Steering control method for a towable heavy-duty carrier vehicle

Abstract

The present invention discloses a steering control method for a towable heavy-duty carrier vehicle, comprising: receiving a control instruction from a user to determine the current steering mode; collecting initial steering angle information at corresponding positions by using angle sensors installed on each wheel set; generating an operation instruction according to the target sensing information, the current vehicle speed, and all the initial steering angle information; the main controller decomposing the operation instruction into sub-commands that can be executed by each component in the steering system; and each component in the steering system responding to the corresponding sub-command so that the towable heavy-duty carrier vehicle can travel according to the current steering mode. In the present invention, angle sensors are arranged on each axis steering mechanism of the wheel set. The angle sensors can sense the steering angles of each axis, upload the angle signals to the controller, and the controller issues control instructions according to the angle states of the three axes to control the corresponding steering proportional valves of the three axes, thereby controlling the corresponding steering cylinders to act and realizing multiple steering modes.

Description

Technical Field

[0001] The present invention relates to the technical field of heavy-duty transport vehicles, and particularly to a steering control method for a towable heavy-duty transport vehicle. Background Art

[0002] Due to the large load capacity, the body of a towable heavy-duty transport vehicle is usually long, with a large number of axles, and it is relatively difficult to steer. Generally, it does not have the ability to steer through sharp turns. Therefore, traditional heavy-duty transport vehicles have high requirements for road conditions during road transportation, which greatly limits the application scenarios and transportation ranges of heavy-duty transport vehicles. Summary of the Invention

[0003] The purpose of the present invention is to provide a steering control method for a towable heavy-duty transport vehicle to solve the problem of difficult steering of towable heavy-duty transport vehicles in the prior art.

[0004] The above object of the present invention can be achieved by the following technical solutions:

[0005] The present invention provides a steering control method for a towable heavy-duty transport vehicle, including:

[0006] Receiving a control instruction from a user to determine the current steering mode;

[0007] Collecting initial steering angle information at corresponding positions by using angle sensors installed on each wheel set;

[0008] Generating an operation instruction according to the target sensing information, the current vehicle speed, and all the initial steering angle information;

[0009] The main controller decomposes the operation instruction into sub-commands that can be executed by each component in the steering system;

[0010] Each component in the steering system responds to the corresponding sub-command to enable the towable heavy-duty transport vehicle to travel according to the current steering mode.

[0011] Preferably, the steering system includes:

[0012] A plurality of steering proportional valves, with one steering proportional valve provided on each axis to adjust the steering angle of the corresponding axis;

[0013] A plurality of steering return proportional valves, with one steering return proportional valve provided on each axis;

[0014] A plurality of suspension lift proportional solenoid valves, with one suspension lift proportional solenoid valve provided at the left front, left rear, right front, and right rear of the front vehicle and the rear vehicle;

[0015] A plurality of load cylinder solenoid valves for sliding and swinging;

[0016] Multiple rotary motor forward and reverse solenoid valves are used to control the vehicle body to rotate to a specified position.

[0017] Preferably, the target sensing information includes at least one sensing information collected by the following sensors: a vehicle tilt angle sensor, a suspension pressure sensor, and a suspension height sensor.

[0018] Preferably, the steering modes include:

[0019] Traction steering mode, including high-speed traction steering mode, medium and low-speed traction rotation mode, and extreme curve traction steering mode;

[0020] Self-steering mode, including front vehicle steering mode, rear axle steering mode, in-situ rotation mode, crab walking mode, and figure-eight steering mode;

[0021] Rear vehicle self-driving mode, including single vehicle front axle steering mode, single vehicle rear axle steering mode, single vehicle figure-eight steering mode, and single vehicle crab walking steering mode;

[0022] Among them, the front vehicle steering mode, the rear axle steering mode, the crab walking mode, and the figure-eight steering mode all include two sub-modes: small steering angle and large steering angle.

[0023] Preferably, three axes are evenly arranged along the vehicle length direction on both the front vehicle and the rear vehicle, and two wheel sets are provided on each axis; the high-speed traction steering mode is set by controlling the following conditions:

[0024] The tractor is freely articulated with the front vehicle;

[0025] The front vehicle floats with the turntable of the cargo platform, the first axis of the front vehicle is locked, and the second and third axes follow the steering;

[0026] The rear vehicle is locked with the turntable of the cargo platform, the turning angle of the rear vehicle is 0, the three axes of the rear vehicle are all in the centered and locked state, and the turning angle of the wheel set is 0.

