A vehicle steering control method, system, related device and vehicle

Abstract

The present invention provides a vehicle steering control method, system, related device and vehicle, wherein the steering control method includes the following steps: monitoring the steering ability status of the vehicle's front wheels; if the vehicle's front wheel steering ability fails, selecting a preset vehicle speed threshold based on the degree of failure of the vehicle's front wheel steering ability; determining additional steering for compensating for the front wheel steering based on a comparison between the current vehicle speed and the vehicle speed threshold, the additional steering including one or more of rear wheel additional steering, roll additional steering achieved by adjusting the vehicle's roll angle, and vector torque steering achieved by adjusting the longitudinal force of the wheels.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle steering control, and in particular to a vehicle steering control method, a steering control system, related devices, and a vehicle including the steering control system. Background Art

[0002] Currently, steering control in autonomous vehicles is primarily provided by steer-by-wire (SBW) systems, which specifically control the steering of the vehicle's front wheels. If the SBW system fails, the driver may be unable to control the vehicle's lateral movement using the steering wheel, resulting in loss of control and a serious safety hazard. This is especially true at low speeds, where the SBW system may fail to provide sufficient front wheel steering rack force, making it difficult for the driver to turn the steering wheel. Summary of the Invention

[0003] One aspect of the present invention aims to solve the technical problem of how to control the safe steering of a vehicle when the steer-by-wire system fails, that is, when the front wheel steering capability fails.

[0004] In addition, other aspects of the present invention are also intended to solve or alleviate other technical problems existing in the prior art.

[0005] The present invention provides a vehicle steering control method, system, related device and vehicle. Specifically, according to one aspect of the present invention, it provides:

[0006] A vehicle steering control method, comprising the following steps:

[0007] Monitor the steering capability status of the vehicle's front wheels;

[0008] If the vehicle's front wheel steering ability fails, a preset vehicle speed threshold is selected based on the degree of failure of the vehicle's front wheel steering ability;

[0009] Additional steering for compensating for front wheel steering is determined based on a comparison between the current vehicle speed and the vehicle speed threshold, wherein the additional steering includes one or more of rear wheel additional steering, roll additional steering achieved by adjusting the vehicle roll angle, and vector torque steering achieved by adjusting the wheel longitudinal force.

[0010] Optionally, according to one embodiment of the present invention, the degree of failure of the steering ability of the front wheels of the vehicle includes partial failure of steering ability and complete failure of steering ability; the vehicle speed threshold includes a first vehicle speed threshold associated with partial failure of steering ability and a second vehicle speed threshold associated with complete failure of steering ability.

[0011] Optionally, according to one embodiment of the present invention,

[0012] When the degree of failure of the steering capability is partial failure of the steering capability, determining whether the current vehicle speed is greater than a first vehicle speed threshold, if so, not adopting additional steering, if not, adopting rear wheel additional steering and roll additional steering as additional steering;

[0013] When the degree of steering ability failure is complete steering ability failure, determine whether the current vehicle speed is greater than a second vehicle speed threshold. If so, vector torque steering and rear wheel additional steering are used as additional steering; if not, rear wheel additional steering and roll additional steering are used as additional steering.

[0014] Optionally, according to one embodiment of the present invention, the following steps are further included:

[0015] When the degree of failure of the steering capability is partial failure of the steering capability or complete failure of the steering capability, a deceleration instruction is sent to a brake controller of the vehicle so that the brake controller controls the brake of the vehicle to perform a deceleration action.

[0016] Optionally, according to one embodiment of the present invention, when the additional steering includes roll additional steering, a first control instruction is issued to the suspension controller to control the active suspension to increase the roll angle of the vehicle to provide additional yaw moment; and / or when the additional steering includes vector torque steering, a second control instruction is issued to the drive controller and / or the brake controller to adjust the longitudinal force of the front and rear wheels of the vehicle to provide additional yaw moment.

