the first front axle wheel-to-wheel torque difference, Δ TthA threshold value for torque difference between the wheels is preset.
It is noted that if Δ TTCS,F＜＝ΔTDYC,F+ΔTthAnd/or Δ TTCS,F＞＝ΔTDYC,F-ΔTthThe left front wheel target torque and the right front wheel target torque are kept unchanged, namely, the current left front wheel target torque and the current right front wheel target torque are kept unchanged, if and only if the current second front axle wheel-to-wheel torque difference delta TTCS,FWhen the above conditions are satisfied, the left front wheel target torque and the right front wheel target torque are refreshed.
If the current torque difference between the second rear axle wheels is larger than a second sum value, determining a target torque of the left rear wheel according to the sum value of the current torque of the right rear wheel, the torque difference between the first rear axle wheels and a preset torque difference threshold value between wheels, wherein the second sum value is the sum value of the torque difference between the first rear axle wheels and the preset torque difference threshold value between wheels;
exemplary, if Δ TTCS,R＞ΔTDYC,R+ΔTthThen T isRL＝TRR+(ΔTDYC,R+ΔTth) Wherein, Δ TTCS,RIs the current second rear axle wheeltorque difference, Δ TDYC,R+ΔTthIs a second sum, i.e. the sum of the first rear axle wheel-to-wheel torque difference and a predetermined wheel-to-wheel torque difference threshold value, TRLTarget torque for left rear wheel, TRRIs the current right rear wheel torque, Δ TDYC,RIs the torque difference, Δ T, between the wheels of the first rear axlethA preset threshold value of torque difference between wheels.
And if the current torque difference between the wheels of the second rear axle is smaller than or equal to a fourth difference value, determining a target torque of the right rear wheel according to the sum of the current torque of the left rear wheel, the current torque difference between the wheels of the first rear axle and a preset threshold value of the torque difference between the wheels, wherein the fourth difference value is the difference value between the torque difference between the wheels of the first rear axle and the preset threshold value of the torque difference between the wheels.
Exemplary, if Δ TTCS,R＜ΔTDYC,R-ΔTthThen T isRR＝TRL-(ΔTDYC,R-ΔTth) Wherein, Δ TTCS,RIs the current second rear axle wheel torque difference, Δ TDYC,R-ΔTthIs a fourth difference value, i.e. the difference between the torque difference between the wheels of the first rear axle and a predetermined threshold value for the torque difference between the wheels, TRRIs a right rear wheel target torque, TRLFor the current left rear wheel torque, Δ TDYC,RIs the torque difference, Δ T, between the wheels of the first rear axlethA threshold value for torque difference between the wheels is preset.
It is noted that if Δ TTCS,R＜＝ΔTDYC,R+ΔTthAnd/or Δ TTCS,R＞＝ΔTDYC,R-ΔTthIf the current torque difference Δ T between the wheels of the second rear axle is equal to or greater than the current torque difference Δ T between the wheels of the second rear axle, the target torque of the left rear wheel and the target torque of the right rear wheel are kept constant, that is, the current target torque of the left rear wheel and the current target torque of the right rear wheel are kept constantTCS,RWhen the above conditions are satisfied, the left rear wheel target torque and the right rear wheel target torque are refreshed.
Optionally, the preset threshold value Δ T of torque difference between wheelsthThe preset may be made according to the current running speed of the vehicle, and may be in a negative correlation with the current running speed of the vehicle. A larger value is set in a low-speed stage, for example, if the current vehicle speed is less than or equal to a first speed threshold (e.g., 10 meters per second), a preset threshold value of torque difference between wheels may be set as a first threshold value (e.g., 1000NM), so that under a low-speed working condition, the influence on the anti-skid performance of the vehicle is reduced while the vehicle is controlled to yaw, and the traction performance of the vehicle is improved; a smaller value may be set as the current vehicle speed increases, and for example, if the current vehicle speed is greater than a second speed threshold (greater than a first speed threshold, such as 20 meters per second), the preset inter-wheel torque difference threshold value may be set to a second threshold (less than the first threshold, such as 200NM) to set the threshold value at a medium-high speedOr under the sideslip working condition, the influence on controlling the yaw stability of the vehicle is reduced while the vehicle is controlled to be skid-proof, and the operation stability of the vehicle is improved.
