Vehicle control method and control system, vehicle controller, vehicle and storage medium

Abstract

The present invention discloses a vehicle control method and control system, a vehicle controller, a vehicle and a storage medium. In the vehicle control method, the vehicle includes a frame and a left front wheel, a right front wheel, a left rear wheel and a right rear wheel connected to the frame; the control method includes obtaining a driving mode of the vehicle, and the vehicle has different driving postures in different driving modes; controlling the directions of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel relative to the frame according to the driving mode; and responding to a control instruction input by a user, controlling the movement of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel so that the vehicle drives according to the driving posture in the driving mode. After obtaining the driving mode of the vehicle, the vehicle controller can control the left front wheel, the right front wheel, the left rear wheel and the right rear wheel to rotate relative to the frame, so that the vehicle has a variety of driving modes, and the vehicle can have a variety of driving modes such as straight driving, turning and rotating, and the vehicle has a variety of application scenarios.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and more specifically, to a vehicle control method and a control system thereof, a vehicle controller, a vehicle, and a storage medium. Background Art

[0002] In the related art, a forklift is a vehicle that can load, unload, stack and transport goods. A forklift is usually equipped with a control system, which is used to control the movement and steering of the wheels. However, the current control system can only control the rotation of the front or rear wheels of the vehicle to achieve the steering of the vehicle. The driving mode of the vehicle is relatively single, and the application scenarios of the vehicle are relatively few. Summary of the invention

[0003] Embodiments of the present application provide a vehicle control method and a control system thereof, a vehicle controller, a vehicle, and a storage medium.

[0004] In the control method of a vehicle of an embodiment of the present application, the vehicle includes a frame and a left front wheel, a right front wheel, a left rear wheel and a right rear wheel connected to the frame; the control method includes: obtaining a driving mode of the vehicle, the vehicle having different driving postures under different driving modes; controlling the directions of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel relative to the frame according to the driving mode; and controlling the movement of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel in response to a control instruction input by a user, so that the vehicle drives according to the driving posture under the driving mode.

[0005] In some embodiments, the driving mode includes a straight-ahead driving mode, and controlling the directions of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel relative to the frame according to the driving mode includes: controlling the first axis of the left front wheel and the second axis of the right front wheel to be consistent with the front axle of the vehicle according to the straight-ahead driving mode, and controlling the third axis of the left rear wheel and the fourth axis of the right rear wheel to be consistent with the rear axle of the vehicle.

[0006] In some embodiments, the control instruction includes a forward straight-ahead instruction, and the vehicle has a forward straight-ahead driving posture in the straight-ahead driving mode; the cab is controlled to face the head of the frame; the response to the control instruction input by the user controls the movement of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel so that the vehicle travels in the driving posture in the driving mode, including: responding to the forward straight-ahead instruction, controlling the first drive axle to drive the left front wheel to rotate around the first axis in a first direction, and controlling the second drive axle to drive the right front wheel to rotate around the second axis in the first direction, so that the vehicle travels in the forward straight-ahead driving posture.

[0007] In some embodiments, the control instruction also includes a right turn instruction, and the vehicle has a first forward straight-forward and right turn driving posture and a second forward straight-forward and right turn driving posture in the straight-ahead driving mode; the control instruction in response to the user input controls the movement of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel to make the vehicle drive according to the driving posture in the driving mode, and also includes: in response to the right turn instruction, controls the first drive component to drive the left rear wheel to rotate around the fifth axis in the height direction of the frame, controls the second drive component to drive the right rear wheel to rotate around the sixth axis in the height direction of the frame, and the left rear wheel and the right rear wheel have a common rotation center; when the rotation center is located at the frame When the projection range in the height direction is outside the projection range, the first drive axle is controlled to drive the left front wheel to rotate around the first axis along the first direction, and the second drive axle is controlled to drive the right front wheel to rotate around the second axis along the first direction, so that the vehicle drives in the first forward straight-forward and right turn driving posture; when the rotation center is located within the projection range of the frame in the height direction, the first drive axle is controlled to drive the left front wheel to rotate around the first axis along the first direction, and the second drive axle is controlled to drive the right front wheel to rotate around the second axis along the second direction, so that the vehicle drives in the second forward straight-forward and right turn driving posture, and the second direction is opposite to the first direction.

[0008] In some embodiments, the right turn instruction includes a first right turn instruction and a second right turn instruction, and the turning radius of the vehicle under the first right turn instruction is greater than the turning radius under the second right turn instruction; in response to the right turn instruction, the first drive component is controlled to drive the left rear wheel to rotate around the fifth axis in the direction of the frame height, and the second drive component is controlled to drive the right rear wheel to rotate around the sixth axis in the direction of the frame height, including: in response to the first right turn instruction, the first drive component is controlled to drive the left rear wheel to turn left around the fifth axis in the direction of the frame height, and the second drive component is controlled to drive the right rear wheel to turn left around the sixth axis in the direction of the frame height; and in response to the second right turn instruction, the first drive component is controlled to drive the left rear wheel to turn left around the fifth axis in the direction of the frame height, and the second drive component is controlled to drive the right rear wheel to turn right around the sixth axis in the direction of the frame height.

[0009] In some embodiments, the control instruction also includes a left turn instruction, and the vehicle has a first forward straight-forward and left turn driving posture and a second forward straight-forward and left turn driving posture in the straight-ahead driving mode; the control instruction in response to the user input controls the movement of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel so that the vehicle drives according to the driving posture in the driving mode, and also includes: in response to the left turn instruction, controls the first drive component to drive the left rear wheel to rotate around the fifth axis in the height direction of the frame, controls the second drive component to drive the right rear wheel to rotate around the sixth axis in the height direction of the frame, and the left rear wheel and the right rear wheel have a common rotation center; the rotation center is located on the frame When the projection range in the height direction is outside the projection range, the first drive axle is controlled to drive the left front wheel to rotate around the first axis in the first direction, and the second drive axle is controlled to drive the right front wheel to rotate around the second axis in the first direction, so that the vehicle drives in the first forward straight-forward and left-turn driving posture; and when the rotation center is located within the projection range of the frame in the height direction, the first drive axle is controlled to drive the left front wheel to rotate around the first axis in the second direction, and the second drive axle is controlled to drive the right front wheel to rotate around the second axis in the first direction, so that the vehicle drives in the second forward straight-forward and left-turn driving posture, and the second direction is opposite to the first direction.

[0010] In some embodiments, the left turn instruction includes a first left turn instruction and a second left turn instruction, and the turning radius of the vehicle under the first left turn instruction is greater than the turning radius under the second left turn instruction; in response to the left turn instruction, the first drive component is controlled to drive the left rear wheel to rotate around the fifth axis in the direction of the frame height, and the second drive component is controlled to drive the right rear wheel to rotate around the sixth axis in the direction of the frame height, including: in response to the first left turn instruction, the first drive component is controlled to drive the left rear wheel to turn right around the fifth axis in the direction of the frame height, and the second drive component is controlled to drive the right rear wheel to turn right around the sixth axis in the direction of the frame height; and in response to the second left turn instruction, the first drive component is controlled to drive the left rear wheel to turn left around the fifth axis in the direction of the frame height, and the second drive component is controlled to drive the right rear wheel to turn right around the sixth axis in the direction of the frame height.

[0011] In some embodiments, the control instruction includes a backward straight-ahead instruction, and the vehicle has a backward straight-ahead driving posture in the straight-ahead driving mode; the control method also includes: controlling the cab to face toward the rear of the frame; the response to the control instruction input by the user, controlling the movement of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel, so that the vehicle travels in the driving posture in the driving mode, including: responding to the backward straight-ahead instruction, controlling the first drive axle to drive the left front wheel to rotate around the first axis in the second direction, and controlling the second drive axle to drive the right front wheel to rotate around the second axis in the second direction, so that the vehicle travels in the backward straight-ahead driving posture.

[0012] In some embodiments, the control instruction also includes a right turn instruction, and the vehicle has a first backward straight-ahead and right-turn driving posture and a second backward straight-ahead and right-turn driving posture in the straight-ahead driving mode; the control instruction in response to the user input controls the movement of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel so that the vehicle drives according to the driving posture in the driving mode, and also includes: in response to the right turn instruction, controls the first drive component to drive the left rear wheel to rotate around a fifth axis in the height direction of the frame, controls the second drive component to drive the right rear wheel to rotate around a sixth axis in the height direction of the frame, and the left rear wheel and the right rear wheel have a common rotation center; when the rotation center is located on the frame When the projection range in the height direction is outside the projection range, the first drive axle is controlled to drive the left front wheel to rotate around the first axis in the second direction, and the second drive axle is controlled to drive the right front wheel to rotate around the second axis in the second direction, so that the vehicle drives in the first straight-backward and right-turn driving posture; and when the rotation center is located within the projection range of the frame in the height direction, the first drive axle is controlled to drive the left front wheel to rotate around the first axis in the first direction, and the second drive axle is controlled to drive the right front wheel to rotate around the second axis in the second direction, so that the vehicle drives in the second straight-backward and right-turn driving posture, and the second direction is opposite to the first direction.

[0013] In some embodiments, the right turn instruction includes a third right turn instruction and a fourth right turn instruction, and the turning radius of the vehicle under the third right turn instruction is greater than the turning radius under the fourth right turn instruction; in response to the right turn instruction, the first drive component is controlled to drive the left rear wheel to rotate around the fifth axis in the direction of the frame height, and the second drive component is controlled to drive the right rear wheel to rotate around the sixth axis in the direction of the frame height, including: in response to the third right turn instruction, the first drive component is controlled to drive the left rear wheel to turn left around the fifth axis in the direction of the frame height, and the second drive component is controlled to drive the right rear wheel to turn left around the sixth axis in the direction of the frame height; and in response to the fourth right turn instruction, the first drive component is controlled to drive the left rear wheel to turn left around the fifth axis in the direction of the frame height, and the second drive component is controlled to drive the right rear wheel to turn right around the sixth axis in the direction of the frame height.

[0014] In some embodiments, the control instruction also includes a left turn instruction, and the vehicle has a first backward straight-ahead and left-turn driving posture and a second backward straight-ahead and left-turn driving posture in the straight-ahead driving mode; the control instruction in response to the user input controls the movement of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel so that the vehicle drives according to the driving posture in the driving mode, and also includes: in response to the left turn instruction, controls the first drive component to drive the left rear wheel to rotate around a fifth axis in the height direction of the frame, controls the second drive component to drive the right rear wheel to rotate around a sixth axis in the height direction of the frame, and the left rear wheel and the right rear wheel have a common rotation center; when the rotation center is located on the frame When the projection range in the height direction is outside the projection range, the first drive axle is controlled to drive the left front wheel to rotate around the first axis along the second direction, and the second drive axle is controlled to drive the right front wheel to rotate around the second axis along the second direction, so that the vehicle drives in the first straight-backward and left-turn driving posture; and when the rotation center is located within the projection range of the frame in the height direction, the first drive axle is controlled to drive the left front wheel to rotate around the first axis along the second direction, and the second drive axle is controlled to drive the right front wheel to rotate around the second axis along the first direction, so that the vehicle drives in the second straight-backward and left-turn driving posture, and the second direction is opposite to the first direction.

[0015] In some embodiments, the left turn instruction includes a third left turn instruction and a fourth left turn instruction, and the turning radius of the vehicle under the third left turn instruction is greater than the turning radius under the fourth left turn instruction; in response to the left turn instruction, the first drive component is controlled to drive the left rear wheel to turn right around the fifth axis in the direction of the frame height, and the second drive component is controlled to drive the right rear wheel to turn right around the sixth axis in the direction of the frame height, including: in response to the third left turn instruction, the first drive component is controlled to drive the left rear wheel to turn right around the fifth axis in the direction of the frame height, and the second drive component is controlled to drive the right rear wheel to turn right around the sixth axis in the direction of the frame height; and in response to the fourth left turn instruction, the first drive component is controlled to drive the left rear wheel to turn left around the fifth axis in the direction of the frame height, and the second drive component is controlled to drive the right rear wheel to turn right around the sixth axis in the direction of the frame height.

[0016] In some embodiments, the driving mode includes a lateral driving mode, and controlling the directions of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel relative to the frame according to the driving mode includes: controlling the first axis of the left front wheel and the second axis of the right front wheel to be perpendicular to the front axle of the vehicle according to the lateral driving mode, and controlling the third axis of the left rear wheel and the fourth axis of the right rear wheel to be perpendicular to the rear axle of the vehicle, and the two opposing surfaces of the left front wheel and the right front wheel before turning are located on the same side of the front axle of the vehicle after turning, and the two opposing surfaces of the left rear wheel and the right rear wheel before turning are located on the same side of the rear axle of the vehicle after turning.

[0017] In some embodiments, the control instruction includes a right travel instruction, and the vehicle has a right travel posture in the lateral driving mode; the control method also includes: controlling the cab to face the right side of the frame; the response to the control instruction input by the user, controlling the movement of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel, so that the vehicle drives according to the driving posture in the driving mode, including: responding to the right travel instruction, controlling the first drive axle to drive the left front wheel to rotate around the first axis in a first direction, and controlling the second drive axle to drive the right front wheel to rotate around the second axis in the first direction, so that the vehicle drives according to the right travel posture.

[0018] In some embodiments, the control instruction includes a left travel instruction, and the vehicle has a left travel posture in the lateral driving mode; the cab is controlled to face the left side of the frame; the response to the control instruction input by the user controls the movement of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel so that the vehicle drives according to the driving posture in the driving mode, including: responding to the left travel instruction, controlling the first drive axle to drive the left front wheel to rotate around the first axis in the second direction, and controlling the second drive axle to drive the right front wheel to rotate around the second axis in the second direction, so that the vehicle drives according to the left travel posture.

[0019] In some embodiments, the driving mode includes a turning driving mode, and controlling the directions of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel relative to the frame according to the driving mode includes: controlling the first axis of the left front wheel and the second axis of the right front wheel to have a first angle with the front axle of the vehicle according to the turning driving mode, and controlling the third axis of the left rear wheel and the fourth axis of the right rear wheel to have a second angle with the rear axle of the vehicle, and the left front wheel, the right front wheel, the left rear wheel and the right rear wheel have a common center of rotation, the center of rotation is located within the projection range of the frame in the height direction, and the second angle is greater than the first angle.