[0027] Preferably, three axes are evenly arranged along the vehicle length direction on both the front vehicle and the rear vehicle, and two wheel sets are provided on each axis; the medium and low-speed traction rotation mode is set by controlling the following conditions:

[0028] The tractor is freely articulated with the front vehicle;

[0029] The front vehicle floats with the turntable of the cargo platform, the first axis of the front vehicle is locked, and the second and third axes follow the steering;

[0030] The rear vehicle is locked with the turntable of the cargo platform, the turning angle of the rear vehicle is 0, the turning angle of the wheel set actively follows the traction angle, and the turning angle of the wheel set is not 0.

[0031] Preferably, the front vehicle and the rear vehicle are both provided with three axes at intervals along the vehicle length direction, and each axis has two wheel sets; the mid-limit curve traction steering mode is set by controlling the following conditions:

[0032] The tractor is freely articulated with the preceding vehicle;

[0033] The front vehicle and the cargo platform turntable float, the rear two axes of the front vehicle follow, and the front vehicle turning angle>0;

[0034] The steering angle of the rear vehicle rotates in the opposite direction to the steering angle of the front vehicle, and the steering angle of the wheel group actively turns following the traction angle, and the steering angle of the wheel group is not 0.

[0035] Preferably, the front vehicle and the rear vehicle are both provided with three axes at intervals along the vehicle length direction, and each axis has two wheel sets; the steering mode of the front vehicle with a medium or large turning angle is set by controlling the following conditions:

[0036] For remote control operation, select the large corner button;

[0037] The front vehicle is freely articulated with the cargo platform, the rear vehicle is locked with the cargo platform, and the rear vehicle's turning angle is 0;

[0038] The front vehicle's wheels are turned and the rear vehicle's last axle is locked.

[0039] Preferably, the front vehicle and the rear vehicle are both provided with three axes at intervals along the vehicle length direction, and each axis has two wheel sets; the rotation mode in situ is set by controlling the following conditions:

[0040] The front and rear vehicles rotate clockwise through the cargo platform power turntable until the two vehicles are parallel, and the turning angles of the front and rear vehicles are both 90°;

[0041] Remote control allows the powered turntable of the cargo platform to be locked;

[0042] The wheel turning angles of the front vehicle and the rear vehicle are both 0, the two vehicles are driven in linkage, and the on-the-spot rotation mode is operated by remote control to make the vehicles move.

[0043] Preferably, the front vehicle and the rear vehicle are both provided with three axes spaced apart in the vehicle length direction, and each axis has two wheel sets;

[0044] The small-angle figure-eight steering mode is set by controlling the following conditions: remote control operation, no large-angle button is selected, and the default is small angle; the front vehicle, the rear vehicle and the cargo platform power turntable float, the rear vehicle follows the front vehicle, and the front vehicle and the rear vehicle turn angle are opposite when driving, and the driving direction is the same; and / or

[0045] The bicycle crab steering mode is set by controlling the following conditions: the bicycle is in self-propelled state; all axis wheel groups control the steering, and the steering angle is the same and the walking direction is consistent.

[0046] The present invention has at least the following features and advantages:

[0047] 1. Solved the problem of difficult steering of towable heavy-duty carriers, broke through the multi-mode steering coordination technology, improved the steering performance, and can meet the steering requirements of various complex road conditions.

[0048] 2. Can achieve coordinated multi-axle steering of the tractor and trailer, be compatible with steering modes such as independent driving and in-situ steering, crab walking, etc., and improve the steering maneuverability of towable heavy-duty carriers.

