A method, system, device, and medium for controlling vehicle steering.

Abstract

This application provides a method, system, device, and medium for controlling vehicle steering. The method includes: determining whether to activate a target steering function based on vehicle state information; if the target steering function is activated, determining the outer rear wheel and the inner rear wheel based on the steering wheel's direction; determining a positive target torque for the front axle based on the front wheel speed, and determining a negative target torque for the rear axle based on the inner rear wheel speed; controlling the front axle drive motor to output the positive target torque, controlling the rear axle drive motor to output the negative target torque, and braking the outer rear wheel based on the outer rear wheel speed using a braking system to assist vehicle steering. The aim is to reduce the vehicle's turning radius, thereby reducing the difficulty of steering in small-radius turning scenarios.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, specifically to a method, system, device, and medium for controlling vehicle steering. Background Technology

[0002] Steering is a fundamental vehicle control function, and traditional vehicle steering control functions can meet the needs of most vehicle operating conditions. However, for some special scenarios (such as making a U-turn on a narrow road or turning on a sharp bend on a narrow road), it will be very difficult to control the vehicle to perform U-turns and turns in these special scenarios based on traditional vehicle steering control functions and methods. Summary of the Invention

[0003] In view of this, embodiments of this application provide a method, system, device, and medium for controlling vehicle steering. The aim is to reduce the vehicle's turning radius, thereby reducing the difficulty of steering the vehicle in small-radius turning scenarios.

[0004] The first aspect of this application provides a method for controlling vehicle steering, applied to a dual-motor driven vehicle, the vehicle including a braking system capable of independently controlling each wheel, the method comprising:

[0005] Based on the vehicle's status information, determine whether to activate the target steering function;

[0006] When the target steering function is activated, the outer rear wheel and the inner rear wheel are determined according to the steering wheel direction;

[0007] Based on the front wheel speed, determine the positive target torque of the front axle, and based on the rear wheel speed on the inside of the steering wheel, determine the negative target torque of the rear axle.

[0008] The system controls the front axle drive motor to output the positive target torque and the rear axle drive motor to output the negative target torque. It also brakes the outer rear wheel of the steering wheel according to the wheel speed of the outer rear wheel of the steering wheel through the braking system to assist the vehicle in steering.

[0009] Optionally, the positive target torque of the front axle can be determined based on the front wheel speed, including:

[0010] Determine the front axle wheel speed based on the left and right front wheel speeds of the vehicle;

[0011] Based on a preset first correspondence, the vehicle's driving mode, and the steering wheel angle, the target front axle wheel speed is determined. The first correspondence includes the correspondence between the target front axle wheel speed and the first vehicle state, which includes the vehicle's driving mode and steering wheel angle.

[0012] The front axle wheel speed difference is determined based on the front axle wheel speed and the target front axle wheel speed.

[0013] The positive target torque of the front axle is determined based on the front axle wheel speed difference.

[0014] Optionally, the front axle wheel speed is determined based on the left and right front wheel speeds of the vehicle, including:

[0015] By filtering the collected left front wheel speed signal and right front wheel speed signal, the corresponding first left front wheel speed and first right front wheel speed are obtained.

[0016] The front axle wheel speed is obtained by averaging the speeds of the first left front wheel and the first right front wheel.

[0017] Optionally, obtaining the front axle wheel speed by averaging the first left front wheel speed and the first right front wheel speed includes:

[0018] The first front axle wheel speed is obtained by averaging the first left front wheel speed and the first right front wheel speed.

[0019] Based on the correspondence between the vehicle's steering wheel angle and the target, a correction coefficient corresponding to the steering wheel angle is determined, wherein the target correspondence includes the correspondence between the steering wheel angle and the correction coefficient;

[0020] The front axle wheel speed is determined based on the correction factor and the first front axle wheel speed.

[0021] Optionally, determining the positive target torque of the front axle based on the front axle wheel speed difference includes:

[0022] Based on the driving mode of the vehicle, determine the front axle proportional term factor and the front axle integral term factor corresponding to the driving mode;

[0023] The front axle proportional term torque is determined based on the front axle proportional term factor and the front axle wheel speed difference;

[0024] The front axle integral term torque is determined based on the front axle integral term factor and the front axle wheel speed difference;

[0025] Based on the preset second correspondence, the vehicle's driving mode, and the target front axle wheel speed, the front axle feedforward torque is determined. The second correspondence includes the correspondence between the front axle feedforward torque and the second vehicle state, which includes the vehicle's driving mode and the target front axle wheel speed.

[0026] The positive target torque of the front axle is determined based on the determined proportional torque of the front axle, the integral torque of the front axle, and the feedforward torque of the front axle.

[0027] Optionally, the target reverse torque of the rear axle is determined based on the wheel speed of the inner rear wheel, including:

[0028] The target rear axle wheel speed is determined based on the preset third correspondence, the vehicle's driving mode, and the steering wheel angle. The third correspondence includes the correspondence between the target rear axle wheel speed and the first vehicle state, which includes the vehicle's driving mode and steering wheel angle.

[0029] The rear axle wheel speed difference is determined based on the wheel speed of the inner rear wheel and the target rear axle wheel speed.

[0030] The target torque in the reverse direction of the rear axle is determined based on the speed difference of the rear axle wheels.

[0031] Optionally, determining the reverse target torque of the rear axle based on the rear axle wheel speed difference includes:

[0032] Based on the driving mode of the vehicle, determine the rear axle proportional term factor and the rear axle integral term factor corresponding to the driving mode;

[0033] The rear axle proportional term torque is determined based on the rear axle proportional term factor and the rear axle wheel speed difference;

[0034] The rear axle integral term torque is determined based on the rear axle integral term factor and the rear axle wheel speed difference;

[0035] Based on the preset fourth correspondence, the vehicle's driving mode, and the target rear axle wheel speed, the rear axle feedforward torque is determined. The fourth correspondence includes the correspondence between the rear axle feedforward torque and the second vehicle state, which includes the vehicle's driving mode and the target rear axle wheel speed.

[0036] The reverse target torque of the rear axle is determined based on the determined proportional torque of the rear axle, the integral torque of the rear axle, and the feedforward torque of the rear axle.

[0037] Optionally, before controlling the front axle drive motor to output the positive target torque, controlling the rear axle drive motor to output the reverse target torque, and braking the outer rear wheel of the steering vehicle via the braking system according to the wheel speed of the outer rear wheel to assist the vehicle in steering, the method further includes:

[0038] Determine whether the vehicle has a single slipping target front wheel;

[0039] In the presence of a single slipping target front wheel, the method of controlling the front axle drive motor to output the positive target torque and controlling the rear axle drive motor to output the negative target torque, and braking the outer rear wheel of the steering wheel according to the wheel speed of the outer rear wheel through the braking system to assist the vehicle in steering, includes:

[0040] The system controls the front axle drive motor to output the positive target torque and controls the braking system corresponding to the target front wheel to brake the target front wheel. It also controls the rear axle drive motor to output the reverse target torque and brakes the outer rear wheel of the steering wheel according to the wheel speed of the outer rear wheel of the steering wheel, thereby assisting the vehicle in steering.

[0041] Optionally, the outer rear wheel and the inner rear wheel can be determined based on the steering wheel direction, including:

[0042] Determine the direction of the steering wheel;

[0043] When the steering is to the left, the right rear wheel of the vehicle is designated as the outer rear wheel and the left rear wheel of the vehicle is designated as the inner rear wheel.

[0044] When the steering is to the right, the left rear wheel of the vehicle is designated as the outer rear wheel and the right rear wheel of the vehicle is designated as the inner rear wheel.

[0045] Optionally, braking the outer rear wheel of the steering wheel via the braking system, based on the wheel speed of the outer rear wheel, includes:

[0046] The control braking system applies braking force to the outer rear wheel of the steering wheel;

[0047] Real-time monitoring of the speed of the outer rear wheel of the steering wheel;

[0048] If the speed of the outer rear wheel is not zero, the braking force applied to the outer rear wheel is increased according to a preset rule until the speed of the outer rear wheel is zero.

[0049] Optionally, based on the vehicle's status information, determining whether to activate the target steering function includes:

[0050] Real-time acquisition of the vehicle's status information;

[0051] Determine the relationship between the status information and the preparation conditions;

[0052] When the status information meets the preparation conditions, the target steering function is switched from the off state to the ready state.

[0053] When the target steering function is in a ready state, determine the relationship between the state information and the activation conditions;

[0054] When the status information meets the activation conditions, the target steering function is switched from the ready state to the active state.

[0055] Optionally, the method further includes:

[0056] When the target steering function is active, the relationship between the state information and the state rollback conditions is determined, wherein the state rollback conditions include a first state rollback condition and a second state rollback condition.

[0057] If the status information satisfies any one or more of the first status rollback conditions, control the target steering function to switch from the active state to the ready state;

[0058] If the status information satisfies one or more of the second state rollback conditions, the target steering function is switched from an active state to a closed state.

[0059] A second aspect of this application provides a system for controlling vehicle steering, the system comprising: a powertrain controller, a front axle drive motor, a rear axle drive motor, the powertrain controller comprising an activation module, an inner and outer rear wheel determination module, a torque determination module, and a torque control module;

[0060] The activation module is used to determine whether to activate the target steering function based on the vehicle's status information.