The vehicle steering control method provided by the embodiment of the invention firstly determines an understeer factor and an oversteer factor according to a yaw angular velocity, then determines first torques corresponding to four wheels according to the steering factor, a driver required torque and an additional yaw required torque, determines second torques corresponding to the four wheels according to the understeer factor, wheel speeds and a slip rate, and finally determines target torques of the vehicle in a segmentation way according to the first torques and the second torques corresponding to the four wheels and based on a preset inter-wheel torque difference threshold value, so that the understeer state and the oversteer state of the vehicle are improved, the performance of the vehicle in stable steering and accelerated running is ensured, the stable steering running capability and the track following capability of the vehicle are improved, the driving torques of 4 wheels of the vehicle are coordinately controlled by combining the running state and the performance requirements of the vehicle, the requirements on the longitudinal and transverse dynamics control function of the vehicle and the performance of the vehicle are met.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a vehicle steering control device according to a third embodiment of the present invention. As shown in fig. 3, the apparatus includes: a steering factor determination module 301, a first wheel torque determination module 302, a second wheel torque determination module 303, and a target torque determination module 304, wherein:
the device comprises a steering factor determining module, a judging module and a judging module, wherein the steering factor determining module is used for determining a steering factor according to a target steering yaw rate and a yaw rate under the condition that the vehicle is detected to be in a preset state, the preset state comprises a steering acceleration state, the steering factor comprises an understeer factor and an oversteer factor, and the yaw rate comprises a target yaw rate and an actual yaw rate;
a first wheel torque determination module, configured to determine a first wheel torque according to the steering factor, the driver required torque, and an additional yaw required torque, wherein the additional yaw required torque is determined based on the yaw rate and the rear wheel-side slip angle, and the first wheel torque includes first torques corresponding to four wheels of the vehicle, respectively;
a second wheel torque determination module, configured to determine a second wheel torque according to a target wheel speed of a wheel of the vehicle and an actual wheel speed, where the target wheel speed of the wheel is determined based on a target slip rate, the target slip rate is determined based on a steering factor, and the second wheel torque includes second torques corresponding to four wheels of the vehicle, respectively;
the target torque determining module is used for determining a target torque according to the first wheel torque, the second wheel torque and a preset wheel torque difference threshold value, wherein the preset wheel torque difference threshold value is determined based on the actual wheel speed of the vehicle.
According to the vehicle steering control device provided by the embodiment of the invention, when the vehicle is in a preset state, the first wheel torque is determined by determining the steering factor, the second wheel torque is determined according to the vehicle rotating speed, and the target torque of the vehicle can be determined according to the first wheel torque, the second wheel torque and the preset inter-wheel torque difference threshold value.
Optionally, the steering factor determining module 301 includes:
an understeer factor determination unit for determining a first difference value between the target steering yaw rate and the actual yaw rate, and determining an understeer factor according to a ratio of the first difference value to the actual yaw rate;
and an excessive steering factor determination unit for determining a second difference value between the actual yaw rate and the target yaw rate, and determining an excessive steering factor according to a ratio of the second difference value to the target yaw rate.
Optionally, the apparatus further comprises:
an additional yaw demand torque determination module determines an additional yaw demand torque based on a difference between the target yaw rate and the actual yaw rate and a difference between the target yaw angle of the rear wheels and the actual yaw angle of the rear wheels before determining the first wheel torque based on the steering factor, the driver demand torque, and the additional yaw demand torque.
Optionally, the first wheel torque determination module 302 includes:
a first torque determination unit for determining first torques corresponding to the four wheels, respectively, from the steering factor, the driver required torque, and the additional yaw required torque using the following expressions:
wherein, TDYC,FL、TDYC,FR、TDYC,RLAnd TDYC,RRRespectively, a first torque corresponding to the left front wheel, a first torque corresponding to the right front wheel, a first torque corresponding to the left rear wheel and a first torque corresponding to the right rear wheel, TdTorque, xi, demanded for driverUSFor understeer factor, ξOSFor excessive steering factor, Δ MZTo add yaw demand torque.
Optionally, the second wheel torque determination module 303 includes:
the target slip rate determining unit is used for determining a target slip rate according to a first preset slip rate, a second preset slip rate and an understeer factor, wherein the first preset slip rate is the slip rate when the vehicle runs straight, the second preset slip rate is the corresponding preset slip rate when the vehicle is under-turned, and the second preset slip rate is smaller than the first preset slip rate;
a wheel target wheel speed determination unit for determining a wheel target wheel speed based on the target slip rate and the actual wheel speed;
and the second wheel torque determining unit is used for determining second wheel torque according to the difference value of the target wheel speed and the actual wheel speed of the wheel.
