Steering control methods, devices and computer equipment for horizontal transport vehicles

Abstract

This application relates to a steering control method, device, computer equipment, storage medium, and computer program product for a horizontal transport vehicle. The method involves acquiring the real-time heading angle and target heading angle of the horizontal transport vehicle; determining the rotation direction of the drive motor based on the real-time and target heading angles; defining the front and rear wheels of the horizontal transport vehicle based on the rotation direction of the drive motor; acquiring the current fault type and working scenario type of the horizontal transport vehicle; determining the target wheel control mode based on the current fault type and working scenario type; and calculating the wheel angle of at least one of the front and rear wheels under the target wheel control mode based on the wheelbase and pre-aiming distance of the horizontal transport vehicle. This application provides a steering control method suitable for unmanned 4x4 port container horizontal transport vehicles, which fully considers the characteristics of four-wheel steering vehicles, improves the flexibility of steering and lane changing, and ensures basic steering function even when one axle fails.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to a steering control method, device, computer equipment, storage medium and computer program product for a horizontal transport vehicle. Background Technology

[0002] Currently, with the maturity of autonomous driving technology, port construction is gradually moving from "automation" to "unmanned." Especially in the horizontal container transport operations at ports, the number of unmanned vehicles is constantly increasing, not only covering high labor costs but also significantly improving operational efficiency. The 4x4 port container horizontal transport vehicle is a vehicle used for transporting containers at ports. It has two axles and four wheels, each axle serving as both a steering and drive axle, thus achieving four-wheel drive and four-wheel steering. Compared to front-wheel steering vehicles, it offers greater freedom and flexibility. The steering systems of the two axles are independent; if the steering system of one axle fails, the steering system of the other axle can still function, ensuring basic steering functionality. The 4x4 port container horizontal transport vehicle has no driver's cab; both axles are driven by drive motors, and bidirectional movement is achieved by the forward and reverse rotation of the drive motors. Current steering control methods are primarily designed for front-wheel steering vehicles and are not applicable to rear-wheel steering and four-wheel steering. Summary of the Invention

[0003] Therefore, it is necessary to provide an accurate steering control method, device, computer equipment, computer-readable storage medium, and computer program product for a horizontal transport vehicle to address the aforementioned technical problems.

[0004] Firstly, this application provides a steering control method for a horizontal transport vehicle. Applied to a four-wheel steering horizontal transport vehicle, the method includes:

[0005] The real-time heading angle and target heading angle of the horizontal transport vehicle are obtained, and the rotation direction of the drive motor of the horizontal transport vehicle is determined based on the real-time heading angle and target heading angle.

[0006] Define the front and rear wheels of the horizontal transport vehicle according to the direction of rotation of the drive motor;

[0007] Obtain the current fault type and working scenario type of the horizontal transport vehicle, and determine the target control mode of the wheels based on the current fault type and working scenario type;

[0008] Based on the wheelbase and aiming distance of the horizontal transport vehicle, calculate the wheel angle of at least one of the front and rear wheels in the wheel target control mode.

[0009] In one embodiment, determining the direction of rotation of the drive motor of the horizontal transport vehicle based on the real-time heading angle and the target heading angle includes:

[0010] Calculate the difference between the real-time heading angle and the target heading angle. If the difference is less than the first preset angle, then determine that the direction of rotation of the drive motor of the horizontal transport vehicle is forward.

[0011] If the difference is greater than the second preset angle, the direction of rotation of the drive motor of the horizontal transport vehicle is determined to be reversed.

[0012] If the difference is not less than the first preset angle and not greater than the second preset angle, then the horizontal transport vehicle is determined to enter the fault mode and the drive motor of the horizontal transport vehicle will not run; the first preset angle is less than the second preset angle.

[0013] In one embodiment, the front and rear wheels of the horizontal transport vehicle are defined according to the direction of rotation of the drive motor, including:

[0014] Determine the pre-driving direction of the horizontal transport vehicle based on the rotation direction of the drive motor;

[0015] Calculate the angle between the position vector of each wheel of the horizontal transport vehicle and the direction vector of the pre-driving direction. The position vector of each wheel is determined based on the center position of all wheels and the position of each wheel.

[0016] The wheel corresponding to the smaller of the included vector angles is defined as the front wheel, and the wheel corresponding to the larger of the included vector angles is defined as the rear wheel.

[0017] In one embodiment, the fault types are at least classified as front wheel steering fault, rear wheel steering fault, both front and rear wheel steering faults, and no front and rear wheel steering faults; the working scenario types are at least classified as parallel lane changing and lane following; accordingly, based on the current fault type and working scenario type, a target wheel control mode is determined, including:

[0018] If the current fault type is that there is no fault in the steering of both the front and rear wheels, and the working scenario type is parallel lane change, then the target wheel control mode is determined to be four-wheel lane change control; if the working scenario type is lane following, then the target wheel control mode is determined to be pre-aiming four-wheel steering control.

[0019] Given that the current fault type is front wheel steering fault, the target wheel control mode is determined to be rear wheel steering pre-aiming control;

[0020] Given that the current fault type is rear wheel steering fault, the target wheel control mode is determined to be front wheel steering control.

[0021] If the current fault type is that both front and rear wheel steering are faulty, the horizontal transport vehicle is determined to enter fault mode, and the wheel target control mode is empty.

[0022] In one embodiment, based on the wheelbase and pre-aiming distance of the horizontal transport vehicle, the wheel angle of at least one of the front and rear wheels in the wheel target control mode is calculated, including:

[0023] When the wheel target control mode is set to pre-aiming four-wheel steering control, the wheel turning angle δ of the front wheels of the horizontal transport vehicle is... f The calculation formula is as follows:

[0024]

[0025] The wheel angle δ of the rear wheels of the horizontal transport vehicle r The calculation formula is as follows:

[0026]

[0027] Where L is the wheelbase of the horizontal transport vehicle, l c The aiming distance is defined as the distance from the target trajectory point of the horizontal transport vehicle to the geometric center of the horizontal transport vehicle, e. l The lateral offset distance is defined as the vertical distance from the target trajectory point of the horizontal transport vehicle to the vehicle's axis.

