CN114248830B - Steering control method and device for vehicle and vehicle - Google Patents

Steering control method and device for vehicle and vehicle Download PDF

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Publication number
CN114248830B
CN114248830B CN202011004877.XA CN202011004877A CN114248830B CN 114248830 B CN114248830 B CN 114248830B CN 202011004877 A CN202011004877 A CN 202011004877A CN 114248830 B CN114248830 B CN 114248830B
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China
Prior art keywords
steering
target
vehicle
mode
steering angle
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CN202011004877.XA
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CN114248830A (en
Inventor
曹书源
唐玉晓
靳荣
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Hebei Leisa Heavy Construction Machinery Co ltd
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Hebei Leisa Heavy Construction Machinery Co ltd
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/02—Power-assisted or power-driven steering mechanical, e.g. using a power-take-off mechanism for taking power from a rotating shaft of the vehicle and applying it to the steering gear
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The present disclosure relates to a steering control method and device for a vehicle, and the vehicle, wherein the method includes: when the mode control signal is acquired, current vehicle information of the vehicle is acquired, whether the vehicle meets preset mode control conditions is determined according to the vehicle information, if the vehicle meets the mode control conditions, the vehicle is set into a target steering mode, if the steering wheel rotates, a first target steering angle of the mechanical steering shaft is acquired, a second target steering angle and a target rotating direction of the electric control steering shaft are determined according to the target steering mode and the first target steering angle, and the electric control steering shaft is controlled to rotate to the second target steering angle according to the target rotating direction. According to the steering control method and the steering control device, different target steering modes are selected through the mode control signals, and the rotation of the electric control steering shaft is adjusted according to the different target steering modes, so that the steering requirements under different driving scenes can be met, and the trafficability of the vehicle and the control flexibility are improved.

Description

Steering control method and device for vehicle and vehicle
Technical Field
The disclosure relates to the technical field of vehicle control, and in particular relates to a steering control method and device of a vehicle and the vehicle.
Background
With the continuous development of engineering machinery, engineering vehicles have been widely used in the engineering field. Along with the increasing volume and weight of engineering vehicles, the number of axles of the whole vehicle is also increased, and at this time, in order to improve the trafficability of the vehicles, the vehicles can run in a narrow space, and the requirements on multi-wheel electric control steering and all-wheel steering technologies are increasingly strong. In the related art, the steering of multiple axles is controlled mainly by an electro-hydraulic proportional steering technology. However, the user can face a plurality of different driving scenes in the process of driving the vehicle, the minimum steering radius of the vehicle is different in each driving scene, and the current multi-axis electric control steering system can only steer the vehicle with a fixed minimum steering radius, so that the adaptability to different driving scenes is poor, the trafficability of the vehicle is influenced, and the control flexibility of the vehicle is low.
Disclosure of Invention
In order to solve the problems in the related art, the present disclosure provides a steering control method and apparatus of a vehicle, and a vehicle.
In order to achieve the above object, according to a first aspect of embodiments of the present disclosure, there is provided a steering control method of a vehicle including a mechanical steering shaft that is a steering shaft of a front wheel of the vehicle controlled by a steering wheel of the vehicle and an electrically controlled steering shaft located in a first direction of the mechanical steering shaft that is a steering shaft of a rear wheel of the vehicle controlled by a motor of the vehicle, the first direction being a direction directed from a head of the vehicle toward a tail of the vehicle, the method comprising:
When a mode control signal is acquired, acquiring current vehicle information of the vehicle, and determining whether the vehicle meets a preset mode control condition according to the vehicle information; the mode control signal includes a target steering mode, and the vehicle information includes a vehicle speed of the vehicle, a steering angle of the mechanical steering shaft, and a steering angle of the electric control steering shaft;
if the vehicle meets the mode control condition, setting the vehicle to the target steering mode;
if the steering wheel rotates, a first target steering angle of the mechanical steering shaft is obtained, and a second target steering angle and a target rotating direction of the electric control steering shaft are determined according to the target steering mode and the first target steering angle;
and controlling the electric control steering shaft to rotate to the second target steering angle according to the target rotation direction.
Optionally, the determining, according to the vehicle information, whether the vehicle meets a preset mode control condition includes:
and if the vehicle speed is smaller than or equal to a preset speed threshold value, and the steering angle of the mechanical steering shaft and the steering angle of the electric control steering shaft are smaller than or equal to a preset angle threshold value, determining that the vehicle meets the mode control condition.
Optionally, the target steering mode includes any one of a normal steering mode, a limited steering mode, a homodromous steering mode and an outward swing free steering mode, and the determining the second target steering angle and the target turning direction of the electric control steering shaft according to the target steering mode and the first target steering angle includes:
and determining the second target steering angle and the target rotating direction by utilizing a steering angle formula corresponding to the target steering mode according to the first target steering angle.
Optionally, the second target steering angle is multiple, and when the target steering mode is the normal steering mode, determining, according to the first target steering angle, the second target steering angle and the target rotation direction by using a corner formula corresponding to the target steering mode includes:
determining the target rotation direction and each second target steering angle by utilizing a steering angle formula corresponding to the common steering mode according to the vehicle speed and the first target steering angle;
the corner formula corresponding to the common steering mode comprises:
wherein θ is the first target steering angle, δ i For an ith second target steering angle among the plurality of second target steering angles, A i A first constant corresponding to the ith second target steering angle, i is an integer greater than 0, v 1 For the vehicle speed, v 2 Is a first vehicle speed threshold;
if the second target steering angle is greater than or equal to 0, determining that the second target steering angle is the same as the first target steering angle;
and if the second target steering angle is smaller than 0, determining that the second target steering angle is opposite to the first target steering angle.
Optionally, the second target steering angle is multiple, and when the target steering mode is the limit steering mode, determining, according to the first target steering angle, the second target steering angle and the target turning direction by using a corner formula corresponding to the target steering mode includes:
determining the target rotation direction and each second target steering angle by utilizing a steering angle formula corresponding to the limit steering mode according to the first target steering angle;
the corner formula corresponding to the limit steering mode comprises:
wherein θ is the first target steering angle, δ i For an ith second target steering angle of the plurality of second target steering angles, B i A second constant corresponding to the ith second target steering angle, i being an integer greater than 0;
If the second target steering angle is greater than or equal to 0, determining that the second target steering angle is the same as the first target steering angle;
and if the second target steering angle is smaller than 0, determining that the second target steering angle is opposite to the first target steering angle.
Optionally, the second target steering angle is plural, and in a case where the target steering mode is the same-direction steering mode, after the setting of the vehicle to the target steering mode, the method further includes:
controlling the vehicle speed to be less than or equal to a second vehicle speed threshold;
the determining, according to the target steering mode and the first target steering angle, a second target steering angle and a target rotation direction of the electric control steering shaft includes:
determining the target rotation direction and each second target steering angle by utilizing a steering angle formula corresponding to the same-direction steering mode according to the first target steering angle;
the corner formula corresponding to the same-direction steering mode comprises:
δ i ＝θ，
wherein θ is the first target steering angle, δ i And an i-th second target steering angle among the plurality of second target steering angles, the second target steering angle being the same direction as the first target steering angle.
