Adaptive vehicle tire steering control system and control method after parking

Abstract

This invention relates to the field of vehicle tire steering angle control technology, specifically to an adaptive vehicle tire steering angle control system and method after parking. Through the cooperation of a sensor module, scene recognition module, data processing module, control module, and human-machine interaction module, the system determines the automatic tire steering angle control conditions and optimal tire steering angle based on whether the driver has left the vehicle, the type of slope the vehicle is on, ground conditions, and the distribution of surrounding obstacles. This allows the system to automatically drive the wheels to the appropriate angle after the vehicle stops, effectively improving safety when starting the vehicle and extending tire lifespan. By establishing a vehicle environment model, the system divides the automatic tire steering angle control conditions and converts the optimal tire steering angle for each condition into real-time control commands. This enables the system to execute corresponding control strategies based on different slope types, ground conditions, and obstacle distributions, resulting in more precise control of the wheel steering angle and maximizing the beneficial effects of automatic vehicle steering angle control.

Description

Technical Field

[0001] This invention relates to the field of vehicle tire steering angle control technology, specifically to an adaptive vehicle tire steering angle control system and control method after parking. Background Technology

[0002] Existing technology requires manual adjustment of the tire angle after parking, depending on the slope and ground conditions, to ensure vehicle stability. This operation is usually performed manually by the driver. However, the driver may overlook this operation, leading to accidents during parking or damage to the vehicle due to negligence in not returning the tires to their correct position.

[0003] With existing technology, if the vehicle's tires are not straightened after parking, the following risks may occur:

[0004] 1) Steering lever pulls to one side: When the steering wheel is not straightened for a long time while parking, the wheels will drag the steering lever, causing it to be under stress and preventing the steering lever from returning to its normal position.

[0005] 2) Tie rod aging: If the steering mechanism tie rod is not returned to center for a long time, it will be under stress for a long time. Over time, the sensitivity of the tie rod will decrease and it will age faster.

[0006] 3) Suspension deformation: If the steering wheel is not straightened, the suspension components will be in a deformed state. For example, if a spring is under stress for a long time, it will undergo permanent deformation. Therefore, if the steering wheel is not straightened, the suspension will also be affected.

[0007] 4) Tire cracks: When a tire rotates, localized deformation occurs, especially in the tire sidewall. If this deformation persists for an extended period, cracks will appear on the tire sidewall earlier, increasing the risk of a tire blowout.

[0008] 5) When restarting, the driver does not remember the state of the steering wheel when parking is completed, and misjudges the 0° position of the steering wheel. If there is acceleration when starting, the vehicle will not follow the driver's expected trajectory and an accident may occur.

[0009] 6) When parking on a slope, if the tires are not at a certain angle, the vehicle is prone to rolling backward. Summary of the Invention

[0010] The technical problem to be solved by the present invention is to provide an adaptive vehicle tire angle control system and control method after parking, which can automatically adjust the tire angle after parking to adapt to different slopes and ground conditions, thereby improving the safety of the vehicle during parking.

[0011] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0012] I. An adaptive vehicle tire steering angle control system after parking

[0013] This invention provides an adaptive vehicle tire steering angle control system after parking, which mainly includes: a sensor module, a scene recognition module, a data processing module, a control module, and a human-machine interaction module;

[0014] The sensor module includes a slope sensor, a friction coefficient sensor, and an on-board camera, which are used to detect the slope information, ground friction coefficient information, and image information of the vehicle's surroundings in real time, respectively.

[0015] The scene recognition module is electrically connected to the sensor module. Based on the information sent by the sensor module, it determines whether the driver has left the vehicle, the type of slope the vehicle is on, the ground conditions the vehicle is on, the distribution of obstacles around the vehicle, and whether the automatic tire cornering control is activated and the corresponding automatic tire cornering control conditions.

[0016] The data processing module is electrically connected to the sensor module and the scene recognition module, and calculates the optimal tire turning angle under each working condition based on the information sent by the sensor module and the scene recognition module.