[0028] In one embodiment, based on the wheelbase and pre-aiming distance of the horizontal transport vehicle, the wheel angle of at least one of the front and rear wheels in the wheel target control mode is calculated, including:

[0029] When the wheel target control mode is four-wheel lane changing control, the vehicle geometric center of the horizontal transport vehicle is determined according to the wheelbase of the horizontal transport vehicle, and a reference circle is determined with the vehicle geometric center of the horizontal transport vehicle as the center and the pre-aiming distance as the radius.

[0030] Determine the heading angle of the target trajectory point of the horizontal transport vehicle based on the reference circle and the target trajectory of the horizontal transport vehicle;

[0031] The difference between the heading angle of the target trajectory point and the real-time heading angle is used as the wheel angle of at least one of the front and rear wheels.

[0032] Secondly, this application also provides a steering control device for a horizontal transport vehicle. Applied to a four-wheel steering horizontal transport vehicle, the device includes:

[0033] The data acquisition module is used to acquire the real-time heading angle and target heading angle of the horizontal transport vehicle, and determine the rotation direction of the drive motor of the horizontal transport vehicle based on the real-time heading angle and target heading angle.

[0034] The direction determination module is used to define the front and rear wheels of the horizontal transport vehicle according to the rotation direction of the drive motor;

[0035] The mode determination module is used to obtain the current fault type and working scenario type of the horizontal transport vehicle, and determine the target control mode of the wheels based on the current fault type and working scenario type.

[0036] An angle determination module is used to calculate the wheel angle of at least one of the front and rear wheels in the wheel target control mode based on the wheelbase and pre-aiming distance of the horizontal transport vehicle.

[0037] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0038] The real-time heading angle and target heading angle of the horizontal transport vehicle are obtained, and the rotation direction of the drive motor of the horizontal transport vehicle is determined based on the real-time heading angle and target heading angle.

[0039] Define the front and rear wheels of the horizontal transport vehicle according to the direction of rotation of the drive motor;

[0040] Obtain the current fault type and working scenario type of the horizontal transport vehicle, and determine the target control mode of the wheels based on the current fault type and working scenario type;

[0041] Based on the wheelbase and aiming distance of the horizontal transport vehicle, calculate the wheel angle of at least one of the front and rear wheels in the wheel target control mode.

[0042] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0043] The real-time heading angle and target heading angle of the horizontal transport vehicle are obtained, and the rotation direction of the drive motor of the horizontal transport vehicle is determined based on the real-time heading angle and target heading angle.

[0044] Define the front and rear wheels of the horizontal transport vehicle according to the direction of rotation of the drive motor;

[0045] Obtain the current fault type and working scenario type of the horizontal transport vehicle, and determine the target control mode of the wheels based on the current fault type and working scenario type;

[0046] Based on the wheelbase and aiming distance of the horizontal transport vehicle, calculate the wheel angle of at least one of the front and rear wheels in the wheel target control mode.

[0047] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0048] The real-time heading angle and target heading angle of the horizontal transport vehicle are obtained, and the rotation direction of the drive motor of the horizontal transport vehicle is determined based on the real-time heading angle and target heading angle.

[0049] Define the front and rear wheels of the horizontal transport vehicle according to the direction of rotation of the drive motor;

[0050] Obtain the current fault type and working scenario type of the horizontal transport vehicle, and determine the target control mode of the wheels based on the current fault type and working scenario type;

[0051] Based on the wheelbase and aiming distance of the horizontal transport vehicle, calculate the wheel angle of at least one of the front and rear wheels in the wheel target control mode.

[0052] The aforementioned steering control method, device, computer equipment, storage medium, and computer program product for a horizontal transport vehicle acquire the real-time heading angle and target heading angle of the horizontal transport vehicle; determine the rotation direction of the drive motor of the horizontal transport vehicle based on the real-time heading angle and target heading angle; define the front and rear wheels of the horizontal transport vehicle based on the rotation direction of the drive motor; acquire the current fault type and working scenario type of the horizontal transport vehicle; determine the target wheel control mode based on the current fault type and working scenario type; and calculate the wheel angle of at least one of the front and rear wheels under the target wheel control mode based on the wheelbase and pre-aiming distance of the horizontal transport vehicle. This application provides a steering control method suitable for unmanned 4x4 port container horizontal transport vehicles, which fully considers the characteristics of four-wheel steering vehicles, improves the flexibility of steering and lane changing, and can ensure basic steering function even when one axle fails. Attached Figure Description

[0053] Figure 1 This is an application environment diagram of the steering control method for a horizontal transport vehicle in one embodiment;

[0054] Figure 2 This is a flowchart illustrating the steering control method for a horizontal transport vehicle in one embodiment;

[0055] Figure 3 This is a flowchart illustrating the steering control method for a horizontal transport vehicle in another embodiment;

[0056] Figure 4 This is a schematic diagram of the vehicle direction for pre-aiming four-wheel steering control in one embodiment;

[0057] Figure 5 This is a schematic diagram of vehicle direction in one embodiment of four-wheel lane-changing control;

[0058] Figure 6 This is a schematic diagram of the vehicle direction in one embodiment of front wheel steering control;

[0059] Figure 7 This is a schematic diagram of the vehicle direction in one embodiment of pre-aiming rear wheel steering control;

[0060] Figure 8 This is a structural block diagram of the steering control device for a horizontal transport vehicle in one embodiment;

[0061] Figure 9 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0063] The steering control method for a horizontal transport vehicle provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or located in the cloud or on other network servers. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, etc. Portable wearable devices can include smartwatches, smart bracelets, head-mounted devices, etc. Server 104 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0064] In one embodiment, such as Figure 2 As shown, a steering control method for a horizontal transport vehicle is provided, applied to a four-wheel steering horizontal transport vehicle. This method is applied to... Figure 1 Taking server 104 as an example, the following steps are included:

[0065] Step 202: Obtain the real-time heading angle and target heading angle of the horizontal transport vehicle, and determine the rotation direction of the drive motor of the horizontal transport vehicle based on the real-time heading angle and target heading angle.