Optionally, the second target steering angle is plural, and in a case where the target steering mode is the yaw free steering mode, after the setting of the vehicle to the target steering mode, the method further includes:
controlling the vehicle speed to be smaller than or equal to a third vehicle speed threshold value;
the determining, according to the target steering mode and the first target steering angle, a second target steering angle and a target rotation direction of the electric control steering shaft includes:
determining the target rotation direction and each second target steering angle by utilizing a steering angle formula corresponding to the outward-swing-free steering mode according to the first target steering angle;
the corner formula corresponding to the outward swing-free steering mode comprises:
δ i ＝arctg(C i ×tgθ)，
wherein θ is the first target steering angle, δ i For an ith second target steering angle among the plurality of second target steering angles, C i And for a third constant corresponding to the ith second target steering angle, i is an integer greater than 0, and the second target steering angle is the same as the first target steering angle in direction.
Optionally, the vehicle is provided with a first steering button and a second steering button, the target steering mode further includes a double control steering mode, and after the vehicle is set to the target steering mode, the method further includes:
If the target steering mode is the double-control steering mode, controlling the vehicle speed to be smaller than or equal to a fourth vehicle speed threshold value;
after the first steering button is pressed, the electric control steering shaft is controlled to rotate clockwise until the first steering button is released; or alternatively, the process may be performed,
and after the second steering button is pressed, controlling the electric control steering shaft to rotate anticlockwise until the second steering button is released.
According to a second aspect of the embodiments of the present disclosure, there is provided a steering control apparatus of a vehicle including a mechanical steering shaft that is a steering shaft of a front wheel of a vehicle controlled by a steering wheel of the vehicle and an electrically controlled steering shaft located in a first direction of the mechanical steering shaft that is a steering shaft of a rear wheel of the vehicle controlled by a motor of the vehicle, the first direction being a direction from a head of the vehicle toward a tail of the vehicle, the apparatus comprising:
the judging module is used for acquiring current vehicle information of the vehicle when the mode control signal is acquired, and determining whether the vehicle meets a preset mode control condition according to the vehicle information; the mode control signal includes a target steering mode, and the vehicle information includes a vehicle speed of the vehicle, a steering angle of the mechanical steering shaft, and a steering angle of the electric control steering shaft;
A determining module configured to set the vehicle to the target steering mode if the vehicle satisfies the mode control condition;
the determining module is further configured to obtain a first target steering angle of the mechanical steering shaft if the steering wheel rotates, and determine a second target steering angle and a target rotation direction of the electric control steering shaft according to the target steering mode and the first target steering angle;
and the control module is used for controlling the electric control steering shaft to rotate to the second target steering angle according to the target rotation direction.
Optionally, the judging module is configured to:
and if the vehicle speed is smaller than or equal to a preset speed threshold value, and the steering angle of the mechanical steering shaft and the steering angle of the electric control steering shaft are smaller than or equal to a preset angle threshold value, determining that the vehicle meets the mode control condition.
Optionally, the target steering mode includes any one of a normal steering mode, a limit steering mode, a homodromous steering mode and an outward swing free steering mode, and the determining module is configured to:
and determining the second target steering angle and the target rotating direction by utilizing a steering angle formula corresponding to the target steering mode according to the first target steering angle.
Optionally, the second target steering angle is a plurality of, and in a case that the target steering mode is the normal steering mode, the determining module is configured to:
determining the target rotation direction and each second target steering angle by utilizing a steering angle formula corresponding to the common steering mode according to the vehicle speed and the first target steering angle;
the corner formula corresponding to the common steering mode comprises:
wherein θ is the first target steering angle, δ i For an ith second target steering angle among the plurality of second target steering angles, A i A first constant corresponding to the ith second target steering angle, i is an integer greater than 0, v 1 For the vehicle speed, v 2 Is a first vehicle speed threshold;
if the second target steering angle is greater than or equal to 0, determining that the second target steering angle is the same as the first target steering angle;
and if the second target steering angle is smaller than 0, determining that the second target steering angle is opposite to the first target steering angle.
Optionally, the second target steering angle is a plurality of, and in a case that the target steering mode is the limit steering mode, the determining module is configured to:
Determining the target rotation direction and each second target steering angle by utilizing a steering angle formula corresponding to the limit steering mode according to the first target steering angle;
the corner formula corresponding to the limit steering mode comprises:
wherein θ is the first target steering angle, δ i For an ith second target steering angle of the plurality of second target steering angles, B i A second constant corresponding to the ith second target steering angle, i being an integer greater than 0;
if the second target steering angle is greater than or equal to 0, determining that the second target steering angle is the same as the first target steering angle;
and if the second target steering angle is smaller than 0, determining that the second target steering angle is opposite to the first target steering angle.
Optionally, the second target steering angle is a plurality of, and in the case that the target steering mode is the same-direction steering mode, the control module is further configured to:
controlling the vehicle speed to be less than or equal to a second vehicle speed threshold after the setting the vehicle to the target steering mode;
the determining module is used for:
determining the target rotation direction and each second target steering angle by utilizing a steering angle formula corresponding to the same-direction steering mode according to the first target steering angle;
The corner formula corresponding to the same-direction steering mode comprises:
δ i ＝θ，
wherein θ is the first target steering angle, δ i And an i-th second target steering angle among the plurality of second target steering angles, the second target steering angle being the same direction as the first target steering angle.
Optionally, the second target steering angle is a plurality of, and in the case that the target steering mode is the yaw-free steering mode, the control module is further configured to:
controlling the vehicle speed to be less than or equal to a third vehicle speed threshold after the setting the vehicle to the target steering mode;
the determining module is used for:
determining the target rotation direction and each second target steering angle by utilizing a steering angle formula corresponding to the outward-swing-free steering mode according to the first target steering angle;
the corner formula corresponding to the outward swing-free steering mode comprises:
δ i ＝arctg(C i ×tgθ)，
wherein θ is the first target steering angle, δ i For an ith second target steering angle among the plurality of second target steering angles, C i And for a third constant corresponding to the ith second target steering angle, i is an integer greater than 0, and the second target steering angle is the same as the first target steering angle in direction.
Optionally, the vehicle is provided with a first steering button and a second steering button, the target steering mode further includes a double-control steering mode, and the control module includes:
the first control sub-module is used for controlling the vehicle speed to be smaller than or equal to a fourth vehicle speed threshold value if the target steering mode is the double-control steering mode after the vehicle is set to the target steering mode;
the second control sub-module is used for controlling the electric control steering shaft to rotate clockwise after the first steering button is pressed until the first steering button is released; or the electronic control steering shaft is further used for controlling the electronic control steering shaft to rotate anticlockwise after the second steering button is pressed until the second steering button is released.
According to a third aspect of the embodiments of the present disclosure, there is provided a vehicle provided with the steering control device of the vehicle according to the second aspect.