Optionally, the target torque determination module 304 includes:
the first front axle inter-wheel torque difference determining unit is used for determining a first front axle inter-wheel torque difference according to the difference value of the first torque corresponding to the left front wheel and the first torque corresponding to the right front wheel;
the first rear axle inter-wheel torque difference determining unit is used for determining a first rear axle inter-wheel torque difference according to a difference value of a first torque corresponding to the left rear wheel and a first torque corresponding to the right rear wheel;
the second front axle inter-wheel torque difference determining unit is used for determining a second front axle inter-wheel torque difference according to the difference value of a second torque corresponding to the left front wheel and a second torque corresponding to the right front wheel;
the second rear axle wheel torque difference determining unit is used for determining a second rear axle wheel torque difference according to the difference value of a second torque corresponding to the left rear wheel and a second torque corresponding to the right rear wheel;
and the target torque determining unit is used for determining a target torque according to the inter-wheel torque difference and a preset inter-wheel torque difference threshold value based on a preset limiting condition, wherein the inter-wheel torque difference comprises a first front axle inter-wheel torque difference, a first rear axle inter-wheel torque difference, a second front axle inter-wheel torque difference and a second rear axle inter-wheel torque difference.
Optionally, based on a preset limiting condition, determining a target torque according to the torque difference between the wheels and a preset threshold value of the torque difference between the wheels, including:
if the current torque difference between the second front axle wheels is larger than a first sum value, determining a target torque of the left front wheel according to the sum value of the current right front wheel torque, the current torque difference between the first front axle wheels and a preset torque difference threshold value between the wheels, wherein the first sum value is the sum value of the current torque difference between the first front axle wheels and the preset torque difference threshold value between the wheels;
if the current torque difference between the second front axle wheels is smaller than or equal to a third difference value, determining a target torque of the right front wheel according to the sum of the current torque of the left front wheel, the torque difference between the first front axle wheels and a preset torque difference threshold value between the wheels, wherein the third difference value is the difference value between the torque difference between the first front axle wheels and the preset torque difference threshold value between the wheels;
if the current torque difference between the second rear axle wheels is larger than a second sum value, determining a target torque of the left rear wheel according to the sum value of the current torque of the right rear wheel, the torque difference between the first rear axle wheels and a preset torque difference threshold value between wheels, wherein the second sum value is the sum value of the torque difference between the first rear axle wheels and the preset torque difference threshold value between wheels;
and if the current torque difference between the wheels of the second rear axle is smaller than or equal to a fourth difference value, determining a target torque of the right rear wheel according to the sum of the current torque of the left rear wheel, the current torque difference between the wheels of the first rear axle and a preset threshold value of the torque difference between the wheels, wherein the fourth difference value is the difference value between the torque difference between the wheels of the first rear axle and the preset threshold value of the torque difference between the wheels.
The vehicle steering control device provided by the embodiment of the invention can execute the vehicle steering control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
FIG. 4 illustrates a schematic diagram of a vehicle that may be used to implement embodiments of the present invention. As shown in fig. 4, the vehicle 400 includes a memory 401, a processor 402, and a computer program stored in the memory 401 and operable on the processor 402, and when the processor 402 executes the computer program, the vehicle steering control method according to the embodiment of the present invention can be implemented.
A computer program running on the processor 402 for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
EXAMPLE five
In the context of the present invention, a computer-readable storage medium may be a tangible medium, computer-executable instructions, when executed by a computer processor, for performing a vehicle steering control method, the method comprising:
under the condition that the vehicle is detected to be in a preset state, determining a steering factor according to a target steering yaw rate and a yaw rate, wherein the preset state comprises a steering acceleration state, the steering factor comprises an understeer factor and an oversteer factor, and the yaw rate comprises a target yaw rate and an actual yaw rate;
determining a first wheel torque according to the steering factor, the driver required torque and an additional yaw required torque, wherein the additional yaw required torque is determined based on the yaw velocity and the rear wheel side slip angle, and the first wheel torque comprises first torques respectively corresponding to four wheels of the vehicle;
determining a second wheel torque according to a target wheel speed of wheels of the vehicle and an actual wheel speed, wherein the target wheel speed of the wheels is determined based on a target slip rate, the target slip rate is determined based on a steering factor, and the second wheel torque comprises second torques corresponding to four wheels of the vehicle respectively;
and determining the target torque according to the first wheel torque, the second wheel torque and a preset wheel torque difference threshold value, wherein the preset wheel torque difference threshold value is determined based on the actual wheel speed of the vehicle.