[0061] The inner and outer rear wheel determination module is used to determine the outer rear wheel and the inner rear wheel based on the steering wheel direction when the target steering function is activated.

[0062] The torque determination module is used to determine the positive target torque of the front axle based on the front wheel speed, and to determine the negative target torque of the rear axle based on the rear wheel speed on the inside of the steering wheel.

[0063] The torque control module is used to control the front axle drive motor to output the positive target torque, control the rear axle drive motor to output the reverse target torque, and brake the outer rear wheel of the steering wheel according to the wheel speed of the outer rear wheel of the steering wheel through the braking system to assist the vehicle in steering.

[0064] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements a method for controlling vehicle steering as described in the first aspect of this application.

[0065] A fourth aspect of this application provides a computer-readable storage medium storing a computer program, characterized in that, when executed by a processor, the computer program implements a method for controlling vehicle steering as described in the first aspect of this application.

[0066] The method for controlling vehicle steering provided in this application has the following advantages:

[0067] This application provides a method for controlling vehicle steering, applied to a dual-motor driven vehicle where each wheel is braked by an independent braking system. First, based on the vehicle's state information, it is determined whether the current state information meets the conditions for activating a target steering function; if so, the target steering function is activated. With the target steering function activated, the outer and inner rear wheels are further determined based on the steering wheel's direction. A positive target torque for the front axle is determined based on the front wheel speeds, and a negative target torque for the rear axle is determined based on the inner rear wheel speeds. Based on the determined positive and negative target torques, the front axle drive motor is controlled to output the positive target torque, and the rear axle drive motor is controlled to output the negative target torque. Furthermore, based on the outer rear wheel speeds, the braking system corresponding to the outer rear wheel is controlled to brake the outer rear wheel to assist in vehicle steering. Therefore, by using the vehicle steering control method provided in this application embodiment, the vehicle will obtain the yaw torque provided by the forward rotation of the two front wheels and the yaw torque provided by the reverse rotation of the rear wheels located on the inside of the vehicle's steering side, with the rear wheels located on the outside of the vehicle's steering side as the fulcrum, for steering. At the same time, the reverse rotation of the rear wheels located on the inside of the vehicle's steering side and the braking and stationary state of the rear wheels located on the outside of the vehicle's steering side will suppress the forward displacement of the two front wheels of the vehicle, thereby effectively reducing the steering radius and reducing the steering difficulty of the vehicle in small-radius steering scenarios. Attached Figure Description

[0068] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0069] Figure 1 A flowchart illustrating a method for controlling vehicle steering is shown in one embodiment of this application;

[0070] Figure 2 This is a schematic diagram illustrating the determination of the inner and outer rear wheels in a method for controlling vehicle steering according to an embodiment of this application;

[0071] Figure 3 This is another schematic diagram illustrating the determination of the inner and outer rear wheels in a method for controlling vehicle steering according to an embodiment of this application;

[0072] Figure 4 This is a schematic diagram illustrating the effect of controlling vehicle steering in a method for controlling vehicle steering according to an embodiment of this application;

[0073] Figure 5 This is a schematic diagram illustrating the process of switching the target steering function state in a method for controlling vehicle steering according to an embodiment of this application;

[0074] Figure 6 This is another flowchart illustrating a method for controlling vehicle steering according to one embodiment of this application;

[0075] Figure 7 This is a schematic diagram illustrating a system for controlling vehicle steering, as shown in one embodiment of this application. Detailed Implementation

[0076] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0077] refer to Figure 1 , Figure 1 This is a schematic diagram illustrating a method for controlling vehicle steering according to one embodiment of this application. Figure 1 As shown, the method for controlling vehicle steering provided in this application is applied to a dual-motor driven vehicle, which includes a braking system capable of independently controlling each wheel. The method for controlling vehicle steering in this embodiment includes:

[0078] Step S1: Determine whether to activate the target steering function based on the vehicle's status information.

[0079] In this embodiment, the method for controlling vehicle steering provided in this application is applied to a dual-motor driven vehicle. The dual motors include a front axle drive motor and a rear axle drive motor. The front axle drive motor is used to drive the two front wheels of the vehicle simultaneously, that is, the two front wheels of the vehicle share one front axle drive motor. The rear axle drive motor is used to drive the two rear wheels of the vehicle simultaneously, that is, the two rear wheels of the vehicle share one rear axle drive motor.

[0080] In this embodiment, the vehicle's status information is first obtained through various sensors. Based on the obtained vehicle status information, it is determined whether the current vehicle status meets the conditions for activating the target steering function. When the vehicle status meets the conditions for activating the target steering function, the target steering function is then activated, thereby avoiding driving safety problems caused by the accidental activation of the target steering function.

[0081] Step S2: When the target steering function is activated, determine the outer rear wheel and the inner rear wheel based on the steering wheel direction.

[0082] In this embodiment, the target steering function is activated when the current vehicle state meets the conditions for activating the target steering function. The conditions for activating the target steering function include at least a steering wheel angle greater than a set threshold. This set threshold can be set according to the actual application scenario and is not specifically limited here, such as 10°, 15°, etc. Since the conditions for activating the target steering function include at least a steering wheel angle greater than the set threshold, when the target steering function is activated, it is determined that steering is required. Simultaneously, the vehicle steering control method provided in this application is needed to assist steering. At this time, based on the steering wheel angle, it is determined which of the vehicle's two rear wheels belongs to the outer steering wheel and which belongs to the inner steering wheel.

[0083] In conjunction with the above embodiments, in one implementation, this application also provides a method for controlling vehicle steering. In this method for controlling vehicle steering, step S2 may include steps S21 to S23:

[0084] Step S21: Determine the steering direction of the steering wheel.

[0085] In this embodiment, the vehicle's steering wheel angle signal is acquired by sensors configured on the vehicle. This steering wheel angle signal represents the angle at which the steering wheel turns left or right, for example, 10° to the left and 15° to the right. Based on this steering wheel angle signal, it can be determined whether the vehicle is currently turning left or right.

[0086] Step S21: When the steering is to the left, the right rear wheel of the vehicle is identified as the outer rear wheel and the left rear wheel of the vehicle is identified as the inner rear wheel.

[0087] In this embodiment, as Figure 2 As shown, when the vehicle is turning left, the right rear wheel is designated as the outer rear wheel and the left rear wheel is designated as the inner rear wheel.

[0088] Step S21: When the steering is to the right, the left rear wheel of the vehicle is identified as the outer rear wheel and the right rear wheel of the vehicle is identified as the inner rear wheel.

[0089] In this embodiment, as Figure 3 As shown, when the vehicle is turning right, the left rear wheel is designated as the outer rear wheel and the right rear wheel is designated as the inner rear wheel.

[0090] Step S3: Determine the positive target torque of the front axle based on the front wheel speed, and determine the negative target torque of the rear axle based on the rear wheel speed on the inside of the steering wheel.

[0091] In this embodiment, while acquiring the vehicle's steering wheel angle signal through sensors configured on the vehicle, the wheel speeds of each wheel are also acquired through sensors configured on the vehicle. After determining the outer and inner rear wheels and acquiring the wheel speeds of each wheel, a corresponding reverse target torque is determined based on the wheel speed of the inner rear wheel. This reverse target torque will drive the rear wheels to rotate in the opposite direction, thus giving the vehicle a backward displacement force. Simultaneously, based on the front wheel speeds (including the left and right front wheel speeds), a corresponding positive target torque is determined based on the front wheel speeds. This positive target torque will drive the front wheels to rotate in the forward direction, thus giving the vehicle a forward displacement force.

[0092] Step S4: Control the front axle drive motor to output the positive target torque, and control the rear axle drive motor to output the reverse target torque. Based on the wheel speed of the outer rear wheel, brake the outer rear wheel through the braking system to assist the vehicle in steering.

[0093] In this embodiment, after determining the positive and negative target torques, the front axle drive motor is controlled to output the positive target torque to drive the vehicle forward during steering. Simultaneously, the rear axle drive motor is controlled to output the negative target torque, and based on the wheel speed of the outer rear wheel, the braking system brakes the outer rear wheel, locking it in a locked state (i.e., no longer driven by the negative target torque to rotate). When the vehicle is steering, the yaw torque provided by the positive rotation of the two front wheels is superimposed on the yaw torque provided by the negative rotation of the inner rear wheel, with the outer rear wheel as the fulcrum. Simultaneously, the negative rotation of the inner rear wheel, combined with the braking and stationary state of the outer rear wheel, suppresses the forward displacement of the two front wheels, effectively reducing the steering radius and thus lowering the steering difficulty in small-radius steering scenarios. This is because when the rear wheels on the inside of the steering wheel rotate in the opposite direction, the vehicle generates a rotational torque with the rear wheels on the outside of the steering wheel as the fulcrum, which is in the same direction as the steering. This rotational torque increases the vehicle's yaw rate, thus more effectively reducing the vehicle's turning radius. Braking methods include, but are not limited to, using friction brake assemblies to clamp and control the wheels.