[0017] The control module is electrically connected to the data processing module and the vehicle steering system. Based on the information sent by the data processing module, it determines the target steering angle of the front and rear wheels of the vehicle and controls the vehicle steering system to execute the target steering angle.

[0018] The human-machine interaction module is electrically connected to the scene recognition module and the control module, and is used to display the information sent by the scene recognition module and the control module, while receiving manual operation commands from the driver and sending them to the control module.

[0019] Furthermore, the activation conditions for the automatic vehicle tire steering angle control include:

[0020] Vehicle has stopped: The vehicle is determined to have stopped when the vehicle speed drops to 0 and remains so for a certain period of time (e.g., 10 seconds) using the vehicle speed sensor.

[0021] Handbrake engaged: The handbrake status sensor has detected that the handbrake has been engaged;

[0022] Seatbelt unfastened: The seatbelt status sensor detected that the driver has unfastened his / her seatbelt;

[0023] The car doors were opened and closed in sequence: The door status sensor detected that the driver's side door was opened and closed in sequence.

[0024] Driver away from vehicle: The system detects that the driver has moved a certain distance away from the vehicle through the vehicle's camera and radar system or the vehicle's key signal.

[0025] Furthermore, the determination of the slope type where the vehicle is located is specifically achieved through a threshold judgment algorithm: based on the vehicle's mass and center of gravity position, a positive and negative slope threshold are calculated; when the slope is greater than the positive slope threshold, it is judged as an uphill state; when the slope is less than the negative slope threshold, it is judged as a downhill state; when the slope is between the positive and negative thresholds, it is judged as a flat state.

[0026] The formulas for calculating the positive and negative slope thresholds are as follows:

[0027] Positive slope threshold = |θ|, negative slope threshold = -|θ|

[0028] θ=arctan[(μmg+k1) / (mg+k2)]

[0029] Where m is the vehicle mass, g is the gravitational acceleration, μ is the ground friction coefficient, and k1 and k2 are the correction coefficients for the vehicle's center of gravity in the vertical and horizontal directions, respectively.

[0030] Furthermore, the determination of the ground conditions where the vehicle is located includes the following process:

[0031] Based on the ground friction coefficient information and vehicle surrounding image information collected by the sensor module, and combined with the friction coefficient threshold judgment algorithm and image recognition algorithm, the ground conditions where the vehicle is located are determined; the specific ground conditions where the vehicle is located include: dry road surface, wet road surface, snow-covered road surface and muddy road surface.

[0032] Furthermore, the automatic tire steering angle control mode specifically includes:

[0033] 1) Uphill Dry and Unobstructed Working Condition: The vehicle is in an uphill position, the ground is dry, and there are no obstacles on either side of the vehicle.

[0034] 2) Downhill Dry and Unobstructed Condition: The vehicle is going downhill and the ground is dry with no obstacles on either side of the vehicle.

[0035] 3) Uphill wet and slippery unobstructed working condition: The vehicle is in an uphill state, and the ground is not dry. There are no obstacles on the left and right sides of the vehicle.

[0036] 4) Downhill wet and slippery unobstructed working condition: The vehicle is going downhill and the ground is not dry. There are no obstacles on the left and right sides of the vehicle.

[0037] 5) Uphill Dry Road with Obstacles: The vehicle is going uphill and the ground is dry, with obstacles on the left or right side of the vehicle.

[0038] 6) Downhill Dry Road with Obstacles: The vehicle is going downhill and the ground is dry, with obstacles on the left or right side of the vehicle.

[0039] 7) Uphill slippery obstacle condition: The vehicle is going uphill and the ground is not dry. There are obstacles on the left or right side of the vehicle.

[0040] 8) Downhill slippery obstacle condition: The vehicle is going downhill and the ground is not dry. There are obstacles on the left or right side of the vehicle.

[0041] Furthermore, the calculation of the optimal tire steering angle under each working condition specifically involves:

[0042] Optimal tire steering angle σ=σ0×C1×C2

[0043] Where σ0 is the base tire turning angle calculated based on the real-time slope of the vehicle; when the slope is flat, σ0 = 0.