[0020] In some embodiments, the control instruction includes a right turn instruction, and the vehicle has a right turning driving posture in the turning driving mode; the response to the control instruction input by the user controls the movement of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel so that the vehicle drives according to the driving posture in the driving mode, including: responding to the right turn instruction, controlling the first drive axle to drive the left front wheel to rotate around the first axis in a first direction, and controlling the second drive axle to drive the right front wheel to rotate around the second axis in a second direction, so that the vehicle drives according to the right turning driving posture, the first direction is opposite to the second direction.

[0021] In some embodiments, the control instruction includes a left turn instruction, and the vehicle has a left turning driving posture in the turning driving mode; the response to the control instruction input by the user controls the movement of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel so that the vehicle drives according to the driving posture in the driving mode, including: responding to the left turn instruction, controlling the first drive axle to drive the left front wheel to rotate around the first axis in the second direction, and controlling the second drive axle to drive the right front wheel to rotate around the second axis in the first direction, so that the vehicle drives according to the left turning driving posture, the first direction is opposite to the second direction.

[0022] In certain embodiments, the control method further includes: controlling the output torque of the first drive axle and the second drive axle to reduce the traveling speed of the vehicle.

[0023] In some embodiments, the control system further includes a drive axle assembly, a steering axle and a hydraulic system. The drive axle assembly is arranged on the frame and includes a first drive axle and a second drive axle, the first drive axle is connected to the left front wheel and used to drive the left front wheel to rotate around the first axis of the left front wheel in a first direction or a second direction to move forward or backward, the second drive axle is connected to the right front wheel and used to drive the right front wheel to rotate around the second axis of the right front wheel in a first direction or a second direction to move forward or backward, and the second direction is opposite to the first direction. The steering axle is arranged on the frame and includes a first drive assembly and a second drive assembly, the first drive assembly is connected to the left rear wheel and used to drive the left rear wheel to turn left or right around the fifth axis in the height direction of the frame, and the second drive assembly is connected to the right rear wheel and used to drive the right rear wheel to turn left or right around the sixth axis in the height direction of the frame. The hydraulic system is connected to the drive axle and includes a first steering execution unit and a second steering execution unit. The first steering execution unit is connected to the left front wheel and is used to drive the left front wheel to turn left or right around a seventh axis in the frame height direction. The second steering execution unit is connected to the right front wheel and is used to drive the right front wheel to turn left or right around an eighth axis in the frame height direction.

[0024] In some embodiments, the driving mode includes a straight-ahead driving mode, and the vehicle controller is further used to: control the first steering execution unit according to the straight-ahead driving mode to make the first axis of the left front wheel consistent with the front axle of the vehicle; control the second steering execution unit to make the second axis of the right front wheel consistent with the front axle of the vehicle; control the first drive component to make the third axis of the left rear wheel consistent with the rear axle of the vehicle; and control the second drive component to make the fourth axis of the right rear wheel consistent with the rear axle of the vehicle.

[0025] In some embodiments, the control instruction includes a forward straight-ahead instruction, and the vehicle has a forward straight-ahead driving posture in the straight-ahead driving mode; the control system also includes a cab, a steering wheel, a wire-controlled steering encoder, and a rotating mechanism. The steering wheel is disposed in the cab and is used for a user to input the forward straight-ahead instruction. The wire-controlled steering encoder is used to output a forward straight-ahead control signal in response to the forward straight-ahead instruction. The rotating mechanism is disposed on the frame and is used to drive the cab to rotate relative to the frame; the vehicle controller is also used to: in response to the forward straight-ahead control signal, control the first drive axle to drive the left front wheel to rotate around the first axis in the first direction, and control the second drive axle to drive the right front wheel to rotate around the second axis in the first direction, so that the vehicle travels in the forward straight-ahead driving posture.

[0026] In some embodiments, the control instruction also includes a right turn instruction, and the vehicle has a first forward straight-forward and right turn driving posture and a second forward straight-forward and right turn driving posture in the straight-ahead driving mode; the steering wheel is also used for the user to input the right turn instruction; the wire-controlled steering encoder is also used to output a right turn control signal in response to the right turn instruction; the vehicle controller is also used to: in response to the right turn control signal, control the first drive component to drive the left rear wheel to rotate around the fifth axis, and control the second drive component to drive the right rear wheel to rotate around the sixth axis, the left rear wheel and the right rear wheel have a common rotation center; the rotation center is located at the height of the frame When the center of rotation is outside the projection range of the frame in the degree direction, the first drive axle is controlled to drive the left front wheel to rotate around the first axis along the first direction, and the second drive axle is controlled to drive the right front wheel to rotate around the second axis along the first direction, so that the vehicle drives in the first forward straight-forward and right turn driving posture; when the rotation center is within the projection range of the frame in the height direction, the first drive axle is controlled to drive the left front wheel to rotate around the first axis along the first direction, and the second drive axle is controlled to drive the right front wheel to rotate around the second axis along the second direction, so that the vehicle drives in the second forward straight-forward and right turn driving posture.

[0027] In some embodiments, the right turn instruction includes a first right turn instruction and a second right turn instruction, and the turning radius of the vehicle under the first right turn instruction is greater than the turning radius under the second right turn instruction; the steering wheel is also used for the user to input the first right turn instruction and the second right turn instruction; the wire-controlled steering encoder is also used to output a first right turn control signal and a second right turn control signal in response to the first right turn instruction and the second right turn instruction; the vehicle controller is also used to: respond to the first right turn control signal, control the first drive component to drive the left rear wheel to turn left around the fifth axis in the direction of the frame height, and control the second drive component to drive the right rear wheel to turn left around the sixth axis in the direction of the frame height; and respond to the second right turn control signal, control the first drive component to drive the left rear wheel to turn left around the fifth axis in the direction of the frame height, and control the second drive component to drive the right rear wheel to turn right around the sixth axis in the direction of the frame height.

[0028] In some embodiments, the control instruction also includes a left turn instruction, and the vehicle has a first forward straight-forward and left turn driving posture and a second forward straight-forward and left turn driving posture in the straight-ahead driving mode; the steering wheel is also used for the user to input the left turn instruction; the wire-controlled steering encoder is also used to output a left turn control signal in response to the left turn instruction; the vehicle controller is also used to: in response to the left turn control signal, control the first drive component to drive the left rear wheel to rotate around the fifth axis, and control the second drive component to drive the right rear wheel to rotate around the sixth axis, the left rear wheel and the right rear wheel have a common rotation center, and the rotation center is located at the projection of the frame in the height direction. When the rotation center is outside the range of the vehicle frame in the height direction, the first drive axle is controlled to drive the left front wheel to rotate around the first axis in the first direction, and the second drive axle is controlled to drive the right front wheel to rotate around the second axis in the first direction, so that the vehicle drives in the first straight forward and left turn driving posture; and when the rotation center is located within the projection range of the frame in the height direction, the first drive axle is controlled to drive the left front wheel to rotate around the first axis in the second direction, and the second drive axle is controlled to drive the right front wheel to rotate around the second axis in the first direction, so that the vehicle drives in the second straight forward and left turn driving posture, and the second direction is opposite to the first direction.

[0029] In some embodiments, the left turn instruction includes a first left turn instruction and a second left turn instruction, and the turning radius of the vehicle under the first left turn instruction is greater than the turning radius under the second left turn instruction; the steering wheel is also used for the user to input the first left turn instruction and the second left turn instruction; the wire-controlled steering encoder is also used to output a first left turn control signal and a second left turn control signal in response to the first left turn instruction and the second left turn instruction; the vehicle controller is also used to: respond to the first left turn control signal, control the first drive component to drive the left rear wheel to turn right around the fifth axis in the direction of the frame height, and control the second drive component to drive the right rear wheel to turn right around the sixth axis in the direction of the frame height; and respond to the second left turn control signal, control the first drive component to drive the left rear wheel to turn left around the fifth axis in the direction of the frame height, and control the second drive component to drive the right rear wheel to turn right around the sixth axis in the direction of the frame height.

[0030] In some embodiments, the control instruction includes a backward straight-ahead instruction, and the vehicle has a backward straight-ahead driving posture in the straight-ahead driving mode; the steering wheel is also used for a user to input the backward straight-ahead instruction; the wire-controlled steering encoder is also used to output a backward straight-ahead control signal in response to the backward straight-ahead instruction; the vehicle controller is also used to: control the rotating mechanism to drive the cab toward the rear of the frame; in response to the backward straight-ahead control signal, control the first drive axle to drive the left front wheel to rotate around the first axis in the second direction, and control the second drive axle to drive the right front wheel to rotate around the second axis in the second direction, so that the vehicle travels in the backward straight-ahead driving posture.

[0031] In some embodiments, the control instruction also includes a right turn instruction, and the vehicle has a first backward straight-ahead and right turn driving posture and a second backward straight-ahead and right turn driving posture in the straight-ahead driving mode; the steering wheel is also used for the user to input the right turn instruction; the wire-controlled steering encoder is also used to output a right turn control signal in response to the right turn instruction; the vehicle controller is also used to: in response to the right turn control signal, control the first drive component to drive the left rear wheel to rotate around the fifth axis, and control the second drive component to drive the right rear wheel to rotate around the sixth axis, the left rear wheel and the right rear wheel have a common rotation center; the rotation center is within the projection range of the frame in the height direction When the vehicle is outside the vehicle frame, the first drive axle is controlled to drive the left front wheel to rotate around the first axis in the second direction, and the second drive axle is controlled to drive the right front wheel to rotate around the second axis in the second direction, so that the vehicle travels in the first straight-backward and right-turn driving posture; and when the rotation center is located within the projection range of the frame in the height direction, the first drive axle is controlled to drive the left front wheel to rotate around the first axis in the first direction, and the second drive axle is controlled to drive the right front wheel to rotate around the second axis in the second direction, so that the vehicle travels in the second straight-backward and right-turn driving posture, and the second direction is opposite to the first direction.

[0032] In some embodiments, the right turn instruction includes a third right turn instruction and a fourth right turn instruction, and the turning radius of the vehicle under the third right turn instruction is greater than the turning radius under the fourth right turn instruction; the steering wheel is also used for the user to input the third right turn instruction and the fourth right turn instruction; the wire-controlled steering encoder is also used to output a third right turn control signal and a fourth right turn control signal in response to the third right turn instruction and the fourth right turn instruction; the vehicle controller is also used to: respond to the third right turn control signal, control the first drive component to drive the left rear wheel to turn left around the fifth axis in the direction of the frame height, and control the second drive component to drive the right rear wheel to turn left around the sixth axis in the direction of the frame height; and respond to the fourth right turn control signal, control the first drive component to drive the left rear wheel to turn left around the fifth axis in the direction of the frame height, and control the second drive component to drive the right rear wheel to turn right around the sixth axis in the direction of the frame height.

[0033] In some embodiments, the control instruction also includes a left turn instruction, and the vehicle has a first backward straight-ahead and left turn driving posture and a second backward straight-ahead and left turn driving posture in the straight-ahead driving mode; the steering wheel is also used for the user to input the left turn instruction; the wire-controlled steering encoder is also used to output a left turn control signal in response to the left turn instruction; the vehicle controller is also used to: in response to the left turn control signal, control the first drive component to drive the left rear wheel to rotate around the fifth axis in the height direction of the frame, and control the second drive component to drive the right rear wheel to rotate around the sixth axis in the height direction of the frame, the left rear wheel and the right rear wheel have a common rotation center; when the rotation center is located at the height of the frame When the center of rotation is outside the projection range of the frame in the height direction, the first drive axle is controlled to drive the left front wheel to rotate around the first axis along the second direction, and the second drive axle is controlled to drive the right front wheel to rotate around the second axis along the second direction, so that the vehicle drives in the first straight-ahead and left-turn driving posture; and when the rotation center is located within the projection range of the frame in the height direction, the first drive axle is controlled to drive the left front wheel to rotate around the first axis along the second direction, and the second drive axle is controlled to drive the right front wheel to rotate around the second axis along the first direction, so that the vehicle drives in the second straight-ahead and left-turn driving posture, and the second direction is opposite to the first direction.

[0034] In some embodiments, the left turn instruction includes a third left turn instruction and a fourth left turn instruction, and the turning radius of the vehicle under the third left turn instruction is greater than the turning radius under the fourth left turn instruction; the steering wheel is also used for the user to input the third left turn instruction and the fourth left turn instruction; the wire-controlled steering encoder is also used to output a third left turn control signal and a fourth left turn control signal in response to the left turn instruction; the vehicle controller is also used to: respond to the third left turn control signal, control the first drive component to drive the left rear wheel to turn right around the fifth axis in the direction of the frame height, and control the second drive component to drive the right rear wheel to turn right around the sixth axis in the direction of the frame height; and respond to the fourth left turn control signal, control the first drive component to drive the left rear wheel to turn left around the fifth axis in the direction of the frame height, and control the second drive component to drive the right rear wheel to turn right around the sixth axis in the direction of the frame height.

[0035] In some embodiments, the driving mode includes a lateral driving mode, and the vehicle controller is also used to: control the first steering execution unit according to the lateral driving mode so that the first axis of the left front wheel is perpendicular to the front axle of the vehicle; control the second steering execution unit so that the second axis of the right front wheel is perpendicular to the front axle of the vehicle; control the first drive component so that the third axis of the left rear wheel is perpendicular to the rear axle of the vehicle, and control the second drive component so that the fourth axis of the right rear wheel is perpendicular to the rear axle of the vehicle, and the two opposing surfaces of the left front wheel and the right front wheel before turning are located on the same side of the front axle of the vehicle after turning, and the two opposing surfaces of the left rear wheel and the right rear wheel before turning are located on the same side of the rear axle of the vehicle after turning.

[0036] In some embodiments, the control instruction includes a rightward travel instruction, and the vehicle has a rightward travel attitude in the lateral travel mode; the control system also includes a cab, a steering wheel, a wire-controlled steering encoder, and a rotating mechanism. The steering wheel is arranged in the cab and is used for the user to input the rightward travel instruction; the wire-controlled steering encoder is used to output a rightward travel control signal in response to the rightward travel instruction; the rotating mechanism is arranged on the frame and is used to drive the cab to rotate relative to the frame; the vehicle controller is also used to: control the rotating mechanism to drive the cab toward the right side of the frame; in response to the rightward travel control signal, control the first drive axle to drive the left front wheel to rotate around the first axis in the first direction, and control the second drive axle to drive the right front wheel to rotate around the second axis in the first direction, so that the vehicle drives according to the rightward travel attitude.