[0094] In this embodiment, steering includes, but is not limited to, turning and U-turn.

[0095] In this embodiment, it should be noted that when applying braking force to the outer rear wheel, the torque loading of the front and rear axle drive motors needs to be applied simultaneously.

[0096] For example, such as Figure 2 As shown, when the vehicle turns left, the left rear wheel is designated as the inside rear wheel and the right rear wheel as the outside rear wheel. A positive target torque is determined based on the wheel speeds of the two front wheels, and a negative target torque is determined based on the wheel speed of the inside rear wheel. The front axle drive motor outputs a positive torque equal to this positive target torque; it should be understood that the front axle drive motor gradually increases or decreases its output of the positive torque to reach this target torque. Similarly, the rear axle drive motor outputs a negative torque equal to this negative target torque; it should be understood that the rear axle drive motor gradually increases or decreases its output of the negative torque to reach this negative target torque. Simultaneously, the braking system brakes the outside rear wheel (i.e., the right rear wheel) to prevent it from rotating. When the vehicle turns left, it will use the yaw torque provided by the forward rotation of the two front wheels and the yaw torque provided by the reverse rotation of the left rear wheel with the right rear wheel as the fulcrum to turn. At the same time, the reverse rotation of the left rear wheel and the braking and stationary state of the right rear wheel will suppress the forward displacement of the two front wheels, thereby effectively reducing the turning radius and reducing the difficulty of turning in small-radius turning scenarios.

[0097] For example, such as Figure 3 As shown, when the vehicle turns right, the right rear wheel is designated as the inside rear wheel and the left rear wheel as the outside rear wheel. A positive target torque is determined based on the wheel speeds of the two front wheels, and a negative target torque is determined based on the wheel speed of the inside rear wheel. The front axle drive motor outputs a positive torque equal to this positive target torque; it should be understood that the front axle drive motor gradually increases or decreases its output of the positive torque to reach this target torque. Similarly, the rear axle drive motor outputs a negative torque equal to this negative target torque; it should be understood that the rear axle drive motor gradually increases or decreases its output of the negative torque to reach this negative target torque. Simultaneously, the braking system brakes the outside rear wheel (i.e., the vehicle's left rear wheel) to prevent it from rotating. When the vehicle turns right, it utilizes the yaw torque provided by the forward rotation of the two front wheels, combined with the yaw torque provided by the reverse rotation of the right rear wheel, with the left rear wheel as the fulcrum. Simultaneously, the reverse rotation of the right rear wheel, combined with the braking and stationary state of the left rear wheel, suppresses the forward displacement of the two front wheels, effectively reducing the turning radius and thus lowering the difficulty of turning in tight-radius situations. Figure 4 As shown, the vehicle steering control method provided in this application assists in vehicle steering, enabling the vehicle to steer around a nearly fixed center point when steering.

[0098] This application provides a method for controlling vehicle steering, applied to a dual-motor driven vehicle where each wheel is braked by an independent braking system. First, based on the vehicle's state information, it is determined whether the current state information meets the conditions for activating a target steering function; if so, the target steering function is activated. With the target steering function activated, the outer and inner rear wheels are further determined based on the steering wheel's direction. A positive target torque for the front axle is determined based on the front wheel speeds, and a negative target torque for the rear axle is determined based on the inner rear wheel speeds. Based on the determined positive and negative target torques, the front axle drive motor is controlled to output the positive target torque, and the rear axle drive motor is controlled to output the negative target torque. Furthermore, based on the outer rear wheel speeds, the braking system corresponding to the outer rear wheel is controlled to brake the outer rear wheel to assist in vehicle steering. Therefore, by using the vehicle steering control method provided in this application embodiment, the vehicle will obtain the yaw torque provided by the forward rotation of the two front wheels and the yaw torque provided by the reverse rotation of the rear wheels located on the inside of the vehicle's steering side, with the rear wheels located on the outside of the vehicle's steering side as the fulcrum, for steering. At the same time, the reverse rotation of the rear wheels located on the inside of the vehicle's steering side and the braking and stationary state of the rear wheels located on the outside of the vehicle's steering side will suppress the forward displacement of the two front wheels of the vehicle, thereby effectively reducing the steering radius and reducing the steering difficulty of the vehicle in small-radius steering scenarios.

[0099] In conjunction with the above embodiments, in one implementation, this application also provides a method for controlling vehicle steering. In this method for controlling vehicle steering, the determination of the positive target torque in step S3 may include steps S31 to S34:

[0100] Step S31: Determine the front axle wheel speed based on the left front wheel speed and the right front wheel speed of the vehicle.

[0101] In this embodiment, due to the influence of the driving road surface and steering during the actual movement of the vehicle, the wheel speeds of the two front wheels of the vehicle are inconsistent. In order to obtain a more accurate front axle wheel speed, this application determines the front axle wheel speed based on the wheel speeds of the left and right front wheels of the vehicle. One optional implementation is to take the average value of the wheel speeds of the left and right front wheels of the vehicle and determine the average value as the front axle wheel speed of the vehicle.

[0102] Step S32: Determine the target front axle wheel speed according to the preset first correspondence, the vehicle's driving mode and steering wheel angle. The first correspondence includes the correspondence between the target front axle wheel speed and the first vehicle state, which includes the vehicle's driving mode and steering wheel angle.

[0103] In this embodiment, the target front axle wheel speed represents the desired front axle wheel speed for better vehicle steering in the current scenario. Since this target front axle wheel speed is the desired speed for better vehicle steering in the current scenario, setting corresponding values ​​for different steering scenarios can better achieve the aforementioned purpose. For example, in steering environments such as snow, sand, and mud, matching the target front axle wheel speed to the environment can improve steering performance in these different conditions. Simultaneously, the steering wheel angle also affects the applied front axle wheel speed; for example, if the steering wheel angle is too large, the front axle wheel speed cannot be too high to ensure steering safety. Based on this, this application pre-constructs a first correspondence relationship, which includes the correspondence between the target front axle wheel speed and the first vehicle state. The first vehicle state includes the vehicle's driving mode and steering wheel angle. In other words, the first correspondence relationship includes the correspondence between the vehicle's target front axle wheel speed and the vehicle's driving mode and steering wheel angle; that is, a specific driving mode and a specific steering wheel angle have a corresponding target front axle wheel speed. The driving mode includes, but is not limited to, mud driving mode, snow driving mode, sand driving mode, and conventional road driving mode. In this embodiment, the driving mode can be selected by the user or obtained based on data collected by the vehicle's sensors. For example, if the current vehicle is in a snowy environment, the user can select the snow driving mode using control buttons, or if the current vehicle is in a snowy environment and the data collected by the vehicle's sensors determines that the vehicle is in a snowy environment, the vehicle automatically switches to snow driving mode.

[0104] For example, the driving modes include n driving modes D1 to Dn, and the steering wheel angles include m angles S1 to Sm. For any combination of driving mode and steering wheel angle DSxy, there is a corresponding target front axle wheel speed Vxy, where x takes values ​​from 1 to n and y takes values ​​from 1 to m. Finally, V11 to Vnm form the first correspondence.

[0105] In this embodiment, while obtaining the wheel speeds of each wheel of the vehicle through sensors configured on the vehicle, the vehicle's driving mode is also obtained through sensors configured on the vehicle. After obtaining the vehicle's driving mode and steering wheel angle, based on a pre-built first correspondence, a target front axle wheel speed corresponding to both the driving mode and the steering wheel angle is retrieved from the first correspondence, and this target front axle wheel speed is determined as the target front axle wheel speed of the vehicle.

[0106] For example, continuing with the above example, if the driving mode of the vehicle is determined to be D3 and the steering wheel angle is S5, based on the pre-built first correspondence, the target front axle wheel speed V35 that corresponds to both the driving mode D3 and the steering wheel angle S5 is queried, and the target front axle wheel speed V35 is determined as the target front axle wheel speed of the vehicle.

[0107] Step S33: Determine the front axle wheel speed difference based on the front axle wheel speed and the target front axle wheel speed.

[0108] In this embodiment, after determining the vehicle's current actual front axle wheel speed and the desired target front axle wheel speed, the difference between the two is calculated to obtain the front axle wheel speed difference.

[0109] Step S34: Determine the positive target torque of the front axle based on the front axle wheel speed difference.

[0110] In this embodiment, after determining the front axle wheel speed difference of the vehicle, the proportional torque, integral torque, and feedforward torque of the front axle are determined based on the determined front axle wheel speed difference. Then, the sum of the three torques is determined as the positive target torque.

[0111] In conjunction with the above embodiments, in one implementation, this application also provides a method for controlling vehicle steering. In this method for controlling vehicle steering, step S34 may include steps S341 to S345:

[0112] Step S341: Determine the front axle proportional term factor and front axle integral term factor corresponding to the driving mode of the vehicle.

[0113] In this embodiment, to obtain a more accurate positive target torque, this application uses simulation to obtain the front axle proportional term factor and front axle integral term factor corresponding to different driving modes. That is, each driving mode has a corresponding front axle proportional term factor and front axle integral term factor. Then, a corresponding correspondence is constructed, and based on the obtained vehicle driving mode, the front axle proportional term factor and front axle integral term factor corresponding to that driving mode are obtained from this correspondence.