[0044] C1 is a friction correction coefficient related to the ground conditions. When the road surface is dry, C1 = 1.

[0045] C2 is a steering direction correction coefficient related to the distribution of obstacles on both sides of the vehicle. When there is an obstacle on the left side of the vehicle or obstacles on both sides, C2 is negative; when there is an obstacle on the right side of the vehicle or no obstacles on either side, C2 is positive.

[0046] Furthermore, the control module includes the following operating process:

[0047] a) Receive the optimal tire angle information under various working conditions sent by the data processing module, and determine the target execution angle of the front and rear wheels of the vehicle in combination with the current automatic tire angle control working condition of the vehicle and the preset parameters of the vehicle steering system.

[0048] b) Works in conjunction with the communication module to send the target turning angle to the vehicle steering system to control the front and rear wheels of the vehicle to perform corresponding actions;

[0049] c) Monitor the real-time steering angle status of the vehicle's front and rear wheels to determine the tire steering angle adjustment.

[0050] Furthermore, the human-computer interaction module includes the following working process:

[0051] a) Interacting with the scene recognition module: The human-computer interaction module receives the judgment results from the scene recognition module to display the type of slope the vehicle is on, the ground conditions, and the distribution of surrounding obstacles;

[0052] b) Interaction with the data processing module: The human-machine interaction module receives the optimal tire angle information for each working condition calculated by the data processing module, and uses it to provide real-time feedback for adjusting the target;

[0053] c) Interaction with the control module: The human-machine interaction module receives tire angle status information sent by the control module and displays the tire angle adjustment status in real time;

[0054] d) Driver interaction: The human-machine interaction module receives manual operation commands from the driver and sends them to the control module to execute the corresponding tire angle control.

[0055] II. A method for adaptive vehicle tire steering angle control after parking

[0056] Based on the same inventive concept, this invention also provides an adaptive vehicle tire steering angle control method after parking, which, based on the vehicle tire steering angle control system described above, mainly includes the following control strategies:

[0057] S1, after the driver stops the car and turns off the engine, the system uses sensor modules to detect the slope information, ground friction coefficient information and surrounding image information of the vehicle to establish a vehicle environment model;

[0058] S2, the scene recognition module determines whether the automatic tire cornering control of the vehicle has been started based on the start conditions of the automatic tire cornering control of the vehicle, and determines the slope type, ground conditions and surrounding obstacle distribution of the vehicle based on the environmental model of the vehicle, and classifies the automatic tire cornering control working conditions of the vehicle.

[0059] S3, the data processing module automatically controls the vehicle tire turning angle according to the scene recognition module, and calculates the optimal tire turning angle under each condition based on the vehicle environment model.

[0060] S4, the control module converts the calculation results of the data processing module into real-time control commands, and realizes automatic adjustment of tire angle by communicating with the vehicle steering system;

[0061] S5, the human-machine interaction module provides the driver with real-time status information of tire angle adjustment, and at the same time receives the driver's manual operation commands and sends them to the control module to execute the corresponding tire angle control.

[0062] Compared with the prior art, the present invention has the following main advantages:

[0063] 1. This invention proposes an adaptive vehicle tire angle control system after parking. Through the cooperation of a sensor module, a scene recognition module, a data processing module, a control module, and a human-machine interaction module, the system determines the automatic control conditions for vehicle tire angle and the optimal tire angle under each condition based on whether the driver has left the vehicle, the type of slope the vehicle is on, the ground conditions, and the distribution of surrounding obstacles. It can automatically drive the wheels to turn to a suitable angle after the vehicle stops, effectively improving the safety when starting the vehicle again and increasing the tire life.