[0037] In some embodiments, the control instruction includes a left travel instruction, and the vehicle has a left travel posture in the lateral driving mode; the steering wheel is also used for the user to input the left travel instruction; the wire-controlled steering encoder is also used to output a left travel control signal in response to the left travel instruction; the vehicle controller is also used to: control the cab to face the left side of the frame; in response to the left travel control signal, control the first drive axle to drive the left front wheel to rotate around the first axis in the second direction, and control the second drive axle to drive the right front wheel to rotate around the second axis in the second direction, so that the vehicle drives in the left travel posture.

[0038] In some embodiments, the driving mode includes a turning driving mode, and the vehicle controller is also used to: control the first steering execution unit according to the turning driving mode so that the first axis of the left front wheel and the front axle of the vehicle have a first angle, control the second steering execution unit so that the second axis of the right front wheel and the front axle of the vehicle have a first angle, control the first drive component so that the third axis of the left rear wheel and the rear axle of the vehicle have a second angle, control the second drive component so that the fourth axis of the right rear wheel and the rear axle of the vehicle have a second angle, and the left front wheel, the right front wheel, the left rear wheel and the right rear wheel have a common center of rotation, the center of rotation is located within the projection range of the frame in the height direction, and the second angle is greater than the first angle.

[0039] In some embodiments, the control instruction includes a right turn instruction, and the vehicle has a right turn driving posture in the turn driving mode; the control system also includes a cab, a steering wheel and a wire-controlled steering encoder, the steering wheel is arranged in the cab, and is used for the user to input the right turn instruction; the wire-controlled steering encoder is used to output a right turn control signal in response to the right turn instruction; the vehicle controller is also used to: respond to the right turn control signal, control the first drive axle to drive the left front wheel to rotate around the first axis in a first direction, and control the second drive axle to drive the right front wheel to rotate around the second axis in a second direction, so that the vehicle travels in the right turn driving posture, and the first direction is opposite to the second direction.

[0040] In some embodiments, the control instruction includes a left turn instruction, and the vehicle has a left turn driving posture in the turn driving mode; the steering wheel is also used for the user to input the left turn instruction; the wire-controlled steering encoder is also used to output a left turn control signal in response to the left turn instruction; the vehicle controller is also used to: respond to the left turn control signal, control the first drive axle to drive the left front wheel to rotate around the first axis in the second direction, and control the second drive axle to drive the right front wheel to rotate around the second axis in the first direction, so that the vehicle travels in the left turn driving posture, and the first direction is opposite to the second direction.

[0041] In some embodiments, the vehicle controller is further used to control the output torque of the first drive axle and the second drive axle to reduce the traveling speed of the vehicle.

[0042] The vehicle controller of the embodiment of the present application includes a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the vehicle control method described in the above embodiment is implemented.

[0043] The control system of the vehicle according to the embodiment of the present application includes the vehicle controller described in the above embodiment.

[0044] The vehicle of the embodiment of the present application includes the control system of the vehicle described in the above embodiment; or, includes the whole vehicle controller described in the above embodiment.

[0045] The storage medium of the embodiment of the present application stores a computer program thereon, and when the program is executed by a processor, the vehicle control method described in the embodiment of the present application is implemented.

[0046] In the vehicle control method and control system, vehicle controller, vehicle and storage medium of the implementation mode of the present application, after obtaining the vehicle's driving mode, the vehicle controller can control the left front wheel, right front wheel, left rear wheel and right rear wheel of the vehicle to rotate relative to the frame, so that the vehicle has a wide variety of driving modes. The vehicle can have multiple driving modes such as straight driving, turning and rotating, and the vehicle has many application scenarios.

[0047] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0049] Figure 1 is a flow chart of a vehicle control method according to certain embodiments of the present application;

[0050] Figure 2 is a flow chart of a vehicle control method according to certain embodiments of the present application;

[0051] Figure 3 is a flow chart of a vehicle control method according to certain embodiments of the present application;

[0052] Figure 4 is a flow chart of a vehicle control method according to certain embodiments of the present application;

[0053] Figure 5 is a flow chart of a vehicle control method according to certain embodiments of the present application;

[0054] Figure 6 is a flow chart of a vehicle control method according to certain embodiments of the present application;

[0055] Figure 7 is a flow chart of a vehicle control method according to certain embodiments of the present application;

[0056] Figure 8 It is a three-dimensional schematic diagram of a part of the structure of the vehicle;

[0057] Fig. 9 It is a three-dimensional schematic diagram of the vehicle in a forward straight-ahead driving posture and a backward straight-ahead driving posture;

[0058] Fig.10 It is a three-dimensional schematic diagram of a vehicle in a forward straight-ahead and left-turn driving posture, with the rotation center located outside the projection range of the vehicle frame;

[0059] Fig.11 It is a three-dimensional schematic diagram of a vehicle in a forward straight-ahead and left-turn driving posture, with the rotation center located within the projection range of the vehicle frame;

[0060] Fig.12 It is the structural intention that the vehicle is in a forward straight-ahead and right-turn driving posture, and the center of rotation is outside the projection range of the frame;

[0061] Fig.13 It is the structural intention that the vehicle is in the forward straight-ahead and right-turn driving posture, and the center of rotation is within the projection range of the frame;

[0062] Fig.14 is a three-dimensional schematic diagram of a vehicle in a lateral driving mode;

[0063] Fig.15 is a top view schematic diagram of a vehicle in a lateral driving mode;

[0064] Fig.16 is a structural schematic diagram of a vehicle in a lateral driving mode;

[0065] Fig.17 is a three-dimensional schematic diagram of a vehicle in a swing driving mode;

[0066] Fig.18 is a structural schematic diagram of a vehicle in a swing driving mode;

[0067] Fig.19 is a three-dimensional schematic diagram of a vehicle in a straight-ahead driving mode;

[0068] Fig. 20 is a three-dimensional schematic diagram of a vehicle in a lateral driving mode;

[0069] Fig.21 is a three-dimensional schematic diagram of a vehicle in a lateral driving mode;

[0070] Fig. 22 It is a schematic diagram of the structure of the computer storage medium of certain embodiments of the present application. DETAILED DESCRIPTION

[0071] The following is a further description of the embodiments of the present application in conjunction with the accompanying drawings. The same or similar reference numerals in the accompanying drawings represent the same or similar elements or elements with the same or similar functions from beginning to end. In addition, the embodiments of the present application described below in conjunction with the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the present application.

[0072] In the related art, a forklift is a vehicle that can load, unload, stack and transport goods. A forklift is usually provided with a control system, which is used to control the forward movement and steering of the wheels. However, the current control system can only control the rotation of the front wheels or rear wheels of the vehicle to achieve the steering of the vehicle. The driving mode of the vehicle is relatively single, and the application scenarios of the vehicle are relatively few. In order to solve this problem, the embodiment of the present application provides a vehicle control method, a vehicle control system 100 (such as Figure 8 As shown), the vehicle controller 10 (as shown Figure 8 As shown), vehicle 1000 (as shown Figure 8 As shown) and storage medium 3000 (as shown Fig. 22 as shown).

[0073] See also Figure 1 and Figure 2 In the control method of the vehicle 1000 of the embodiment of the present application, the vehicle 1000 includes a frame 200 and a left front wheel 300, a right front wheel 400, a left rear wheel 500 and a right rear wheel 600 connected to the frame 200; the control method includes:

[0074] 02: Obtain the driving mode of the vehicle 1000. The vehicle 1000 has different driving postures in different driving modes;

[0075] 04: Control the directions of the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 relative to the vehicle frame 200 according to the driving mode; and

[0076] 06: In response to the control command input by the user, the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 are controlled to move so that the vehicle 1000 travels according to the driving posture in the driving mode.

[0077] Please combine Figure 8, the control system 100 of the vehicle 1000 of the embodiment of the present application, the vehicle 1000 includes a frame 200 and a left front wheel 300, a right front wheel 400, a left rear wheel 500 and a right rear wheel 600 connected to the frame 200; the control system 100 includes a vehicle controller 10, and the vehicle controller 10 is used to: obtain the driving mode of the vehicle 1000, the vehicle 1000 has different driving postures in different driving modes; control the directions of the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 relative to the frame 200 according to the driving mode; and respond to the control command input by the user to control the movement of the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600, so that the vehicle 1000 drives according to the driving posture in the driving mode.

[0078] Specifically, the driving modes of the vehicle 1000 of the present application may include a straight driving mode, a turning driving mode, a lateral driving mode, and a turning driving mode. When the vehicle 1000 is in a straight driving mode, the driving posture of the vehicle 1000 may include a forward straight driving posture and a backward straight driving posture. When the vehicle 1000 is in a lateral driving mode, the driving posture of the vehicle 1000 may include a right driving posture and a left driving posture. When the vehicle 1000 is in a turning driving mode, the driving posture of the vehicle 1000 may include a left turning driving posture and a right turning driving posture.

[0079] The driving mode of the vehicle 1000 can be rotated manually by the driver, who can input control instructions through the integrated handle in the cockpit or the center console. When the vehicle control unit 10 (VCU) obtains the driving mode, the vehicle control unit 10 can control the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 to rotate relative to the frame 200, so that the vehicle 1000 can be in the driving posture corresponding to the driving mode. The vehicle controller 10 can control the left front wheel 300 and the right front wheel 400 to rotate around the front axle of the vehicle 1000, so that the left front wheel 300 and the right front wheel 400 can drive the left rear wheel 500 and the right rear wheel 600 to rotate, so that the vehicle 1000 can travel in the corresponding driving mode.

[0080] In the control method and control system 100 of the vehicle 1000 of the embodiment of the present application, after acquiring the driving mode of the vehicle 1000, the vehicle controller 10 can control the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 of the vehicle 1000 to rotate relative to the frame 200, so that the vehicle 1000 has a variety of driving modes. The vehicle 1000 can have a variety of driving modes such as straight driving, turning and rotating, and the vehicle 1000 has many application scenarios.

[0081] See also Figure 8In some embodiments, the control system 100 further includes a drive axle assembly 20, a steering axle 30, and a hydraulic system 40. The drive axle assembly 20 is disposed on the vehicle frame 200, and includes a first drive axle 21 and a second drive axle 23. The first drive axle 21 is connected to the left front wheel 300 and is used to drive the left front wheel 300 to rotate around the first axis a of the left front wheel 300 in the first direction X or the second direction Y to move forward or backward. The second drive axle 23 is connected to the right front wheel 400 and is used to drive the right front wheel 400 to rotate around the second axis b of the right front wheel 400 in the first direction X or the second direction Y to move forward or backward. The second direction Y is opposite to the first direction X. The steering axle 30 is disposed on the vehicle frame 200 and includes a first driving assembly 31 and a second driving assembly 33. The first driving assembly 31 is connected to the left rear wheel 500 and is used to drive the left rear wheel 500 to turn left or right around the fifth axis e in the height direction of the vehicle frame 200. The second driving assembly 33 is connected to the right rear wheel 600 and is used to drive the right rear wheel 600 to turn left or right around the sixth axis f in the height direction of the vehicle frame 200. The hydraulic system 40 is connected to the driving axle and includes a first steering execution unit 41 and a second steering execution unit 43. The first steering execution unit 41 is connected to the left front wheel 300 and is used to drive the left front wheel 300 to turn left or right around the seventh axis g in the height direction of the vehicle frame 200. The second steering execution unit 43 is connected to the right front wheel 400 and is used to drive the right front wheel 400 to turn left or right around the eighth axis h in the height direction of the vehicle frame 200.

[0082] The first axis a of the left front wheel 300 is the central axis passing through the center of the circle of the left front wheel 300, and the second axis b of the right front wheel 400 is the central axis passing through the center of the circle of the right front wheel 400. When the left front wheel 300 rotates along the first direction X around the first axis a, the left front wheel 300 can drive the frame 200 forward, and when the left front wheel 300 rotates along the second direction Y, the left front wheel 300 can drive the frame 200 backward. When the right front wheel 400 rotates along the first direction X around the second axis b, the right front wheel 400 can drive the frame 200 forward, and when the right front wheel 400 rotates along the second direction Y, the right front wheel 400 can drive the frame 200 backward. When the vehicle 1000 is traveling straight, as viewed from the direction from the left front wheel 300 to the right front wheel 400, when the left front wheel 300 rotates in the first direction X, the left front wheel 300 rotates counterclockwise, and when the right front wheel 400 rotates in the first direction X, the right front wheel 400 rotates counterclockwise. As viewed from the direction from the left front wheel 300 to the right front wheel 400, when the left front wheel 300 rotates in the second direction Y, the left front wheel 300 rotates clockwise. When the right front wheel 400 rotates in the second direction Y, the right front wheel 400 rotates clockwise.

[0083] The seventh axis g of the left front wheel 300 is the central axis of the left front wheel 300 in the height direction, and the seventh axis g is consistent with the height direction of the frame 200. The eighth axis h of the right front wheel 400 is the central axis of the right front wheel 400 in the height direction, and the eighth axis h is consistent with the height direction of the frame 200. The fifth axis e of the left rear wheel 500 is the central axis of the left rear wheel 500 in the height direction, and the fifth axis e is consistent with the height direction of the frame 200. The sixth axis f of the right rear wheel 600 is the central axis of the left rear wheel 500 in the height direction, and the sixth axis f is consistent with the height direction of the frame 200.

[0084] See also Figure 8 , the steering axle 30 can provide power to the left rear wheel 500 and the right rear wheel 600 so that the left rear wheel 500 and the right rear wheel 600 can turn relative to the frame 200. The steering axle 30 also includes a steering encoder 35, which can detect the rotation angles of the left rear wheel 500 and the right rear wheel 600. When the vehicle controller 10 controls the swivel axle to drive the left rear wheel 500 to rotate around the fifth axis e and the right rear wheel 600 to rotate around the sixth axis f, the steering encoder 35 can feed back the rotation angle signal to the vehicle controller 10, so that the vehicle controller 10 can accurately control the rotation angles of the left rear wheel 500 and the right rear wheel 600 in the corresponding driving mode of the vehicle 1000, avoiding the problem of the rotation angles of the left rear wheel 500 and the right rear wheel 600 being offset. When the first drive assembly 31 drives the left rear wheel 500 to steer and the second drive assembly 33 drives the right rear wheel 600 to steer, the vehicle 1000 can achieve lateral movement (such as right and left movement), steering (such as left turn and right turn) or rotation (such as turning on the spot, etc.).

