Patent ID: 11919518
Assignee: GREAT WALL MOTOR COMPANY LIMITED
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 3:
4. The method according to claim 1, wherein the step of, according to the position-deviation parameter, the first proportionality coefficient and the first differential coefficient, by using the proportional-differential-control algorithm, determining the first steering-wheel steering angle comprises:
according to a preset time duration, a predetermined configuration law and the position-deviation parameter, determining components of the position-deviation parameter at time moments within the preset time duration; and
according to the first proportionality coefficient, the first differential coefficient and the components of the position-deviation parameter at the time moments, by using the proportional-differential-control algorithm, determining first steering-wheel steering angles at the time moments; and
the step of, according to the predetermined rule, calculating on the first steering-wheel steering angle and the second steering-wheel steering angle, to obtain the target steering-wheel steering angle comprises:
according to the predetermined rule, calculating on the first steering-wheel steering angles at the time moments and the second steering-wheel steering angle, to obtain target steering-wheel steering angles at the time moments.