[0066] First, it should be noted that the server 104, the execution entity of the steering control method for the horizontal transport vehicle provided in this application, can interact with the decision-making and planning module in the intelligent driving system of the horizontal transport vehicle. The target heading angle of the horizontal transport vehicle is determined by the trajectory given by the decision-making and planning module. The real-time heading angle of the horizontal transport vehicle is provided by sensors or the integrated navigation system of the horizontal transport vehicle. Both the real-time heading angle and the target heading angle reflect the vehicle's driving direction. In this embodiment, the real-time heading angle and the target heading angle are determined with reference to the same coordinate system.

[0067] The real-time heading angle reflects the current direction of travel of the horizontal transport vehicle, while the target heading angle reflects the target heading angle provided by the decision-making and planning module of the intelligent driving system when adjusting the vehicle's direction. The target heading angle allows the horizontal transport vehicle to travel in a preset direction. In essence, the steering control method for the horizontal transport vehicle can be determined based on the difference between the real-time and target heading angles. Specifically, the direction of operation of the horizontal transport vehicle's motors, i.e., the vehicle's direction of travel, is determined by the magnitude or sign of the difference between the real-time and target heading angles.

[0068] Step 204: Define the front and rear wheels of the horizontal transport vehicle according to the rotation direction of the drive motor;

[0069] The method provided in this application is applied to a four-wheel steering horizontal transport vehicle, which includes two axles, both of which can serve as steering wheels and drive wheels. During the operation of the horizontal transport vehicle, it is necessary to first determine the front and rear wheels. It should be noted that the front wheels here include the two wheels connected to the same axle, and similarly, the rear wheels also refer to the two wheels on the same axle. The front wheels refer to the two wheels on the front axle when the horizontal transport vehicle is in motion, and the rear wheels are the two wheels on the rear axle. Therefore, the driving direction of the horizontal transport vehicle is determined based on the rotation direction of the drive motor, and then the front and rear wheels of the horizontal transport vehicle are determined during operation.

[0070] Specifically, in one embodiment, in the initial setting of the horizontal transport vehicle, the two axle wheels of the horizontal transport vehicle can be marked. Each time the steering of the horizontal transport vehicle is controlled, the front wheel is marked as "1" and the rear wheel is marked as "2". In the previous control, if the rotation direction of the drive motor remains unchanged, wheel 1 is defined as the front wheel. If the rotation direction of the drive motor changes, wheel 2 is defined as the front wheel.

[0071] Step 206: Obtain the current fault type and working scenario type of the horizontal transport vehicle, and determine the target control mode of the wheels based on the current fault type and working scenario type;

[0072] The current fault type indicates the obstacle status of the two axles of the horizontal transport vehicle in steering, i.e., whether they can function as steering wheels; the working scenario type indicates the type of travel direction required for the current operation of the horizontal transport vehicle. Specifically, different wheel target control modes can be entered based on the scenario definition given by the steering system fault and decision planning module.

[0073] Step 208: Based on the wheelbase and aiming distance of the horizontal transport vehicle, calculate the wheel angle of at least one of the front and rear wheels in the wheel target control mode.

[0074] Wheelbase refers to the distance between the two axles of a horizontal transport vehicle. Pre-aiming distance is a concept in path tracking for autonomous vehicles, used to control the vehicle to travel in a preset direction. The horizontal transport vehicles mentioned in this application are generally used for cargo transportation in large ports and operate in an autonomous driving mode. Therefore, a pre-aiming distance is essential when controlling the transport of these vehicles. The pre-aiming distance determines the wheel steering angles of the horizontal transport vehicle, ensuring it travels in the preset direction.

[0075] This application provides a steering control method for an unmanned 4x4 port container horizontal transport vehicle. It acquires the real-time and target heading angles of the horizontal transport vehicle, determines the direction of rotation of the drive motor based on these angles, defines the front and rear wheels of the vehicle, and obtains the current fault type and working scenario type of the vehicle. Based on these factors, it determines the target wheel control mode. Finally, it calculates the wheel angle of at least one of the front and rear wheels under the target wheel control mode, based on the wheelbase and pre-aiming distance of the horizontal transport vehicle.

[0076] In one embodiment, see Figure 3 Based on the real-time heading angle and the target heading angle, the rotation direction of the drive motor of the horizontal transport vehicle is determined, including:

[0077] Step 302: Calculate the difference between the real-time heading angle and the target heading angle. If the difference is less than the first preset angle, then determine that the driving motor of the horizontal transport vehicle is rotating in the forward direction.

[0078] Step 304: If the difference is greater than the second preset angle, then the rotation direction of the drive motor of the horizontal transport vehicle is determined to be reversed.

[0079] Step 306: If the difference is not less than the first preset angle and not greater than the second preset angle, then the horizontal transport vehicle is determined to enter the fault mode and the drive motor of the horizontal transport vehicle will not run; the first preset angle is less than the second preset angle.

[0080] If the deviation between the real-time heading angle of the horizontal transport vehicle and the target heading angle given by the planned trajectory is less than 30°, the drive motor rotates forward and the horizontal transport vehicle moves forward; if the deviation between the real-time heading angle of the horizontal transport vehicle and the target heading angle given by the planned trajectory is greater than 150°, the drive motor rotates in reverse and the horizontal transport vehicle moves backward; otherwise, it enters fault mode.

[0081] The method provided in the above embodiments can quickly complete the steering control of the horizontal transport vehicle by judging the driving direction of the horizontal transport vehicle through a preset angle.

[0082] In one embodiment, the front and rear wheels of the horizontal transport vehicle are defined according to the direction of rotation of the drive motor, including:

[0083] Determine the pre-driving direction of the horizontal transport vehicle based on the rotation direction of the drive motor;

[0084] Calculate the angle between the position vector of each wheel of the horizontal transport vehicle and the direction vector of the pre-driving direction. The position vector of each wheel is determined based on the center position of all wheels and the position of each wheel.