[0064] 2. This invention proposes an adaptive vehicle tire steering angle control method after parking. By establishing a vehicle environment model, the automatic control conditions of vehicle tire steering angle are divided, and the optimal tire steering angle under each condition is converted into real-time control commands. It can execute corresponding control strategies according to different slope types, ground conditions, and obstacle distribution, and more accurately control the wheel steering angle, so as to maximize the beneficial effects of automatic vehicle steering angle control. Attached Figure Description

[0065] Figure 1 This is a schematic diagram of the vehicle tire steering angle control system in an embodiment of the present invention;

[0066] Figure 2 This is a flowchart of a vehicle tire steering angle control method in an embodiment of the present invention. Detailed Implementation

[0067] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0068] It should be noted that, depending on the implementation needs, the various steps / components described in this application can be broken down into more steps / components, or two or more steps / components or parts of the operation of steps / components can be combined into new steps / components to achieve the purpose of this invention.

[0069] Example 1: This example provides an adaptive vehicle tire steering angle control system after parking, such as... Figure 1 As shown, it mainly includes:

[0070] 1) Sensor module: including slope sensor, ground friction coefficient sensor, 360 camera, etc., used to detect the slope, ground friction coefficient and other information of the vehicle in real time (this module is used to collect and summarize relevant information).

[0071] 2) Scene recognition module: used to calculate and determine whether the current scene meets the conditions for starting the automatic tire cornering control, and which specific calculation and control method should be used.

[0072] 3) Data processing module: Receives information collected by the sensor module and calculates the appropriate tire turning angle.

[0073] 4) Control module: Based on the calculation results of the data processing module, the vehicle's tire angles (including front wheel angles and rear wheel angles) are automatically adjusted by controlling the steering system. The most suitable angle for the vehicle in different scenarios is not necessarily close to 0°.

[0074] 5) Human-Machine Interaction Module: Scene recognition and control results are sent to the human-machine interaction module, allowing the driver to clearly understand the control status and rationale. The driver can also manually adjust the tire steering angle through the human-machine interaction module.

[0075] Furthermore, the specific operating algorithms of the scene recognition module, data processing module, control module, and human-computer interaction module are as follows:

[0076] I. Scene Recognition Module:

[0077] 1. Determining whether the driver has left the vehicle: The basic conditions for determining whether the driver has left the vehicle include, but are not limited to, the following:

[0078] Vehicle has stopped: The vehicle is determined to have stopped when the vehicle speed drops to 0 and remains so for a certain period of time (e.g., 10 seconds) using the vehicle speed sensor.

[0079] Handbrake engaged: The handbrake status sensor has detected that the handbrake has been engaged.

[0080] Driver unbuckles seatbelt: The seatbelt status sensor detects that the driver has unbuckled his seatbelt.

[0081] The driver opens and closes the car door: The door status sensor detects that the driver's side door is opened and closed sequentially.

[0082] Driver moved away from vehicle: The system detects that the driver has moved away from the vehicle at a certain distance (e.g., 5m or more) through the vehicle's onboard camera and radar system or the vehicle's key signal.

[0083] When the above conditions are met, the system determines that the driver has left the vehicle and initiates tire alignment. In practical applications, to avoid false judgments, the combination of judgment conditions can be adjusted as needed, for example, simultaneously meeting conditions such as the vehicle being stopped, the handbrake being engaged, the driver unfastening their seatbelt, and the driver opening and closing the door.

[0084] By using the above judgment conditions, the automatic tire steering control process is activated after the driver leaves the vehicle, thereby improving the safety and stability of the vehicle during parking.

[0085] On modules equipped with T-BOX network communication, this process can also be manually initiated via a mobile app. Simultaneously, the mobile app can also feed back subsequent recognition mode, real-time tire rotation angle, and other data to the phone.

[0086] 2. Determining the Type of Slope the Vehicle is On: The slope information collected by the sensor module is analyzed, and a threshold algorithm is used. A slope greater than a certain threshold is considered uphill, less than a negative threshold is considered downhill, and within the threshold range is considered flat ground. The specific threshold needs to be calibrated based on the actual vehicle model. Furthermore, the slope is detected using tilt sensors inside the vehicle, and combined with the vehicle's mass and center of gravity, an appropriate wheel angle is calculated to ensure vehicle stability when stationary. The wheel angle is adjusted appropriately during the adjustment process to adapt to different slope conditions.