In the context of the present invention, a computer readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer device provided by the above can be used for executing the vehicle steering control method provided by any of the above embodiments, and has corresponding functions and beneficial effects.
It should be noted that, in the embodiment of the vehicle steering control device, the included units and modules are merely divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing description is only exemplary of the invention and that the principles of the technology may be employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. A vehicle steering control method characterized by comprising:
under the condition that the vehicle is detected to be in a preset state, determining a steering factor according to a target steering yaw rate and the yaw rate, wherein the preset state comprises a steering acceleration state, the steering factor comprises an understeer factor and an oversteer factor, and the yaw rate comprises a target yaw rate and an actual yaw rate;
determining a first wheel torque according to the steering factor, a driver required torque and an additional yaw required torque, wherein the additional yaw required torque is determined based on the yaw rate and a rear wheel side slip angle, and the first wheel torque comprises first torques respectively corresponding to four wheels of the vehicle;
determining a second wheel torque according to a target wheel speed of a wheel of the vehicle and an actual wheel speed, wherein the target wheel speed of the wheel is determined based on a target slip rate, the target slip rate is determined based on the steering factor, and the second wheel torque comprises second torques corresponding to four wheels of the vehicle respectively;
and determining a target torque according to the first wheel torque, the second wheel torque and a preset wheel torque difference threshold value, wherein the preset wheel torque difference threshold value is determined based on the actual wheel speed of the vehicle.
2. The method of claim 1, wherein determining a steering factor as a function of the target steering yaw rate and the yaw rate comprises:
determining a first difference value of the target control yaw velocity and the actual yaw velocity, and determining an understeer factor according to the ratio of the first difference value to the actual yaw velocity;
and determining a second difference value of the actual yaw rate and the target yaw rate, and determining an excessive steering factor according to the ratio of the second difference value to the target yaw rate.
3. The method of claim 1, wherein prior to said determining a first wheel torque from said steering factor, a driver demand torque, and an additional yaw demand torque, comprising:
and determining the additional yaw demand torque according to the difference value between the target yaw velocity and the actual yaw velocity and the difference value between the target side slip angle of the rear wheels and the actual side slip angle of the rear wheels.
4. The method of claim 1, wherein determining a first wheel torque based on the steering factor, the driver demand torque, and the additional yaw demand torque comprises:
determining first torques corresponding to the four wheels respectively from the steering factor, the driver required torque and the additional yaw required torque using the following expressions:
wherein, the T isDYC,FL、TDYC,FR、TDYC,RLAnd TDYC,RRRespectively a first torque corresponding to the left front wheel, a first torque corresponding to the right front wheel, a first torque corresponding to the left rear wheel and a first torque corresponding to the right rear wheel, TdFor the driver demand torque, the ξUSFor understeer factor, the ξOSFor excessive steering factor, Δ MZThe additional yaw demand torque is obtained.
5. The method of claim 1, wherein determining a second wheel torque from a target wheel speed and an actual wheel speed of the vehicle using a first predetermined algorithm comprises:
determining a target slip rate according to a first preset slip rate, a second preset slip rate and the understeer factor, wherein the first preset slip rate is the slip rate of the vehicle during straight-line driving, the second preset slip rate is the corresponding preset slip rate during understeer, and the second preset slip rate is smaller than the first preset slip rate;
determining the target wheel speed of the wheel according to the target slip rate and the actual wheel speed;
and determining a second wheel torque according to the difference value of the target wheel speed and the actual wheel speed of the wheel.
6. The method of claim 1, wherein determining a target torque based on the first wheel torque, the second wheel torque, and a preset inter-wheel torque difference threshold value comprises:
determining a torque difference between wheels of a first front axle according to a difference value of a first torque corresponding to the left front wheel and a first torque corresponding to the right front wheel;
determining a torque difference between wheels of a first rear axle according to a difference value of a first torque corresponding to the left rear wheel and a first torque corresponding to the right rear wheel;
determining a torque difference between wheels of a second front axle according to a difference value of a second torque corresponding to the left front wheel and a second torque corresponding to the right front wheel;
determining a torque difference between wheels of a second rear shaft according to a difference value of a second torque corresponding to the left rear wheel and a second torque corresponding to the right rear wheel;
and determining a target torque according to an inter-wheel torque difference and a preset inter-wheel torque difference threshold value based on a preset limiting condition, wherein the inter-wheel torque difference comprises the first front axle inter-wheel torque difference, a first rear axle inter-wheel torque difference, the second front axle inter-wheel torque difference and the second rear axle inter-wheel torque difference.