[0085] The wheel corresponding to the smaller of the included vector angles is defined as the front wheel, and the wheel corresponding to the larger of the included vector angles is defined as the rear wheel.

[0086] In this context, the pre-driving direction of the horizontal transport vehicle refers to its predetermined direction of travel. The direction of travel of the horizontal transport vehicle can be determined based on the angle between the predetermined direction of travel and the current position vector of the horizontal transport vehicle, thereby determining the front and rear wheels. Specifically, in one embodiment, the position vector can be determined based on the midpoint of the two axles of the horizontal transport vehicle and a fixed point. The wheel corresponding to the smaller of the vector angles between the position vector of each wheel of the horizontal transport vehicle and the direction vector of the pre-driving direction is defined as the front wheel, and the wheel corresponding to the larger of the vector angles is defined as the rear wheel.

[0087] In the method provided in the above embodiments, the front and rear wheels are determined based on the position vector and pre-driving direction of the horizontal transport vehicle, which enables more accurate control of the steering of the horizontal transport vehicle.

[0088] In one embodiment, the fault types are at least classified as front wheel steering fault, rear wheel steering fault, both front and rear wheel steering faults, and no front and rear wheel steering faults; the working scenario types are at least classified as parallel lane changing and lane following; accordingly, based on the current fault type and working scenario type, a target wheel control mode is determined, including:

[0089] If the current fault type is that there is no fault in the steering of both the front and rear wheels, and the working scenario type is parallel lane change, then the target wheel control mode is determined to be four-wheel lane change control; if the working scenario type is lane following, then the target wheel control mode is determined to be pre-aiming four-wheel steering control.

[0090] Given that the current fault type is front wheel steering fault, the target wheel control mode is determined to be rear wheel steering pre-aiming control;

[0091] Given that the current fault type is rear wheel steering fault, the target wheel control mode is determined to be front wheel steering control.

[0092] If the current fault type is that both front and rear wheel steering are faulty, the horizontal transport vehicle is determined to enter fault mode, and the wheel target control mode is empty.

[0093] In one embodiment, the current fault type of the steering system is defined as four types: front wheel steering fault, rear wheel steering fault, front and rear wheel steering fault, and no fault; the decision planning module defines the working scenario type as two types: parallel lane changing and lane following, and the corresponding control modes are as follows:

[0094] Parallel lane change, front wheel steering failure, enters pre-aiming rear wheel steering control;

[0095] Parallel lane change, rear wheel steering failure, enters anti-front wheel steering control;

[0096] Parallel lane change, front and rear wheel steering failure, entering fault mode;

[0097] Parallel lane change, with no steering issues on either the front or rear wheels, then four-wheel lane change control is activated.

[0098] Lane following, front wheel steering failure, enters pre-aiming rear wheel steering control;

[0099] Lane following, rear wheel steering failure, enters anti-target front wheel steering control;

[0100] Lane following, front and rear wheel steering failure, entering fault mode;

[0101] Lane following and front and rear wheel steering are both functioning correctly; the system then enters pre-aiming four-wheel steering control mode.

[0102] In the method provided in the above embodiments, the vehicle steering control mode is determined according to the vehicle fault state and scenario, including front wheel steering mode, rear wheel steering mode, four-wheel steering mode, four-wheel lane changing mode and fault mode. Different methods are used to calculate the wheel angle under different control modes, which is more accurate and effective.

[0103] In one embodiment, based on the wheelbase and pre-aiming distance of the horizontal transport vehicle, the wheel angle of at least one of the front and rear wheels in the wheel target control mode is calculated, including:

[0104] When the wheel target control mode is set to pre-aiming four-wheel steering control, the wheel turning angle δ of the front wheels of the horizontal transport vehicle is... f The calculation formula is as follows:

[0105]

[0106] The wheel angle δ of the rear wheels of the horizontal transport vehicle r The calculation formula is as follows:

[0107]

[0108] Where L is the wheelbase of the horizontal transport vehicle, l c The aiming distance is defined as the distance from the target trajectory point of the horizontal transport vehicle to the geometric center of the horizontal transport vehicle, e. l The lateral offset distance is defined as the vertical distance from the target trajectory point of the horizontal transport vehicle to the vehicle's axis.

[0109] Specifically, when the wheel target control mode is pre-aiming four-wheel steering control, such as Figure 4 As shown, the steering angles of the front and rear wheels are controlled simultaneously, with the front and rear wheels rotating in opposite directions. Turning left is defined as positive, and turning right as negative.

[0110] In one embodiment, based on the wheelbase and pre-aiming distance of the horizontal transport vehicle, the wheel angle of at least one of the front and rear wheels in the wheel target control mode is calculated, including:

[0111] When the wheel target control mode is four-wheel lane changing control, the vehicle geometric center of the horizontal transport vehicle is determined according to the wheelbase of the horizontal transport vehicle, and a reference circle is determined with the vehicle geometric center of the horizontal transport vehicle as the center and the pre-aiming distance as the radius.

[0112] Determine the heading angle of the target trajectory point of the horizontal transport vehicle based on the reference circle and the target trajectory of the horizontal transport vehicle;

[0113] The difference between the heading angle of the target trajectory point and the real-time heading angle is used as the wheel angle of at least one of the front and rear wheels.

[0114] Specifically, in one embodiment, when the wheel target control mode is four-wheel lane-changing control, see [reference needed]. Figure 5 Simultaneously control the steering angles of the front and rear wheels, both rotating in the same direction. With both wheels rotating in the same direction and at the same angle, vehicle translation is achieved. Left turn is defined as positive, and right turn as negative. First, draw a circle with the vehicle's geometric center as the center and a radius of 0.5m. The intersection of this circle and the target trajectory is the target trajectory point. Obtain the target heading angle; then the steering angles of the front and rear wheels and the rear wheel are:

[0115] δ f =δ r =h t -h v ;

[0116] In the formula, δ f δ is the wheel angle of the front wheel. r h is the wheel angle of the rear wheel. t Let h be the heading angle of the target trajectory point. v This refers to the vehicle's heading angle.