[0087] 3. Determine ground conditions: By analyzing the ground images collected by the sensor module, the friction coefficient can be estimated and the resistance during EPS steering can be calculated. Alternatively, by using 360-degree camera image information, image recognition algorithms (such as convolutional neural networks) and threshold judgment algorithms can be employed to identify ground conditions (such as dry, wet, snowy, muddy, etc.).

[0088] 4. Based on the above judgment results, the scene recognition module outputs the following results:

[0089] a) Whether to activate the adaptive tire steering control system: If the vehicle is not parked or the environment is not suitable for adjusting the tire steering angle, the system will not be activated; otherwise, the system will be activated.

[0090] b) Selecting an appropriate calculation and control method: Based on the type of slope, ground conditions, and whether obstacles are obstructing the tire's turning angle, the scene recognition module will select an appropriate calculation and control strategy to achieve the best tire turning angle adjustment effect. For example, for a vehicle on an uphill slope, the calculation method may tend to increase the turning angle of the front wheels to improve the stability of the vehicle when parked. Another example: on a slope with a large incline and a curb, the tires can be tilted towards the curb to increase parking safety.

[0091] For scene type identification, rule-based decision tree algorithm or fuzzy logic control algorithm is used, and the corresponding calculation and control strategies are selected according to different scenes.

[0092] Output recognition results: The scene recognition module passes the identified scene type to the data processing module, so that the data processing module can select the appropriate tire angle calculation method according to different scenes. Its output results include: slope conditions, return-to-center obstacles, and control strategy signals for suitable vehicle models.

[0093] II. Data Processing Module

[0094] The data processing module is mainly responsible for calculating the appropriate tire turning angle based on the information collected by the sensor module and the judgment results of the scene recognition module.

[0095] The data processing module can employ one or more algorithms, such as support vector machines and decision trees, to calculate the optimal tire steering angle based on the input data. The main processing steps of the data processing module include:

[0096] 1. Receive data from the sensor module and the scene recognition module: The data processing module needs to receive information such as slope and ground friction coefficient from the sensor module, as well as the judgment results from the scene recognition module.

[0097] 2. Calculate the appropriate tire angle based on data and algorithms: The data processing module calculates the optimal tire angle based on the input data using an algorithm model.

[0098] 3. Output calculation results: The data processing module transmits the calculated tire angle to the control module to achieve automatic adjustment of the tire angle.

[0099] III. Control Module

[0100] Based on the calculation results from the data processing module, the control module controls the steering system to automatically adjust the tire angle.

[0101] The main working process of the control module is as follows:

[0102] 1. Receive calculation results from the data processing module: The control module needs to receive the tire rotation angle calculation results from the data processing module.

[0103] 2. Steering system control: Based on the received calculation results, the control module automatically adjusts the steering angle of the front and rear wheels of the vehicle through devices such as the steering motor.

[0104] 3. Real-time monitoring of tire angle: The control module needs to monitor the vehicle's tire angle in real time to ensure that the angle adjustment achieves the expected effect. This process can be achieved through devices such as angle sensors.

[0105] 4. Working in conjunction with the communication module: The control module needs to work in conjunction with the communication module to send control commands to the vehicle's steering system to achieve automatic adjustment of the tire angle.

[0106] IV. Human-Computer Interaction Module

[0107] The human-machine interface module plays a crucial role in the adaptive tire steering control system after parking. It aims to achieve user-friendly interaction with the driver, providing various operational guidelines and real-time feedback. This allows users to understand the system's operating logic and make further adjustments according to their needs.

[0108] The following details the workflow and implementation principles of the human-computer interaction module:

[0109] 1. Main workflow of the human-computer interaction module:

[0110] a) Provides an operating interface for starting / stopping the system: The human-machine interaction module provides an operating interface for the driver, allowing the driver to start or stop the tire steering adaptive control system.

[0111] b) Provides real-time status display: The module will display the system's working status in real time, including the current vehicle's slope type, ground conditions, nearby obstacles, and other information, so that the driver can understand the vehicle's environment.