[0085] In some embodiments, the hydraulic system 40 may be a hydraulic cylinder, one end of which is disposed on the vehicle frame 200, and the other end is disposed on the drive axle assembly 20. When the hydraulic cylinder is in stable operation, the telescopic rod of the hydraulic cylinder can be extended and retracted to drive the drive axle assembly 20 to turn relative to the vehicle frame 200, so that the drive axle assembly 20 can drive the left front wheel 300 to turn around the seventh axis g, and drive the right front wheel 400 to turn around the eighth axis h. In this case, the vehicle 1000 can achieve side shifting, turning or rotation. Specifically, one end of the first steering execution unit 41 is disposed on the vehicle frame 200, and the other end is disposed on the first drive axle 21. The first steering execution unit 41 can drive the first drive axle 21 to rotate, so that the first drive axle 21 can drive the left front wheel 300 to turn relative to the vehicle frame 200 around the seventh axis g. One end of the second steering execution unit 43 is arranged on the frame 200, and the other end is arranged on the second drive axle 23. The second steering execution unit 43 can drive the second drive axle 23 to rotate, so that the second drive axle 23 can drive the right front wheel 400 to turn relative to the frame 200 around the eighth axis h. The hydraulic system 40 may also include an angle sensor, which is used to detect the rotation angles of the left front wheel 300 and the right front wheel 400. When the vehicle controller 10 controls the first steering execution unit 41 to drive the left front wheel 300 to rotate around the seventh axis g, and controls the second steering execution unit 43 to drive the right front wheel 400 to rotate around the eighth axis h, the angle sensor can feed back the rotation angle signal of the left front wheel 300 and the rotation angle signal of the right front wheel 400 to the vehicle controller 10, so that the vehicle controller 10 can accurately control the rotation angle of the left front wheel 300 and the front and rear wheels in the corresponding driving mode of the vehicle 1000, and avoid the problem of the rotation angle of the left rear wheel 500 and the right rear wheel 600 being offset.

[0086] See also Figure 8 After obtaining the driving mode of the vehicle 1000, the steering axle 30 drives the left rear wheel 500 to rotate relative to the frame 200 around the fifth axis e, and drives the right rear wheel 600 to rotate relative to the frame 200 around the sixth axis f, and the hydraulic system 40 drives the left front wheel 300 to rotate relative to the frame 200 around the seventh axis g, and drives the right front wheel 400 to rotate relative to the frame 200 around the eighth axis h, so that the vehicle 1000 is in a driving posture corresponding to the driving mode. After the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 turn relative to the frame 200, the driving axle assembly 20 drives the left front wheel 300 and the right front wheel 400 to travel in the first direction X or the second direction Y, so that the vehicle 1000 can travel in the form posture corresponding to the driving mode.

[0087] See also Figure 1 and Figure 2In some embodiments, the driving mode includes a straight driving mode. 04: controlling the directions of the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 relative to the vehicle frame 200 according to the driving mode, including:

[0088] 041: According to the straight driving mode, the first axis a of the left front wheel 300 and the second axis b of the right front wheel 400 are controlled to be consistent with the front axle of the vehicle 1000, and the third axis c of the left rear wheel 500 and the fourth axis d of the right rear wheel 600 are controlled to be consistent with the rear axle of the vehicle 1000.

[0089] Please combine Figure 8 and Fig. 9 In some embodiments, the driving mode includes a straight driving mode, and the vehicle controller 10 is also used to: control the first steering execution unit 41 according to the straight driving mode to make the first axis a of the left front wheel 300 consistent with the front axle of the vehicle 1000; control the second steering execution unit 43 to make the second axis b of the right front wheel 400 consistent with the front axle of the vehicle 1000; control the first drive component 31 to make the third axis c of the left rear wheel 500 consistent with the rear axle of the vehicle 1000; and control the second drive component 33 to make the fourth axis d of the right rear wheel 600 consistent with the rear axle of the vehicle 1000.

[0090] Among them, when the vehicle 1000 is in the straight driving mode, the vehicle 1000 can go straight forward or straight backward. At this time, the vehicle 1000 can have a forward straight driving posture, a forward straight driving and turning driving posture, a backward straight driving posture, and a backward straight driving and turning driving posture. The third axis c of the left rear wheel 500 is the central axis passing through the center of the circle of the left rear wheel 500, and the fourth axis d of the right rear wheel 600 is the central axis passing through the center of the circle of the right rear wheel 600. When the vehicle controller 10 controls the first axis a of the left front wheel 300 and the second axis b of the right front wheel 400 to be consistent with the front axle of the vehicle 1000, and controls the third axis c of the left rear wheel 500 and the fourth axis d of the right rear wheel 600 to be consistent with the rear axle of the vehicle 1000, the vehicle 1000 can go straight forward and straight backward. The front axle of the vehicle 1000 is a line connecting the centers of the left front wheel 300 and the right front wheel 400, and the rear axle of the vehicle 1000 is a line connecting the centers of the left rear wheel 500 and the right rear wheel 600.

[0091] See also Figure 8 and Fig. 9, when the vehicle controller 10 obtains that the driving mode of the vehicle 1000 is the straight driving mode, if the angle sensor on the hydraulic system 40 detects that the first axis a of the left front wheel 300 is consistent with the front axle of the vehicle 1000, the vehicle controller 10 controls the first steering execution unit 41 to be stationary (not moving) so that the left front wheel 300 remains in the current position. If the angle sensor detects that the first axis a of the left front wheel 300 intersects with the front axle of the vehicle 1000, the vehicle controller 10 controls the solenoid valve of the hydraulic system 40 to open to drive the first steering execution unit 41 to drive the left front wheel 300 to rotate. When the angle sensor detects that the first axis a of the left front wheel 300 is consistent with the front axle of the vehicle 1000, the vehicle controller 10 controls the solenoid valve of the hydraulic system 40 to close so that the left front wheel 300 remains in the current position.

[0092] If the angle sensor detects that the second axis b of the right front wheel 400 is consistent with the front axle of the vehicle 1000, the vehicle controller 10 controls the second steering actuator 43 to be stationary so that the right front wheel 400 remains in the current position. If the angle sensor detects that the second axis b of the right front wheel 400 intersects with the front axle of the vehicle 1000, the vehicle controller 10 controls the solenoid valve of the hydraulic system 40 to open to drive the second steering actuator 43 to drive the right front wheel 400 to rotate. When the angle sensor detects that the second axis b of the right front wheel 400 is consistent with the front axle of the vehicle 1000, the vehicle controller 10 controls the solenoid valve of the hydraulic system 40 to close so that the left front wheel 300 remains in the current position.

[0093] See also Figure 8 and Fig. 9 If the steering encoder 35 of the steering axle 30 detects that the third axis c of the left rear wheel 500 is consistent with the rear axle of the vehicle 1000, the vehicle controller 10 controls the first drive assembly 31 to be stationary so that the left rear wheel 500 remains in the current position. If the steering encoder 35 detects that the third axis c of the left rear wheel 500 intersects with the rear axle of the vehicle 1000, the vehicle controller 10 controls the first drive assembly 31 to drive the left rear wheel 500 to rotate. When the steering encoder 35 detects that the third axis c of the left rear wheel 500 is consistent with the rear axle of the vehicle 1000, the vehicle controller 10 controls the first drive assembly 31 to stop driving the left rear wheel 500.

[0094] If the steering encoder 35 detects that the fourth axis d of the right rear wheel 600 is consistent with the rear axle of the vehicle 1000, the vehicle controller 10 controls the second drive assembly 33 to be stationary so that the right rear wheel 600 remains in the current position. If the steering encoder 35 detects that the fourth axis d of the right rear wheel 600 intersects with the rear axle of the vehicle 1000, the vehicle controller 10 controls the second drive assembly 33 to drive the right rear wheel 600 to rotate. When the steering encoder 35 detects that the fourth axis d of the right rear wheel 600 is consistent with the rear axle of the vehicle 1000, the vehicle controller 10 controls the second drive assembly 33 to stop driving the right rear wheel 600.

[0095] See also Figure 1 and Figure 2 In some embodiments, the control instruction includes a forward straight driving instruction, and the vehicle 1000 has a forward straight driving posture in the straight driving mode; the control method includes:

[0096] 031: Control the cab 50 toward the head of the frame 200;

[0097] 06: In response to the control command input by the user, the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 are controlled to move so that the vehicle 1000 drives according to the driving posture in the driving mode, including:

[0098] 061: In response to the forward straight driving instruction, the first driving axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a in the first direction X, and the second driving axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b in the first direction X, so that the vehicle 1000 drives in a forward straight driving posture.

[0099] See also Figure 8 and Fig. 9 In some embodiments, the control command includes a forward straight-ahead command, and the vehicle 1000 has a forward straight-ahead driving posture in the straight-ahead driving mode; the control system 100 also includes a cab 50, a steering wheel 60, a wire-controlled steering encoder 70, and a rotating mechanism. The steering wheel 60 is disposed in the cab 50 and is used for the user to input a forward straight-ahead command. The wire-controlled steering encoder 70 is used to output a forward straight-ahead control signal in response to the forward straight-ahead command. The rotating mechanism is disposed on the frame 200 and is used to drive the cab 50 to rotate relative to the frame 200; the vehicle controller 10 is also used to: control the cab 50 toward the head of the frame 200; in response to the forward straight-ahead control signal, control the first drive axle 21 to drive the left front wheel 300 to rotate along the first direction X around the first axis a, and control the second drive axle 23 to drive the right front wheel 400 to rotate along the first direction X around the second axis b, so that the vehicle 1000 drives in a forward straight-ahead driving posture.

[0100] The front side of the vehicle 1000 is the side where the line connecting the left front wheel 300 and the right front wheel 400 is located, the rear side of the vehicle 1000 is the side where the line connecting the left rear wheel 500 and the right rear wheel 600 is located, the left side of the vehicle 1000 is the side where the line connecting the left front wheel 300 and the left rear wheel 500 is located, and the right side of the vehicle 1000 is the side where the line connecting the right front wheel 400 and the right rear wheel 600 is located. The forward straight driving posture of the vehicle 1000 is that the vehicle 1000 is driving in a straight line, and the driving direction of the vehicle 1000 is the direction in which the rear side of the vehicle 1000 points to the front side of the vehicle 1000, that is, in the driving direction of the vehicle 1000, the left front wheel 300 and the right front wheel 400 are located in front of the left rear wheel 500 and the right rear wheel 600.

[0101] After the wire-controlled steering encoder 70 obtains the forward straight-line instruction and processes the instruction, the wire-controlled steering encoder 70 outputs a forward straight-line control signal to the vehicle controller 10. The vehicle controller 10 controls the drive axle assembly 20 to drive the left front wheel 300 and the right front wheel 400 to rotate along the first direction X. At this time, the hydraulic system 40 does not need to control the rotation of the left front wheel 300 and the right front wheel 400, and the steering axle 30 does not need to control the rotation of the left rear wheel 500 and the right rear wheel 600. When the left front wheel 300 and the right front wheel 400 both rotate along the first direction X, the left front wheel 300 and the right front wheel 400 can drive the left rear wheel 500 and the right rear wheel 600 to rotate along the first direction X, so that the vehicle 1000 can move forward straight. After the user inputs the forward straight-line instruction, the vehicle controller 10 can control the left front wheel 300 and the right front wheel 400 to rotate along the first direction X, and the user's control method of the vehicle 1000 is relatively simple.

[0102] Please combine Fig.19, the cab 50 of the present application can rotate 360° relative to the frame 200. In different driving modes of the vehicle 1000, the rotating structure can drive the cab 50 to rotate at different angles, so that the driver in the cab 50 can better observe the road conditions, and the operating efficiency of the vehicle 1000 is higher. In one embodiment, the vehicle controller 10 can be used to control the rotation of the rotating mechanism so that the rotating mechanism can drive the cab 50 to rotate. At this time, after the vehicle controller 10 obtains the driving mode of the vehicle 1000, the vehicle controller 10 can control the rotating mechanism to drive the cab 50 to rotate to the corresponding position. In another embodiment, an integrated handle may be provided in the cab 50, and the driver can control the rotation of the rotating mechanism by operating the integrated handle so that the rotating mechanism can drive the cab 50 to rotate. At this time, the rotation of the cab 50 is relatively free, and the driver can control the steering or non-steering of the cab 50 according to actual needs. When the vehicle 1000 moves forward straight, the front portion 51 of the cab 50 can be controlled to face the head of the frame 200 (the front side of the vehicle 1000), that is, the front portion 51 of the cab 50 faces the left front wheel 300 and the right front wheel 400. At this time, the driver can better observe the road conditions through the front portion 51 of the cab 50, so as to facilitate the driver's work.

[0103] See also Figure 1 and Figure 2 In some embodiments, the control command further includes a right turn command, and the vehicle 1000 has a first forward straight-forward and right-turn driving posture and a second forward straight-forward and right-turn driving posture in the straight-forward driving mode; 06: In response to the control command input by the user, the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 are controlled to move so that the vehicle 1000 drives according to the driving posture in the driving mode, and further includes:

[0104] 0621: In response to the right turn instruction, the first drive assembly 31 is controlled to drive the left rear wheel 500 to rotate around the fifth axis e in the height direction of the frame 200, and the second drive assembly 33 is controlled to drive the right rear wheel 600 to rotate around the sixth axis f in the height direction of the frame 200, and the left rear wheel 500 and the right rear wheel 600 have a common rotation center;

[0105] 0631: When the rotation center is outside the projection range of the vehicle frame 200 in the height direction, the first drive axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a in the first direction X, and the second drive axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b in the first direction X, so that the vehicle 1000 drives in the first forward straight driving and right turn driving posture;

[0106] 0641: When the rotation center is located within the projection range of the frame 200 in the height direction, the first drive axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a in the first direction X, and the second drive axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b in the second direction Y, so that the vehicle 1000 drives in the second forward straight and right turn driving posture, and the second direction Y is opposite to the first direction X.