[0017] According to another aspect of the present invention, the present invention provides a steering control system, comprising:

[0018] A monitoring module that monitors the steering capability status of the vehicle's front wheels;

[0019] a determination module, which, when the steering ability of the front wheels of the vehicle fails, obtains the degree of failure of the steering ability of the front wheels of the vehicle from the monitoring module and selects a preset vehicle speed threshold based on the failure, then compares the current vehicle speed with the vehicle speed threshold and determines, based on the comparison result, additional steering for compensating for the front wheel steering, the additional steering including one or more of additional rear wheel steering, additional roll steering achieved by adjusting the vehicle roll angle, and vector torque steering achieved by adjusting the longitudinal force of the wheels;

[0020] The control module sends a corresponding control instruction to the steering execution unit according to the additional steering determined by the judgment module.

[0021] Optionally, according to an embodiment of another aspect of the present invention, the degree of failure of the steering ability of the front wheels of the vehicle includes partial failure of steering ability and complete failure of steering ability; the vehicle speed threshold includes a first vehicle speed threshold associated with partial failure of steering ability and a second vehicle speed threshold associated with complete failure of steering ability.

[0022] Optionally, according to an embodiment of another aspect of the present invention,

[0023] When the steering capability failure degree obtained by the determination module is partial steering capability failure, determining whether the current vehicle speed is greater than a first vehicle speed threshold, if so, determining not to adopt additional steering, if not, determining to adopt rear wheel additional steering and roll additional steering as additional steering;

[0024] When the degree of steering ability failure obtained by the judgment module is complete steering ability failure, it is determined whether the current vehicle speed is greater than a second vehicle speed threshold. If so, it is determined that vector torque steering and rear wheel additional steering are adopted as additional steering; if not, it is determined that rear wheel additional steering and roll additional steering are adopted as additional steering.

[0025] Optionally, according to an embodiment of another aspect of the present invention, when the degree of steering ability failure is partial failure of steering ability or complete failure of steering ability, the control module sends a deceleration instruction to the vehicle's brake controller so that the brake controller controls the vehicle's brake to perform a deceleration action.

[0026] Optionally, according to an embodiment of another aspect of the present invention, when the additional steering includes roll additional steering, the control module sends a first control instruction to the suspension controller to control the active suspension to increase the roll angle of the vehicle to provide additional yaw moment, and / or when the additional steering includes vector torque steering, the control module sends a second control instruction to the drive controller and / or the brake controller to adjust the longitudinal force of the front and rear wheels of the vehicle to provide additional yaw moment.

[0027] According to yet another aspect of the present invention, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the above-mentioned steering control method when executed by a processor.

[0028] According to another aspect of the present invention, the present invention provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steering control method described above when executing the computer program.

[0029] According to yet another aspect of the present invention, the present invention provides a vehicle, wherein the vehicle includes the steering control system described above.

[0030] The benefits of the present invention include: controlling the vehicle's steering according to the varying degrees of front-wheel steering failure to ensure vehicle steering safety. When the front wheels lose some or all of their steering ability, they utilize rear-wheel supplementary steering, roll supplementary steering, and vector torque steering to compensate for the front-wheel steering, preventing the driver from being unable to steer. For varying degrees of front-wheel steering failure and at varying vehicle speeds, a combination of rear-wheel supplementary steering, roll supplementary steering, and vector torque steering is specifically selected to compensate for front-wheel steering. This maximizes the utilization of the steering capabilities of roll supplementary steering and vector torque steering while taking vehicle speed into account, compensating for the loss of front-wheel steering ability as much as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above and other features of the present invention will become apparent with reference to the accompanying drawings, in which:

[0032] Figure 1 A schematic flow chart showing a vehicle steering control method according to one embodiment of the present invention is shown;

[0033] Figure 2 A line graph showing the relationship between the actual steering wheel angle and the front wheel rack force at different speeds when the vehicle is turning;

[0034] Figure 3 A module schematic diagram of a steering control system according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0035] It is easy to understand that according to the technical solution of the present invention, without changing the essential spirit of the present invention, a person skilled in the art can propose a variety of interchangeable structural modes and implementation modes. Therefore, the following specific embodiments and drawings are only exemplary descriptions of the technical solution of the present invention and should not be regarded as the entire invention or as a limitation or restriction of the technical solution of the present invention.