According to the technical scheme, when a mode control signal is acquired, current vehicle information of a vehicle is acquired, whether the vehicle meets preset mode control conditions or not is determined according to the vehicle information, wherein the mode control signal comprises a target steering mode, the vehicle information comprises the speed of the vehicle, the steering angle of a mechanical steering shaft and the steering angle of an electric control steering shaft, if the vehicle meets the mode control conditions, the vehicle is set to be the target steering mode, if the steering wheel rotates, a first target steering angle of the mechanical steering shaft is acquired, a second target steering angle and a target rotating direction of the electric control steering shaft are determined according to the target steering mode and the first target steering angle, and finally the electric control steering shaft is controlled to rotate to the second target steering angle according to the target rotating direction. According to the steering control method and the steering control device, different target steering modes are selected through the mode control signals, and the rotation of the electric control steering shaft is adjusted according to the different target steering modes, so that the steering requirements under different driving scenes can be met, and the trafficability of the vehicle and the control flexibility are improved.
Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification, illustrate the disclosure and together with the description serve to explain, but do not limit the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a method of steering control of a vehicle according to an exemplary embodiment;
FIG. 2 is a schematic diagram of a preset steering center corresponding to one steering mode, according to an exemplary embodiment;
FIG. 3 is a flow chart of one step 103 shown in the embodiment of FIG. 1;
FIG. 4 is a schematic representation of vehicle speed versus second target steering angle;
FIG. 5 is a flow chart of another step 103 shown in the embodiment of FIG. 1;
FIG. 6 is a schematic diagram illustrating a relationship of a first target steering angle to a second target steering angle in accordance with an exemplary embodiment;
FIG. 7 is a flowchart illustrating another method of controlling steering of a vehicle according to an exemplary embodiment;
FIG. 8 is a flowchart illustrating another method of controlling steering of a vehicle according to an exemplary embodiment;
FIG. 9 is a flowchart illustrating yet another method of controlling steering of a vehicle according to an exemplary embodiment;
FIG. 10 is a schematic diagram of a preset steering center corresponding to one mechanical steering mode, according to an exemplary embodiment;
FIG. 11 is a block diagram illustrating a steering control apparatus of a vehicle according to an exemplary embodiment;
FIG. 12 is a block diagram of one control module shown in the embodiment of FIG. 11;
fig. 13 is a block diagram of a vehicle, according to an exemplary embodiment.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
Before introducing the steering control method and device of the vehicle and the vehicle, application scenes related to various embodiments of the disclosure are first described. The application scenario may include a vehicle provided with a controller, where the controller may collect vehicle information of the vehicle through various types of sensors (e.g., an angle sensor, a vehicle speed sensor, etc.), and the vehicle information may include, for example: the vehicle speed of the vehicle and the steering angle of the steering shaft. The controller may be, for example, a processor having a control function such as an MCU (English: microcontroller Unit, chinese: micro control unit), an ECU (English: electronic Control Unit, chinese: electronic control unit) or a VCU (English: vehicle Control Unit, chinese: whole vehicle controller). The vehicle may be an automobile, which is not limited to a conventional automobile, a pure electric automobile or a hybrid automobile, but may be other types of motor vehicles or non-motor vehicles.
Fig. 1 is a flowchart illustrating a steering control method of a vehicle according to an exemplary embodiment. As shown in fig. 1, the vehicle includes a mechanical steering shaft, which is a steering shaft of front wheels of the vehicle controlled by a steering wheel of the vehicle, and an electronically controlled steering shaft, which is a steering shaft of rear wheels of the vehicle controlled by a motor of the vehicle, in a first direction from a head of the vehicle to a tail of the vehicle. The front wheels of the vehicle may be a first number of groups of wheels in front of the vehicle head in a first direction, each group of wheels of the first number of groups comprising at least two front wheels of the vehicle, the groups of wheels being connected by a mechanical steering shaft. The vehicle rear wheels may be a second number of sets of wheels in a first direction of a target set of wheels (the target set of wheels being the last set of front wheels in the first direction), each set of wheels in the second number of sets of wheels comprising at least two vehicle rear wheels, the sets of wheels being connected by an electrically controlled steering shaft. For example, when the vehicle includes one mechanical steering shaft, and two electrically controlled steering shafts (i.e., when the first number is 1 and the second number is 2), the 1 st group of wheels in the first direction are the front wheels of the vehicle, and the 2 nd and 3 rd groups of wheels are the rear wheels of the vehicle.
The method may comprise the steps of:
step 101, when a mode control signal is acquired, current vehicle information of the vehicle is acquired, and whether the vehicle meets preset mode control conditions is determined according to the vehicle information.
Wherein the mode control signal includes a target steering mode and the vehicle information includes a vehicle speed of the vehicle, a steering angle of the mechanical steering shaft, and a steering angle of the electronically controlled steering shaft.
For example, when a user drives a vehicle, the user encounters multiple different driving scenarios (for example, the vehicle needs to turn in a small space, the vehicle needs to run obliquely forward, or the vehicle needs to be prevented from swinging outwards, etc.), and according to the different driving scenarios to be faced, one steering mode is selected from preset multiple steering modes (each steering mode may correspond to one corresponding driving scenario) as a target steering mode to control the electric control steering shaft, so as to adjust the minimum steering radius of the vehicle, so that the vehicle can correspond to different driving scenarios, thereby improving the usability of the vehicle and the flexibility of control. For example, the user may set the steering mode of the vehicle by sending a mode control signal including the target steering mode to the controller. The mode control signal may be a mode control signal transmitted to the controller by providing a plurality of physical form selection buttons corresponding to different steering modes on the vehicle, and when a user presses a certain selection button, setting the steering mode corresponding to the selection button as a target steering mode. Furthermore, the vehicle can be further provided with an enabling button, and the user can successfully select the target steering mode by pressing the enabling button and a selection button corresponding to the steering mode to be set at the same time so as to trigger the mode control signal, and the mode control signal cannot be triggered by independently operating the selection button.
When the controller acquires the mode control signal, in order to ensure that the steering mode of the vehicle can be safely set, the controller can acquire the current vehicle information of the vehicle to detect so as to ensure that the steering mode of the vehicle is set in a running state of low speed and low steering angle. For example, a mode control condition may be set in advance in the controller, and after the vehicle information is acquired, it may be determined whether the vehicle satisfies the mode control condition based on the vehicle information. The mode control conditions may be: if the vehicle speed is less than or equal to a preset speed threshold (the speed threshold may be, for example, 2 km/h), and the steering angle of the mechanical steering shaft and the steering angle of the electric control steering shaft are both less than or equal to a preset angle threshold (the angle threshold may be, for example, 1 °), it is determined that the vehicle satisfies the mode control condition, or else it is determined that the vehicle does not satisfy the mode control condition.
Step 102, if the vehicle meets the mode control condition, setting the vehicle to a target steering mode.
Further, if the vehicle satisfies the mode control condition, which indicates that the vehicle is currently in a running state with a low speed and a low steering angle, the controller determines that the steering mode of the vehicle can be safely set, and sets the vehicle to the target steering mode. If the vehicle does not meet the mode control condition, which means that the vehicle is not in a running state of low speed and low steering angle at present, the controller determines that the steering mode of the vehicle cannot be safely set and the vehicle cannot be set as the target steering mode, and at this time, the controller can send prompt information to a user to prompt the user that the current running state of the vehicle cannot set the steering mode. The mode of sending the prompt message may be through displaying on a display interface of the vehicle, or through controlling an indicator light on the vehicle to flash according to a preset mode (for example, controlling the indicator light to flash according to a preset frequency and color), or through controlling a speaker on the vehicle to send out a voice prompt, which is not particularly limited in the disclosure.