[0107] Please combine Figure 8 , Fig.12 and Fig.13 In some embodiments, the control instruction also includes a right turn instruction. The vehicle 1000 has a first forward straight-forward and right turn driving posture and a second forward straight-forward and right turn driving posture in the straight-ahead driving mode; the steering wheel 60 is also used for the user to input a right turn instruction; the wire-controlled steering encoder 70 is also used to respond to the right turn instruction and output a right turn control signal; the vehicle controller 10 is also used to: respond to the right turn control signal, control the first drive component 31 to drive the left rear wheel 500 to rotate around the fifth axis e, and control the second drive component 33 to drive the right rear wheel 600 to rotate around the sixth axis f, and the left rear wheel 500 and the right rear wheel 600 have a common rotation center; the rotation center is located at the height of the frame 200 When the center of rotation is outside the projection range of the frame 200 in the height direction, the first drive axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a in the first direction X, and the second drive axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b in the first direction X, so that the vehicle 1000 drives in the first straight forward and right turn driving posture; when the center of rotation is within the projection range of the frame 200 in the height direction, the first drive axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a in the first direction X, and the second drive axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b in the second direction Y, so that the vehicle 1000 drives in the second straight forward and right turn driving posture.

[0108] The first driving posture of the vehicle 1000 that goes straight forward and turns right and the second driving posture that goes straight forward and turns right are states in which the vehicle 1000 turns right while going straight forward.

[0109] See also Figure 8 , Fig.12 and Fig.13, the wire steering encoder 70 is connected to both the steering wheel 60 and the vehicle controller 10. Exemplarily, when the driver turns the steering wheel 60 to the right, the wire steering encoder 70 can obtain a right turn instruction by detecting the rotation angle of the steering wheel 60 and output a right turn control signal to the vehicle controller 10. The control system 100 may also include a driver 90, which is connected to both the vehicle controller 10 and the steering axle 30. After the vehicle controller 10 obtains the right turn control signal, the vehicle controller 10 sends a drive signal to the driver 90, so that the driver 90 can control the first drive assembly 31 to drive the right rear wheel 600 to turn left, and the driver 90 can also control the second drive assembly 33 to drive the right rear wheel 600 to turn left.

[0110] like Fig.12 As shown, after the left rear wheel 500 and the right rear wheel 600 rotate, the extension line of the third axis c of the left rear wheel 500 and the extension line of the fourth axis d of the right rear wheel 600 intersect at point O, which is the rotation center of the left rear wheel 500 and the right rear wheel 600. When the left rear wheel 500 and the right rear wheel 600 have a common rotation center, when the vehicle 1000 drives in the second forward straight driving posture and turns right, the left rear wheel 500 and the right rear wheel 600 are in pure rolling motion, the sliding friction between the left rear wheel 500 and the right rear wheel 600 and the ground is small, and the service life of the left rear wheel 500 and the right rear wheel 600 is long.

[0111] Specifically, in some embodiments, the right turn command includes a first right turn command and a second right turn command, and the turning radius of the vehicle 1000 under the first right turn command is greater than the turning radius under the second right turn command; 0621: in response to the right turn command, control the first drive assembly 31 to drive the left rear wheel 500 to rotate around the fifth axis e in the height direction of the frame 200, and control the second drive assembly 33 to drive the right rear wheel 600 to rotate around the sixth axis f in the height direction of the frame 200, and the left rear wheel 500 and the right rear wheel 600 have a common rotation center; including:

[0112] 06211: In response to the first right turn instruction, the first drive assembly 31 is controlled to drive the left rear wheel 500 to turn left around the fifth axis e in the height direction of the frame 200, and the second drive assembly 33 is controlled to drive the right rear wheel 600 to turn left around the sixth axis f in the height direction of the frame 200; and

[0113] 06213: In response to the second right turn instruction, the first drive assembly 31 is controlled to drive the left rear wheel 500 to turn left around the fifth axis e in the height direction of the frame 200, and the second drive assembly 33 is controlled to drive the right rear wheel 600 to turn right around the sixth axis f in the height direction of the frame 200.

[0114] In some embodiments, the steering wheel 60 is also used for the user to input a first right turn instruction and a second right turn instruction; the wire-controlled steering encoder 70 is also used to output a first right turn control signal and a second right turn control signal in response to the first right turn instruction and the second right turn instruction; the vehicle controller 10 is also used to: respond to the first right turn control signal, control the first drive component 30 to drive the left rear wheel 500 to turn left around the fifth axis e in the height direction of the frame 200, and control the second drive component 33 to drive the right rear wheel 600 to turn left around the sixth axis f in the height direction of the frame 200; and respond to the second right turn control signal, control the first drive component 31 to drive the left rear wheel 500 to turn left around the fifth axis e in the height direction of the frame 200, and control the second drive component 33 to drive the right rear wheel 600 to turn right around the sixth axis f in the height direction of the frame 200.

[0115] Among them, when the angle A at which the driver turns the steering wheel 60 to the right is less than the first preset threshold, the wire steering encoder 70 can obtain a first right turn instruction. When the angle B at which the driver turns the steering wheel 60 to the right is greater than the first preset threshold, the wire steering encoder 70 can obtain a second right turn instruction. The relationship between the turning angles A and B of the steering wheel 60 can be: A>B. After the wire steering encoder 70 obtains the first right turn instruction, the wire steering encoder 70 outputs a first right turn control signal to the vehicle controller 10, and the vehicle controller 10 drives the steering axle 30 to start through the driver 90, so that the first drive assembly 31 drives the left rear wheel 500 to turn left, and the second drive assembly 33 drives the right rear wheel 600 to turn left. At this time, the rotation center O is located on the extension line of the front axle of the vehicle 1000 and outside the projection range of the frame 200. The vehicle controller 10 controls the first drive axle 21 to drive the left front wheel 300 to rotate along the first direction X around the first axis a, and controls the second drive axle 23 to drive the right front wheel 400 to rotate along the first direction X around the second axis b. After the wire-controlled steering encoder 70 obtains the second right-turn instruction, the wire-controlled steering encoder 70 outputs the second right-turn control signal to the vehicle controller 10, and the vehicle controller 10 drives the steering axle 30 to start through the driver 90, so that the first drive assembly 31 drives the left rear wheel 500 to turn left, and the second drive assembly 33 drives the right rear wheel 600 to turn right. At this time, the rotation center O is located on the front axle of the vehicle 1000 and between the left front wheel 300 and the right front wheel 400. The vehicle controller 10 controls the first drive axle 21 to drive the left front wheel 300 to rotate around the first axis a in the first direction X, and controls the second drive axle 23 to drive the right front wheel 400 to rotate around the second axis b in the second direction Y. When the wire-controlled steering encoder 70 obtains the first right-turn instruction, when the vehicle 1000 drives according to the first forward straight and right-turn driving posture, the turning radius of the vehicle 1000 turning right is large. When the steering-by-wire encoder 70 obtains the second right-turn instruction, the turning radius of the vehicle 1000 when the vehicle 1000 drives in the second forward straight-ahead and right-turn driving posture is smaller. Therefore, in the case of different road conditions, the driver can input the corresponding right-turn instruction through the steering wheel 60 so that the vehicle 1000 can adjust the turning radius when turning.

[0116] See also Figure 1 , Figure 8 and Fig.12, after the left rear wheel 500 and the right rear wheel 600 rotate around the rotation center, the first angle β between the first line between the left rear wheel 500 and the rotation center and the rear axle of the frame 200, and the second angle γ between the second line between the left rear wheel 500 and the right front wheel 400 and the rear axle of the frame 200. The steering encoder 35 outputs the values ​​of β and γ to the vehicle controller 10 in real time. When the vehicle controller 10 obtains β<γ, it can be determined that the rotation center is located outside the projection range of the frame 200 in the height direction, that is, the rotation center is located outside the line connecting the left front wheel 300 and the right front wheel 400. The vehicle controller 10 can control the first drive axle 21 to drive the left front wheel 300 to rotate around the first axis a along the first direction X, and control the second drive axle 23 to drive the right front wheel 400 to rotate around the second axis b along the first direction X, so that the vehicle 1000 can travel in the first forward straight and right turn driving posture. Furthermore, the vehicle controller 10 can control the drive axle assembly 20 so that the ratio of the speed between the left front wheel 300 and the right front wheel 400 is the same as the ratio of the distance between the left front wheel 300 and the rotation center and the distance between the right front wheel 400 and the rotation center, that is, = , where N1 is the speed of the left front wheel 300, N2 is the speed of the right front wheel 400, α is the third angle between the third line between the right rear wheel 600 and the rotation center and the rear axle of the frame 200, L is the distance between the left front wheel 300 and the left rear wheel 500, M is the distance between the left rear wheel 500 and the right rear wheel 600, and K is the distance between the left front wheel 300 and the right front wheel 400. When the ratio of the speeds between the left front wheel 300 and the right front wheel 400 satisfies the above equation, the rotation center between the left rear wheel 500 and the right rear wheel 600 is a fixed position. When the left rear wheel 500 and the right rear wheel 600 rotate around the rotation center, the left rear wheel 500 and the right rear wheel 600 are pure rolling motions, which can avoid the left rear wheel 500 and the right rear wheel 600 from sliding friction with the ground, and the left rear wheel 500 and the right rear wheel 600 have a longer service life.

[0117] See also Figure 1 , Figure 8 and Fig.13, when the left rear wheel 500 and the right rear wheel 600 rotate around the rotation center, when the vehicle controller 10 obtains β>γ, it can be determined that the rotation center is located within the projection range of the frame 200 in the height direction, that is, the rotation center is located between the connecting line of the left front wheel 300 and the right front wheel 400. The vehicle controller 10 can control the first drive axle 21 to drive the left front wheel 300 to rotate around the first axis a along the first direction X, and control the second drive axle 23 to drive the right front wheel 400 to rotate around the second axis b along the second direction Y, so that the vehicle 1000 drives according to the second forward straight and right turn driving posture, and the vehicle controller 10 can control the drive axle assembly 20 to make the ratio of the speed between the left front wheel 300 and the right front wheel 400 the same as the ratio between the distance from the left front wheel 300 to the rotation center and the distance from the right front wheel 400 to the rotation center. Thus, the left rear wheel 500 and the right rear wheel 600 can be prevented from slipping and rubbing against the ground, and the service life of the left rear wheel 500 and the right rear wheel 600 is prolonged. When the steering center is located at the midpoint of the line connecting the left front wheel 300 and the right front wheel 400, the speeds of the left front wheel 300 and the right front wheel 400 are opposite in direction and equal in value.

[0118] See also Figure 1 and Figure 3 In some embodiments, the control command further includes a left turn command, and the vehicle 1000 has a first forward straight-forward and left-turn driving posture and a second forward straight-forward and left-turn driving posture in the straight-forward driving mode; 06: In response to the control command input by the user, the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 are controlled to move so that the vehicle 1000 drives according to the driving posture in the driving mode, and further includes:

[0119] 0623: In response to the left turn instruction, the first drive assembly 31 is controlled to drive the left rear wheel 500 to rotate around the fifth axis e in the height direction of the frame 200, and the second drive assembly 33 is controlled to drive the right rear wheel 600 to rotate around the sixth axis f in the height direction of the frame 200, and the left rear wheel 500 and the right rear wheel 600 have a common rotation center;

[0120] 0633: When the rotation center is outside the projection range of the vehicle frame 200 in the height direction, the first drive axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a in the first direction X, and the second drive axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b in the first direction X, so that the vehicle 1000 drives in the first forward straight driving and left turn driving posture; and

[0121] 0643: When the rotation center is located within the projection range of the frame 200 in the height direction, the first drive axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a in the second direction Y, and the second drive axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b in the first direction X, so that the vehicle 1000 drives in the second forward straight and left turn driving posture, and the second direction Y is opposite to the first direction X.

[0122] Please combine Figure 8 , Fig.10 and Fig.11 In some embodiments, the control instruction also includes a left turn instruction. The vehicle 1000 has a first forward straight-forward and left turn driving posture and a second forward straight-forward and left turn driving posture in the straight driving mode; the steering wheel 60 is also used for the user to input a left turn instruction; the wire-controlled steering encoder 70 is also used to output a left turn control signal in response to the left turn instruction; the vehicle controller 10 is also used to: in response to the left turn control signal, control the first drive component 31 to drive the left rear wheel 500 to rotate around the fifth axis e, and control the second drive component 33 to drive the right rear wheel 600 to rotate around the sixth axis f, and the left rear wheel 500 and the right rear wheel 600 have a common rotation center; when the rotation center is located within the projection range of the frame 200 in the height direction When the center of rotation is outside the vehicle frame 200, the first drive axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a along the first direction X, and the second drive axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b along the first direction X, so that the vehicle 1000 travels in a first forward straight-forward and left-turn driving posture; and when the center of rotation is located within the projection range of the frame 200 in the height direction, the first drive axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a along the second direction Y, and the second drive axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b along the first direction X, so that the vehicle 1000 travels in a second forward straight-forward and left-turn driving posture, and the second direction Y is opposite to the first direction X.

[0123] The first driving posture of the vehicle 1000 that goes straight forward and turns left and the second driving posture that goes straight forward and turns left are states in which the vehicle 1000 turns left while going straight forward.

[0124] For example, when the driver turns the steering wheel 60 to the left, the wire-controlled steering encoder 70 can obtain a left-turn instruction by detecting the rotation angle of the steering wheel 60 and output a left-turn control signal to the vehicle controller 10. After the vehicle controller 10 obtains the left-turn control signal, the vehicle controller 10 sends a drive signal to the driver 90, so that the driver 90 can control the first drive assembly 31 to drive the left rear wheel 500 to turn right, and the driver 90 can also control the second drive assembly 33 to drive the right rear wheel 600 to turn right.

