Driverless vehicle steering control method and apparatus

A system, comprising:

• a processor;
• and
• a memory coupled to the processor and storing computer readable instructions which, when executed by the processor, cause the processor to perform a driverless vehicle steering control method, the driverless vehicle steering control method comprising:
• acquiring in real time a current location of a driverless vehicle;
• finding, on a map, a curvature radius of a turn on a road at the current location, the curvature radius being a value used for representing an arc radius of the turn on the road, the curvature radius being greater than zero;
• acquiring a distance between a front axle and a rear axle and an axle length of the driverless vehicle in response to finding the curvature radius;
• determining a rotation angle of a steering wheel of the driverless vehicle based on the curvature radius, the distance between the front axle and rear axle, and the axle length;
• and
• controlling the steering wheel of the driverless vehicle to rotate by the rotation angle,
• wherein the determining a rotation angle of a steering wheel of the driverless vehicle based on the curvature radius, the distance between the front axle and rear axle, and the axle length comprises:
• determining the rotation angle of the steering wheel of the driverless vehicle by using the following formula:
• θ
• =
• arcsin
• ⁢
• 4
• ⁢
• L
• 2
• 8
• ⁢
• R
• 2
• +
• 3
• ⁢
• L
• 2
• -
• W
• 2
• where L is the distance between the front axle and rear axle, W is the axle length, R is the curvature radius, and θ is the calculated rotation angle of the steering wheel of the driverless vehicle.

A non-transitory storage medium storing one or more programs, the one or more programs when executed by an apparatus, causing the apparatus to perform a driverless vehicle steering control method, the driverless vehicle steering control method comprising:

• acquiring in real time a current location of a driverless vehicle;
• finding, on a map, a curvature radius of a turn on a road at the current location, the curvature radius being a value used for representing an arc radius of the turn on the road, the curvature radius being greater than zero;
• acquiring a distance between a front axle and a rear axle and an axle length of the driverless vehicle in response to finding the curvature radius;
• determining a rotation angle of a steering wheel of the driverless vehicle based on the curvature radius, the distance between the front axle and rear axle, and the axle length;
• and
• controlling the steering wheel of the driverless vehicle to rotate by the rotation angle,
• wherein the determining a rotation angle of a steering wheel of the driverless vehicle based on the curvature radius, the distance between the front axle and rear axle, and the axle length comprises:
• determining the rotation angle of the steering wheel of the driverless vehicle by using the following formula:
• θ
• =
• arcsin
• ⁢
• 4
• ⁢
• L
• 2
• 8
• ⁢
• R
• 2
• +
• 3
• ⁢
• L
• 2
• -
• W
• 2
• where L is the distance between the front axle and rear axle, W is the axle length, R is the curvature radius, and θ is the calculated rotation angle of the steering wheel of the driverless vehicle.