Step 103, if the steering wheel rotates, a first target steering angle of the mechanical steering shaft is obtained, and a second target steering angle and a target rotation direction of the electric control steering shaft are determined according to the target steering mode and the first target steering angle.
For example, when the controller detects that the steering wheel is turned while the user steers the vehicle, the first target steering angle of the mechanical steering shaft may be obtained by an angle sensor provided at the mechanical steering shaft. And then the controller can determine a second target steering angle and a target rotating direction of the electric control steering shaft according to the target steering mode and the first target steering angle by utilizing a preset formula corresponding to the target steering mode.
And 104, controlling the electric control steering shaft to rotate to a second target steering angle according to the target rotation direction.
In this step, the controller may acquire the steering angle and the rotation direction of the current electric control steering shaft through an angle sensor provided at the electric control steering shaft, and control the electric control steering shaft to rotate to a second target steering angle according to the target rotation direction according to the steering angle and the rotation direction of the current electric control steering shaft. For example, in the case where the target rotation direction is clockwise rotation and the second target steering angle is 60 °, if the current steering angle of the electric control steering shaft is 30 °, the rotation direction is clockwise rotation, the controller needs to control the electric control steering shaft to rotate 30 ° further clockwise.
In summary, the present disclosure firstly obtains current vehicle information of a vehicle when a mode control signal is obtained, and determines whether the vehicle meets a preset mode control condition according to the vehicle information, where the mode control signal includes a target steering mode, the vehicle information includes a vehicle speed of the vehicle, a steering angle of a mechanical steering shaft, and a steering angle of an electric control steering shaft, if the vehicle meets the mode control condition, the vehicle is set as the target steering mode, and if the steering wheel rotates, a first target steering angle of the mechanical steering shaft is obtained, and according to the target steering mode and the first target steering angle, a second target steering angle and a target rotation direction of the electric control steering shaft are determined, and finally the electric control steering shaft is controlled to rotate to the second target steering angle according to the target rotation direction. According to the steering control method and the steering control device, different target steering modes are selected through the mode control signals, and the rotation of the electric control steering shaft is adjusted according to the different target steering modes, so that the steering requirements under different driving scenes can be met, and the trafficability of the vehicle and the control flexibility are improved.
Optionally, the target steering mode includes any one of a normal steering mode, a limited steering mode, a homodromous steering mode and an outward swing free steering mode, and step 103 may be implemented by:
And determining a second target steering angle and a target rotating direction by utilizing a steering angle formula corresponding to the target steering mode according to the first target steering angle.
The steering angle formula is a preset steering center corresponding to a target steering mode, and the preset steering center is a center point around which wheels of a mechanical steering shaft and an electric control steering shaft are required to rotate when the vehicle steers in the target steering mode by utilizing a formula determined by the Ackerman theorem.
For example, first, different steering modes may be set according to different driving scenarios, where each steering mode corresponds to a corresponding driving scenario. The steering modes can comprise a common steering mode, a limit steering mode, a homodromous steering mode and an outward-swing-free steering mode, wherein the common steering mode is suitable for a general driving scene of vehicle driving, the limit steering mode is suitable for a driving scene of the vehicle needing steering in a narrow space, the homodromous steering mode is suitable for a driving scene of the vehicle needing driving obliquely forwards, and the outward-swing-free steering mode is suitable for a driving scene of the vehicle needing avoiding outward swing.
Secondly, a preset steering center of a steering mode corresponding to each driving scene can be set according to the specific requirement of each driving scene on the minimum steering radius, wherein the preset steering center is a center point around which wheels of a mechanical steering shaft and an electric control steering shaft are required to rotate when the vehicle steers in the steering mode. Taking a vehicle including a mechanical steering shaft and two electric control steering shafts as an example, as shown in fig. 2 (the vertical line in fig. 2 is a steering center line, the preset steering center is arranged on the steering center line, the hollow circle represents the position of the center of mass of the vehicle), fig. 2 (a) is a schematic diagram of the preset steering center corresponding to the common steering mode, the steering center line in fig. 2 (a) can be arranged on one side of the center of mass of the vehicle close to the electric control steering shaft, and along with the change of the vehicle speed, the higher the vehicle speed, the position of the steering center line gradually moves towards the first direction so as to ensure the running safety of the vehicle, and reduce the probability of rollover of the vehicle caused by the fact that a user bumps the steering wheel. Fig. 2 (b) is a schematic diagram of a preset steering center corresponding to a limit steering mode, and the steering center line of fig. 2 (b) may be set to pass through the center of the whole vehicle to obtain a minimum steering radius and an optimal passability. Fig. 2 (c) is a schematic view of a preset steering center corresponding to the yaw-free steering mode, and the steering center line of fig. 2 (c) may be disposed after the last electronically controlled steering shaft in the first direction of the vehicle, and the same-direction steering mode has no preset steering center.
Further, the ackerman theorem can be utilized to calculate a rotation angle formula corresponding to each steering mode according to a preset steering center corresponding to the steering mode. And finally, storing a corner formula corresponding to each steering mode in the controller, so that the controller can determine a second target steering angle and a target rotating direction according to the first target steering angle and by utilizing the corner formula corresponding to the target steering mode after acquiring the first target steering angle.
Fig. 3 is a flow chart illustrating one step 103 of the embodiment shown in fig. 1. As shown in fig. 3, the second target steering angle is plural, and in the case where the target steering mode is the normal steering mode, step 103 may include the steps of:
step 1031, determining a target rotation direction and each second target steering angle by using a steering angle formula corresponding to the normal steering mode according to the vehicle speed and the first target steering angle.
The corner formula corresponding to the common steering mode comprises:
wherein θ is a first target steering angle, δ i For an ith second target steering angle among the plurality of second target steering angles, A i A first constant corresponding to the ith second target steering angle, i is an integer greater than 0, v 1 For the speed of the vehicle, v 2 Is a first vehicle speed threshold.
In step 1032, if the second target steering angle is greater than or equal to 0, it is determined that the second target steering angle is in the same direction as the first target steering angle.
Step 1033, if the second target steering angle is smaller than 0, determining that the second target steering angle is opposite to the first target steering angle.
In one scenario, the vehicle typically has a plurality of electronically controlled steering axles, each of which corresponds to one or more second target steering angles. The plurality of electric control steering shafts may be sequentially ordered according to a first direction, a second target steering angle corresponding to a 1 st electric control steering shaft located in the first direction of the mechanical steering shaft is used as a 1 st second target steering angle, and a second target steering angle corresponding to a 2 nd electric control steering shaft located in the first direction of the mechanical steering shaftAnd the target steering angle is used as a 2 nd second target steering angle, and the like until the plurality of second target steering angles are sequenced according to the first direction, namely the ith second target steering angle in the plurality of second target steering angles is the second target steering angle corresponding to the ith electric control steering shaft along the first direction. When the target steering mode is the normal steering mode, the controller may utilize a steering angle formula corresponding to the normal steering mode according to the vehicle speed and the first target steering angle A target rotational direction and each second target steering angle are determined. With the vehicle comprising one mechanical steering shaft, and two electrically controlled steering shafts, a first vehicle speed threshold v 2 For example, 35km/h is illustrated, the 1 st second target steering angle corresponding to the 1 st electronically controlled steering shaft in the first direction may be +.>I.e. the 1 st second target steering angle corresponds to a first constant of 0.156, the 2 nd second target steering angle may be +.>I.e. the first constant corresponding to the 2 nd second target steering angle is 0.467.