[0125] like Fig.10As shown, after the left rear wheel 500 and the right rear wheel 600 rotate, the extension line of the third axis c of the left rear wheel 500 and the extension line of the fourth axis d of the right rear wheel 600 intersect at point O, which is the rotation center of the left rear wheel 500 and the right rear wheel 600. When the left rear wheel 500 and the right rear wheel 600 have a common rotation center, when the vehicle 1000 drives in the second forward straight driving posture and turns left, the left rear wheel 500 and the right rear wheel 600 are in pure rolling motion, the sliding friction between the left rear wheel 500 and the right rear wheel 600 and the ground is small, and the service life of the left rear wheel 500 and the right rear wheel 600 is long.

[0126] Specifically, in some embodiments, the left turn instruction includes a first left turn instruction and a second left turn instruction, and the turning radius of the vehicle 1000 under the first left turn instruction is greater than the turning radius under the second left turn instruction; 0623: in response to the left turn instruction, control the first drive assembly 31 to drive the left rear wheel 500 to turn right around the fifth axis e in the height direction of the frame 200, and control the second drive assembly 33 to drive the right rear wheel 600 to turn right around the sixth axis f in the height direction of the frame 200, and the left rear wheel 500 and the right rear wheel 600 have a common rotation center; including:

[0127] 06231: In response to the first left turn instruction, the first drive assembly 31 is controlled to drive the left rear wheel 500 to turn right around the fifth axis e in the height direction of the frame 200, and the second drive assembly 33 is controlled to drive the right rear wheel 600 to turn right around the sixth axis f in the height direction of the frame 200; and

[0128] 06233: In response to the second left turn instruction, the first drive assembly 31 is controlled to drive the left rear wheel 500 to turn left around the fifth axis e in the height direction of the frame 200, and the second drive assembly 33 is controlled to drive the right rear wheel 600 to turn right around the sixth axis f in the height direction of the frame 200.

[0129] In some embodiments, the steering wheel 60 is also used for the user to input a first left turn command and a second left turn command; the wire-controlled steering encoder 70 is also used to output a first left turn control signal and a second left turn control signal in response to the first left turn command and the second left turn command; the vehicle controller 10 is also used to: respond to the first left turn control signal, control the first drive component 30 to drive the left rear wheel 500 to turn right around the fifth axis e in the height direction of the frame 200, and control the second drive component 33 to drive the right rear wheel 600 to turn right around the sixth axis f in the height direction of the frame 200; and respond to the second left turn control signal, control the first drive component 31 to drive the left rear wheel 500 to turn left around the fifth axis e in the height direction of the frame 200, and control the second drive component 33 to drive the right rear wheel 600 to turn right around the sixth axis f in the height direction of the frame 200.

[0130] When the angle C at which the driver turns the steering wheel 60 to the left is less than the second preset threshold, the wire steering encoder 70 can obtain a first left turn instruction. When the angle D at which the driver turns the steering wheel 60 to the left is greater than the second preset threshold, the wire steering encoder 70 can obtain a second left turn instruction. The relationship between the rotation angles C and D of the steering wheel 60 can be: C>D. After the wire steering encoder 70 obtains the first left turn instruction, the wire steering encoder 70 outputs a first left turn control signal to the vehicle controller 10, and the vehicle controller 10 drives the steering axle 30 to start through the driver 90, so that the first drive assembly 31 drives the left rear wheel 500 to turn right, and the second drive assembly 33 drives the right rear wheel 600 to turn right. At this time, the rotation center O is located on the extension line of the front axle of the vehicle 1000 and outside the projection range of the frame 200. The vehicle controller 10 controls the first drive axle 21 to drive the left front wheel 300 to rotate along the first direction X around the first axis a, and controls the second drive axle 23 to drive the right front wheel 400 to rotate along the first direction X around the second axis b. After the wire-controlled steering encoder 70 obtains the second left-turn instruction, the wire-controlled steering encoder 70 outputs the second left-turn control signal to the vehicle controller 10, and the vehicle controller 10 drives the steering axle 30 to start through the driver 90, so that the first drive assembly 31 drives the left rear wheel 500 to turn left, and the second drive assembly 33 drives the right rear wheel 600 to turn right. At this time, the rotation center O is located on the front axle of the vehicle 1000 and between the left front wheel 300 and the right front wheel 400. The vehicle controller 10 controls the first drive axle 21 to drive the left front wheel 300 to rotate around the first axis a in the second direction Y, and controls the second drive axle 23 to drive the right front wheel 400 to rotate around the second axis b in the first direction X. When the wire-controlled steering encoder 70 obtains the first left-turn instruction, when the vehicle 1000 drives according to the first forward straight and left-turn driving posture, the turning radius of the vehicle 1000 turning left is large. When the steering-by-wire encoder 70 obtains the second left-turn instruction, the turning radius of the vehicle 1000 when the vehicle 1000 drives in the second forward straight-ahead and left-turn driving posture is smaller. Therefore, in the case of different road conditions, the driver can input the corresponding right-turn instruction through the steering wheel 60 so that the vehicle 1000 can adjust the turning radius when turning.

[0131] See also Figure 1 , Figure 8 and Fig.11, when the left rear wheel 500 and the right rear wheel 600 rotate around the rotation center, when the vehicle controller 10 obtains α<γ, it can be determined that the rotation center is outside the projection range of the frame 200 in the height direction, that is, the rotation center is outside the line connecting the left front wheel 300 and the right front wheel 400. The vehicle controller 10 can control the first drive axle 21 to drive the left front wheel 300 to rotate around the first axis a along the first direction X, and control the second drive axle 23 to drive the right front wheel 400 to rotate around the second axis b along the first direction X, so that the vehicle 1000 can travel in the first forward straight and left turn driving posture. In addition, the vehicle controller 10 can control the drive axle assembly 20 to make the ratio of the speed between the left front wheel 300 and the right front wheel 400 the same as the ratio of the distance from the left front wheel 300 to the rotation center to the distance from the right front wheel 400 to the rotation center, that is, = When the ratio of the speeds of the left front wheel 300 and the right front wheel 400 satisfies the above equation, the rotation center between the left rear wheel 500 and the right rear wheel 600 is a fixed position. When the left rear wheel 500 and the right rear wheel 600 rotate around the rotation center, the left rear wheel 500 and the right rear wheel 600 are in pure rolling motion, which can avoid slip friction between the left rear wheel 500 and the right rear wheel 600 and the ground, thereby extending the service life of the left rear wheel 500 and the right rear wheel 600.

[0132] See also Figure 1 , Figure 8 and Fig.11 , when the left rear wheel 500 and the right rear wheel 600 rotate around the rotation center, when the vehicle controller 10 obtains α>γ, it can be determined that the rotation center is located within the projection range of the frame 200 in the height direction, that is, the rotation center is located between the connecting line of the left front wheel 300 and the right front wheel 400. The vehicle controller 10 can control the first drive axle 21 to drive the left front wheel 300 to rotate around the first axis a along the second direction Y, and control the second drive axle 23 to drive the right front wheel 400 to rotate around the second axis b along the first direction X, so that the vehicle 1000 drives according to the second forward straight and left turn driving posture, and the vehicle controller 10 can control the drive axle assembly 20 to make the ratio of the speed between the left front wheel 300 and the right front wheel 400 the same as the ratio of the distance between the left front wheel 300 and the rotation center to the distance between the right front wheel 400 and the rotation center. Thus, the left rear wheel 500 and the right rear wheel 600 can be prevented from slipping and rubbing against the ground, and the service life of the left rear wheel 500 and the right rear wheel 600 is prolonged. When the steering center is located at the midpoint of the line connecting the left front wheel 300 and the right front wheel 400, the speeds of the left front wheel 300 and the right front wheel 400 are opposite in direction and equal in value.

[0133] See also Figure 1 and Figure 4In some embodiments, the control instruction includes a backward straight driving instruction, and the vehicle 1000 has a backward straight driving posture in the straight driving mode; the control method also includes:

[0134] 033: Control the cab 50 toward the rear of the frame 200;

[0135] 06: In response to the control command input by the user, the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 are controlled to move so that the vehicle 1000 drives according to the driving posture in the driving mode, including:

[0136] 065: In response to the backward straight driving instruction, the first drive axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a along the second direction Y, and the second drive axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b along the second direction Y, so that the vehicle 1000 drives in a backward straight driving posture.

[0137] See also Figure 8 and Fig. 9 In some embodiments, the control instruction includes a backward straight-ahead instruction, and the vehicle 1000 has a backward straight-ahead driving posture in the straight-ahead driving mode; the steering wheel 60 is also used for the user to input a backward straight-ahead instruction; the wire-controlled steering encoder 70 is also used to output a backward straight-ahead control signal in response to the backward straight-ahead instruction; the vehicle controller 10 is also used to: control the rotating mechanism to drive the cab 50 toward the rear of the frame 200; in response to the backward straight-ahead control signal, control the first drive axle 21 to drive the left front wheel 300 to rotate around the first axis a along the second direction Y, and control the second drive axle 23 to drive the right front wheel 400 to rotate around the second axis b along the second direction Y, so that the vehicle 1000 drives in the backward straight-ahead driving posture.

[0138] Among them, the backward straight driving posture of the vehicle 1000 is that the vehicle 1000 is driving in a straight line, and the driving direction of the vehicle 1000 is the direction from the front side of the vehicle 1000 to the rear side of the vehicle 1000, that is, in the driving direction of the vehicle 1000, the left front wheel 300 and the right front wheel 400 are located behind the left rear wheel 500 and the right rear wheel 600.

[0139] After the wire-controlled steering encoder 70 obtains the backward straight-moving instruction and processes the instruction, the wire-controlled steering encoder 70 outputs the backward straight-moving control signal to the vehicle controller 10. The vehicle controller 10 controls the drive axle assembly 20 to drive the left front wheel 300 and the right front wheel 400 to rotate along the second direction Y. At this time, the hydraulic system 40 does not need to control the rotation of the left front wheel 300 and the right front wheel 400, and the steering axle 30 does not need to control the rotation of the left rear wheel 500 and the right rear wheel 600. When the left front wheel 300 and the right front wheel 400 rotate along the second direction Y, the left front wheel 300 and the right front wheel 400 can drive the left rear wheel 500 and the right rear wheel 600 to rotate along the second direction Y, so that the vehicle 1000 can go straight backward. After the user inputs the backward straight-moving instruction, the vehicle controller 10 can control the left front wheel 300 and the right front wheel 400 to rotate along the second direction Y, and the user's control method of the vehicle 1000 is relatively simple.

[0140] Please combine Fig.19 When the vehicle 1000 is moving straight backward, the rotating mechanism can be controlled to drive the cab 50 to rotate so that the front portion 51 of the cab 50 faces the rear portion of the frame 200, that is, the front portion 51 of the cab 50 faces the left rear wheel 500 and the right rear wheel 600. Compared with the position of the cab 50 when the vehicle 1000 is moving straight forward, the rotating mechanism can drive the cab 50 to rotate 180 degrees. As a result, the driver can better observe the road conditions through the front portion 51 of the cab 50, which is convenient for the driver's work.

[0141] See also Figure 1 and Figure 3 In some embodiments, the control command further includes a right turn command, and the vehicle 1000 has a first driving posture of driving straight backward and turning right and a second driving posture of driving straight backward and turning right in the straight driving mode; 06: In response to the control command input by the user, the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 are controlled to move so that the vehicle 1000 drives according to the driving posture in the driving mode, and further includes:

[0142] 0661: In response to the right turn instruction, the first drive assembly 31 is controlled to drive the left rear wheel 500 to rotate around the fifth axis e in the height direction of the frame 200, and the second drive assembly 33 is controlled to drive the right rear wheel 600 to rotate around the sixth axis f in the height direction of the frame 200, and the left rear wheel 500 and the right rear wheel 600 have a common rotation center;

[0143] 0671: When the rotation center is outside the projection range of the vehicle frame 200 in the height direction, the first drive axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a along the second direction Y, and the second drive axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b along the second direction Y, so that the vehicle 1000 drives in the first backward straight driving posture and right turn; and

[0144] 0681: When the rotation center is located within the projection range of the frame 200 in the height direction, the first drive axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a in the first direction X, and the second drive axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b in the second direction Y, so that the vehicle 1000 drives in the second backward straight-ahead and right-turn driving posture, and the second direction Y is opposite to the first direction X.

[0145] See also Figure 1 , Figure 8 , Fig.12 and Fig.13 In some embodiments, the control instruction also includes a right turn instruction. The vehicle 1000 has a first backward straight driving and right turn driving posture and a second backward straight driving and right turn driving posture in the straight driving mode; the steering wheel 60 is also used for the user to input a right turn instruction; the wire control steering encoder 70 is also used to respond to the right turn instruction and output a right turn control signal; the vehicle controller 10 is also used to: respond to the right turn control signal, control the first drive component 31 to drive the left rear wheel 500 to rotate around the fifth axis e, control the second drive component 33 to drive the right rear wheel 600 to rotate around the sixth axis f, and the left rear wheel 500 and the right rear wheel 600 have a common rotation center; when the rotation center is located within the projection range of the frame 200 in the height direction When the center of rotation is outside the vehicle frame 200, the first drive axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a along the second direction Y, and the second drive axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b along the second direction Y, so that the vehicle 1000 travels in the first straight backward and right turn driving posture; and when the center of rotation is located within the projection range of the frame 200 in the height direction, the first drive axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a along the first direction X, and the second drive axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b along the second direction Y, so that the vehicle 1000 travels in the second straight backward and right turn driving posture, and the second direction Y is opposite to the first direction X.

[0146] The first driving posture of the vehicle 1000 going straight backward and turning right and the second driving posture of the vehicle 1000 going straight backward and turning right are states in which the vehicle 1000 turns right while going straight backward.

[0147] Exemplarily, when the driver turns the steering wheel 60 to the right, the wire-controlled steering encoder 70 can obtain a right-turn instruction by detecting the rotation angle of the steering wheel 60 and output a right-turn control signal to the vehicle controller 10. After the vehicle controller 10 obtains the right-turn control signal, the vehicle controller 10 sends a drive signal to the driver 90, so that the driver 90 can control the first drive assembly 31 to drive the left rear wheel 500 to turn left around the fifth axis e, and the driver 90 can also control the second drive assembly 33 to drive the right rear wheel 600 to turn left around the sixth axis f.