[0114] For example, there are n driving modes, D1 to Dn. For driving mode Dx, the front axle proportional term factor Px and front axle integral term factor Ix corresponding to driving mode Dx are obtained through simulation, where x takes values ​​from 1 to n. When the driving mode of the vehicle is determined to be D5, the front axle proportional term factor P5 and front axle integral term factor I5 corresponding to driving mode D5 are obtained from the constructed correspondence.

[0115] Step S342: Determine the front axle proportional term torque based on the front axle proportional term factor and the front axle wheel speed difference.

[0116] In this embodiment, after determining the front axle proportional term factor of the vehicle, the proportional term factor is multiplied by the determined front axle wheel speed difference to obtain the front axle proportional term torque.

[0117] Step S343: Determine the front axle integral term torque based on the front axle integral term factor and the front axle wheel speed difference.

[0118] In this embodiment, after determining the front axle integral term factor of the vehicle, the integral term factor is multiplied by the determined front axle wheel speed difference and then integrated over time to obtain the front axle integral term torque.

[0119] Step S344: Determine the front axle feedforward torque based on the preset second correspondence, the vehicle's driving mode, and the target front axle wheel speed. The second correspondence includes the correspondence between the front axle feedforward torque and the second vehicle state, which includes the vehicle's driving mode and the target front axle wheel speed.

[0120] In this embodiment, in order to obtain a more accurate positive target torque, this application pre-constructs a second correspondence relationship, which includes the correspondence between the front axle feedforward torque and the second vehicle state. The second vehicle state includes the vehicle's driving mode and the target front axle wheel speed. That is, the second correspondence relationship includes the correspondence between the vehicle's front axle feedforward torque and the vehicle's driving mode and the target front axle wheel speed. In other words, a specific driving mode and a specific target front axle wheel speed have a corresponding front axle feedforward torque.

[0121] For example, continuing with the above example, the driving modes include n driving modes D1 to Dn, and the target front axle wheel speeds include V11 to Vnm. For any combination of driving mode and target front axle wheel speed DxVxy, there is a corresponding front axle feedforward torque Exy, where x takes values ​​from 1 to n and y takes values ​​from 1 to m. Finally, E11 to Enm constitute the second correspondence.

[0122] In this embodiment, after obtaining the vehicle's driving mode and determining the target front axle wheel speed, based on a pre-built second correspondence, the front axle feedforward torque corresponding to both the driving mode and the target front axle wheel speed is queried from the second correspondence, and the front axle feedforward torque is determined as the vehicle's front axle feedforward torque.

[0123] Step S345: Determine the positive target torque of the front axle based on the determined front axle proportional torque, front axle integral torque, and front axle feedforward torque.

[0124] In this embodiment, after determining the front axle proportional torque, front axle integral torque, and front axle feedforward torque of the vehicle through the above steps S341 to S344, the three are summed, and the summed value is determined as the positive target torque of the front axle of the vehicle.

[0125] In this embodiment, after determining the positive target torque, the front axle drive motor outputs a positive torque equal to the positive target torque, and drives the two front wheels of the vehicle to reach the determined target front axle wheel speed with the positive target torque. It should be understood that the front axle drive motor gradually increases or decreases the positive torque output to reach the positive target torque.

[0126] In conjunction with the above embodiments, in one implementation, this application also provides a method for controlling vehicle steering. In this method for controlling vehicle steering, step S31 may include steps S311 to S312:

[0127] Step S311: By filtering the collected left front wheel speed signal and right front wheel speed signal, the corresponding first left front wheel speed and first right front wheel speed are obtained.

[0128] In this embodiment, the vehicle first collects the left front wheel speed signal and the right front wheel speed signal. To make the obtained left front wheel speed and right front wheel speed more accurate, after obtaining the left front wheel speed signal and the right front wheel speed signal, this application first filters the obtained left front wheel speed signal and right front wheel speed signal respectively to eliminate signal interference, thereby obtaining a first left front wheel speed corresponding to the left front wheel speed signal that can more accurately represent the vehicle's left front wheel speed, and a first right front wheel speed corresponding to the right front wheel speed signal that can more accurately represent the vehicle's right front wheel speed.

[0129] Step S312: The front axle wheel speed is obtained by averaging the first left front wheel speed and the first right front wheel speed.

[0130] In this embodiment, after obtaining the first left front wheel speed and the first right front wheel speed of the vehicle, the average value of the obtained first left front wheel speed and the first right front wheel speed is taken, and the average value is determined as the front axle wheel speed of the vehicle.

[0131] In conjunction with the above embodiments, in one implementation, this application also provides a method for controlling vehicle steering. In this method for controlling vehicle steering, step S312 may include steps S3121 to S3123:

[0132] Step S3121: The first front axle wheel speed is obtained by averaging the first left front wheel speed and the first right front wheel speed.

[0133] In this embodiment, as the vehicle's steering angle increases, the deviation between the left and right front wheel speeds also increases. Simply averaging the first left and right front wheel speeds obtained after filtering yields an inaccurate front axle wheel speed. Therefore, this application introduces steering wheel angle correction to achieve a more accurate front axle wheel speed.

[0134] In this embodiment, after obtaining the first left front wheel speed and the first right front wheel speed of the vehicle, the average value of the obtained first left front wheel speed and the first right front wheel speed is taken, and the average value is determined as the first front axle wheel speed of the vehicle.

[0135] Step S3122: Determine the correction coefficient corresponding to the steering wheel angle based on the correspondence between the vehicle's steering wheel angle and the target. The correspondence between the target and the target includes the correspondence between the steering wheel angle and the correction coefficient.

[0136] This application pre-constructs a target correspondence relationship, which includes the correspondence between the vehicle's steering wheel angle and the correction coefficient, that is, a specific steering wheel angle has a corresponding correction coefficient.

[0137] In this embodiment, after obtaining the steering wheel angle of the vehicle, the correction coefficient corresponding to the steering wheel angle is queried from the pre-built target correspondence relationship.

[0138] Step S3123: Determine the front axle wheel speed based on the correction coefficient and the first front axle wheel speed.

[0139] In this embodiment, after determining the correction coefficient and the first front axle wheel speed corresponding to the steering wheel angle based on the vehicle's steering wheel angle, the correction coefficient is multiplied by the first front axle wheel speed, and the result of the multiplication is determined as the final front axle wheel speed.

[0140] In conjunction with the above embodiments, in one implementation, this application also provides a method for controlling vehicle steering. In this method for controlling vehicle steering, the determination of the reverse target torque in step S3 may include steps S35 to S37:

[0141] Step S35: Determine the target rear axle wheel speed according to the preset third correspondence, the vehicle's driving mode and steering wheel angle. The third correspondence includes the correspondence between the target rear axle wheel speed and the first vehicle state, which includes the vehicle's driving mode and steering wheel angle.

[0142] In this embodiment, since the rear axle drive motor provides torque to the two rear wheels of the vehicle in the method for controlling vehicle steering provided by this application, the outer rear wheel will be braked and in a non-rotating state, so this application only considers the inner rear wheel when determining the reverse target torque.

[0143] In this embodiment, the application pre-constructs a third correspondence, which includes the correspondence between the target rear axle wheel speed and the first vehicle state. The first vehicle state includes the vehicle's driving mode and steering wheel angle. In other words, the third correspondence includes the correspondence between the vehicle's target rear axle wheel speed and both the vehicle's driving mode and steering wheel angle; that is, a specific driving mode and a specific steering wheel angle correspond to a specific target rear axle wheel speed. The driving mode includes, but is not limited to, mud driving mode, snow driving mode, sand driving mode, and conventional road driving mode.

[0144] For example, the driving modes include n driving modes D1 to Dn, and the steering wheel angles include m angles S1 to Sm. For any combination of driving mode and steering wheel angle DSxy, there is a corresponding target rear axle wheel speed Uxy, where x takes values ​​from 1 to n and y takes values ​​from 1 to m. Finally, U11 to Unm form the third correspondence.

[0145] In this embodiment, while obtaining the wheel speeds of each wheel of the vehicle through sensors configured on the vehicle, the vehicle's driving mode is also obtained through sensors configured on the vehicle. After obtaining the vehicle's driving mode and steering wheel angle, based on a pre-built third correspondence, a target rear axle wheel speed corresponding to both the driving mode and the steering wheel angle is retrieved from the third correspondence, and this target rear axle wheel speed is determined as the target rear axle wheel speed of the vehicle.

[0146] For example, continuing with the above example, if the driving mode of the vehicle is determined to be D3 and the steering wheel angle is S5, based on the pre-built third correspondence, the target rear axle wheel speed U35 that corresponds to both the driving mode D3 and the steering wheel angle S5 is queried, and the target rear axle wheel speed U35 is determined as the target rear axle wheel speed of the vehicle.

[0147] Step S36: Determine the rear axle wheel speed difference based on the wheel speed of the inner rear wheel and the target rear axle wheel speed.

[0148] In this embodiment, the vehicle first collects the wheel speed signal of the inner rear wheel. After obtaining the inner rear wheel speed signal, this application filters the obtained inner rear wheel speed signal to eliminate signal interference, thereby obtaining the inner rear wheel speed.