[0049] 3. Can achieve three categories and twelve steering modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0051] Figure 1 It is a schematic diagram of the towable heavy-duty carrier of the present invention;

[0052] Figure 2 It is a control block diagram of the steering control method of the towable heavy-duty carrier of the present invention;

[0053] Figure 3 It is an interface diagram of the remote control operation box of the present invention;

[0054] Figure 4 It is a schematic diagram of the state of the towable heavy-duty carrier in the steering mode of the present invention;

[0055] Figure 5 It is a schematic diagram of the state of the towable heavy-duty carrier in the steering mode of the present invention;

[0056] Figure 6 It is a schematic diagram of the state of the towable heavy-duty carrier in the steering mode of the present invention;

[0057] Figure 7 It is a schematic diagram of the state of the towable heavy-duty carrier in the steering mode of the present invention;

[0058] Figure 8 It is a schematic diagram of the state of the towable heavy-duty carrier in the steering mode of the present invention;

[0059] Figure 9 It is a schematic diagram of the state of the towable heavy-duty carrier in the steering mode of the present invention;

[0060] Figure 10Schematic diagram of the steering angle of the present invention;

[0061] Figure 11 Steering hydraulic schematic diagram of the present invention.

[0062] Reference numerals and descriptions:

[0063] 1. Sensor; 2. Hydraulic valve group; 3. Steering cylinder. Detailed implementation manners

[0064] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the embodiments described below are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0065] For easy understanding, please refer to Figure 10 , and the following explanations are made for the steering angle that appears in the present invention:

[0066] Traction angle: The angle α between the tractor and the towing seat with the hinge at the articulation between the tractor and the leading vehicle as the rotation center;

[0067] Steering angle of the leading vehicle: The angle α1 between the leading vehicle and the central axis of the cargo platform with the hinge at the free articulation between the leading vehicle and the cargo platform as the rotation center;

[0068] Steering angle of the trailing vehicle: The angle α2 between the trailing vehicle and the central axis of the cargo platform with the hinge at the free articulation between the trailing vehicle and the cargo platform as the rotation center;

[0069] Steering angle of the wheel set: The angle β between the wheel set and the central axis.

[0070] The present invention provides a steering control method for a towable heavy-duty carrier vehicle. Please refer to Figures 1 to 11 , including:

[0071] Receiving a control instruction from the user to determine the current steering mode;

[0072] Collecting the initial steering angle information at the corresponding position by using the angle sensors installed on each wheel set;

[0073] Generating an operation instruction according to the target sensing information, the current vehicle speed, and all the initial steering angle information;

[0074] The main controller decomposes the operation instruction into sub-commands that can be executed by each component in the steering system;

[0075] Each component in the steering system responds to its corresponding sub-command so that the towable heavy-duty carrier vehicle can travel according to the current steering mode.

[0076] The present invention enables a towable heavy-duty carrier vehicle to achieve coordinated multi-axle steering of the tractor and trailer, and is compatible with various steering modes such as independent driving in-place steering, crab walking, and figure-eight steering. It also has the ability to steer through sharp turns, improving the steering maneuverability of the vehicle and enabling the carrier vehicle to have good steering performance under various complex environments and road conditions.

[0077] In some embodiments, the steering system includes:

[0078] A plurality of steering proportional valves, with one steering proportional valve provided on each axis to adjust the steering angle of the corresponding axis;

[0079] A plurality of steering return proportional valves, with one steering return proportional valve provided on each axis;

[0080] A plurality of suspension lift proportional solenoid valves, with one suspension lift proportional solenoid valve provided at the left front, left rear, right front, and right rear of the tractor and the trailer;

[0081] A plurality of loading cylinder solenoid valves for sliding and swinging;

[0082] A plurality of rotary motor forward and reverse solenoid valves for controlling the rotation of the vehicle body to a specified position.

[0083] In some embodiments, the target sensing information includes at least one type of sensing information collected by the following sensors: a vehicle tilt angle sensor, a suspension pressure sensor, and a suspension height sensor.

[0084] In some embodiments, the steering modes include:

[0085] A towing steering mode, including a high-speed towing steering mode, a medium and low-speed towing rotation mode, and an extreme curve towing steering mode;

[0086] A self-steering mode, including a front vehicle steering mode, a rear axle steering mode, an in-place rotation mode, a crab walking mode, and a figure-eight steering mode;

[0087] A trailer self-driving mode, including a single vehicle front axle steering mode, a single vehicle rear axle steering mode, a single vehicle figure-eight steering mode, and a single vehicle crab walking steering mode;

[0088] Among them, the front vehicle steering mode, the rear axle steering mode, the crab walking mode, and the figure-eight steering mode all include two sub-modes: a small steering angle and a large steering angle. Among them, the small steering angle is within an angle value of 25°, and the large steering angle is 25° and above.