[0117] In one embodiment, when the wheel target control mode is anticipating front wheel steering control, see [link to relevant documentation]. Figure 6 The front wheel steering pre-aiming control controls the front wheel angle, defining left turn as positive and right turn as negative. The rear wheel angle is always zero. The calculation of the front wheel angle value for front wheel steering pre-aiming control is as follows:

[0118]

[0119] In the formula, δ f The front wheel steering angle is l, where L is the wheelbase. f The aiming distance is defined as the distance from the target trajectory point to the center of the rear axle, e. lf The lateral offset distance is defined as the perpendicular distance from the target trajectory point to the vehicle's axis. This value is negative when the target trajectory point is to the right of the vehicle's axis and positive when it is to the left.

[0120] In one embodiment, when the wheel target control mode is pre-aiming rear wheel steering control, see [link to relevant documentation]. Figure 7 The rear wheel steering pre-aiming control controls the rear wheel angle, defining left turn as positive and right turn as negative. The front wheel angle is always zero. The calculation of the rear wheel angle value for rear wheel steering pre-aiming control is as follows:

[0121]

[0122] In the formula, δ r The rear wheel steering angle is L, and the wheelbase is l. r The rear wheel steering aiming distance is defined as the distance from the target trajectory point to the center of the front axle. lrThe lateral offset distance is defined as the perpendicular distance from the target trajectory point to the vehicle's axis. This value is negative when the target trajectory point is to the right of the vehicle's axis and positive when it is to the left.

[0123] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0124] Based on the same inventive concept, this application also provides a steering control device for a horizontal transport vehicle to implement the steering control method for the horizontal transport vehicle described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more embodiments of the steering control device for a horizontal transport vehicle provided below can be found in the limitations of the steering control method for the horizontal transport vehicle described above, and will not be repeated here.

[0125] In one embodiment, such as Figure 8 As shown, a steering control device for a horizontal transport vehicle is provided, applicable to a four-wheel steering horizontal transport vehicle, including: a data acquisition module 801, a direction determination module 802, a mode determination module 803, and an angle determination module 804, wherein:

[0126] The data acquisition module 801 is used to acquire the real-time heading angle and target heading angle of the horizontal transport vehicle, and determine the rotation direction of the drive motor of the horizontal transport vehicle based on the real-time heading angle and target heading angle.

[0127] The direction determination module 802 is used to define the front and rear wheels of the horizontal transport vehicle according to the rotation direction of the drive motor.

[0128] The mode determination module 803 is used to obtain the current fault type and working scenario type of the horizontal transport vehicle, and determine the target control mode of the wheels based on the current fault type and working scenario type.

[0129] Angle determination module 804 is used to calculate the wheel angle of at least one of the front wheels and rear wheels in the wheel target control mode based on the wheelbase and pre-aiming distance of the horizontal transport vehicle.

[0130] In one embodiment, the data acquisition module 801 is further configured to:

[0131] Calculate the difference between the real-time heading angle and the target heading angle. If the difference is less than the first preset angle, then determine that the direction of rotation of the drive motor of the horizontal transport vehicle is forward.

[0132] If the difference is greater than the second preset angle, the direction of rotation of the drive motor of the horizontal transport vehicle is determined to be reversed.

[0133] If the difference is not less than the first preset angle and not greater than the second preset angle, then the horizontal transport vehicle is determined to enter the fault mode and the drive motor of the horizontal transport vehicle will not run; the first preset angle is less than the second preset angle.

[0134] In one embodiment, the data acquisition module 801 is further configured to:

[0135] Determine the pre-driving direction of the horizontal transport vehicle based on the rotation direction of the drive motor;

[0136] Calculate the angle between the position vector of each wheel of the horizontal transport vehicle and the direction vector of the pre-driving direction. The position vector of each wheel is determined based on the center position of all wheels and the position of each wheel.

[0137] The wheel corresponding to the smaller of the included vector angles is defined as the front wheel, and the wheel corresponding to the larger of the included vector angles is defined as the rear wheel.

[0138] In one embodiment, the pattern determination module 803 is further configured to:

[0139] If the current fault type is that there is no fault in the steering of both the front and rear wheels, and the working scenario type is parallel lane change, then the target wheel control mode is determined to be four-wheel lane change control; if the working scenario type is lane following, then the target wheel control mode is determined to be pre-aiming four-wheel steering control.

[0140] Given that the current fault type is front wheel steering fault, the target wheel control mode is determined to be rear wheel steering pre-aiming control;

[0141] Given that the current fault type is rear wheel steering fault, the target wheel control mode is determined to be front wheel steering control.

[0142] If the current fault type is that both front and rear wheel steering are faulty, the horizontal transport vehicle is determined to enter fault mode, and the wheel target control mode is empty.

[0143] In one embodiment, the angle determination module 804 is further configured to:

[0144] When the wheel target control mode is set to pre-aiming four-wheel steering control, the wheel turning angle δ of the front wheels of the horizontal transport vehicle is... f The calculation formula is as follows:

[0145]

[0146] The wheel angle δ of the rear wheels of the horizontal transport vehicle r The calculation formula is as follows:

[0147]

[0148] Where L is the wheelbase of the horizontal transport vehicle, l c The aiming distance is defined as the distance from the target trajectory point of the horizontal transport vehicle to the geometric center of the horizontal transport vehicle, e. l The lateral offset distance is defined as the vertical distance from the target trajectory point of the horizontal transport vehicle to the vehicle's axis.

[0149] In one embodiment, the angle determination module 804 is further configured to:

[0150] When the wheel target control mode is four-wheel lane changing control, the vehicle geometric center of the horizontal transport vehicle is determined according to the wheelbase of the horizontal transport vehicle, and a reference circle is determined with the vehicle geometric center of the horizontal transport vehicle as the center and the pre-aiming distance as the radius.