[0149] In this embodiment, after determining the vehicle's current actual inner rear wheel speed and the desired target rear axle wheel speed, the difference between the two is calculated to obtain the rear axle wheel speed difference.

[0150] Step S37: Determine the reverse target torque of the rear axle based on the rear axle wheel speed difference.

[0151] In this embodiment, after determining the rear axle wheel speed difference of the vehicle, the rear axle proportional torque, rear axle integral torque, and rear axle feedforward torque are determined based on the determined rear axle wheel speed difference. Then, the sum of the rear axle proportional torque, rear axle integral torque, and rear axle feedforward torque is determined as the reverse target torque.

[0152] In this embodiment, after determining the reverse target torque, the rear axle drive motor outputs a reverse torque equal to the reverse target torque, and drives the two rear wheels of the vehicle to reach the determined target rear axle wheel speed. It should be understood that when the rear axle drive motor outputs the reverse torque, it gradually increases or decreases to the reverse target torque. At the same time, the braking system brakes the outer rear wheel to prevent it from rotating.

[0153] In conjunction with the above embodiments, in one implementation, this application also provides a method for controlling vehicle steering. In this method for controlling vehicle steering, step S37 may include steps S371 to S375:

[0154] Step S371: Determine the rear axle proportional term factor and rear axle integral term factor corresponding to the driving mode of the vehicle.

[0155] In this embodiment, to obtain a more accurate reverse target torque, this application uses simulation to obtain the rear axle proportional term factor and rear axle integral term factor corresponding to different driving modes. That is, each driving mode has a corresponding rear axle proportional term factor and rear axle integral term factor. Then, a corresponding correspondence is constructed, and based on the obtained vehicle driving mode, the rear axle proportional term factor and rear axle integral term factor corresponding to that driving mode are obtained from this correspondence.

[0156] For example, there are n driving modes, D1 to Dn. For driving mode Dx, the rear axle proportional term factor Qx and rear axle integral term factor Zx corresponding to driving mode Dx are obtained through simulation, where x takes values ​​from 1 to n. When the driving mode of the vehicle is determined to be D5, the rear axle proportional term factor Q5 and rear axle integral term factor Z5 corresponding to driving mode D5 are obtained from the constructed correspondence.

[0157] Step S372: Determine the rear axle proportional term torque based on the rear axle proportional term factor and the rear axle wheel speed difference.

[0158] In this embodiment, after determining the rear axle proportional term factor of the vehicle, the proportional term factor is multiplied by the determined rear axle wheel speed difference to obtain the rear axle proportional term torque.

[0159] Step S373: Determine the rear axle integral term torque based on the rear axle integral term factor and the rear axle wheel speed difference.

[0160] In this embodiment, after determining the rear axle integral term factor of the vehicle, the integral term factor is multiplied by the determined rear axle wheel speed difference and then integrated over time to obtain the rear axle integral term torque.

[0161] Step S374: Determine the rear axle feedforward torque according to the preset fourth correspondence, the vehicle's driving mode, and the target rear axle wheel speed. The fourth correspondence includes the correspondence between the rear axle feedforward torque and the second vehicle state. The second vehicle state includes the vehicle's driving mode and the target rear axle wheel speed.

[0162] In this embodiment, in order to obtain a more accurate reverse target torque, this application pre-constructs a fourth correspondence relationship, which includes the correspondence between the rear axle feedforward torque and the second vehicle state. The second vehicle state includes the vehicle's driving mode and the target rear axle wheel speed. That is, the fourth correspondence relationship includes the correspondence between the vehicle's rear axle feedforward torque and the vehicle's driving mode and the target rear axle wheel speed. In other words, a specific driving mode and a specific target rear axle wheel speed have a corresponding rear axle feedforward torque.

[0163] For example, continuing with the above example, the driving modes include n driving modes D1 to Dn, and the target rear axle wheel speeds include U11 to Unm. For any combination of driving mode and target rear axle wheel speed DxUxy, there is a corresponding rear axle feedforward torque Wxy, where x takes values ​​from 1 to n and y takes values ​​from 1 to m. Finally, W11 to Wnm constitute the fourth correspondence.

[0164] In this embodiment, after obtaining the vehicle's driving mode and the target rear axle wheel speed, based on a pre-built fourth correspondence, the rear axle feedforward torque corresponding to both the driving mode and the target rear axle wheel speed is queried from the fourth correspondence, and the rear axle feedforward torque is determined as the vehicle's rear axle feedforward torque.

[0165] Step S375: Determine the reverse target torque of the rear axle based on the determined rear axle proportional torque, the rear axle integral torque, and the rear axle feedforward torque.

[0166] In this embodiment, after determining the rear axle proportional torque, rear axle integral torque, and rear axle feedforward torque of the vehicle through the above steps S371 to S374, the three are summed, and the summed value is determined as the reverse target torque of the rear axle of the vehicle.

[0167] In conjunction with the above embodiments, in one implementation, this application also provides a method for controlling vehicle steering. In this method for controlling vehicle steering, before step S4, the method further includes step S41: determining whether the vehicle has a single slipping target front wheel.

[0168] In this embodiment, on low-traction road surfaces, a front wheel of the vehicle may slip during steering, causing the vehicle to lose power and fail to provide sufficient yaw moment, thus making it impossible to effectively control the vehicle's steering. To solve this problem, this application brakes the slipping front wheel during steering to suppress the slippage of the slipping front wheel, thereby allowing the vehicle to obtain sufficient yaw moment to achieve smooth steering. Specifically, it first determines whether there is a single slipping front wheel and identifies this single slipping front wheel as the target front wheel.

[0169] In the case of a single slipping target front wheel, step S4 may include: controlling the front axle drive motor to output the positive target torque and controlling the braking system corresponding to the target front wheel to brake the target front wheel, controlling the rear axle drive motor to output the reverse target torque, and braking the outer rear wheel of the steering wheel according to the wheel speed of the outer rear wheel of the steering wheel through the braking system to assist the vehicle in steering.

[0170] In this embodiment, when a single slipping target front wheel exists, the front axle drive motor is controlled to output the positive target torque while the braking system brakes the single slipping target front wheel to lock it in a locked state (i.e., no longer driven to rotate by the positive target torque), so that there is sufficient yaw moment to drive the vehicle forward when it turns. Simultaneously, the rear axle drive motor is controlled to output the reverse target torque, and based on the obtained wheel speed of the outer rear wheel, the braking system brakes the outer rear wheel to lock it in a locked state (i.e., no longer driven to rotate by the reverse target torque). When the vehicle is turning, it will receive yaw torque from the forward rotation of one front wheel and the locking state of the other, plus yaw torque from the reverse rotation of the rear wheel located on the inside of the steering wheel, with the rear wheel located on the outside of the steering wheel as the fulcrum. At the same time, the reverse rotation of the rear wheel located on the inside of the steering wheel, plus the braking and stationary state of the rear wheel located on the outside of the steering wheel, will suppress the forward displacement of the two front wheels of the vehicle, thereby effectively reducing the turning radius and reducing the difficulty of turning the vehicle in small-radius turning scenarios.

[0171] In this embodiment, specifically, the target braking torque applied to the slipping front wheel is obtained by subtracting a preset offset torque from the positive target torque of the front axle drive motor. The braking torque is then applied to the slipping front wheel at a certain slope until the applied braking torque reaches the target braking torque required by the braking system. The preset offset torque can be set according to the actual application scenario and is not specifically limited here.

[0172] In conjunction with the above embodiments, in one implementation, this application also provides a method for controlling vehicle steering. In this method, step S4, which involves braking the outer rear wheel based on its wheel speed using the braking system, may include steps S401 to S403:

[0173] Step S401: Control the braking system to apply braking force to the outer rear wheel of the steering wheel.

[0174] In this embodiment, the braking system is first controlled to apply braking force to the determined outer rear wheel. This braking force is an initial value and will be gradually increased according to whether the wheel speed of the outer rear wheel is zero, until the wheel speed of the outer rear wheel is zero.

[0175] Step S402: Monitor the wheel speed of the outer rear wheel in real time.

[0176] In this embodiment, the wheel speed of the outer rear wheel is monitored in real time to determine whether the wheel speed of the outer rear wheel is zero.

[0177] Step S403: If the speed of the outer rear wheel is not zero, increase the braking force applied to the outer rear wheel according to a preset rule until the speed of the outer rear wheel is zero.

[0178] In this embodiment, when the speed of the outer rear wheel is not zero, applying braking force to the outer rear wheel does not lock it. At this point, according to a preset rule, the braking system gradually increases the braking force applied to the outer rear wheel until the real-time monitored speed of the outer rear wheel reaches zero, at which point the braking force is no longer increased. The preset rule can be an increase of a preset percentage (e.g., 10%) on the previous braking force, or an increase of a preset amount of braking force each time, or other preset rules; no specific limitation is made here.

[0179] In conjunction with the above embodiments, in one implementation, this application also provides a method for controlling vehicle steering. In this method for controlling vehicle steering, step S1 may include steps S11 to S15:

[0180] Step S11: Obtain the vehicle's status information in real time.