[0112] c) Provide real-time feedback: When the system begins to adjust the tire angle, the human-machine interface module will display the adjustment process in real time, including the current tire angle and the target angle, so that the driver can understand the adjustment status.

[0113] 2. Interaction between the human-computer interaction module and other modules:

[0114] a) Interacting with the scene recognition module: The human-computer interaction module will receive the judgment results from the scene recognition module to display information such as the environment scene in which the vehicle is located.

[0115] b) Interaction with the data processing module: The human-computer interaction module will receive the tire angle information calculated by the data processing module and use it to provide real-time feedback on the adjustment process.

[0116] c) Interaction with the control module: The human-machine interaction module receives the status information of the control module when adjusting the tire steering angle and displays the adjustment status in real time.

[0117] Example 2, based on the same inventive concept, also provides an adaptive vehicle tire steering angle control method after parking, based on the vehicle tire steering angle control system described above, such as... Figure 2 As shown, the main control strategies include the following:

[0118] S1, after the driver stops the car and turns off the engine, the system uses sensor modules to detect the vehicle's slope, ground friction coefficient, steering system, and other factors to model the vehicle and its surrounding environment.

[0119] S2, the scene recognition module determines the vehicle's environment and decides whether to activate the tire steering angle adaptive control system and selects the appropriate calculation and control method. The main workflow of the scene recognition module includes:

[0120] a) Determining if the vehicle is parked: The scene recognition module needs to determine whether the vehicle has stopped and the engine is off, thereby determining whether the adaptive tire steering control system needs to be activated. This can be achieved by detecting signals from devices such as the vehicle speed sensor and the key's gear position.

[0121] b) Determine the type of slope the vehicle is on: The scene recognition module needs to identify the type of slope the vehicle is on, such as uphill, downhill, or flat ground. This can be achieved by analyzing the slope information collected by the sensor module.

[0122] c) Determining Ground Conditions: The scene recognition module needs to identify ground conditions, such as dryness, wetness, snow accumulation, and mud. This can be achieved by analyzing the ground friction coefficient collected by the sensor module, estimating based on the resistance during EPS steering, or using 360-degree camera image information.

[0123] d) Determining obstacles near the vehicle: The scene recognition module needs to determine whether there are obstacles near the vehicle, such as walls, other vehicles on the roadside, pedestrians, etc. This can be achieved by analyzing 360-degree camera image information and sensor data such as radar and lidar.

[0124] S3, Based on the above judgment results, the scene recognition module can output the following results:

[0125] a) Whether to activate the adaptive tire steering control system: If the vehicle is deemed unsuitable for activation, the subsequent steering control process will not proceed; if the vehicle is determined to be parked and the environment requires adjustment of the tire steering angle, the system will be activated.

[0126] b) Selecting an appropriate calculation and control method: Based on the type of slope, ground conditions, and nearby obstacles, the scene recognition module will select an appropriate calculation and control strategy to achieve the best tire steering angle adjustment effect. For example, for a vehicle on an uphill slope, the calculation method may tend to increase the steering angle of the front wheels to improve the stability of the vehicle when parked.

[0127] S4, the control module, is responsible for converting the calculation results from the data processing module into actual control commands. It communicates with the vehicle's steering system to achieve automatic adjustment of the tire angle.

[0128] In S5, the human-machine interface module provides the driver with prompts for tire steering adjustment, such as the vehicle's current incline, road surface friction coefficient, and tire steering adjustment suggestions. Additionally, the driver can manually adjust the tire steering angle through the human-machine interface module.

[0129] Example 3: Based on the same inventive concept, this example also provides a manual-automatic vehicle, which is equipped with the vehicle tire steering control system described above.

[0130] Furthermore, all parts of this application that are not described in detail are the same as or implemented using existing technology.