[0148] Specifically, in some embodiments, the right turn command includes a third right turn command and a fourth right turn command, and the turning radius of the vehicle 1000 under the third right turn command is greater than the turning radius under the fourth right turn command; 0661: in response to the right turn command, control the first drive assembly 31 to drive the left rear wheel 500 to rotate around the fifth axis e in the height direction of the frame 200, and control the second drive assembly 33 to drive the right rear wheel 600 to rotate around the sixth axis f in the height direction of the frame 200; including:

[0149] 06611: In response to the third right turn instruction, the first drive assembly 31 is controlled to drive the left rear wheel 500 to turn left around the fifth axis e in the height direction of the frame 200, and the second drive assembly 33 is controlled to drive the right rear wheel 600 to turn left around the sixth axis f in the height direction of the frame 200; and

[0150] 06613: In response to the fourth right turn instruction, the first drive assembly 31 is controlled to drive the left rear wheel 500 to turn left around the fifth axis e in the height direction of the frame 200, and the second drive assembly 33 is controlled to drive the right rear wheel 600 to turn right around the sixth axis f in the height direction of the frame 200.

[0151] In some embodiments, the steering wheel 60 is also used for the user to input a third right turn instruction and a fourth right turn instruction; the wire-controlled steering encoder 70 is also used to output a third right turn control signal and a fourth right turn control signal in response to the third right turn instruction and the fourth right turn instruction; the vehicle controller 10 is also used to: respond to the third right turn control signal, control the first drive component 30 to drive the left rear wheel 500 to turn left around the fifth axis e in the height direction of the frame 200, and control the second drive component 33 to drive the right rear wheel 600 to turn left around the sixth axis f in the height direction of the frame 200; and respond to the fourth right turn control signal, control the first drive component 31 to drive the left rear wheel 500 to turn left around the fifth axis e in the height direction of the frame 200, and control the second drive component 33 to drive the right rear wheel 600 to turn right around the sixth axis f in the height direction of the frame 200.

[0152] Among them, when the angle E at which the driver turns the steering wheel 60 to the right is less than the third preset threshold, the wire-controlled steering encoder 70 can obtain the third right-turn instruction. When the angle F at which the driver turns the steering wheel 60 to the right is greater than the third preset threshold, the wire-controlled steering encoder 70 can obtain the fourth right-turn instruction. The relationship between the turning angles E and F of the steering wheel 60 can be: E>F. After the wire-controlled steering encoder 70 obtains the third right-turn instruction, the wire-controlled steering encoder 70 outputs the third right-turn control signal to the vehicle controller 10, and the vehicle controller 10 drives the steering axle 30 to start through the driver 90, so that the first drive assembly 31 drives the left rear wheel 500 to turn left around the fifth axis e, and the second drive assembly 33 drives the right rear wheel 600 to turn left around the sixth axis f. At this time, the vehicle controller 10 controls the first drive axle 21 to drive the left front wheel 300 to rotate along the second direction Y around the first axis a, and controls the second drive axle 23 to drive the right front wheel 400 to rotate along the second direction Y around the second axis b. After the wire-controlled steering encoder 70 obtains the fourth right-turn instruction, the wire-controlled steering encoder 70 outputs the fourth right-turn control signal to the vehicle controller 10, and the vehicle controller 10 drives the steering axle 30 to start through the driver 90, so that the first drive assembly 31 drives the left rear wheel 500 to turn left around the fifth axis e, and the second drive assembly 33 drives the right rear wheel 600 to turn right around the sixth axis f. At this time, the vehicle controller 10 controls the first drive axle 21 to drive the left front wheel 300 to rotate along the first direction X around the first axis a, and controls the second drive axle 23 to drive the right front wheel 400 to rotate along the second direction Y around the second axis b. When the wire-controlled steering encoder 70 obtains the third right-turn instruction, when the vehicle 1000 drives in the first straight-backward and right-turn driving posture, the turning radius of the vehicle 1000 turning right is large. When the wire-controlled steering encoder 70 obtains the fourth right-turn instruction, when the vehicle 1000 drives in the second straight-backward and right-turn driving posture, the turning radius of the vehicle 1000 turning right is small. Therefore, when faced with different road conditions, the driver can input a corresponding right turn command through the steering wheel 60 so that the vehicle 1000 can adjust the turning radius when turning.

[0153] See also Figure 1 , Figure 8 ,and Fig.12, when the left rear wheel 500 and the right rear wheel 600 rotate around the rotation center, when the vehicle controller 10 obtains α<γ, it can be determined that the rotation center is located outside the projection range of the frame 200 in the height direction, that is, the rotation center is located outside the line connecting the left front wheel 300 and the right front wheel 400. The vehicle controller 10 can control the first drive axle 21 to drive the left front wheel 300 to rotate around the first axis a along the second direction Y, and control the second drive axle 23 to drive the right front wheel 400 to rotate around the second axis b along the second direction Y, so that the vehicle 1000 can travel in accordance with the first backward straight and right turn driving posture. In addition, the vehicle controller 10 can control the drive axle assembly 20 to make the ratio of the speed between the left front wheel 300 and the right front wheel 400 the same as the ratio between the distance from the left front wheel 300 to the rotation center and the distance from the right front wheel 400 to the rotation center. As a result, the rotation center between the left rear wheel 500 and the right rear wheel 600 is a fixed position. When the left rear wheel 500 and the right rear wheel 600 rotate around the rotation center, the left rear wheel 500 and the right rear wheel 600 are in pure rolling motion, which can avoid slipping friction between the left rear wheel 500 and the right rear wheel 600 and the ground, thereby extending the service life of the left rear wheel 500 and the right rear wheel 600.

[0154] See also Figure 1 , Figure 8 ,and Fig.13 , when the left rear wheel 500 and the right rear wheel 600 rotate around the rotation center, when the vehicle controller 10 obtains α>γ, it can be determined that the rotation center is located within the projection range of the frame 200 in the height direction, that is, the rotation center is located between the connecting line of the left front wheel 300 and the right front wheel 400. The vehicle controller 10 can control the first drive axle 21 to drive the left front wheel 300 to rotate around the first axis a along the first direction X, and control the second drive axle 23 to drive the right front wheel 400 to rotate around the second axis b along the second direction Y, so that the vehicle 1000 drives according to the second backward straight and right turn driving posture, and the vehicle controller 10 can control the drive axle assembly 20 to make the ratio of the speed between the left front wheel 300 and the right front wheel 400 the same as the ratio of the distance between the left front wheel 300 and the rotation center to the distance between the right front wheel 400 and the rotation center. Thus, the left rear wheel 500 and the right rear wheel 600 can be prevented from slipping and rubbing against the ground, and the service life of the left rear wheel 500 and the right rear wheel 600 is prolonged. When the steering center is located at the midpoint of the line connecting the left front wheel 300 and the right front wheel 400, the speeds of the left front wheel 300 and the right front wheel 400 are opposite in direction and equal in value.

[0155] See also Figure 1 and Figure 4In some embodiments, the control command further includes a left turn command, and the vehicle 1000 has a first driving posture of driving straight backward and turning left and a second driving posture of driving straight backward and turning left in the straight driving mode; 06: In response to the control command input by the user, the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 are controlled to move so that the vehicle 1000 drives according to the driving posture in the driving mode, and further includes:

[0156] 0663: In response to the left turn instruction, the first drive assembly 31 is controlled to drive the left rear wheel 500 to rotate around the fifth axis e in the height direction of the frame 200, and the second drive assembly 33 is controlled to drive the right rear wheel 600 to rotate around the sixth axis f in the height direction of the frame 200, and the left rear wheel 500 and the right rear wheel 600 have a common rotation center;

[0157] 0673: When the rotation center is outside the projection range of the vehicle frame 200 in the height direction, the first drive axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a along the second direction Y, and the second drive axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b along the second direction Y, so that the vehicle 1000 drives in the first backward straight driving and left turn driving posture; and

[0158] 0683: When the rotation center is located within the projection range of the frame 200 in the height direction, the first drive axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a in the second direction Y, and the second drive axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b in the first direction X, so that the vehicle 1000 drives in the second backward straight-ahead and left-turn driving posture, and the second direction Y is opposite to the first direction X.

[0159] See also Figure 1 , Figure 8 , Fig.10 and Fig.11In some embodiments, the control instruction also includes a left turn instruction. The vehicle 1000 has a first backward straight driving posture and a left turn driving posture and a second backward straight driving posture and a left turn driving posture in the straight driving mode. The steering wheel 60 is also used for the user to input a left turn instruction. The wire-controlled steering encoder 70 is also used to output a left turn control signal in response to the left turn instruction. The vehicle controller 10 is also used to: in response to the left turn control signal, control the first drive assembly 31 to drive the left rear wheel 500 to rotate around the fifth axis e in the height direction of the frame 200, and control the second drive assembly 33 to drive the right rear wheel 600 to rotate around the sixth axis f in the height direction of the frame 200, and the left rear wheel 500 and the right rear wheel 600 have a common rotation center; when the rotation center is located on the frame 200 When the projection range in the height direction is outside the projection range, the first drive axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a along the second direction Y, and the second drive axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b along the second direction Y, so that the vehicle 1000 travels in the first straight backward and left turn driving posture; and when the rotation center is located within the projection range of the frame 200 in the height direction, the first drive axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a along the second direction Y, and the second drive axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b along the first direction X, so that the vehicle 1000 travels in the second straight backward and left turn driving posture, and the second direction Y is opposite to the first direction X.

[0160] The first driving posture of the vehicle 1000 going straight backward and turning left and the second driving posture of the vehicle 1000 going straight backward and turning left are states in which the vehicle 1000 turns left while going straight backward.

[0161] For example, when the driver turns the steering wheel 60 to the left, the steer-by-wire encoder 70 can obtain a left turn instruction by detecting the rotation angle of the steering wheel 60 and output a left turn control signal to the vehicle controller 10. The vehicle controller 10 sends a drive signal to the driver 90, so that the driver 90 can control the first drive assembly 31 to drive the left rear wheel 500 to turn right, and the driver 90 can also control the second drive assembly 33 to drive the right rear wheel 600 to turn right.

[0162] Specifically, in some embodiments, the left turn command includes a third left turn command and a fourth left turn command, and the turning radius of the vehicle 1000 under the third left turn command is greater than the turning radius under the fourth left turn command; 0663: in response to the left turn command, control the first drive assembly 31 to drive the left rear wheel 500 to rotate around the fifth axis e in the height direction of the frame 200, and control the second drive assembly 33 to drive the right rear wheel 600 to rotate around the sixth axis f in the height direction of the frame 200; including:

[0163] 06631: In response to the third left turn instruction, the first drive assembly 31 is controlled to drive the left rear wheel 500 to turn right around the fifth axis e in the height direction of the frame 200, and the second drive assembly 33 is controlled to drive the right rear wheel 600 to turn right around the sixth axis f in the height direction of the frame 200; and

[0164] 06633: In response to the fourth left turn instruction, the first drive assembly 31 is controlled to drive the left rear wheel 500 to turn left around the fifth axis e in the height direction of the frame 200, and the second drive assembly 33 is controlled to drive the right rear wheel 600 to turn right around the sixth axis f in the height direction of the frame 200.

[0165] In some embodiments, the steering wheel 60 is also used for the user to input a third left turn instruction and a fourth left turn instruction; the wire-controlled steering encoder 70 is also used to output a third left turn control signal and a fourth left turn control signal in response to the third left turn instruction and the fourth left turn instruction; the vehicle controller 10 is also used to: respond to the third left turn control signal, control the first drive component 30 to drive the left rear wheel 500 to turn right around the fifth axis e in the height direction of the frame 200, and control the second drive component 33 to drive the right rear wheel 600 to turn right around the sixth axis f in the height direction of the frame 200; and respond to the fourth left turn control signal, control the first drive component 31 to drive the left rear wheel 500 to turn left around the fifth axis e in the height direction of the frame 200, and control the second drive component 33 to drive the right rear wheel 600 to turn right around the sixth axis f in the height direction of the frame 200.

[0166] Among them, when the angle G at which the driver turns the steering wheel 60 to the left is less than the fourth preset threshold, the wire-controlled steering encoder 70 can obtain the third left-turn instruction. When the angle H at which the driver turns the steering wheel 60 to the right is greater than the fourth preset threshold, the wire-controlled steering encoder 70 can obtain the fourth left-turn instruction. The relationship between the rotation angles G and H of the steering wheel 60 can be: G>H. After the wire-controlled steering encoder 70 obtains the third left-turn instruction, the wire-controlled steering encoder 70 outputs the third left-turn control signal to the vehicle controller 10, and the vehicle controller 10 drives the steering axle 30 to start through the driver 90, so that the first drive assembly 31 drives the left rear wheel 500 to turn right around the fifth axis e, and the second drive assembly 33 drives the right rear wheel 600 to turn right around the sixth axis f. At this time, the vehicle controller 10 controls the first drive axle 21 to drive the left front wheel 300 to rotate along the second direction Y around the first axis a, and controls the second drive axle 23 to drive the right front wheel 400 to rotate along the second direction Y around the second axis b. After the wire-controlled steering encoder 70 obtains the fourth left-turn instruction, the wire-controlled steering encoder 70 outputs the fourth left-turn control signal to the vehicle controller 10, and the vehicle controller 10 drives the steering axle 30 to start through the driver 90, so that the first drive assembly 31 drives the left rear wheel 500 to turn left around the fifth axis e, and the second drive assembly 33 drives the right rear wheel 600 to turn right around the sixth axis f. At this time, the vehicle controller 10 controls the first drive axle 21 to drive the left front wheel 300 to rotate around the first axis a along the second direction Y, and controls the second drive axle 23 to drive the right front wheel 400 to rotate around the second axis b along the first direction X. When the wire-controlled steering encoder 70 obtains the third left-turn instruction, when the vehicle 1000 drives in the first backward straight and left-turn driving posture, the turning radius of the vehicle 1000 turning left is large. When the wire-controlled steering encoder 70 obtains the fourth left-turn instruction, when the vehicle 1000 drives in the second backward straight and left-turn driving posture, the turning radius of the vehicle 1000 turning left is small. Therefore, when faced with different road conditions, the driver can input a corresponding right turn command through the steering wheel 60 so that the vehicle 1000 can adjust the turning radius when turning.

