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Title:
STEERING CONTROL METHOD AND APPARATUS
Document Type and Number:
WIPO Patent Application WO/2022/266824
Kind Code:
A1
Abstract:
A vehicle steering control method and apparatus. The method comprises: determining a tire force range according to a road adhesion coefficient and real-time load transfer of a vehicle; determining a steering coordination ratio of autonomous steering to differential steering according to the tire force range, the steering coordination ratio indicating a weight of autonomous steering and differential steering; determining a target wheel steering angle and a target yaw moment according to the steering coordination ratio, a yaw rate error, etc.; providing the target wheel steering angle to an autonomous steering system; and providing the target yaw moment to a differential steering system. The method is a steering coordination control method for autonomous steering and differential steering based on trajectory tracking, and can improve trajectory tracking accuracy.

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Inventors:
ZHENG MIN (CN)
CUI CHEN (CN)
ZHOU YONGYOU (CN)
LUO JIE (CN)
Application Number:
PCT/CN2021/101398
Publication Date:
December 29, 2022
Filing Date:
June 22, 2021
Export Citation:
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Assignee:
HUAWEI TECH CO LTD (CN)
International Classes:
B60W30/045; B60L15/20; B62D6/00
Domestic Patent References:
WO2020182480A12020-09-17
Foreign References:
CN108177692A2018-06-19
CN105015363A2015-11-04
CN111232052A2020-06-05
CN107042841A2017-08-15
JP2008062837A2008-03-21
Attorney, Agent or Firm:
CHINA ZHENGHE INTELLECTUAL PROPERTY AGENCY (CN)
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