[0089] In some embodiments, please refer to Figure 4 , three axes are arranged at intervals along the vehicle length direction on both the tractor and the trailer, and two wheel sets are provided on each axis; the high-speed towing steering mode is set by controlling the following conditions:

[0090] The tractor is freely articulated with the front vehicle;

[0091] The front vehicle floats with the turntable of the cargo platform. The first axle of the front vehicle is locked, and the second and third axles follow the steering;

[0092] The rear vehicle is locked with the turntable of the cargo platform. The turning angle of the rear vehicle is 0. The three axles of the rear vehicle are all in the centered and locked state, and the turning angle of the wheel set is 0.

[0093] In some embodiments, three axles are arranged at intervals along the vehicle length direction on both the front vehicle and the rear vehicle, and two wheel sets are provided on each axle; the medium and low speed traction rotation speed mode is set by controlling the following conditions:

[0094] The tractor is freely articulated with the front vehicle;

[0095] The front vehicle floats with the turntable of the cargo platform. The first axle of the front vehicle is locked, and the second and third axles follow the steering;

[0096] The rear vehicle is locked with the turntable of the cargo platform. The turning angle of the rear vehicle is 0. The turning angle of the wheel set actively steers following the traction angle, and the turning angle of the wheel set is not 0.

[0097] In some embodiments, three axles are arranged at intervals along the vehicle length direction on both the front vehicle and the rear vehicle, and two wheel sets are provided on each axle; the medium and extreme curve traction steering mode is set by controlling the following conditions:

[0098] The tractor is freely articulated with the front vehicle;

[0099] The front vehicle floats with the turntable of the cargo platform. The last two axles of the front vehicle follow the steering, and the turning angle of the front vehicle > 0;

[0100] The turning angle of the rear vehicle rotates in the opposite direction with the same magnitude following the turning angle of the front vehicle. The turning angle of the wheel set actively steers following the traction angle, and the turning angle of the wheel set is not 0.

[0101] In some embodiments, three axles are arranged at intervals along the vehicle length direction on both the front vehicle and the rear vehicle, and two wheel sets are provided on each axle; the large turning angle front vehicle steering mode is set by controlling the following conditions:

[0102] Remote control operation, select the large turning angle button;

[0103] The front vehicle is freely articulated with the cargo platform, the rear vehicle is locked with the cargo platform, and the turning angle of the rear vehicle is 0;

[0104] The wheels of the front vehicle steer and move forward, and the last axle of the rear vehicle is locked.

[0105] In some embodiments, three axles are arranged at intervals along the vehicle length direction on both the front vehicle and the rear vehicle, and two wheel sets are provided on each axle; the in-situ turning mode is set by controlling the following conditions:

[0106] The front vehicle and the rear vehicle are rotated clockwise by the power turntable of the cargo platform until the two vehicles are parallel, and the turning angles of both the front vehicle and the rear vehicle are 90°;

[0107] The power turntable of the cargo platform is locked by remote control operation;

[0108] The turning angles of the wheel sets of both the front vehicle and the rear vehicle are 0, the two vehicles are driven in linkage, and the remote control operation is used to turn in place so that the vehicle can move.

[0109] In some embodiments, three axes are arranged at intervals along the vehicle length direction on both the front vehicle and the rear vehicle, and two wheel sets are provided on each axis; the small-angle eight-shaped steering mode is set by controlling the following conditions: remote control operation, the large-angle button is not selected, and it is defaulted to a small angle; the front vehicle, the rear vehicle and the power turntable of the cargo platform are floating, the rear vehicle follows the front vehicle, and when driving, the turning angles of the front vehicle and the rear vehicle are opposite in angle and the driving directions are the same.

[0110] In some embodiments, three axes are arranged at intervals along the vehicle length direction on both the front vehicle and the rear vehicle, and two wheel sets are provided on each axis; the single-vehicle crab-walking steering mode is set by controlling the following conditions: the single-vehicle self-driving state; all axis wheel sets are controlled to turn, and the turning angles are the same and the walking directions are consistent.