[0151] Determine the heading angle of the target trajectory point of the horizontal transport vehicle based on the reference circle and the target trajectory of the horizontal transport vehicle;

[0152] The difference between the heading angle of the target trajectory point and the real-time heading angle is used as the wheel angle of at least one of the front and rear wheels.

[0153] The various modules in the steering control device of the aforementioned horizontal transport vehicle can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0154] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 9As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores heading angle data. The network interface communicates with external terminals via a network connection. When executed by the processor, the computer program implements a steering control method for a horizontal transport vehicle.

[0155] Those skilled in the art will understand that Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0156] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0157] The real-time heading angle and target heading angle of the horizontal transport vehicle are obtained, and the rotation direction of the drive motor of the horizontal transport vehicle is determined based on the real-time heading angle and target heading angle.

[0158] Define the front and rear wheels of the horizontal transport vehicle according to the direction of rotation of the drive motor;

[0159] Obtain the current fault type and working scenario type of the horizontal transport vehicle, and determine the target control mode of the wheels based on the current fault type and working scenario type;

[0160] Based on the wheelbase and aiming distance of the horizontal transport vehicle, calculate the wheel angle of at least one of the front and rear wheels in the wheel target control mode.

[0161] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0162] Calculate the difference between the real-time heading angle and the target heading angle. If the difference is less than the first preset angle, then determine that the direction of rotation of the drive motor of the horizontal transport vehicle is forward.

[0163] If the difference is greater than the second preset angle, the direction of rotation of the drive motor of the horizontal transport vehicle is determined to be reversed.

[0164] If the difference is not less than the first preset angle and not greater than the second preset angle, then the horizontal transport vehicle is determined to enter the fault mode and the drive motor of the horizontal transport vehicle will not run; the first preset angle is less than the second preset angle.

[0165] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0166] Determine the pre-driving direction of the horizontal transport vehicle based on the rotation direction of the drive motor;

[0167] Calculate the angle between the position vector of each wheel of the horizontal transport vehicle and the direction vector of the pre-driving direction. The position vector of each wheel is determined based on the center position of all wheels and the position of each wheel.

[0168] The wheel corresponding to the smaller of the included vector angles is defined as the front wheel, and the wheel corresponding to the larger of the included vector angles is defined as the rear wheel.

[0169] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0170] If the current fault type is that there is no fault in the steering of both the front and rear wheels, and the working scenario type is parallel lane change, then the target wheel control mode is determined to be four-wheel lane change control; if the working scenario type is lane following, then the target wheel control mode is determined to be pre-aiming four-wheel steering control.

[0171] Given that the current fault type is front wheel steering fault, the target wheel control mode is determined to be rear wheel steering pre-aiming control;

[0172] Given that the current fault type is rear wheel steering fault, the target wheel control mode is determined to be front wheel steering control.

[0173] If the current fault type is that both front and rear wheel steering are faulty, the horizontal transport vehicle is determined to enter fault mode, and the wheel target control mode is empty.

[0174] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0175] When the wheel target control mode is set to pre-aiming four-wheel steering control, the wheel turning angle δ of the front wheels of the horizontal transport vehicle is... f The calculation formula is as follows:

[0176]

[0177] The wheel angle δ of the rear wheels of the horizontal transport vehicle r The calculation formula is as follows:

[0178]

[0179] Where L is the wheelbase of the horizontal transport vehicle, l c The aiming distance is defined as the distance from the target trajectory point of the horizontal transport vehicle to the geometric center of the horizontal transport vehicle, e. l The lateral offset distance is defined as the vertical distance from the target trajectory point of the horizontal transport vehicle to the vehicle's axis.

[0180] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0181] When the wheel target control mode is four-wheel lane changing control, the vehicle geometric center of the horizontal transport vehicle is determined according to the wheelbase of the horizontal transport vehicle, and a reference circle is determined with the vehicle geometric center of the horizontal transport vehicle as the center and the pre-aiming distance as the radius.

[0182] Determine the heading angle of the target trajectory point of the horizontal transport vehicle based on the reference circle and the target trajectory of the horizontal transport vehicle;

[0183] The difference between the heading angle of the target trajectory point and the real-time heading angle is used as the wheel angle of at least one of the front and rear wheels.

[0184] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0185] The real-time heading angle and target heading angle of the horizontal transport vehicle are obtained, and the rotation direction of the drive motor of the horizontal transport vehicle is determined based on the real-time heading angle and target heading angle.

[0186] Define the front and rear wheels of the horizontal transport vehicle according to the direction of rotation of the drive motor;

[0187] Obtain the current fault type and working scenario type of the horizontal transport vehicle, and determine the target control mode of the wheels based on the current fault type and working scenario type;

[0188] Based on the wheelbase and aiming distance of the horizontal transport vehicle, calculate the wheel angle of at least one of the front and rear wheels in the wheel target control mode.

[0189] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0190] Calculate the difference between the real-time heading angle and the target heading angle. If the difference is less than the first preset angle, then determine that the direction of rotation of the drive motor of the horizontal transport vehicle is forward.

[0191] If the difference is greater than the second preset angle, the direction of rotation of the drive motor of the horizontal transport vehicle is determined to be reversed.

[0192] If the difference is not less than the first preset angle and not greater than the second preset angle, then the horizontal transport vehicle is determined to enter the fault mode and the drive motor of the horizontal transport vehicle will not run; the first preset angle is less than the second preset angle.

[0193] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0194] Determine the pre-driving direction of the horizontal transport vehicle based on the rotation direction of the drive motor;

[0195] Calculate the angle between the position vector of each wheel of the horizontal transport vehicle and the direction vector of the pre-driving direction. The position vector of each wheel is determined based on the center position of all wheels and the position of each wheel.

[0196] The wheel corresponding to the smaller of the included vector angles is defined as the front wheel, and the wheel corresponding to the larger of the included vector angles is defined as the rear wheel.