[0036] The terms "up," "down," "left," "right," "front," "back," "front," "back," "top," and "bottom" mentioned or potentially mentioned in this specification are defined relative to the structures shown in the accompanying drawings. They are relative concepts and may vary depending on their location or usage. Therefore, these or other directional terms should not be interpreted as restrictive. In addition, the terms "first," "second," "third," and similar expressions are used only for descriptive and distinguishing purposes and should not be understood to indicate or imply the relative importance of the corresponding components.

[0037] refer to Figure 1, which shows a flow chart of a vehicle steering control method according to one embodiment of the present invention. The steering control method of the present invention is used to compensate for the front wheel steering capability when the front wheel steering capability fails to ensure the steering safety of the vehicle, and includes the following steps:

[0038] Monitor the steering capability status of the vehicle's front wheels;

[0039] If the vehicle's front wheel steering ability fails, a preset vehicle speed threshold is selected based on the degree of failure of the vehicle's front wheel steering ability;

[0040] Additional steering for compensating for front wheel steering is determined based on a comparison between the current vehicle speed and the vehicle speed threshold, wherein the additional steering includes one or more of rear wheel additional steering, roll additional steering achieved by adjusting the vehicle roll angle, and vector torque steering achieved by adjusting the wheel longitudinal force.

[0041] Most traditional vehicles only use front-wheel steering when turning. This means the steering wheel controls the front wheel angle, but the rear wheels do not rotate while the steering wheel is turned to adjust the wheel angle. However, many current vehicles can achieve simultaneous front-wheel and rear-wheel steering. When the driver turns the steering wheel, the required front and rear wheel rotation angles are allocated based on the vehicle's current and target heading angles, enabling precise steering. This allows the rear wheels to partially replace the front wheels' steering needs to a certain extent.

[0042] It should be noted that the additional rear-wheel steering described in the present invention is different from the aforementioned rear-wheel steering. In vehicles with both front and rear wheels capable of steering, both the front and rear wheels typically rotate a certain angle during steering to achieve overall steering behavior. The additional rear-wheel steering described in the present invention is additional rear-wheel steering, or an additional rear-wheel turning angle, when the front-wheel steering capability is partially or completely out of control. That is, in this case, first, when the vehicle is turning, the front and rear wheels normally rotate a certain angle. However, due to the partial or complete loss of control of the front-wheel steering capability, the steering control method causes the rear wheels to rotate an additional angle to compensate for the loss of the front-wheel steering capability. This additional rear-wheel steering behavior is defined as "additional rear-wheel steering" in the present invention.

[0043] Similarly, the concept of "roll-plus steering" in the present invention is different from the general concept of "roll steering." General "roll steering" refers to the rotation of the front steering wheel about the kingpin and the rear wheel about an axis perpendicular to the ground caused by the vehicle's tilt when the vehicle turns. This rotation, in other words, changes in the wheel steering angle, occurs due to the movement of the suspension when the vehicle turns. However, in the present invention, "roll-plus steering" is achieved by increasing the roll angle of the vehicle body by adjusting the active suspension when the front wheel steering capability partially or completely fails, thereby increasing the vehicle's yaw moment. This is equivalent to increasing the degree of general roll steering, increasing the degree of vehicle body roll, and thus compensating for the vehicle's steering capability by increasing the roll. Considering the stability and safety of the vehicle when turning, "roll-plus steering" is generally implemented at lower vehicle speeds.

[0044] The concept of "torque vectoring" in this application refers to steering a vehicle by adjusting the longitudinal forces, such as the driving and braking forces at each wheel. By adjusting the driving and braking forces at each wheel, additional yaw torque is generated to facilitate vehicle steering. Torque vectoring typically has a greater impact on wheel steering at higher vehicle speeds.