[0111] The present invention has at least the following characteristics and advantages:

[0112] 1. It solves the problem of difficult steering of towable heavy-duty carriers, breaks through the multi-mode steering coordination technology, improves the steering performance, and can meet the steering requirements of various complex road conditions.

[0113] 2. It can achieve main-trailer coordinated multi-axis steering, is compatible with steering modes such as independent driving and turning in place, and crab walking, and improves the steering maneuverability of towable heavy-duty carriers.

[0114] 3. It can achieve three categories and twelve steering modes.

[0115] The following will further illustrate the present invention through several specific embodiments. Please refer to Figures 1 to 11 , the steering control method of the present invention is mainly realized by the sensor 1, the hydraulic valve group 2, the steering cylinder 3 and the controller. The sensor 1 collects the steering angle information for calculating the steering angle of a certain steering mode; through the control of the wheel set hydraulic valve group 2, the steering cylinder 3 is manipulated to act to adjust the steering angle to respond to each steering mode; the rotation of the slewing motor is controlled forward and backward, so as to control the counterclockwise and clockwise rotation of the vehicle body to the specified position. The steering control method can realize the multi-mode coordinated steering of the carrier vehicle to adapt to various complex road conditions.

[0116] Specifically, an angle sensor is arranged on each wheel set of the tractor, the towing saddle, the front vehicle slewing bearing, and the rear vehicle slewing bearing. The angle sensor collects the steering angle information for calculating the steering angle of a certain steering mode; through the left and right steering proportional valves of the wheel set, the steering angles of each axle are adjusted to respond to each steering mode; the rotation of the slewing motor is controlled to rotate forward and backward, so as to control the counterclockwise and clockwise rotation of the vehicle body to a specified position; the steering operation is mainly carried out by a remote control operation box. The remote control operation box is provided with operation buttons for each mode, and corresponding selections can be made to send operation instructions. The main controller decomposes the operation instructions according to the control logic and executes actions on each solenoid valve.

[0117] (1) Vehicle control mode. Select whether the vehicle is in tractor control or single vehicle control mode.

[0118] (2) Steering mode selection. High-speed train traction steering mode, medium and low-speed traction wheel active steering mode, low-speed traction rear vehicle steering mode, in-situ turning mode, crab walking mode, front vehicle steering mode, rear vehicle steering mode, etc. can be selected.

[0119] (3) Gear selection. Forward and reverse gear selections, respectively select forward gears 1, 2, 3 and reverse gears 1 / 2 / 3. 1 / 2 / 3 represent low, medium and high speed gears.

[0120] (4) Vehicle left and right steering control. Control the left and right steering of the vehicle when it is a single vehicle or a combined vehicle. The opening of the operation handle is associated with the steering speed.

[0121] Based on the driving mode (traction, self-driving), according to the vehicle speed and turning angle, analysis and calculation are carried out, and the steering system is operated and controlled to achieve three categories and twelve steering modes, as shown in the following table:

[0122] Steering type Steering mode Remarks I. Towed steering 1. High-speed towed steering 2. Medium and low-speed towed steering 3. Extreme curve towed steering II. Self-steering 1. Front vehicle steering mode Divided into small steering angle and large steering angle 2. Rear axle steering mode Divided into small steering angle and large steering angle 3. In-situ rotation mode 4. Crab steering mode Divided into small steering angle and large steering angle 5. Figure-eight steering mode Divided into small steering angle and large steering angle III. Rear vehicle self-driving 1. Single vehicle front axle steering 2. Single vehicle rear axle steering 3. Single vehicle figure-eight steering 4. Single vehicle crab steering

[0123] The specific setting conditions for each mode are as follows:

[0124] Traction driving:

[0125] (1) High-speed traction steering mode, please refer to Figure 4

[0126] a. The tractor is freely articulated with the front vehicle;

[0127] b. The front vehicle is floating on the turntable of the cargo platform (i.e., the cargo deck), the first axle of the front vehicle is locked, and the second and third axles follow the steering;

[0128] c. The rear vehicle is locked with the turntable of the cargo platform, α2 = 0, all three axles of the rear vehicle are in the centered and locked state, and β = 0.