Corner formula corresponding to common steering mode and vehicle speed v 1 In association, as shown in FIG. 4, when the vehicle speed v 1 Greater than or equal to the first vehicle speed threshold v 2 When (the first vehicle speed threshold may be 35km/h, for example), the second target steering angle is greater than or equal to 0, and it is determined that the second target steering angle is the same as the first target steering angle in the same direction, i.e., the electronically controlled steering axis is the same as the mechanical steering axis in the same direction. When the vehicle speed v 1 Less than a first vehicle speed threshold v 2 When the second target steering angle is smaller than 0, the direction of the second target steering angle is opposite to that of the first target steering angle, namely, the direction of the electric control steering shaft is opposite to that of the mechanical steering shaft. In the normal steering mode, the direction of the electric steering shaft and the mechanical steering shaft is matched with the vehicle speed v 1 In association, when the vehicle is traveling at a low speedThe direction of the electric control steering shaft is opposite to that of the mechanical steering shaft, and the direction of the electric control steering shaft is the same as that of the mechanical steering shaft when the vehicle runs at a high speed, so that the mobility of the vehicle during running at a low speed and the stability of the vehicle during running at a high speed are ensured.
Fig. 5 is a flow chart illustrating another step 103 of the embodiment shown in fig. 1. As shown in fig. 5, the second target steering angle is plural, and in the case where the target steering mode is the limit steering mode, step 103 may include the steps of:
step 1034, determining a target rotation direction and each second target steering angle according to the first target steering angle by using a steering angle formula corresponding to the limit steering mode.
The corner formula corresponding to the limit steering mode includes:
wherein θ is a first target steering angle, δ i For the ith second target steering angle among the plurality of second target steering angles, B i And a second constant corresponding to the ith second target steering angle, wherein i is an integer greater than 0.
Step 1035, if the second target steering angle is greater than or equal to 0, determining that the second target steering angle is the same as the first target steering angle.
If the second target steering angle is smaller than 0, it is determined that the second target steering angle is opposite to the first target steering angle in step 1036.
In another scenario, when the second target steering angle is plural, the plural second target steering angles may be ordered according to the first direction, that is, an i-th second target steering angle of the plural second target steering angles is a second target steering angle corresponding to an i-th electric control steering shaft in the first direction. When the target steering mode is the limit steering mode, the controller may utilize a steering angle formula corresponding to the limit steering mode according to the first target steering angleA target rotational direction and each second target steering angle are determined. Taking the vehicle as an example with one mechanical steering shaft and two electric control steering shafts, the 1 st second target steering angle corresponding to the 1 st electric control steering shaft along the first direction of the vehicle can beI.e. the 1 st second target steering angle corresponds to a second constant of 20, the 2 nd second target steering angle may be +.>I.e. the second constant corresponding to the 2 nd second target steering angle is 15.
The steering angle formula corresponding to the limit steering mode is associated with the first target steering angle θ, as shown in fig. 6, when the first target steering angle θ is smaller than or equal to the second constant B corresponding to the first target steering angle i And when the second target steering angle is larger than or equal to 0, determining that the second target steering angle is the same as the first target steering angle in direction, namely the direction of the electric control steering shaft is the same as the direction of the mechanical steering shaft. When the first target steering angle theta is larger than the second constant B corresponding to the first target steering angle i When the second target steering angle is smaller than 0, the direction of the second target steering angle is opposite to that of the first target steering angle, namely, the direction of the electric control steering shaft is opposite to that of the mechanical steering shaft. In the limit steering mode, the directions of the electric control steering shaft and the mechanical steering shaft are correlated with the first target steering angle θ, so that the directions of the electric control steering shaft and the mechanical steering shaft can be reversed when the first target steering angle is large, and the directions of the electric control steering shaft and the mechanical steering shaft are identical when the first target steering angle is small, thereby ensuring the steering performance and the maneuverability of the vehicle.
Fig. 7 is a flowchart illustrating another steering control method of a vehicle according to an exemplary embodiment. As shown in fig. 7, the second target steering angle is plural, and in the case where the target steering mode is the same-direction steering mode, after step 102, the method further includes the steps of:
step 105, controlling the vehicle speed to be less than or equal to a second vehicle speed threshold.
For example, in the case where the target steering mode is the same-direction steering mode, in order to ensure the running safety of the vehicle, the controller may control the vehicle speed to be less than or equal to a second vehicle speed threshold value, which may be 5km/h, for example, by limiting the engine speed, the transmission gear, or the like.
Step 103 may be implemented by:
and determining the target rotation direction and each second target steering angle by utilizing a steering angle formula corresponding to the same-direction steering mode according to the first target steering angle.
The corner formula corresponding to the same direction steering mode comprises:
δ i ＝θ，
wherein θ is a first target steering angle, δ i For an i-th second target steering angle among the plurality of second target steering angles, the second target steering angle is the same direction as the first target steering angle.
For example, when the second target steering angle is plural, the plural second target steering angles may be ordered in the first direction, that is, the i-th second target steering angle of the plural second target steering angles is the second target steering angle corresponding to the i-th electronically controlled steering shaft in the first direction. In the case that the target steering mode is the same-direction steering mode, the controller may utilize a steering angle formula δ corresponding to the same-direction steering mode according to the first target steering angle i =θ, the target turning direction and each second target steering angle are determined. Taking the vehicle as an example with one mechanical steering shaft and two electric control steering shafts, the 1 st second target steering angle corresponding to the 1 st electric control steering shaft along the first direction of the vehicle can be delta 1 =θ, the 2 nd second target steering angle may be δ 2 ＝θ。
Fig. 8 is a flowchart illustrating another steering control method of a vehicle according to an exemplary embodiment. As shown in fig. 8, the second target steering angle is plural, and in the case where the target steering mode is the out-swing-free steering mode, the method further includes, after step 102, the steps of:
and 106, controlling the vehicle speed to be smaller than or equal to a third vehicle speed threshold value.
For example, in the case where the target steering mode is the out-swing-free steering mode, in order to ensure the running safety of the vehicle, the controller may control the vehicle speed to be less than or equal to a second vehicle speed threshold value, which may be 30km/h, for example, by limiting the engine speed, the transmission gear, or the like.
Step 103 may be implemented by:
and determining the target rotation direction and each second target steering angle by utilizing a steering angle formula corresponding to the outward swing-free steering mode according to the first target steering angle.
The corner formula corresponding to the outward swing-free steering mode comprises:
δ i ＝arctg(C i ×tgθ)，
wherein θ is a first target steering angle, δ i For an ith second target steering angle of the plurality of second target steering angles, C i And a third constant corresponding to an ith second target steering angle, i being an integer greater than 0, the second target steering angle being in the same direction as the first target steering angle.