[0045] According to one embodiment of the present invention, the degree of failure of the steering ability of the vehicle's front wheels includes partial failure of steering ability (for example, loss of half of the steering ability, and in the case of some steer-by-wire systems, loss of 25%, 50%, or 75% of the steering ability) and complete failure of steering ability. Figure 2 , which shows the relationship between the actual steering wheel angle and the front wheel rack force at different speeds when the vehicle is turning. Figure 2 It can be seen that when the vehicle is turning, the actual steering wheel angle and the required front wheel rack force decrease as the vehicle speed increases. Figure 2 In the 1990s, the maximum rack force of the front-wheel steering gear was 10 kN. For example, if the front wheels lost half of their steering ability, the rack force would be 5 kN. At this time, if the vehicle speed was above 40 kph, the actual steering wheel angle would not decrease significantly, but the required front-wheel rack force would be less than 5 kN. In other words, in this case, even if the front wheels had lost half of their steering ability, the steering requirements could still be met using only front-wheel steering. However, if the vehicle speed was less than or equal to 40 kph, the required rack force would be greater than 5 kN, and the rack force of the front-wheel steering gear would no longer be sufficient to maintain the steering. Therefore, other steering methods would be needed to compensate for the insufficient steering ability of the front wheels.

[0046] In one embodiment of the present invention, the vehicle speed threshold is preset in the judgment module of the steering control system and is determined by vehicle testing in consideration of steering safety, maximum steering wheel angle, and front wheel rack force. The vehicle speed threshold includes a first vehicle speed threshold associated with a partial failure of steering capability. The first vehicle speed threshold is, for example, 40 kph, corresponding to Figure 2 The situation in which the steering capability fails by 50%. Therefore, in this embodiment, when determining whether the vehicle speed is greater than the first speed threshold, if so, additional steering is not employed, and steering can be performed solely through the vehicle's front-wheel steering (in vehicles with both front and rear wheels capable of steering, steering can be performed through normal front-wheel and rear-wheel steering). However, when it is determined that the vehicle speed is less than or equal to the first speed threshold, additional rear-wheel steering and additional roll steering are employed as additional steering. This is because front-wheel steering can no longer meet the vehicle's steering requirements, and additional roll steering does not affect the vehicle's steering safety and stability at lower speeds and can stably provide additional yaw torque. Therefore, the vehicle's steering requirements are now met simultaneously by front-wheel steering (in vehicles with both front and rear wheels capable of steering, normal front-wheel steering and rear-wheel steering), additional rear-wheel steering, and additional roll steering.

[0047] In one embodiment of the present invention, the vehicle threshold also includes a second vehicle speed threshold associated with a complete failure of steering capability. The second vehicle speed threshold is, for example, 60 kph. When the vehicle's front wheel steering capability completely fails, the front wheels are completely unable to steer, so other additional steering must be provided at this time. In this embodiment, it is determined whether the current vehicle speed is greater than the second vehicle speed threshold. If so, vector torque steering and rear wheel additional steering are used as additional steering, because vector torque steering can provide higher steering capability at higher vehicle speeds. If it is determined that the current vehicle speed is less than or equal to the second vehicle speed threshold, rear wheel additional steering and roll additional steering are used as additional steering, because roll additional steering does not affect the safety and stability of vehicle steering at lower vehicle speeds and can stably provide additional yaw torque.

[0048] In one embodiment of the present invention, the steering control method further includes the following steps:

[0049] When the degree of failure of the steering capability is partial failure of the steering capability or complete failure of the steering capability, a deceleration instruction is sent to a brake controller of the vehicle so that the brake controller controls the brake of the vehicle to perform a deceleration action.

[0050] Because the loss of steering ability in the vehicle's front wheels is a dangerous condition, indicating a certain degree of failure in the steer-by-wire system, the vehicle should be braked while compensating for the vehicle's steering ability as much as possible so that the driver can still steer the vehicle accurately. Regardless of whether the steering loss is partial or complete, the vehicle should be braked, slowly reducing speed while maintaining steering safety and stability, and ultimately stopping the vehicle to ensure the driver's safety.

[0051] In one embodiment of the present invention, when the additional steering includes roll additional steering, a first control instruction is issued to the suspension controller to control the active suspension to increase the roll angle of the vehicle to provide additional yaw moment.