[0129] (2) Medium and low-speed traction wheel active steering mode, please refer toFigure 5

[0130] a. The tractor is freely articulated with the vehicle ahead;

[0131] b. The front vehicle and the cargo platform turntable float, the first axle of the front vehicle is locked, and the second and third axles follow the steering;

[0132] c. The rear vehicle is locked with the cargo platform turntable, the rear vehicle turning angle α2=0, and the wheel group turning angle follows the traction angle and actively turns β≠0.

[0133] (3) Low-speed limit steering mode

[0134] a. The tractor is freely articulated with the vehicle ahead;

[0135] b. The front vehicle and the cargo platform turntable float, and the front vehicle and rear axles follow α1>0;

[0136] c. The rear vehicle follows the steering angle α2 of the front vehicle and rotates in the opposite direction with the same magnitude, and the wheel group steering angle follows the traction angle and actively turns β≠0.

[0137] Self-driving

[0138] For large-angle front vehicle steering mode, see Figure 6

[0139] a. Remote control operation, select the large corner button;

[0140] b. The front vehicle and the cargo platform are freely articulated, the rear vehicle and the cargo platform are locked, α2 = 0°

[0141] c. The front vehicle's wheels turn and the rear vehicle's last axle is locked.

[0142] Rotate in place mode, see Figure 7

[0143] a. The front and rear vehicles rotate clockwise through the cargo platform power turntable until the two vehicles are parallel, and α1 and α2 are 90°;

[0144] b. Remote control operation to lock the powered turntable of the cargo platform;

[0145] c. The front and rear axle angles are β = 0°, the two vehicles are driven in linkage, and the remote control is used to operate the in-situ circle mode to allow the vehicles to move.

[0146] For small-angle figure-eight steering mode, see Figure 8

[0147] a. Remote control operation, if the large turning angle button is not selected, the default is small turning angle;

[0148] b. The power turntables of the front and rear cargo platforms float, and the rear vehicle follows the front vehicle. The angles of α1 and α2 are opposite during driving.

[0149] (The steering angle limit is within 25°), and the driving directions are the same.

[0150] The following vehicle travels on its own

[0151] For the single vehicle crab steering mode, please refer to Figure 9

[0152] a. The single vehicle travels on its own state;

[0153] b. All the axle wheel sets control the steering, and the steering angles are the same, and the traveling directions are consistent.

[0154] An angle sensor is arranged on the steering mechanism of each axle of the wheel set of the present invention. After the steering mode is set, the angle sensor can sense the steering angles of each axle, upload the angle signals to the controller, and the controller issues control instructions according to the angle states of the three axles to control the corresponding steering proportional valves of the three axles, thereby controlling the corresponding steering cylinders to act and realizing various steering modes.