7. The method of claim 6, wherein determining the target torque based on the predefined constraint and based on the predefined threshold value of the torque difference between the wheels comprises:
if the current torque difference between the second front axle wheels is larger than a first sum value, determining a target torque of the left front wheel according to the sum value of the current right front wheel torque, the current torque difference between the first front axle wheels and a preset torque difference threshold value between the wheels, wherein the first sum value is the sum value of the current torque difference between the first front axle wheels and the preset torque difference threshold value between the wheels;
if the current second front axle wheel torque difference is smaller than or equal to a third difference value, determining a right front wheel target torque according to the sum of the current left front wheel torque, the first front axle wheel torque difference and a preset wheel torque difference threshold value, wherein the third difference value is the difference value between the first front axle wheel torque difference and the preset wheel torque difference threshold value; (ii) a
If the current torque difference between the second rear axle wheels is larger than a second sum value, determining a target torque of the left rear wheel according to the sum value of the current torque of the right rear wheel, the torque difference between the first rear axle wheels and a preset torque difference threshold value between the wheels, wherein the second sum value is the sum value of the torque difference between the first rear axle wheels and the preset torque difference threshold value between the wheels;
and if the current torque difference between the wheels of the second rear axle is smaller than or equal to a fourth difference value, determining a target torque of the right rear wheel according to the sum of the current torque of the left rear wheel, the current torque difference between the wheels of the first rear axle and a preset threshold value of the torque difference between the wheels, wherein the fourth difference value is the difference value between the torque difference between the wheels of the first rear axle and the preset threshold value of the torque difference between the wheels.
8. A vehicle steering control apparatus, characterized by comprising:
the device comprises a steering factor determination module, a control module and a control module, wherein the steering factor determination module is used for determining a steering factor according to a target steering yaw rate and a yaw rate under the condition that the vehicle is detected to be in a preset state, the preset state comprises a steering acceleration state, the steering factor comprises an understeer factor and an oversteer factor, and the yaw rate comprises a target yaw rate and an actual yaw rate;
a first wheel torque determination module configured to determine a first wheel torque based on the steering factor, a driver demand torque, and an additional yaw demand torque, wherein the additional yaw demand torque is determined based on the yaw rate and a rear wheel-side slip angle, and the first wheel torque comprises first torques corresponding to four wheels of the vehicle, respectively;
a second wheel torque determination module, configured to determine a second wheel torque according to a target wheel speed of a wheel of the vehicle and an actual wheel speed, where the target wheel speed of the wheel is determined based on a target slip rate, the target slip rate is determined based on the steering factor, and the second wheel torque includes second torques corresponding to four wheels of the vehicle, respectively;
and the target torque determination module is used for determining a target torque according to the first wheel torque, the second wheel torque and a preset wheel torque difference threshold value, wherein the preset wheel torque difference threshold value is determined based on the actual wheel speed of the vehicle.
9. A vehicle, characterized in that the vehicle comprises: memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor realizes the vehicle steering control method according to any one of claims 1-7 when executing the computer program.
10. A computer-readable storage medium storing computer instructions for causing a processor to implement the vehicle steering control method of any one of claims 1-7 when executed.
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| PCT/CN2023/093465 WO2023217220A1 (en) | 2022-05-11 | 2023-05-11 | Vehicle steering control method and device, vehicle, and storage medium |
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| WO2023217220A1 (en) * | 2022-05-11 | 2023-11-16 | 中国第一汽车股份有限公司 | Vehicle steering control method and device, vehicle, and storage medium |
| WO2024036431A1 (en) * | 2022-08-15 | 2024-02-22 | 华为技术有限公司 | Control method and related equipment |
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| CN115972927A (en) * | 2023-02-22 | 2023-04-18 | 成都赛力斯科技有限公司 | Antiskid torque control method, device, equipment and storage medium |
| CN115972927B (en) * | 2023-02-22 | 2023-06-02 | 成都赛力斯科技有限公司 | Anti-skid torque control method, device, equipment and storage medium |
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