[0181] In this embodiment, the vehicle's various status information is first obtained through the vehicle's various sensors.

[0182] Step S12: Determine the relationship between the status information and the preparation conditions.

[0183] In this embodiment, the real-time acquired vehicle status information is compared with pre-set preparation conditions to determine whether the vehicle status information meets all the conditions included in the preparation conditions. These preparation conditions include, but are not limited to: the vehicle's powertrain system being ready; the vehicle being stationary; a function switch button activating the target steering function (including but not limited to a hard switch in button form and a soft switch displayed on the screen); the vehicle's gear shift lever being in P, N, or D position; the doors being closed; the vehicle's ESP (Electronic Stability Program) function being disabled; the vehicle's automatic parking function being disabled; and the brake pedal being depressed.

[0184] Step S13: If the status information meets the preparation conditions, control the target steering function to switch from the off state to the ready state.

[0185] In this embodiment, as Figure 5As shown, when the real-time acquired vehicle status information meets all the conditions included in the preparation conditions, the target steering function switches from the default off state to the standby state. In the standby state of the target steering function, the vehicle's prompting system (including voice prompts and / or indicator light prompts and / or display screen prompts) provides the driver with the first prompt information corresponding to the standby state (for example, in an optional implementation, the indicator light representing the target function status is displayed in yellow), indicating to the driver that the current target steering function is in the standby state, and that all relevant control systems and execution systems used by the target steering function are functioning normally.

[0186] Step S14: When the target steering function is in the ready state, determine the relationship between the state information and the activation conditions.

[0187] In this embodiment, when the target steering function is in standby mode, the real-time acquired vehicle status information is further compared with pre-set activation conditions to determine whether the vehicle status information meets all the conditions included in the activation conditions. These activation conditions include, but are not limited to: steering wheel angle greater than a set threshold (this threshold can be set according to the actual application scenario and is not specifically limited here); gear shift lever in D gear; brake pedal released; vehicle EPB (Electrical Park Brake) function deactivated; target steering function activated via a function switch button (including but not limited to a hard switch in button form and a soft switch displayed on the screen); doors closed; vehicle ESP (Electronic Stability Program) function deactivated; and automatic parking function deactivated.

[0188] Step S15: When the status information meets the activation condition, control the target steering function to switch from the ready state to the active state.

[0189] In this embodiment, when the target steering function is in the standby state, and all the vehicle's state information satisfies all the conditions included in the activation conditions, the target steering function is controlled to switch from the standby state to the active state. In the active state of the target steering function, the vehicle's prompting system (including voice prompts and / or indicator light prompts and / or display screen prompts) provides the driver with a second prompt corresponding to the active state (for example, in an optional implementation, the indicator light representing the target function's state is displayed in green) to indicate to the driver that the target steering function is currently active, at which point the target steering function begins to operate. Conversely, when the target steering function is in the standby state, and the vehicle's state information does not satisfy any one or more of the conditions included in the activation conditions, the target steering function is controlled to remain in the standby state.

[0190] In conjunction with the above embodiments, in one implementation, this application also provides a method for controlling vehicle steering. This method for controlling vehicle steering may further include steps S16 to S18:

[0191] Step S16: When the target steering function is in an active state, determine the relationship between the state information and the state rollback conditions, wherein the state rollback conditions include a first state rollback condition and a second state rollback condition.

[0192] In this embodiment, to ensure the safety of using the target steering function, when the target steering function is activated, the vehicle will promptly deactivate the target steering function in case of an emergency, thereby ensuring the safety of using the target steering function. Specifically, when the vehicle's target steering function is activated, the vehicle's status information obtained through real-time monitoring is compared with the status rollback conditions to determine the relationship between the vehicle's status information and the status rollback conditions.

[0193] In this embodiment, the state rollback conditions include a first state rollback condition and a second state rollback condition. The first state rollback condition includes, but is not limited to: vehicle speed exceeding a first target threshold (which can be set according to the actual application scenario and is not specifically limited here); the vehicle's gear shift lever being in P or N gear; the brake pedal being depressed; the vehicle's EPB function being activated; and the steering wheel angle being less than a first steering angle threshold (which can be set according to the actual application scenario and is not specifically limited here). The second state rollback condition includes, but is not limited to: controlling the target steering function to be deactivated via the target steering function's function switch button; the vehicle not being ready (when the vehicle is not ready, it will no longer be able to drive normally); the door being open; the vehicle speed exceeding a second target threshold (which can be set according to the actual application scenario and is not specifically limited here), and the second target threshold being greater than the first target threshold; the vehicle's gear shift lever being in R gear; the vehicle's ESP function being activated; and the vehicle's automatic parking function being activated.

[0194] Step S17: If the status information satisfies any one or more of the first status rollback conditions, control the target steering function to switch from the active state to the ready state.

[0195] In this embodiment, when the target steering function is active, if the vehicle status information obtained through real-time monitoring satisfies any one or more of the first state rollback conditions, the target steering function of the vehicle is switched from the active state to the ready state. Correspondingly, the vehicle's prompting system (including voice prompts and / or indicator light prompts and / or display screen prompts) provides the driver with the first prompt information corresponding to the ready state (for example, in an optional implementation, the indicator light used to represent the target function status is displayed in yellow) to indicate to the driver that the current target steering function is in the ready state. At this time, the various control systems and execution systems related to the target steering function are functioning normally, but are not activated.

[0196] Step S18: If the status information satisfies one or more of the conditions in the second state rollback condition, control the target steering function to switch from the active state to the off state.

[0197] In this embodiment, when the target steering function is active, if the vehicle status information obtained through real-time monitoring meets any one or more of the conditions in the second state rollback condition, the target steering function of the vehicle is switched from active to deactivated. Correspondingly, the vehicle's prompting system (including voice prompts and / or indicator light prompts and / or display screen prompts) disables status prompts for the target steering function.

[0198] In this embodiment, the method for controlling vehicle steering provided in this application is applied to a dual-motor driven vehicle, which includes a control system. This control system comprises a powertrain domain control unit (PDCU), a torque control module implemented within the powertrain domain control unit (this torque control module is a logic module within the powertrain domain control unit), various sensor modules, and the vehicle's execution system. This execution system includes the vehicle's left front wheel, right front wheel, left rear wheel, right rear wheel, and a braking system capable of independently controlling the braking of each wheel. For example... Figure 6 As shown, each sensor module is used to acquire various status information of the vehicle. The powertrain controller receives the vehicle status information acquired by the sensor modules and determines whether to activate the target steering function based on the received vehicle status information. After activating the target steering function, the controller determines the vehicle's driving mode and, based on the driving mode and other information, determines subsequent steering control parameters and sends braking requests. Specifically, it first determines the target front axle wheel speed and the target rear axle wheel speed. Based on the target front axle wheel speed, it determines the corresponding positive target torque through the above implementation method. Subsequently, it controls the two front wheels of the vehicle to drive the vehicle at the target front axle wheel speed based on the positive target torque. Based on the target rear axle wheel speed, it determines the corresponding negative target torque through the above implementation method. Subsequently, it controls the two rear wheels of the vehicle to drive the vehicle at the target rear wheel speed based on the negative target torque. At the same time, a braking request is sent to the braking system to control the braking system to apply braking force to the outer rear wheel of the steering wheel at a set slope until the outer rear wheel of the steering wheel is locked. Vehicle steering control is performed based on the determined target front wheel speed, forward target torque, target rear wheel speed, reverse target torque, and braking request.

[0199] In this embodiment, after the target steering function is activated, the torque control module performs closed-loop torque control based on the pre-set target front axle speed and target rear axle wheel speed. Specifically, it calculates the required positive target torque from the front axle drive motor using a PID (Proportion Integral Derivative) control algorithm based on the difference between the target front axle wheel speed and the actual front axle wheel speed, thus forming a closed-loop torque control based on the actual front axle wheel speed. Similarly, it calculates the required reverse target torque from the rear axle drive motor using a PID (Proportion Integral Derivative) control algorithm based on the difference between the target rear axle wheel speed and the actual inner rear wheel speed, thus forming a closed-loop torque control based on the actual inner rear wheel speed.

[0200] After determining the target front axle wheel speed, target rear axle wheel speed, positive target torque, and negative target torque, the torque control module sends a request signal to the front axle drive motor corresponding to the positive target torque required by the front axle drive motor, and a request signal to the rear axle drive motor corresponding to the negative target torque required by the rear axle drive motor. This controls the two front wheels of the vehicle to steer at the target front axle wheel speed and the two rear wheels to steer at the target rear axle wheel speed. At the same time, the torque control module sends a braking request to the chassis to brake the outer rear wheels of the vehicle's steering wheel. The chassis braking system then applies braking to the outer rear wheels of the vehicle's steering wheel at a certain inclination.

[0201] Based on the same inventive concept, one embodiment of this application provides a system for controlling vehicle steering, such as... Figure 7 As shown, the system 700 includes: a powertrain controller 701, a front axle drive motor 702, and a rear axle drive motor 703. The powertrain controller 701 includes an activation module 7011, an inner and outer rear wheel determination module 7012, a torque determination module 7013, and a torque control module 7014.