[0155] The above is only the preferred embodiment of the present invention, and does not make any form of limitation to the present invention. Although the present invention has been disclosed as above with the preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to the equivalent embodiments with equivalent changes within the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A steering control method for a towable heavy-duty carrier vehicle, characterized in that, Including: Receiving a control instruction from a user to determine a current steering mode; Collecting initial steering angle information at corresponding positions by using angle sensors installed on each wheel group; Generating an operation instruction based on target sensing information, the current vehicle speed, and all the initial steering angle information; The main controller decomposes the operation instruction into sub-commands that can be executed by each component in the steering system; Each component in the steering system responds to the corresponding sub-command so that the towable heavy-duty carrier vehicle can travel according to the current steering mode; The steering system includes: A plurality of steering proportional valves, with one steering proportional valve provided on each axis to adjust the steering angle of the corresponding axis; A plurality of steering return proportional valves, with one steering return proportional valve provided on each axis; A plurality of suspension lift proportional solenoid valves, with one suspension lift proportional solenoid valve provided at the left front, left rear, right front, and right rear of the front vehicle and the rear vehicle; A plurality of loading cylinder solenoid valves for sliding and swinging; A plurality of rotary motor forward and reverse solenoid valves for controlling the body to rotate to a specified position; The target sensing information includes at least one type of sensing information collected by the following sensors: a vehicle tilt angle sensor, a suspension pressure sensor, and a suspension height sensor; The steering modes include: A towing steering mode, including a high-speed towing steering mode, a medium and low-speed towing rotation mode, and an extreme curve towing steering mode; A self-steering mode, including a front vehicle steering mode, a rear axle steering mode, an in-place rotation mode, a crab steering mode, and a figure-eight steering mode; A rear vehicle self-driving mode, including a single vehicle front axle steering mode, a single vehicle rear axle steering mode, a single vehicle figure-eight steering mode, and a single vehicle crab steering mode; Among them, the front vehicle steering mode, the rear axle steering mode, the crab steering mode, and the figure-eight steering mode all include two sub-modes: a small steering angle and a large steering angle; The front vehicle and the rear vehicle are both provided with three axes at intervals along the vehicle length direction, and each axis has two wheel groups; The high-speed towing steering mode is set by controlling the following conditions: The tractor is freely hinged to the front vehicle; The front vehicle is floating with the cargo platform turntable, the first axis of the front vehicle is locked, and the second and third axes follow the steering; The rear vehicle is locked with the cargo platform turntable, the steering angle of the rear vehicle is 0, the three axes of the rear vehicle are in a centered and locked state, and the wheel group steering angle is 0; The front vehicle and the rear vehicle are both provided with three axes at intervals along the vehicle length direction, and each axis has two wheel groups; The medium and low-speed towing rotation mode is set by controlling the following conditions: The tractor is freely hinged to the front vehicle; The front vehicle is floating with the cargo platform turntable, the first axis of the front vehicle is locked, and the second and third axes follow the steering; The rear vehicle is locked with the cargo platform turntable, the steering angle of the rear vehicle is 0, the wheel group steering angle follows the towing angle and actively steers, and the wheel group steering angle is not 0; The front vehicle and the rear vehicle are both provided with three axes at intervals along the vehicle length direction, and each axis has two wheel groups; The medium extreme curve towing steering mode is set by controlling the following conditions: The tractor is freely hinged to the front vehicle; The front vehicle is floating with the cargo platform turntable, the rear two axes of the front vehicle follow the steering, and the steering angle of the front vehicle > 0; The rear vehicle turns in the opposite direction to the front vehicle, and the wheel set turns in the opposite direction to the front vehicle. The wheel set turns actively in the direction of the traction angle, and the wheel set turns are not zero. The front vehicle and the rear vehicle are provided with three axes spaced apart in the vehicle length direction, and each axis has two wheels. The medium and large angle front vehicle steering mode is set by controlling the following conditions: For remote control operation, select the large corner button; The front vehicle is freely articulated with the cargo platform, the rear vehicle is locked with the cargo platform, and the rear vehicle's turning angle is 0; The front vehicle is moving with its wheels turned, and the last axle of the rear vehicle is locked; the front vehicle and the rear vehicle are both provided with three axes at intervals along the vehicle length direction, and each axis has two wheel sets; the rotation mode is set by controlling the following conditions: The front and rear vehicles rotate clockwise through the cargo platform power turntable until the two vehicles are parallel, and the turning angles of the front and rear vehicles are both 90°; Remote control allows the powered turntable of the cargo platform to be locked; The wheel turning angles of the front vehicle and the rear vehicle are both 0, the two vehicles are driven in linkage, and the in-situ rotation mode is remotely controlled to make the vehicles move; the front vehicle and the rear vehicle are both provided with three axes at intervals along the vehicle length direction, and each axis has two wheel sets; The small-angle figure-eight steering mode is set by controlling the following conditions: remote control operation, no large-angle button is selected, and the default is small angle; the front vehicle, the rear vehicle and the cargo platform power turntable float, the rear vehicle follows the front vehicle, and the front vehicle and the rear vehicle turn angle are opposite when driving, and the driving direction is the same; and / or The bicycle crab steering mode is set by controlling the following conditions: the bicycle is in self-propelled state; all axis wheel groups control the steering, and the steering angle is the same and the walking direction is consistent; The traction angle is the angle α between the tractor and the fifth wheel, with the hinge between the tractor and the front vehicle as the rotation center; The front vehicle turning angle is the free articulation point between the front vehicle and the cargo platform as the rotation center, and the angle between the front vehicle and the center axis of the cargo platform is α1; The rear vehicle turning angle is the free articulation point between the rear vehicle and the cargo platform as the rotation center, and the angle between the front vehicle and the center axis of the cargo platform is α2; The wheel set turning angle is the angle β between the wheel set and the center axis.

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