[0131] In summary:

[0132] 1. This invention proposes an adaptive vehicle tire angle control system after parking. Through the cooperation of a sensor module, a scene recognition module, a data processing module, a control module, and a human-machine interaction module, the system determines the automatic control conditions for vehicle tire angle and the optimal tire angle under each condition based on whether the driver has left the vehicle, the type of slope the vehicle is on, the ground conditions, and the distribution of surrounding obstacles. It can automatically drive the wheels to turn to a suitable angle after the vehicle stops, effectively improving the safety when starting the vehicle again and increasing the tire life.

[0133] 2. This invention proposes an adaptive vehicle tire steering angle control method after parking. By establishing a vehicle environment model, the automatic control conditions of vehicle tire steering angle are divided, and the optimal tire steering angle under each condition is converted into real-time control commands. It can execute corresponding control strategies according to different slope types, ground conditions, and obstacle distribution, and more accurately control the wheel steering angle, so as to maximize the beneficial effects of automatic vehicle steering angle control.

[0134] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A vehicle tire steering angle adaptive control system after parking, characterized in that: It includes a sensor module, a scene recognition module, a data processing module, a control module, and a human-computer interaction module; The sensor module includes a slope sensor, a friction coefficient sensor, and an on-board camera, which are used to detect the slope information, ground friction coefficient information, and image information of the vehicle's surroundings in real time, respectively. The scene recognition module is electrically connected to the sensor module. Based on the information sent by the sensor module, it determines whether the driver has left the vehicle, the type of slope the vehicle is on, the ground conditions the vehicle is on, the distribution of obstacles around the vehicle, and whether the automatic tire cornering control is activated and the corresponding automatic tire cornering control conditions. The data processing module is electrically connected to the sensor module and the scene recognition module, and calculates the optimal tire turning angle under each working condition based on the information sent by the sensor module and the scene recognition module. The control module is electrically connected to the data processing module and the vehicle steering system. Based on the information sent by the data processing module, it determines the target steering angle of the front and rear wheels of the vehicle and controls the vehicle steering system to execute the target steering angle. The human-machine interaction module is electrically connected to the scene recognition module and the control module, and is used to display the information sent by the scene recognition module and the control module, while receiving the driver's manual operation commands and sending them to the control module. The process of determining the ground conditions where the vehicle is located includes the following steps: Based on the ground friction coefficient information and vehicle surrounding image information collected by the sensor module, and combined with the friction coefficient threshold judgment algorithm and image recognition algorithm, the ground conditions where the vehicle is located are determined; the specific ground conditions where the vehicle is located include: dry road surface, wet road surface, snow-covered road surface and muddy road surface; The calculation of the optimal tire steering angle under each working condition is specifically as follows: Optimal tire steering angle σ = σ0 × C1 × C2 Where σ0 is the base tire turning angle calculated based on the real-time slope of the vehicle; when the slope is flat, σ0 = 0. C1 is a friction correction coefficient related to the ground conditions. When the road surface is dry, C1 = 1. C2 is a steering direction correction coefficient related to the distribution of obstacles on both sides of the vehicle. When there is an obstacle on the left side of the vehicle or obstacles on both sides, C2 is negative; when there is an obstacle on the right side of the vehicle or no obstacles on either side, C2 is positive.

2. The adaptive vehicle tire steering control system after parking according to claim 1, characterized in that, The activation conditions for the automatic tire steering control of the vehicle include: the vehicle has stopped, the handbrake has been engaged, the seat belt has been unfastened, the doors have been opened and closed sequentially, and the driver has moved away from the vehicle.

3. The adaptive vehicle tire steering control system after parking according to claim 1, characterized in that, The determination of the slope type where the vehicle is located is specifically achieved through a threshold judgment algorithm: based on the vehicle's mass and center of gravity position, a positive and negative slope threshold are calculated; when the slope is greater than the positive slope threshold, it is judged as an uphill state; when the slope is less than the negative slope threshold, it is judged as a downhill state; when the slope is between the positive and negative thresholds, it is judged as a flat state. The formulas for calculating the positive and negative slope thresholds are as follows: Positive slope threshold = |θ|, negative slope threshold = -|θ| θ=arctan[(μmg+ k1) / (mg+ k2)] Where m is the vehicle mass, g is the gravitational acceleration, μ is the ground friction coefficient, and k1 and k2 are the correction coefficients for the vehicle's center of gravity in the vertical and horizontal directions, respectively.