[0052] Roll-additive steering is achieved by controlling the active suspension to increase the vehicle's roll angle. When roll-additive steering is included in the additional steering, the steering control system's control module issues a first control instruction to the suspension controller. This first control instruction causes the active suspension to increase the vehicle's roll angle, particularly the roll angle toward the steering center. The instruction also specifies the amount by which the active suspension should increase the roll angle, ensuring that the combined effect of all the additional steering and the front-wheel steering meets the driver's steering needs.

[0053] In one embodiment of the present invention, when the additional steering includes vector torque steering, a second control instruction is issued to the drive controller and / or the brake controller to adjust the longitudinal forces of the front and rear wheels of the vehicle to provide additional yaw moment.

[0054] Torque vectoring is achieved by adjusting the vehicle's longitudinal force. The steering control system's control module issues a second control command to the drive controller, brake controller, or both to adjust the driving force or braking force at each wheel (or, in the case of non-four-wheel drive vehicles, to adjust only the front or rear wheels), generating an additional yaw moment, particularly one in the same direction as the vehicle's yaw rate. This second control command includes the required driving force or braking force values ​​for each wheel, ensuring that the torque vectoring effect, combined with other steering functions, precisely meets the driver's steering needs.

[0055] Another aspect of the present invention also provides a steering control system 100, referring to Figure 3, which shows a module schematic diagram of a steering control system 100 proposed according to an embodiment of the present invention. Since the specific shapes and internal structures of the various components are not the subject of the present invention, for the sake of clarity and simplicity, all of these components are schematically shown in the form of structural modules. Those skilled in the art can choose appropriate module shapes and structural forms based on the guidance of the structural diagram. In addition, the structural diagram provided is an embodiment of the present invention. Those skilled in the art can make various modifications without departing from the spirit of the present invention after referring to the diagram, and these modifications should also be within the scope of protection of the present invention. The steering control system includes:

[0056] Monitoring module 1, which monitors the steering ability status of the vehicle's front wheels;

[0057] a judgment module 2, which, when the front wheel steering capability of the vehicle fails, obtains the degree of failure of the vehicle's front wheel steering capability from the monitoring module 1 and selects a preset vehicle speed threshold based on the failure, then compares the current vehicle speed with the vehicle speed threshold and determines, based on the comparison result, additional steering for compensating for the front wheel steering, wherein the additional steering includes one or more of additional rear wheel steering, additional roll steering achieved by adjusting the vehicle's roll angle, and vector torque steering achieved by adjusting the wheel longitudinal force;

[0058] The control module 3 sends a corresponding control instruction to the steering execution unit according to the additional steering determined by the judgment module 2.

[0059] In one embodiment of the present invention, the degree of failure of the steering ability of the front wheels of the vehicle includes partial failure of the steering ability and complete failure of the steering ability.

[0060] In one embodiment of the present invention, the vehicle speed threshold comprises a first vehicle speed threshold associated with a partial failure of steering capability and a second vehicle speed threshold associated with a complete failure of steering capability.

[0061] In one embodiment of the present invention, when the degree of steering ability failure obtained by the judgment module 2 is partial failure of steering ability, it is determined whether the current vehicle speed is greater than a first vehicle speed threshold. If so, it is determined that additional steering is not adopted; if not, it is determined that rear-wheel additional steering and roll additional steering are adopted as additional steering; when the degree of steering ability failure obtained by the judgment module 2 is complete failure of steering ability, it is determined whether the current vehicle speed is greater than a second vehicle speed threshold. If so, it is determined that vector torque steering and rear-wheel additional steering are adopted as additional steering; if not, it is determined that rear-wheel additional steering and roll additional steering are adopted as additional steering.

[0062] In one embodiment of the present invention, when the degree of steering ability failure is partial steering ability failure or complete steering ability failure, the control module 3 sends a deceleration instruction to the vehicle's brake controller so that the brake controller controls the vehicle's brake to perform a deceleration action.

[0063] In one embodiment of the present invention, when the additional steering includes roll additional steering, the control module 3 sends a first control instruction to the suspension controller to control the active suspension to increase the roll angle of the vehicle to provide additional yaw moment.