For example, when the second target steering angle is plural, the plural second target steering angles may be ordered in the first direction, that is, the i-th second target steering angle of the plural second target steering angles is the second target steering angle corresponding to the i-th electronically controlled steering shaft in the first direction. In the case that the target steering mode is the yaw-free steering mode, the controller may utilize a steering angle formula δ corresponding to the yaw-free steering mode according to the first target steering angle i ＝arctg(C i X tg θ), the target rotational direction and each second target steering angle are determined. Taking the vehicle as an example with one mechanical steering shaft and two electric control steering shafts, the 1 st second target steering angle corresponding to the 1 st electric control steering shaft along the first direction of the vehicle can be delta 1 =arctg (0.37×tgθ), i.e., the 1 st second target steering angle corresponds to a third constant of 0.37, the 2 nd second target steering angle may be δ 2 =arctg (0.12×tgθ), i.e. the 2 nd second target steering angle pairThe third constant is 0.12. Under the steering mode without the outward swing, the second target steering angle corresponding to the electric control steering shaft of the vehicle is gradually reduced along the first direction, the outward swing value of the vehicle in the steering process can be reduced, the outward swing of the rear side of the vehicle is prevented from touching pedestrians or other obstacles, and the running safety of the vehicle is improved.
Fig. 9 is a flowchart illustrating a steering control method of yet another vehicle according to an exemplary embodiment. As shown in fig. 9, the vehicle is provided with a first steering button and a second steering button, the target steering mode further includes a double control steering mode, and after step 102, the method further includes the steps of:
and 107, if the target steering mode is the double-control steering mode, controlling the vehicle speed to be smaller than or equal to a fourth vehicle speed threshold value.
For example, in the case where the target steering mode is the double control steering mode, in order to ensure the running safety of the vehicle, the controller may control the vehicle speed to be less than or equal to a second vehicle speed threshold value, which may be 5km/h, for example, by limiting the engine speed, the transmission gear, or the like.
And step 108, after the first steering button is pressed, controlling the electric control steering shaft to rotate clockwise until the first steering button is released. Or alternatively, the process may be performed,
and step 109, after the second steering button is pressed, controlling the electric control steering shaft to rotate in the anticlockwise direction until the second steering button is released.
For example, when the user steers the vehicle, the user may face a driving scenario where the above steering modes are not applicable, and in order to further improve the trafficability of the vehicle and the convenience of driving the vehicle, the steering modes may further include a double-control steering mode. When the user selects the double-control steering mode as the target steering mode, the user can control the mechanical steering shaft to mechanically steer through rotating the steering wheel, and control the electric control steering shaft to rotate through a first steering button and a second steering button arranged on the vehicle so as to realize electric control steering. For example, in the case where the first steering button is used to control the electrically controlled steering shaft of the vehicle to achieve left turning of the vehicle and the second steering button is used to control the electrically controlled steering shaft of the vehicle to achieve right turning of the vehicle, the user may control the electrically controlled steering shaft to continuously rotate clockwise by continuously pressing the first steering button to control the vehicle to continuously make left turning until the first steering button is released. The user can control the electronically controlled steering shaft to continuously rotate in the counterclockwise direction by continuously pressing the second steering button to control the vehicle to continuously make a right turn until the second steering button is released. In the double-control steering mode, a user can realize arbitrary control of the steering angles of the steering shafts through manipulating the steering wheel, the first steering button and the second steering button according to the specific requirements of the current vehicle.
Optionally, in order to ensure the running safety of the vehicle, when the controller is abnormal (for example, the controller cannot detect the steering angle of each steering shaft or detects that the difference between the steering angles of each steering shaft is too large), the electric control steering shaft is out of control, so that the running safety of the vehicle is prevented from being influenced. The steering modes of the vehicle can also comprise a mechanical steering mode, a preset steering center corresponding to the mechanical steering mode is shown in fig. 10, a vertical line in fig. 10 is a steering center line, a circle represents the position of the center of mass of the vehicle, and the steering center line can pass through the center position of the electric control steering shaft. When a user steers the vehicle, if the controller is found to be abnormal, the mechanical steering mode can be selected as a target steering mode, so that the vehicle can safely run. In the mechanical steering mode, the electrically controlled steering shaft does not participate in steering of the vehicle, and the vehicle is controlled to steer only through the mechanical steering shaft.
In summary, the present disclosure firstly obtains current vehicle information of a vehicle when a mode control signal is obtained, and determines whether the vehicle meets a preset mode control condition according to the vehicle information, where the mode control signal includes a target steering mode, the vehicle information includes a vehicle speed of the vehicle, a steering angle of a mechanical steering shaft, and a steering angle of an electric control steering shaft, if the vehicle meets the mode control condition, the vehicle is set as the target steering mode, and if the steering wheel rotates, a first target steering angle of the mechanical steering shaft is obtained, and according to the target steering mode and the first target steering angle, a second target steering angle and a target rotation direction of the electric control steering shaft are determined, and finally the electric control steering shaft is controlled to rotate to the second target steering angle according to the target rotation direction. According to the steering control method and the steering control device, different target steering modes are selected through the mode control signals, and the rotation of the electric control steering shaft is adjusted according to the different target steering modes, so that the steering requirements under different driving scenes can be met, and the trafficability of the vehicle and the control flexibility are improved.
Fig. 11 is a block diagram showing a steering control apparatus of a vehicle according to an exemplary embodiment. As shown in fig. 11, the vehicle includes a mechanical steering shaft, which is a steering shaft of front wheels of the vehicle controlled by a steering wheel of the vehicle, and an electrically controlled steering shaft, which is a steering shaft of rear wheels of the vehicle controlled by a motor of the vehicle, located in a first direction from a head of the vehicle toward a tail of the vehicle, and the apparatus 200 includes:
the judging module 201 is configured to obtain current vehicle information of the vehicle when the mode control signal is obtained, and determine whether the vehicle meets a preset mode control condition according to the vehicle information.
Wherein the mode control signal includes a target steering mode and the vehicle information includes a vehicle speed of the vehicle, a steering angle of the mechanical steering shaft, and a steering angle of the electronically controlled steering shaft.
The determining module 202 is configured to set the vehicle to a target steering mode if the vehicle satisfies a mode control condition.
The determining module 202 is further configured to obtain a first target steering angle of the mechanical steering shaft if the steering wheel rotates, and determine a second target steering angle and a target rotation direction of the electric control steering shaft according to the target steering mode and the first target steering angle.
And the control module 203 is used for controlling the electric control steering shaft to rotate to a second target steering angle according to the target rotation direction.
Optionally, the judging module 201 is configured to:
if the vehicle speed is smaller than or equal to a preset speed threshold value, and the steering angle of the mechanical steering shaft and the steering angle of the electric control steering shaft are smaller than or equal to preset angle threshold values, determining that the vehicle meets the mode control condition.
Optionally, the target steering mode includes any one of a normal steering mode, a limit steering mode, a homodromous steering mode, and an out-swing free steering mode, and the determining module 202 is configured to:
and determining a second target steering angle and a target rotating direction by utilizing a steering angle formula corresponding to the target steering mode according to the first target steering angle.