[0202] The activation module 7011 is used to determine whether to activate the target steering function based on the vehicle's status information;

[0203] The inner and outer rear wheel determination module 7012 is used to determine the outer rear wheel and the inner rear wheel based on the steering wheel direction when the target steering function is activated.

[0204] The torque determination module 7013 is used to determine the positive target torque of the front axle based on the front wheel speed, and to determine the negative target torque of the rear axle based on the rear wheel speed on the inside of the steering wheel.

[0205] The torque control module 7014 is used to control the front axle drive motor to output the positive target torque, control the rear axle drive motor to output the reverse target torque, and brake the outer rear wheel of the steering vehicle through the braking system according to the wheel speed of the outer rear wheel to assist the vehicle in steering.

[0206] Optionally, the torque determination module 7013 includes:

[0207] The front axle wheel speed determination module is used to determine the front axle wheel speed based on the left front wheel speed and the right front wheel speed of the vehicle;

[0208] The target front axle wheel speed determination module is used to determine the target front axle wheel speed according to a preset first correspondence, the vehicle's driving mode, and the steering wheel angle. The first correspondence includes the correspondence between the target front axle wheel speed and a first vehicle state, and the first vehicle state includes the vehicle's driving mode and steering wheel angle.

[0209] The front axle wheel speed difference determination module is used to determine the front axle wheel speed difference based on the front axle wheel speed and the target front axle wheel speed.

[0210] The positive target torque determination module is used to determine the positive target torque of the front axle based on the front axle wheel speed difference.

[0211] Optionally, the front axle wheel speed determination module includes:

[0212] The first front axle wheel speed determination module is used to obtain the corresponding first left front wheel speed and first right front wheel speed by filtering the collected left front wheel speed signal and right front wheel speed signal;

[0213] The second front axle wheel speed determination module is used to obtain the front axle wheel speed by averaging the first left front wheel speed and the first right front wheel speed.

[0214] Optionally, the second front axle wheel speed determination module includes:

[0215] The third front axle wheel speed determination module is used to obtain the first front axle wheel speed by averaging the first left front wheel speed and the first right front wheel speed.

[0216] The correction coefficient determination module is used to determine the correction coefficient corresponding to the steering wheel angle based on the correspondence between the vehicle's steering wheel angle and the target, wherein the correspondence between the target and the steering wheel angle includes the correspondence between the correction coefficient.

[0217] The fourth front axle wheel speed determination module is used to determine the front axle wheel speed based on the correction coefficient and the first front axle wheel speed.

[0218] Optionally, the positive target torque determination module includes:

[0219] The first factor determination module is used to determine the front axle proportional term factor and the front axle integral term factor corresponding to the driving mode of the vehicle.

[0220] A front axle proportional torque determination module is used to determine the front axle proportional torque based on the front axle proportional factor and the front axle wheel speed difference.

[0221] A front axle integral term torque determination module is used to determine the front axle integral term torque based on the front axle integral term factor and the front axle wheel speed difference;

[0222] The front axle feedforward torque determination module is used to determine the front axle feedforward torque based on a preset second correspondence, the vehicle's driving mode, and the target front axle wheel speed. The second correspondence includes the correspondence between the front axle feedforward torque and a second vehicle state, which includes the vehicle's driving mode and the target front axle wheel speed.

[0223] The positive target torque determination submodule is used to determine the positive target torque of the front axle based on the determined front axle proportional torque, the front axle integral torque, and the front axle feedforward torque.

[0224] Optionally, the torque determination module 7013 includes:

[0225] The target rear axle wheel speed determination module is used to determine the target rear axle wheel speed according to a preset third correspondence, the vehicle's driving mode, and the steering wheel angle. The third correspondence includes the correspondence between the target rear axle wheel speed and a first vehicle state, and the first vehicle state includes the vehicle's driving mode and steering wheel angle.

[0226] The rear axle wheel speed difference determination module is used to determine the rear axle wheel speed difference based on the wheel speed of the inner steering rear wheel and the target rear axle wheel speed.

[0227] The reverse target torque determination module is used to determine the reverse target torque of the rear axle based on the rear axle wheel speed difference.

[0228] Optionally, the reverse target torque determination module includes:

[0229] The second factor determination module is used to determine the rear axle proportional term factor and the rear axle integral term factor corresponding to the driving mode of the vehicle.

[0230] The rear axle proportional torque determination module is used to determine the rear axle proportional torque based on the rear axle proportional factor and the rear axle wheel speed difference.

[0231] The rear axle integral term torque determination module is used to determine the rear axle integral term torque based on the rear axle integral term factor and the rear axle wheel speed difference;

[0232] The rear axle feedforward torque determination module is used to determine the rear axle feedforward torque based on a preset fourth correspondence, the vehicle's driving mode, and the target rear axle wheel speed. The fourth correspondence includes the correspondence between the rear axle feedforward torque and the second vehicle state, which includes the vehicle's driving mode and the target rear axle wheel speed.

[0233] The reverse target torque determination submodule is used to determine the reverse target torque of the rear axle based on the determined rear axle proportional torque, the rear axle integral torque, and the rear axle feedforward torque.

[0234] Optionally, the system 700 further includes:

[0235] The target front wheel determination module is used to determine whether the vehicle has a single slipping target front wheel;

[0236] The torque control submodule is used to control the front axle drive motor to output the positive target torque and control the braking system corresponding to the target front wheel to brake the target front wheel when there is a single slipping target front wheel, as well as to control the rear axle drive motor to output the reverse target torque, and to brake the outer rear wheel of the steering vehicle through the braking system according to the wheel speed of the outer rear wheel of the steering vehicle, so as to assist the vehicle in steering.

[0237] Optionally, the inner and outer rear wheel determining module 7012 includes:

[0238] A steering determination module is used to determine the steering direction of the steering wheel;

[0239] The first inner and outer rear wheel determination module is used to determine the right rear wheel of the vehicle as the outer rear wheel and the left rear wheel of the vehicle as the inner rear wheel when the steering is to the left.

[0240] The second inner and outer rear wheel determination module is used to determine the left rear wheel of the vehicle as the outer rear wheel and the right rear wheel of the vehicle as the inner rear wheel when the steering is to the right.

[0241] Optionally, the torque control module 7014 includes:

[0242] The first torque control module is used to control the braking system to apply braking force to the outer rear wheel of the steering wheel;

[0243] The monitoring module is used to monitor the wheel speed of the outer rear wheel in real time.

[0244] The second torque control module is used to control the increase of the braking force applied to the outer rear wheel of the steering wheel according to a preset rule when the wheel speed of the outer rear wheel of the steering wheel is not zero, until the wheel speed of the outer rear wheel of the steering wheel is zero.

[0245] Optionally, the activation module 7011 includes:

[0246] The status information acquisition module is used to acquire the status information of the vehicle in real time;

[0247] The first relationship determination module is used to determine the relationship between the state information and the preparation conditions;

[0248] The first switching module is used to control the target steering function to switch from the off state to the ready state when the status information meets the preparation conditions;

[0249] The second relationship determination module is used to determine the relationship between the state information and the activation condition when the target steering function is in a ready state.

[0250] The second switching module is used to control the target steering function to switch from the ready state to the active state when the status information meets the activation conditions.

[0251] Optionally, the system further includes:

[0252] The third relationship determination module is used to determine the relationship between the state information and the state rollback conditions when the target steering function is in an active state. The state rollback conditions include a first state rollback condition and a second state rollback condition.

[0253] The third switching module is used to control the target steering function to switch from the active state to the ready state when the state information satisfies any one or more of the first state rollback conditions;

[0254] The fourth switching module is used to control the target steering function to switch from an active state to a closed state when the state information satisfies one or more of the second state rollback conditions.

[0255] Based on the same inventive concept, a third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements a method for controlling vehicle steering as described in the first aspect of this application.

[0256] Based on the same inventive concept, a fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements a method for controlling vehicle steering as described in the first aspect of this application.

[0257] As the method embodiments are basically similar to the system embodiments, the description is relatively simple, and relevant parts can be found in the description of the system embodiments.

[0258] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of this application are not limited to the described order of actions, because according to the embodiments of this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily necessary for the embodiments of this application.

[0259] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0260] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, embodiments of this application can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of this application can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0261] This application describes embodiments with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0262] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0263] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0264] Although preferred embodiments of the present application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present application.