[0064] In one embodiment of the present invention, when the additional steering includes vector torque steering, the control module 3 sends a second control instruction to the drive controller and / or the brake controller to adjust the longitudinal force of the front and rear wheels of the vehicle to provide additional yaw moment.

[0065] In one embodiment of the present invention, the first speed threshold is, for example, 40 kph, and the second speed threshold is, for example, 60 kph.

[0066] In the description of the present invention, control modules such as "judgment module" and "control module" may include hardware, software or a combination of the two. A module may include hardware circuits, various suitable sensors, communication ports, and memories, and may also include software parts, such as program codes, or may be a combination of software and hardware. The processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor, or any other suitable processor. The processor has data and / or signal processing functions. The processor may be implemented in software, hardware, or a combination of the two. Non-transitory computer-readable storage media include any suitable media that can store program codes, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random access memory, etc.

[0067] Furthermore, it should be understood that since the setting of the control module is only for illustrating the functional units in the system corresponding to the steering control method of the present invention, the physical device corresponding to the control module can be the processor itself, or a part of the software in the processor, a part of the hardware, or a part of the combination of software and hardware. Therefore, the number of control modules is one is only schematic. It can be understood by those skilled in the art that the control module can be adaptively split according to actual conditions. The specific splitting form of the control module will not cause the technical solution to deviate from the principle of the present invention. Therefore, the technical solutions after the split will fall within the scope of protection of the present invention.

[0068] A third aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, wherein the computer program implements the above-mentioned steering control method when executed by a processor.

[0069] It can be understood that the computer-readable storage medium has all the technical effects of the aforementioned steering control method, which will not be repeated here.

[0070] A fourth aspect of the present invention provides a computer device, which includes a memory and a processor, wherein the memory is suitable for storing multiple program codes, and the program codes are suitable for being loaded and run by the processor to execute the aforementioned steering control method.

[0071] It is understood that the computer device has all the technical effects of the aforementioned steering control method, which will not be described in detail herein. The computer device may include a control device formed by various electronic devices.

[0072] Those skilled in the art will appreciate that all or part of the processes in the steering control method of the present invention can be implemented by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-described method embodiments. The computer program includes computer program code, which, as will be understood, includes but is not limited to program code for executing the above-described steering control method. For ease of illustration, only portions relevant to the present invention are shown. The computer program code can be in source code form, object code form, an executable file, or some intermediate form. The computer-readable storage medium can include any entity or device, medium, USB flash drive, removable hard drive, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signals, telecommunication signals, and software distribution media capable of carrying the computer program code. It should be noted that the content of the computer-readable storage medium can be appropriately expanded or reduced based on the requirements of legislation and patent practice within a jurisdiction. For example, in some jurisdictions, legislation and patent practice do not require that computer-readable storage media include electric carrier signals and telecommunication signals.

[0073] A fifth aspect of the present invention provides a vehicle comprising the above-mentioned steering control system.

[0074] It should be understood that the steering control system of the present invention can be installed on various vehicles, including cars, trucks, buses, hybrid vehicles, pure electric vehicles, etc. Therefore, the subject matter of the present invention is also intended to protect various vehicles equipped with the steering control system of the present invention.

[0075] It should be understood that all the above preferred embodiments are illustrative rather than restrictive, and various modifications or variations made by those skilled in the art to the specific embodiments described above under the concept of the present invention should be within the legal protection scope of the present invention.

Claims

1. A vehicle steering control method, characterized in that: The steps include: Monitor the steering capability status of the vehicle's front wheels; If the vehicle's front wheel steering ability fails, a preset vehicle speed threshold is selected based on the degree of failure of the vehicle's front wheel steering ability; Additional steering for compensating for front wheel steering is determined based on a comparison between the current vehicle speed and the vehicle speed threshold, wherein the additional steering includes one or more of rear wheel additional steering, roll additional steering achieved by adjusting the vehicle roll angle, and vector torque steering achieved by adjusting the wheel longitudinal force.

2. The steering control method according to claim 1, characterized in that: The degree of failure of the steering ability of the front wheels of the vehicle includes partial failure of steering ability and complete failure of steering ability; the vehicle speed threshold includes a first vehicle speed threshold associated with the partial failure of steering ability and a second vehicle speed threshold associated with the complete failure of steering ability.