The steering angle formula is a preset steering center corresponding to a target steering mode, and the preset steering center is a center point around which wheels of a mechanical steering shaft and an electric control steering shaft are required to rotate when the vehicle steers in the target steering mode by utilizing a formula determined by the Ackerman theorem.
Optionally, the second target steering angle is a plurality of, and in the case that the target steering mode is the normal steering mode, the determining module 202 is configured to:
and determining a target rotation direction and each second target steering angle by utilizing a steering angle formula corresponding to the common steering mode according to the vehicle speed and the first target steering angle.
The corner formula corresponding to the common steering mode comprises:
wherein θ is a first target steering angle, δ i For an ith second target steering angle among the plurality of second target steering angles, A i A first constant corresponding to the ith second target steering angle, i is an integer greater than 0, v 1 For the speed of the vehicle, v 2 Is a first vehicle speed threshold.
If the second target steering angle is greater than or equal to 0, determining that the second target steering angle is the same as the first target steering angle.
If the second target steering angle is smaller than 0, determining that the second target steering angle is opposite to the first target steering angle.
Optionally, the second target steering angle is a plurality, and in the case that the target steering mode is the limit steering mode, the determining module 202 is configured to:
and determining the target rotation direction and each second target steering angle by utilizing a steering angle formula corresponding to the limit steering mode according to the first target steering angle.
The corner formula corresponding to the limit steering mode includes:
wherein θ is a first target steering angle, δ i For the ith second target steering angle among the plurality of second target steering angles, B i And a second constant corresponding to the ith second target steering angle, wherein i is an integer greater than 0.
If the second target steering angle is greater than or equal to 0, determining that the second target steering angle is the same as the first target steering angle.
If the second target steering angle is smaller than 0, determining that the second target steering angle is opposite to the first target steering angle.
Optionally, the second target steering angle is a plurality of, and in the case that the target steering mode is the same-direction steering mode, the control module 203 is further configured to:
after setting the vehicle to the target steering mode, the control vehicle speed is less than or equal to a second vehicle speed threshold.
The determining module 202 is configured to:
and determining the target rotation direction and each second target steering angle by utilizing a steering angle formula corresponding to the same-direction steering mode according to the first target steering angle.
The corner formula corresponding to the same direction steering mode comprises:
δ i ＝θ，
wherein θ is a first target steering angle, δ i For an i-th second target steering angle among the plurality of second target steering angles, the second target steering angle is the same direction as the first target steering angle.
Optionally, the second target steering angle is a plurality, and in the case that the target steering mode is the yaw-free steering mode, the control module 203 is further configured to:
after setting the vehicle to the target steering mode, the control vehicle speed is less than or equal to a third vehicle speed threshold.
The determining module 202 is configured to:
and determining the target rotation direction and each second target steering angle by utilizing a steering angle formula corresponding to the outward swing-free steering mode according to the first target steering angle.
The corner formula corresponding to the outward swing-free steering mode comprises:
δ i ＝arctg(C i ×tgθ)，
wherein θ is a first target steering angle, δ i For an ith second target steering angle of the plurality of second target steering angles, C i And a third constant corresponding to an ith second target steering angle, i being an integer greater than 0, the second target steering angle being in the same direction as the first target steering angle.
Fig. 12 is a block diagram of a control module shown in the embodiment of fig. 11. As shown in fig. 12, the vehicle is provided with a first steering button and a second steering button, the target steering mode further includes a double control steering mode, and the control module 203 includes:
the first control submodule 2031 is configured to control the vehicle speed to be less than or equal to the fourth vehicle speed threshold if the target steering mode is the double-control steering mode after the vehicle is set to the target steering mode.
And a second control sub-module 2032 for controlling the electronically controlled steering shaft to rotate clockwise until the first steering button is released after the first steering button is pressed. Or the electric control steering shaft is also used for controlling the electric control steering shaft to rotate anticlockwise after the second steering button is pressed until the second steering button is released.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
In summary, the present disclosure firstly obtains current vehicle information of a vehicle when a mode control signal is obtained, and determines whether the vehicle meets a preset mode control condition according to the vehicle information, where the mode control signal includes a target steering mode, the vehicle information includes a vehicle speed of the vehicle, a steering angle of a mechanical steering shaft, and a steering angle of an electric control steering shaft, if the vehicle meets the mode control condition, the vehicle is set as the target steering mode, and if the steering wheel rotates, a first target steering angle of the mechanical steering shaft is obtained, and according to the target steering mode and the first target steering angle, a second target steering angle and a target rotation direction of the electric control steering shaft are determined, and finally the electric control steering shaft is controlled to rotate to the second target steering angle according to the target rotation direction. According to the steering control method and the steering control device, different target steering modes are selected through the mode control signals, and the rotation of the electric control steering shaft is adjusted according to the different target steering modes, so that the steering requirements under different driving scenes can be met, and the trafficability of the vehicle and the control flexibility are improved.
The present disclosure also relates to a vehicle, as shown in fig. 13, on which the steering control device 200 of any one of the above-described vehicles is provided on the vehicle 300.
With respect to the vehicle 300 in the above-described embodiment, the specific manner in which the steering control device 200 of the vehicle performs the operation has been described in detail in the embodiment regarding the steering control method of the vehicle, and will not be described in detail here.
In summary, the present disclosure firstly obtains current vehicle information of a vehicle when a mode control signal is obtained, and determines whether the vehicle meets a preset mode control condition according to the vehicle information, where the mode control signal includes a target steering mode, the vehicle information includes a vehicle speed of the vehicle, a steering angle of a mechanical steering shaft, and a steering angle of an electric control steering shaft, if the vehicle meets the mode control condition, the vehicle is set as the target steering mode, and if the steering wheel rotates, a first target steering angle of the mechanical steering shaft is obtained, and according to the target steering mode and the first target steering angle, a second target steering angle and a target rotation direction of the electric control steering shaft are determined, and finally the electric control steering shaft is controlled to rotate to the second target steering angle according to the target rotation direction. According to the steering control method and the steering control device, different target steering modes are selected through the mode control signals, and the rotation of the electric control steering shaft is adjusted according to the different target steering modes, so that the steering requirements under different driving scenes can be met, and the trafficability of the vehicle and the control flexibility are improved.
The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure, and all the simple modifications belong to the protection scope of the present disclosure.
In addition, the specific features described in the foregoing embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, the present disclosure does not further describe various possible combinations.
Moreover, any combination between the various embodiments of the present disclosure is possible as long as it does not depart from the spirit of the present disclosure, which should also be construed as the disclosure of the present disclosure.