[0265] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0266] The above provides a detailed description of a method, system, device, and medium for controlling vehicle steering provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for controlling vehicle steering, characterized in that, Applied to a dual-motor driven vehicle, the vehicle including a braking system capable of independently controlling each wheel, the method includes: Based on the vehicle's status information, determine whether to activate the target steering function; When the target steering function is activated, the outer rear wheel and the inner rear wheel are determined according to the steering wheel direction; Based on the front wheel speed, determine the positive target torque of the front axle, and based on the rear wheel speed on the inside of the steering wheel, determine the negative target torque of the rear axle. The system controls the front axle drive motor to output the positive target torque and controls the rear axle drive motor to output the reverse target torque. It also brakes the outer rear wheel of the steering wheel according to the wheel speed of the outer rear wheel of the steering wheel through the braking system to assist the vehicle in steering. Among them, determining the positive target torque of the front axle based on the front wheel speed includes: Determine the front axle wheel speed based on the left and right front wheel speeds of the vehicle; Based on a preset first correspondence, the vehicle's driving mode, and the steering wheel angle, the target front axle wheel speed is determined. The first correspondence includes the correspondence between the target front axle wheel speed and the first vehicle state, which includes the vehicle's driving mode and steering wheel angle. The front axle wheel speed difference is determined based on the front axle wheel speed and the target front axle wheel speed. Based on the front axle wheel speed difference, determine the positive target torque of the front axle; The determination of the positive target torque of the front axle based on the front axle wheel speed difference includes: Based on the driving mode of the vehicle, determine the front axle proportional term factor and the front axle integral term factor corresponding to the driving mode; The front axle proportional term torque is determined based on the front axle proportional term factor and the front axle wheel speed difference; The front axle integral term torque is determined based on the front axle integral term factor and the front axle wheel speed difference; Based on the preset second correspondence, the vehicle's driving mode, and the target front axle wheel speed, the front axle feedforward torque is determined. The second correspondence includes the correspondence between the front axle feedforward torque and the second vehicle state, which includes the vehicle's driving mode and the target front axle wheel speed. The positive target torque of the front axle is determined based on the determined proportional torque of the front axle, the integral torque of the front axle, and the feedforward torque of the front axle.

2. The method for controlling vehicle steering according to claim 1, characterized in that, Determining the front axle wheel speed based on the left and right front wheel speeds of the vehicle includes: By filtering the collected left front wheel speed signal and right front wheel speed signal, the corresponding first left front wheel speed and first right front wheel speed are obtained. The front axle wheel speed is obtained by averaging the speeds of the first left front wheel and the first right front wheel.

3. The method for controlling vehicle steering according to claim 2, characterized in that, The step of averaging the speeds of the first left front wheel and the first right front wheel to obtain the front axle wheel speed includes: The first front axle wheel speed is obtained by averaging the first left front wheel speed and the first right front wheel speed. Based on the correspondence between the vehicle's steering wheel angle and the target, a correction coefficient corresponding to the steering wheel angle is determined, wherein the target correspondence includes the correspondence between the steering wheel angle and the correction coefficient; The front axle wheel speed is determined based on the correction factor and the first front axle wheel speed.

4. The method for controlling vehicle steering according to claim 1, characterized in that, Based on the wheel speed of the inner rear wheel, determine the target reverse torque of the rear axle, including: The target rear axle wheel speed is determined based on the preset third correspondence, the vehicle's driving mode, and the steering wheel angle. The third correspondence includes the correspondence between the target rear axle wheel speed and the first vehicle state, which includes the vehicle's driving mode and steering wheel angle. The rear axle wheel speed difference is determined based on the wheel speed of the inner rear wheel and the target rear axle wheel speed. The target torque in the reverse direction of the rear axle is determined based on the speed difference of the rear axle wheels.

5. The method for controlling vehicle steering according to claim 4, characterized in that, Based on the rear axle wheel speed difference, the reverse target torque of the rear axle is determined, including: Based on the driving mode of the vehicle, determine the rear axle proportional term factor and the rear axle integral term factor corresponding to the driving mode; The rear axle proportional term torque is determined based on the rear axle proportional term factor and the rear axle wheel speed difference; The rear axle integral term torque is determined based on the rear axle integral term factor and the rear axle wheel speed difference; Based on the preset fourth correspondence, the vehicle's driving mode, and the target rear axle wheel speed, the rear axle feedforward torque is determined. The fourth correspondence includes the correspondence between the rear axle feedforward torque and the second vehicle state, which includes the vehicle's driving mode and the target rear axle wheel speed. The reverse target torque of the rear axle is determined based on the determined proportional torque of the rear axle, the integral torque of the rear axle, and the feedforward torque of the rear axle.

6. The method for controlling vehicle steering according to claim 1, characterized in that, Before controlling the front axle drive motor to output the positive target torque, controlling the rear axle drive motor to output the negative target torque, and braking the outer rear wheel of the steering vehicle via the braking system according to the wheel speed of the outer rear wheel to assist the vehicle in steering, the method further includes: Determine whether the vehicle has a single slipping target front wheel; In the presence of a single slipping target front wheel, the method of controlling the front axle drive motor to output the positive target torque and controlling the rear axle drive motor to output the negative target torque, and braking the outer rear wheel of the steering wheel according to the wheel speed of the outer rear wheel through the braking system to assist the vehicle in steering, includes: The system controls the front axle drive motor to output the positive target torque and controls the braking system corresponding to the target front wheel to brake the target front wheel. It also controls the rear axle drive motor to output the reverse target torque and brakes the outer rear wheel of the steering wheel according to the wheel speed of the outer rear wheel of the steering wheel, thereby assisting the vehicle in steering.

7. The method for controlling vehicle steering according to claim 1, characterized in that, Based on the steering wheel's direction, determine the outer rear wheel and the inner rear wheel, including: Determine the direction of the steering wheel; When the steering is to the left, the right rear wheel of the vehicle is designated as the outer rear wheel and the left rear wheel of the vehicle is designated as the inner rear wheel. When the steering is to the right, the left rear wheel of the vehicle is designated as the outer rear wheel and the right rear wheel of the vehicle is designated as the inner rear wheel.

8. The method for controlling vehicle steering according to claim 1, characterized in that, Based on the wheel speed of the outer rear wheel, the braking system brakes the outer rear wheel, including: The control braking system applies braking force to the outer rear wheel of the steering wheel; Real-time monitoring of the speed of the outer rear wheel of the steering wheel; If the speed of the outer rear wheel is not zero, the braking force applied to the outer rear wheel is increased according to a preset rule until the speed of the outer rear wheel is zero.

9. The method for controlling vehicle steering according to claim 1, characterized in that, Based on the vehicle's status information, determining whether to activate the target steering function includes: Real-time acquisition of the vehicle's status information; Determine the relationship between the status information and the preparation conditions; When the status information meets the preparation conditions, the target steering function is switched from the off state to the ready state. When the target steering function is in a ready state, determine the relationship between the state information and the activation conditions; When the status information meets the activation conditions, the target steering function is switched from the ready state to the active state.

10. The method for controlling vehicle steering according to claim 9, characterized in that, The method further includes: When the target steering function is active, the relationship between the state information and the state rollback conditions is determined, wherein the state rollback conditions include a first state rollback condition and a second state rollback condition. If the status information satisfies any one or more of the first status rollback conditions, control the target steering function to switch from the active state to the ready state; If the status information satisfies one or more of the second state rollback conditions, the target steering function is switched from an active state to a closed state.

11. A system for controlling vehicle steering, characterized in that, The system includes: a powertrain controller, a front axle drive motor, and a rear axle drive motor. The powertrain controller includes an activation module, an inner and outer rear wheel determination module, a torque determination module, and a torque control module. The activation module is used to determine whether to activate the target steering function based on the vehicle's status information. The inner and outer rear wheel determination module is used to determine the outer rear wheel and the inner rear wheel based on the steering wheel direction when the target steering function is activated. The torque determination module is used to determine the positive target torque of the front axle based on the front wheel speed, and to determine the negative target torque of the rear axle based on the rear wheel speed on the inside of the steering wheel. The torque control module is used to control the front axle drive motor to output the positive target torque, and to control the rear axle drive motor to output the reverse target torque, and to brake the outer rear wheel of the steering wheel according to the wheel speed of the outer rear wheel of the steering wheel through the braking system to assist the vehicle in steering. Among them, determining the positive target torque of the front axle based on the front wheel speed includes: Determine the front axle wheel speed based on the left and right front wheel speeds of the vehicle; Based on a preset first correspondence, the vehicle's driving mode, and the steering wheel angle, the target front axle wheel speed is determined. The first correspondence includes the correspondence between the target front axle wheel speed and the first vehicle state, which includes the vehicle's driving mode and steering wheel angle. The front axle wheel speed difference is determined based on the front axle wheel speed and the target front axle wheel speed. Based on the front axle wheel speed difference, determine the positive target torque of the front axle; The determination of the positive target torque of the front axle based on the front axle wheel speed difference includes: Based on the driving mode of the vehicle, determine the front axle proportional term factor and the front axle integral term factor corresponding to the driving mode; The front axle proportional term torque is determined based on the front axle proportional term factor and the front axle wheel speed difference; The front axle integral term torque is determined based on the front axle integral term factor and the front axle wheel speed difference; Based on the preset second correspondence, the vehicle's driving mode, and the target front axle wheel speed, the front axle feedforward torque is determined. The second correspondence includes the correspondence between the front axle feedforward torque and the second vehicle state, which includes the vehicle's driving mode and the target front axle wheel speed. The positive target torque of the front axle is determined based on the determined proportional torque of the front axle, the integral torque of the front axle, and the feedforward torque of the front axle.

12. An electronic device, characterized in that, The device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements a method for controlling vehicle steering as described in any one of claims 1 to 10.

13. A computer-readable storage medium storing a computer program thereon, characterized in that, When the computer program is executed by the processor, it implements a method for controlling vehicle steering as described in any one of claims 1 to 10.

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