3. The steering control method according to claim 2, characterized in that: When the degree of failure of the steering capability is partial failure of the steering capability, determining whether the current vehicle speed is greater than a first vehicle speed threshold, if so, not adopting additional steering, if not, adopting rear wheel additional steering and roll additional steering as additional steering; When the degree of steering ability failure is complete steering ability failure, determine whether the current vehicle speed is greater than a second vehicle speed threshold. If so, vector torque steering and rear wheel additional steering are used as additional steering; if not, rear wheel additional steering and roll additional steering are used as additional steering.

4. The steering control method according to claim 2, characterized in that: The following steps are also included: When the degree of failure of the steering capability is partial failure of the steering capability or complete failure of the steering capability, a deceleration instruction is sent to a brake controller of the vehicle so that the brake controller controls the brake of the vehicle to perform a deceleration action.

5. The steering control method according to claim 1, characterized in that: When the additional steering includes roll additional steering, a first control instruction is issued to the suspension controller to control the active suspension to increase the roll angle of the vehicle to provide additional yaw moment, and / or when the additional steering includes vector torque steering, a second control instruction is issued to the drive controller and / or the brake controller to adjust the longitudinal force of the front and rear wheels of the vehicle to provide additional yaw moment.

6. A steering control system (100), characterized in that: include: A monitoring module (1) that monitors the steering capability status of the front wheels of the vehicle; a judgment module (2) which, when the steering ability of the front wheels of the vehicle fails, obtains the degree of failure of the steering ability of the front wheels of the vehicle from the monitoring module (1) and selects a preset vehicle speed threshold value based on the failure, then compares the current vehicle speed with the vehicle speed threshold value and determines, based on the comparison result, additional steering for compensating for the front wheel steering, the additional steering including one or more of rear wheel additional steering, roll additional steering achieved by adjusting the vehicle roll angle, and vector torque steering achieved by adjusting the wheel longitudinal force; A control module (3) sends a corresponding control instruction to a steering execution unit according to the additional steering determined by the judgment module (2).

7. The steering control system (100) according to claim 6, characterized in that The degree of failure of the steering ability of the front wheels of the vehicle includes partial failure of steering ability and complete failure of steering ability; the vehicle speed threshold includes a first vehicle speed threshold associated with the partial failure of steering ability and a second vehicle speed threshold associated with the complete failure of steering ability.

8. The steering control system (100) according to claim 7, characterized in that When the steering capability failure degree obtained by the judgment module (2) is a partial steering capability failure, it is judged whether the current vehicle speed is greater than a first vehicle speed threshold, and if so, it is judged that additional steering is not adopted; if not, it is judged that rear wheel additional steering and roll additional steering are adopted as additional steering; When the steering capability failure degree obtained by the judgment module (2) is a complete steering capability failure, it is judged whether the current vehicle speed is greater than a second vehicle speed threshold; if so, it is judged that vector torque steering and rear wheel additional steering are adopted as additional steering; if not, it is judged that rear wheel additional steering and roll additional steering are adopted as additional steering.

9. The steering control system (100) according to claim 7, characterized in that When the degree of failure of the steering capability is partial failure of the steering capability or complete failure of the steering capability, the control module (3) sends a deceleration instruction to the brake controller of the vehicle so that the brake controller controls the brake of the vehicle to perform a deceleration action.

10. The steering control system (100) according to claim 6, characterized in that When the additional steering includes roll additional steering, the control module (3) issues a first control instruction to the suspension controller to control the active suspension to increase the roll angle of the vehicle to provide an additional yaw moment, and / or when the additional steering includes vector torque steering, the control module (3) issues a second control instruction to the drive controller and / or the brake controller to adjust the longitudinal forces of the front and rear wheels of the vehicle to provide an additional yaw moment.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steering control method according to any one of claims 1 to 5 is implemented.

12. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steering control method according to any one of claims 1 to 5 is implemented.

13. A vehicle, characterized in that: The vehicle comprises a steering control system (100) according to any one of claims 6 to 10.

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