[0197] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0198] If the current fault type is that there is no fault in the steering of both the front and rear wheels, and the working scenario type is parallel lane change, then the target wheel control mode is determined to be four-wheel lane change control; if the working scenario type is lane following, then the target wheel control mode is determined to be pre-aiming four-wheel steering control.

[0199] Given that the current fault type is front wheel steering fault, the target wheel control mode is determined to be rear wheel steering pre-aiming control;

[0200] Given that the current fault type is rear wheel steering fault, the target wheel control mode is determined to be front wheel steering control.

[0201] If the current fault type is that both front and rear wheel steering are faulty, the horizontal transport vehicle is determined to enter fault mode, and the wheel target control mode is empty.

[0202] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0203] When the wheel target control mode is set to pre-aiming four-wheel steering control, the wheel turning angle δ of the front wheels of the horizontal transport vehicle is... f The calculation formula is as follows:

[0204]

[0205] The wheel angle δ of the rear wheels of the horizontal transport vehicle r The calculation formula is as follows:

[0206]

[0207] Where L is the wheelbase of the horizontal transport vehicle, l c The aiming distance is defined as the distance from the target trajectory point of the horizontal transport vehicle to the geometric center of the horizontal transport vehicle, e. l The lateral offset distance is defined as the vertical distance from the target trajectory point of the horizontal transport vehicle to the vehicle's axis.

[0208] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0209] When the wheel target control mode is four-wheel lane changing control, the vehicle geometric center of the horizontal transport vehicle is determined according to the wheelbase of the horizontal transport vehicle, and a reference circle is determined with the vehicle geometric center of the horizontal transport vehicle as the center and the pre-aiming distance as the radius.

[0210] Determine the heading angle of the target trajectory point of the horizontal transport vehicle based on the reference circle and the target trajectory of the horizontal transport vehicle;

[0211] The difference between the heading angle of the target trajectory point and the real-time heading angle is used as the wheel angle of at least one of the front and rear wheels.

[0212] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0213] The real-time heading angle and target heading angle of the horizontal transport vehicle are obtained, and the rotation direction of the drive motor of the horizontal transport vehicle is determined based on the real-time heading angle and target heading angle.

[0214] Define the front and rear wheels of the horizontal transport vehicle according to the direction of rotation of the drive motor;

[0215] Obtain the current fault type and working scenario type of the horizontal transport vehicle, and determine the target control mode of the wheels based on the current fault type and working scenario type;

[0216] Based on the wheelbase and aiming distance of the horizontal transport vehicle, calculate the wheel angle of at least one of the front and rear wheels in the wheel target control mode.

[0217] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0218] Calculate the difference between the real-time heading angle and the target heading angle. If the difference is less than the first preset angle, then determine that the direction of rotation of the drive motor of the horizontal transport vehicle is forward.

[0219] If the difference is greater than the second preset angle, the direction of rotation of the drive motor of the horizontal transport vehicle is determined to be reversed.

[0220] If the difference is not less than the first preset angle and not greater than the second preset angle, then the horizontal transport vehicle is determined to enter the fault mode and the drive motor of the horizontal transport vehicle will not run; the first preset angle is less than the second preset angle.

[0221] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0222] Determine the pre-driving direction of the horizontal transport vehicle based on the rotation direction of the drive motor;

[0223] Calculate the angle between the position vector of each wheel of the horizontal transport vehicle and the direction vector of the pre-driving direction. The position vector of each wheel is determined based on the center position of all wheels and the position of each wheel.

[0224] The wheel corresponding to the smaller of the included vector angles is defined as the front wheel, and the wheel corresponding to the larger of the included vector angles is defined as the rear wheel.

[0225] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0226] If the current fault type is that there is no fault in the steering of both the front and rear wheels, and the working scenario type is parallel lane change, then the target wheel control mode is determined to be four-wheel lane change control; if the working scenario type is lane following, then the target wheel control mode is determined to be pre-aiming four-wheel steering control.

[0227] Given that the current fault type is front wheel steering fault, the target wheel control mode is determined to be rear wheel steering pre-aiming control;

[0228] Given that the current fault type is rear wheel steering fault, the target wheel control mode is determined to be front wheel steering control.

[0229] If the current fault type is that both front and rear wheel steering are faulty, the horizontal transport vehicle is determined to enter fault mode, and the wheel target control mode is empty.

[0230] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0231] When the wheel target control mode is set to pre-aiming four-wheel steering control, the wheel turning angle δ of the front wheels of the horizontal transport vehicle is... f The calculation formula is as follows:

[0232]

[0233] The wheel angle δ of the rear wheels of the horizontal transport vehicle r The calculation formula is as follows:

[0234]

[0235] Where L is the wheelbase of the horizontal transport vehicle, l c The aiming distance is defined as the distance from the target trajectory point of the horizontal transport vehicle to the geometric center of the horizontal transport vehicle, e. l The lateral offset distance is defined as the vertical distance from the target trajectory point of the horizontal transport vehicle to the vehicle's axis.

[0236] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0237] When the wheel target control mode is four-wheel lane changing control, the vehicle geometric center of the horizontal transport vehicle is determined according to the wheelbase of the horizontal transport vehicle, and a reference circle is determined with the vehicle geometric center of the horizontal transport vehicle as the center and the pre-aiming distance as the radius.

[0238] Determine the heading angle of the target trajectory point of the horizontal transport vehicle based on the reference circle and the target trajectory of the horizontal transport vehicle;

[0239] The difference between the heading angle of the target trajectory point and the real-time heading angle is used as the wheel angle of at least one of the front and rear wheels.