4. The adaptive vehicle tire steering control system after parking according to claim 1, characterized in that, The automatic tire steering angle control mode of the vehicle specifically includes: Uphill Dry and Unobstructed Condition: The vehicle is going uphill, the ground is dry, and there are no obstacles on either side of the vehicle. Downhill Dry and Unobstructed Condition: The vehicle is going downhill and the ground is dry with no obstacles on either side of the vehicle. Uphill wet and slippery unobstructed working condition: The vehicle is going uphill and the ground is not dry. There are no obstacles on the left and right sides of the vehicle. Downhill wet and slippery unobstructed working conditions: The vehicle is going downhill and the ground is not dry. There are no obstacles on the left and right sides of the vehicle. Uphill Dry Road with Obstacles: The vehicle is going uphill and the ground is dry. There are obstacles on the left or right side of the vehicle. Downhill Dry Obstacle Condition: The vehicle is going downhill and the ground is dry, with obstacles on the left or right side of the vehicle; Uphill slippery obstacle condition: The vehicle is going uphill and the ground is not dry. There are obstacles on the left or right side of the vehicle. Downhill slippery obstacle condition: The vehicle is going downhill and the ground is not dry. There are obstacles on the left or right side of the vehicle.

5. The adaptive vehicle tire steering control system after parking according to claim 1, characterized in that, The control module includes the following operating process: The system receives the optimal tire angle information for each working condition from the data processing module, and combines it with the vehicle's current tire angle automatic control working condition and the vehicle steering system preset parameters to determine the target execution angles for the front and rear wheels of the vehicle. Working in conjunction with the communication module, the target turning angle is sent to the vehicle steering system to control the front and rear wheels of the vehicle to perform corresponding actions; Monitor the real-time steering angle status of the vehicle's front and rear wheels to determine the tire steering angle adjustment.

6. The adaptive vehicle tire steering control system after parking according to claim 1, characterized in that, The human-computer interaction module includes the following working process: Interacting with the scene recognition module: The human-computer interaction module receives the judgment results from the scene recognition module to display the type of slope the vehicle is on, the ground conditions, and the distribution of surrounding obstacles. Interacting with the data processing module: The human-machine interaction module receives the optimal tire angle information for each working condition calculated by the data processing module, and uses it to provide real-time feedback for adjusting the target; Interaction with the control module: The human-machine interaction module receives tire angle status information sent by the control module and displays the tire angle adjustment status in real time; Driver interaction: The human-machine interaction module receives manual operation commands from the driver and sends them to the control module to execute the corresponding tire steering angle control.

7. A method for adaptive vehicle tire steering angle control after parking, based on the vehicle tire steering angle control system according to any one of claims 1 to 6, characterized in that, Including the following control strategies: After the driver stops the car and turns off the engine, the system uses sensor modules to detect the vehicle's slope, ground friction coefficient, and surrounding image information to build a vehicle environment model. The scene recognition module determines whether the automatic tire cornering control is activated based on the activation conditions of the automatic tire cornering control, and determines the slope type, ground conditions, and distribution of surrounding obstacles based on the vehicle's environment model, and classifies the automatic tire cornering control operating conditions. The data processing module calculates the optimal tire angle for each operating condition based on the automatic control conditions of vehicle tire turning angle as defined by the scene recognition module, combined with the vehicle environment model. The control module converts the calculation results of the data processing module into real-time control commands, and achieves automatic adjustment of tire angle by communicating with the vehicle steering system; The human-machine interface module provides the driver with real-time status information on tire angle adjustment, and at the same time receives the driver's manual operation commands and sends them to the control module to execute the corresponding tire angle control.

8. A vehicle with both manual and automatic transmissions, characterized in that: The vehicle is equipped with a tire swerving control system as described in any one of claims 1 to 6.

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