Claims (8)

1. A steering control method of a vehicle, characterized in that the vehicle includes a mechanical steering shaft that is a steering shaft of front wheels of the vehicle controlled by a steering wheel of the vehicle and an electric control steering shaft that is a steering shaft of rear wheels of the vehicle controlled by a motor of the vehicle, the method comprising:
when a mode control signal is acquired, acquiring current vehicle information of the vehicle, and determining whether the vehicle meets a preset mode control condition according to the vehicle information; the mode control signal includes a target steering mode, and the vehicle information includes a vehicle speed of the vehicle, a steering angle of the mechanical steering shaft, and a steering angle of the electric control steering shaft;
If the vehicle meets the mode control condition, setting the vehicle to the target steering mode;
if the steering wheel rotates, a first target steering angle of the mechanical steering shaft is obtained, and a second target steering angle and a target rotating direction of the electric control steering shaft are determined according to the target steering mode and the first target steering angle;
controlling the electric control steering shaft to rotate to the second target steering angle according to the target rotation direction;
the target steering mode includes any one of a normal steering mode, a limit steering mode, a homodromous steering mode and an outward-swing-free steering mode, and the determining of the second target steering angle and the target turning direction of the electric control steering shaft according to the target steering mode and the first target steering angle includes:
determining the second target steering angle and the target rotating direction by utilizing a steering angle formula corresponding to the target steering mode according to the first target steering angle;
the vehicle is provided with a first steering button and a second steering button, the target steering mode further comprises a double control steering mode, and after the vehicle is set to the target steering mode, the method further comprises:
If the target steering mode is the double-control steering mode, controlling the vehicle speed to be smaller than or equal to a fourth vehicle speed threshold value;
after the first steering button is pressed, the electric control steering shaft is controlled to rotate clockwise until the first steering button is released; or alternatively, the process may be performed,
and after the second steering button is pressed, controlling the electric control steering shaft to rotate anticlockwise until the second steering button is released.
2. The method according to claim 1, wherein the determining whether the vehicle satisfies a preset mode control condition based on the vehicle information includes:
and if the vehicle speed is smaller than or equal to a preset speed threshold value, and the steering angle of the mechanical steering shaft and the steering angle of the electric control steering shaft are smaller than or equal to a preset angle threshold value, determining that the vehicle meets the mode control condition.
3. The method according to claim 1, wherein the second target steering angle is plural, and wherein when the target steering mode is the normal steering mode, the determining the second target steering angle and the target turning direction from the first target steering angle using a turning angle formula corresponding to the target steering mode includes:
Determining the target rotation direction and each second target steering angle by utilizing a steering angle formula corresponding to the common steering mode according to the vehicle speed and the first target steering angle;
the corner formula corresponding to the common steering mode comprises:
wherein θ is the first target steering angle, δ i For an ith second target steering angle among the plurality of second target steering angles, A i A first constant corresponding to the ith second target steering angle, i is an integer greater than 0, v 1 For the vehicle speed, v 2 Is a first vehicle speed threshold;
if the second target steering angle is greater than or equal to 0, determining that the second target steering angle is the same as the first target steering angle;
and if the second target steering angle is smaller than 0, determining that the second target steering angle is opposite to the first target steering angle.
4. The method according to claim 1, wherein the second target steering angle is plural, and wherein when the target steering mode is the limit steering mode, the determining the second target steering angle and the target turning direction from the first target steering angle using a turning angle formula corresponding to the target steering mode includes:
Determining the target rotation direction and each second target steering angle by utilizing a steering angle formula corresponding to the limit steering mode according to the first target steering angle;
the corner formula corresponding to the limit steering mode comprises:
wherein θ is the first target steering angle, δ i For an ith second target steering angle of the plurality of second target steering angles, B i A second constant corresponding to the ith second target steering angle, i being an integer greater than 0;
if the second target steering angle is greater than or equal to 0, determining that the second target steering angle is the same as the first target steering angle;
and if the second target steering angle is smaller than 0, determining that the second target steering angle is opposite to the first target steering angle.
5. The method according to claim 1, wherein the second target steering angle is plural, and in the case where the target steering mode is the same-direction steering mode, after the setting of the vehicle to the target steering mode, the method further includes:
controlling the vehicle speed to be less than or equal to a second vehicle speed threshold;
the determining, according to the target steering mode and the first target steering angle, a second target steering angle and a target rotation direction of the electric control steering shaft includes:
Determining the target rotation direction and each second target steering angle by utilizing a steering angle formula corresponding to the same-direction steering mode according to the first target steering angle;
the corner formula corresponding to the same-direction steering mode comprises:
δ i ＝θ，
wherein θ is the first target steering angle, δ i An i-th second target steering angle among the plurality of second target steering angles, theThe second target steering angle is in the same direction as the first target steering angle.
6. The method according to claim 1, wherein the second target steering angle is plural, and in the case where the target steering mode is the out-swing-free steering mode, after the setting the vehicle to the target steering mode, the method further includes:
controlling the vehicle speed to be smaller than or equal to a third vehicle speed threshold value;
the determining, according to the target steering mode and the first target steering angle, a second target steering angle and a target rotation direction of the electric control steering shaft includes:
determining the target rotation direction and each second target steering angle by utilizing a steering angle formula corresponding to the outward-swing-free steering mode according to the first target steering angle;
The corner formula corresponding to the outward swing-free steering mode comprises:
δ i ＝arctg(C i ×tgθ)，
wherein θ is the first target steering angle, δ i For an ith second target steering angle among the plurality of second target steering angles, C i And for a third constant corresponding to the ith second target steering angle, i is an integer greater than 0, and the second target steering angle is the same as the first target steering angle in direction.
7. A steering control device of a vehicle, characterized in that the vehicle includes a mechanical steering shaft, which is a steering shaft of front wheels of the vehicle controlled by a steering wheel of the vehicle, and an electric control steering shaft, which is a steering shaft of rear wheels of the vehicle controlled by a motor of the vehicle, the device (200) comprising:
the judging module (201) is used for acquiring current vehicle information of the vehicle when the mode control signal is acquired, and determining whether the vehicle meets a preset mode control condition according to the vehicle information; the mode control signal includes a target steering mode, and the vehicle information includes a vehicle speed of the vehicle, a steering angle of the mechanical steering shaft, and a steering angle of the electric control steering shaft;
a determining module (202) for setting the vehicle to the target steering mode if the vehicle satisfies the mode control condition;
The determining module (202) is further configured to obtain a first target steering angle of the mechanical steering shaft if the steering wheel rotates, and determine a second target steering angle and a target rotation direction of the electric control steering shaft according to the target steering mode and the first target steering angle;
the control module (203) is used for controlling the electric control steering shaft to rotate to the second target steering angle according to the target rotation direction;
the target steering mode comprises any one of a normal steering mode, a limit steering mode, a homodromous steering mode and an outward swing-free steering mode, and the determining module is used for:
determining the second target steering angle and the target rotating direction by utilizing a steering angle formula corresponding to the target steering mode according to the first target steering angle;
the vehicle is provided with a first steering button and a second steering button, the target steering mode further comprises a double-control steering mode, and after the vehicle is set to the target steering mode, the control module comprises:
the first control sub-module is used for controlling the vehicle speed to be smaller than or equal to a fourth vehicle speed threshold value if the target steering mode is the double-control steering mode;
The second control sub-module is used for controlling the electric control steering shaft to rotate clockwise after the first steering button is pressed until the first steering button is released; or alternatively, the process may be performed,
and after the second steering button is pressed, controlling the electric control steering shaft to rotate anticlockwise until the second steering button is released.
8. A vehicle, characterized in that the vehicle (300) is provided with the steering control device (200) of the vehicle according to claim 7.
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