[0240] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0241] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0242] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A steering control method for a horizontal transport vehicle, characterized in that, The method, applied to a four-wheel steering horizontal transport vehicle, includes: The real-time heading angle and target heading angle of the horizontal transport vehicle are obtained, and the rotation direction of the drive motor of the horizontal transport vehicle is determined based on the real-time heading angle and the target heading angle. The front and rear wheels of the horizontal transport vehicle are defined according to the rotation direction of the drive motor. The current fault type and working scenario type of the horizontal transport vehicle are obtained; the fault type is at least divided into front wheel steering fault, rear wheel steering fault, both front and rear wheel steering faults, and no front and rear wheel steering faults; the working scenario type is at least divided into parallel lane changing and lane following. If the current fault type is that there is no fault in the steering of both the front and rear wheels, and if the working scenario type is parallel lane change, then the target wheel control mode is determined to be four-wheel lane change control; if the working scenario type is lane following, then the target wheel control mode is determined to be pre-aiming four-wheel steering control. If the current fault type is the front wheel steering fault, the wheel target control mode is determined to be rear wheel steering pre-aiming control; If the current fault type is the rear wheel steering fault, the wheel target control mode is determined to be front wheel steering pre-aiming control; When the current fault type is that both the front and rear wheel steering are faulty, it is determined that the horizontal transport vehicle has entered a fault mode, and the wheel target control mode is empty; Based on the wheelbase and pre-aiming distance of the horizontal transport vehicle, calculate the wheel angle of at least one of the front wheels and the rear wheels under the wheel target control mode.

2. The method according to claim 1, characterized in that, Determining the direction of rotation of the drive motor of the horizontal transport vehicle based on the real-time heading angle and the target heading angle includes: Calculate the difference between the real-time heading angle and the target heading angle. If the difference is less than a first preset angle, then determine that the direction of rotation of the drive motor of the horizontal transport vehicle is forward. If the difference is greater than the second preset angle, then the rotation direction of the drive motor of the horizontal transport vehicle is determined to be reversed. If the difference is not less than the first preset angle and not greater than the second preset angle, then the horizontal transport vehicle is determined to have entered a fault mode, and the drive motor of the horizontal transport vehicle will not operate; the first preset angle is less than the second preset angle.

3. The method according to claim 2, characterized in that, The step of defining the front and rear wheels of the horizontal transport vehicle according to the rotation direction of the drive motor includes: The pre-driving direction of the horizontal transport vehicle is determined based on the rotation direction of the drive motor. Calculate the angle between the position vector of each wheel of the horizontal transport vehicle and the direction vector of the pre-driving direction, wherein the position vector of each wheel is determined based on the center position of all wheels and the position of each wheel; The wheel corresponding to the smaller of the vector angles is defined as the front wheel, and the wheel corresponding to the larger of the vector angles is defined as the rear wheel.

4. The method according to claim 1, characterized in that, The step of calculating the wheel angle of at least one of the front wheels and the rear wheels in the wheel target control mode based on the wheelbase and pre-aiming distance of the horizontal transport vehicle includes: When the wheel target control mode is pre-aiming four-wheel steering control, the wheel turning angle δ of the front wheels of the horizontal transport vehicle is... f The calculation formula is as follows: The wheel angle δ of the rear wheels of the horizontal transport vehicle r The calculation formula is as follows: Where L is the wheelbase of the horizontal transport vehicle, l c The aiming distance is defined as the distance from the target trajectory point of the horizontal transport vehicle to the geometric center of the horizontal transport vehicle, e l The lateral offset distance is defined as the vertical distance from the target trajectory point of the horizontal transport vehicle to the vehicle's axis.

5. The method according to claim 1, wherein The step of calculating the wheel angle of at least one of the front wheels and the rear wheels in the wheel target control mode based on the wheelbase and pre-aiming distance of the horizontal transport vehicle includes: When the wheel target control mode is four-wheel lane changing control, the vehicle geometric center of the horizontal transport vehicle is determined according to the wheelbase of the horizontal transport vehicle, and a reference circle is determined with the vehicle geometric center of the horizontal transport vehicle as the center and the pre-aiming distance as the radius. Based on the reference circle and the target trajectory of the horizontal transport vehicle, determine the heading angle of the target trajectory point of the horizontal transport vehicle; The difference between the heading angle of the target trajectory point and the real-time heading angle is used as the wheel angle of at least one of the front wheel and the rear wheel.

6. A steering control device for a horizontal transport vehicle, characterized in that, A horizontal transport vehicle with four-wheel steering, the device comprising: The data acquisition module is used to acquire the real-time heading angle and the target heading angle of the horizontal transport vehicle, and determine the operating direction of the drive motor of the horizontal transport vehicle based on the real-time heading angle and the target heading angle. The direction determination module is used to define the front and rear wheels of the horizontal transport vehicle according to the rotation direction of the drive motor. The mode determination module is used to obtain the current fault type and working scenario type of the horizontal transport vehicle. The fault type is at least divided into front wheel steering fault, rear wheel steering fault, both front and rear wheel steering faults, and no front and rear wheel steering faults. The working scenario type is at least divided into parallel lane changing and lane following. When the current fault type is no front and rear wheel steering faults, if the working scenario type is parallel lane changing, the wheel target control mode is determined to be four-wheel lane changing control; if the working scenario type is lane following, the wheel target control mode is determined to be four-wheel steering pre-aiming control. When the current fault type is front wheel steering fault, the wheel target control mode is determined to be rear wheel steering pre-aiming control. When the current fault type is rear wheel steering fault, the wheel target control mode is determined to be front wheel steering pre-aiming control. When the current fault type is both front and rear wheel steering faults, the horizontal transport vehicle is determined to enter a fault mode, and the wheel target control mode is empty. An angle determination module is used to calculate the wheel angle of at least one of the front wheels and the rear wheels in the wheel target control mode based on the wheelbase and pre-aiming distance of the horizontal transport vehicle.

7. The apparatus according to claim 6, characterized in that, The data acquisition module is also used for: Calculate the difference between the real-time heading angle and the target heading angle. If the difference is less than a first preset angle, then determine that the direction of rotation of the drive motor of the horizontal transport vehicle is forward. If the difference is greater than the second preset angle, then the rotation direction of the drive motor of the horizontal transport vehicle is determined to be reversed. If the difference is not less than the first preset angle and not greater than the second preset angle, then the horizontal transport vehicle is determined to have entered a fault mode, and the drive motor of the horizontal transport vehicle will not operate; the first preset angle is less than the second preset angle.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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