[0167] See also Figure 1 , Figure 8 ,and Fig.10, when the left rear wheel 500 and the right rear wheel 600 rotate around the rotation center, when the vehicle controller 10 obtains β<γ, it can be determined that the rotation center is outside the projection range of the frame 200 in the height direction, that is, the rotation center is outside the line connecting the left front wheel 300 and the right front wheel 400. The vehicle controller 10 can control the first drive axle 21 to drive the left front wheel 300 to rotate around the first axis a along the second direction Y, and control the second drive axle 23 to drive the right front wheel 400 to rotate around the second axis b along the second direction Y, so that the vehicle 1000 can travel in accordance with the first backward straight and left turn driving posture. In addition, the vehicle controller 10 can control the drive axle assembly 20 to make the ratio of the speed between the left front wheel 300 and the right front wheel 400 the same as the ratio between the distance from the left front wheel 300 to the rotation center and the distance from the right front wheel 400 to the rotation center. As a result, the rotation center between the left rear wheel 500 and the right rear wheel 600 is a fixed position. When the left rear wheel 500 and the right rear wheel 600 rotate around the rotation center, the left rear wheel 500 and the right rear wheel 600 are in pure rolling motion, which can avoid slipping friction between the left rear wheel 500 and the right rear wheel 600 and the ground, thereby extending the service life of the left rear wheel 500 and the right rear wheel 600.

[0168] See also Figure 1 , Figure 8 ,and Fig.11 , when the left rear wheel 500 and the right rear wheel 600 rotate around the rotation center, when the vehicle controller 10 obtains β>γ, it can be determined that the rotation center is located within the projection range of the frame 200 in the height direction, that is, the rotation center is located between the connecting line of the left front wheel 300 and the right front wheel 400. The vehicle controller 10 can control the first drive axle 21 to drive the left front wheel 300 to rotate around the first axis a along the second direction Y, and control the second drive axle 23 to drive the right front wheel 400 to rotate around the second axis b along the first direction X, so that the vehicle 1000 drives according to the second backward straight driving posture and turn left, and the vehicle controller 10 can control the drive axle assembly 20 to make the ratio of the speed between the left front wheel 300 and the right front wheel 400 the same as the ratio of the distance between the left front wheel 300 and the rotation center to the distance between the right front wheel 400 and the rotation center. Thus, the left rear wheel 500 and the right rear wheel 600 can be prevented from slipping and rubbing against the ground, and the service life of the left rear wheel 500 and the right rear wheel 600 is prolonged. When the steering center is located at the midpoint of the line connecting the left front wheel 300 and the right front wheel 400, the speeds of the left front wheel 300 and the right front wheel 400 are opposite in direction and equal in value.

[0169] See also Figure 1 ,and Figure 5 In some embodiments, the driving mode includes a lateral driving mode. 04: Controlling the directions of the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 relative to the vehicle frame 200 according to the driving mode includes:

[0170] 043: According to the lateral driving mode, the first axis a of the left front wheel 300 and the second axis b of the right front wheel 400 are controlled to be perpendicular to the front axle of the vehicle 1000, and the third axis c of the left rear wheel 500 and the fourth axis d of the right rear wheel 600 are controlled to be perpendicular to the rear axle of the vehicle 1000, and the two opposite surfaces of the left front wheel 300 and the right front wheel 400 before turning are located on the same side of the front axle of the vehicle 1000 after turning, and the two opposite surfaces of the left rear wheel 500 and the right rear wheel 600 before turning are located on the same side of the rear axle of the vehicle 1000 after turning.

[0171] See also Figure 8 , Fig.14 , Fig.15 ,and Fig.16 In some embodiments, the driving mode includes a lateral driving mode, and the vehicle controller 10 is further used to: control the first steering execution unit 41 according to the lateral driving mode to make the first axis a of the left front wheel 300 perpendicular to the front axle of the vehicle 1000; control the second steering execution unit 43 to make the second axis b of the right front wheel 400 perpendicular to the front axle of the vehicle 1000; control the first driving component 31 to make the third axis c of the left rear wheel 500 perpendicular to the rear axle of the vehicle 1000, and control the second driving component 33 to make the fourth axis d of the right rear wheel 600 perpendicular to the rear axle of the vehicle 1000, and the two opposite surfaces of the left front wheel 300 and the right front wheel 400 before turning are located on the same side of the front axle of the vehicle 1000 after turning, and the two opposite surfaces of the left rear wheel 500 and the right rear wheel 600 before turning are located on the same side of the rear axle of the vehicle 1000 after turning.

[0172] When the driving mode of the vehicle 1000 is the lateral driving mode, the lateral driving mode of the vehicle 1000 is left driving or right driving in the driving direction when the vehicle 1000 is moving straight forward. When the vehicle 1000 is in the lateral driving mode, the vehicle 1000 can have a right driving posture and a left driving posture.

[0173] See also Figures 14 to 16, when the first axis a of the left front wheel 300 is perpendicular to the front axle of the vehicle 1000, the left front wheel 300 can be rotated 90° relative to the frame 200 compared to the position of the left front wheel 300 in the straight driving mode of the vehicle 1000. When the second axis b of the right front wheel 400 is perpendicular to the front axle of the vehicle 1000, the right front wheel 400 can be rotated 90° relative to the frame 200 compared to the position of the left front wheel 300 in the straight driving mode of the vehicle 1000. When the third axis c of the left rear wheel 500 is perpendicular to the rear axle of the vehicle 1000, the left rear wheel 500 can be rotated 90° relative to the frame 200 compared to the position of the left rear wheel 500 in the straight driving mode of the vehicle 1000. When the fourth axis d of the right rear wheel 600 is perpendicular to the rear axle of the vehicle 1000 , the right rear wheel 600 can rotate 90° relative to the frame 200 compared to the position of the right rear wheel 600 in the straight driving mode.

[0174] See also Figure 8 , Fig.14 , Fig.15 ,and Fig.16 , when the vehicle controller 10 obtains that the driving mode of the vehicle 1000 is the lateral driving mode, if the angle sensor on the hydraulic system 40 detects that the angle between the first axis a of the left front wheel 300 and the front axle of the vehicle 1000 is 90° (vertical), the vehicle controller 10 controls the first steering execution unit 41 to keep the left front wheel 300 at the current position. If the angle sensor detects that the angle between the first axis a of the left front wheel 300 and the front axle of the vehicle 1000 is not 90° (not vertical), the vehicle controller 10 controls the first steering execution unit 41 to drive the left front wheel 300 to rotate so that the first axis a of the left front wheel 300 is perpendicular to the front axle of the vehicle 1000. If the angle sensor detects that the angle between the second axis b of the right front wheel 400 and the front axle of the vehicle 1000 is 90° (vertical), the vehicle controller 10 controls the second steering execution unit 43 to keep the right front wheel 400 at the current position. If the angle sensor detects that the angle between the second axis b of the right front wheel 400 and the front axle of the vehicle 1000 is not 90° (not perpendicular), the vehicle controller 10 controls the second steering execution unit 43 to drive the right front wheel 400 to rotate so that the second axis b of the right front wheel 400 is perpendicular to the front axle of the vehicle 1000.

[0175] If the steering encoder 35 of the steering axle 30 detects that the angle between the third axis c of the left rear wheel 500 and the rear axle of the vehicle 1000 is 90° (vertical), the vehicle controller 10 controls the first drive assembly 31 to keep the left rear wheel 500 at the current position. If the steering encoder 35 detects that the angle between the third axis c of the left rear wheel 500 and the rear axle of the vehicle 1000 is not 90° (not vertical), the vehicle controller 10 controls the first drive assembly 31 to drive the left rear wheel 500 to rotate so that the third axis c of the left rear wheel 500 is perpendicular to the rear axle of the vehicle 1000. If the steering encoder 35 detects that the fourth axis d of the right rear wheel 600 is perpendicular to the rear axle of the vehicle 1000, the vehicle controller 10 controls the second drive assembly 33 to keep the right rear wheel 600 at the current position. If the steering encoder 35 detects that the angle between the fourth axis d of the right rear wheel 600 and the rear axle of the vehicle 1000 is not 90° (not perpendicular), the vehicle controller 10 controls the second drive assembly 33 to drive the right rear wheel 600 to rotate so that the fourth axis d of the right rear wheel 600 is perpendicular to the rear axle of the vehicle 1000.

[0176] See also Figure 1 and Figure 6 In some embodiments, the control instruction includes a rightward driving instruction, and the vehicle 1000 has a rightward driving posture in the lateral driving mode; the control method further includes:

[0177] 051: Control the cab 50 to face the right side of the vehicle frame 200;

[0178] 06: In response to the control command input by the user, the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 are controlled to move so that the vehicle 1000 drives according to the driving posture in the driving mode, including:

[0179] 0681: In response to the rightward movement instruction, the first drive axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a in the first direction X, and the second drive axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b in the first direction X, so that the vehicle 1000 moves in a rightward movement posture.

[0180] See also Figure 8 , Fig.14 , Fig.15 ,and Fig.16In some embodiments, the control command includes a rightward travel command, and the vehicle 1000 has a rightward travel attitude in the lateral travel mode; the control system 100 also includes a cab 50, a steering wheel 60, a wire-controlled steering encoder 70, and a rotating mechanism. The steering wheel 60 is arranged in the cab 50 and is used for the user to input a rightward travel command; the wire-controlled steering encoder 70 is used to output a rightward travel control signal in response to the rightward travel command; the rotating mechanism is arranged on the frame 200 and is used to drive the cab 50 to rotate relative to the frame 200; the vehicle controller 10 is also used to: control the rotating mechanism to drive the cab 50 toward the right side of the frame 200; in response to the rightward travel control signal, control the first drive axle 21 to drive the left front wheel 300 to rotate along the first direction X around the first axis a, and control the second drive axle 23 to drive the right front wheel 400 to rotate along the first direction X around the second axis b, so that the vehicle 1000 drives in a rightward travel attitude.

[0181] The rightward driving posture of the vehicle 1000 is straight driving with the right side of the vehicle 1000 as the front, that is, the driving direction of the vehicle 1000 is the direction from the left side of the vehicle 1000 to the right side of the vehicle 1000. In the driving direction of the vehicle 1000, the right front wheel 400 and the right rear wheel 600 are located in front of the left front wheel 300 and the left rear wheel 500.

[0182] When the vehicle 1000 is in a right-moving driving posture, when the left front wheel 300 rotates along the first direction X, the left front wheel 300 rotates counterclockwise from the direction from the left front wheel 300 to the left rear wheel 500. When the right front wheel 400 rotates along the first direction X, the right front wheel 400 rotates counterclockwise from the direction from the right front wheel 400 to the right rear wheel 600.

[0183] After the wire-controlled steering encoder 70 obtains the rightward movement instruction and processes the instruction, the wire-controlled steering encoder 70 outputs a rightward movement control signal to the vehicle controller 10. The vehicle controller 10 controls the drive axle assembly 20 to drive the left front wheel 300 and the right front wheel 400 to rotate along the first direction X. At this time, the hydraulic system 40 does not need to control the rotation of the left front wheel 300 and the right front wheel 400, and the steering axle 30 does not need to control the rotation of the left rear wheel 500 and the right rear wheel 600. When the left front wheel 300 and the right front wheel 400 both rotate along the first direction X, the left front wheel 300 and the right front wheel 400 drive the left rear wheel 500 and the right rear wheel 600 to rotate along the first direction X, so that the vehicle 1000 can move to the right. After the user inputs the rightward movement instruction, the vehicle controller 10 can control the left front wheel 300 and the right front wheel 400 to rotate along the first direction X, and the user's control method of the vehicle 1000 is relatively simple.

[0184] Please combine Fig. 20When the vehicle 1000 moves to the right, the rotating mechanism can be controlled to drive the cab 50 to rotate so that the front portion 51 of the cab 50 faces the right side of the frame 200, that is, the front portion 51 of the cab 50 faces the right front wheel 400 and the right rear wheel 600. Compared with the position of the cab 50 when the vehicle 1000 moves forward, the rotating mechanism can drive the cab 50 to rotate 90 degrees. At this time, the driver can better observe the road conditions through the front portion 51 of the cab 50, which is convenient for the driver's work.

[0185] See also Figure 1 and Figure 6 In some embodiments, the control command includes a left travel command, and the vehicle 1000 has a left travel posture in the lateral travel mode;

[0186] 053: Control the cab 50 to face the left side of the vehicle frame 200;

[0187] 06: In response to the control command input by the user, the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 are controlled to move so that the vehicle 1000 drives according to the driving posture in the driving mode, including:

[0188] 0683: In response to the left travel instruction, the first drive axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a along the second direction Y, and the second drive axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b along the second direction Y, so that the vehicle 1000 travels in a left travel posture.

[0189] See also Figure 8 , Fig.14 , Fig.15 ,and Fig.16 In some embodiments, the control instruction includes a left travel instruction, and the vehicle 1000 has a left travel posture in the lateral driving mode; the steering wheel 60 is also used for the user to input a left travel instruction; the wire-controlled steering encoder 70 is also used to output a left travel control signal in response to the left travel instruction; the vehicle controller 10 is also used to: control the cab 50 to face the left side of the frame 200; in response to the left travel control signal, control the first drive axle 21 to drive the left front wheel 300 to rotate around the first axis a along the second direction Y, and control the second drive axle 23 to drive the right front wheel 400 to rotate around the second axis b along the second direction Y, so that the vehicle 1000 drives in the left travel posture.

[0190] The leftward driving posture of the vehicle 1000 is straight driving with the left side of the vehicle 1000 as the front, that is, the driving direction of the vehicle 1000 is the direction from the right side of the vehicle 1000 to the left side of the vehicle 1000. In the driving direction of the vehicle 1000, the right front wheel 400 and the right rear wheel 600 are located behind the left front wheel 300 and the left rear wheel 500.

[0191] When the left front wheel 300 rotates along the second direction Y, the left front wheel 300 rotates clockwise from the direction from the left front wheel 300 to the left rear wheel 500. When the right front wheel 400 rotates along the second direction Y, the right front wheel 400 rotates clockwise from the direction from the right front wheel 400 to the right rear wheel 600.

[0192] After the wire-controlled steering encoder 70 obtains the left-moving instruction and processes the instruction, the wire-controlled steering encoder 70 outputs a left-moving control signal to the vehicle controller 10. The vehicle controller 10 controls the drive axle assembly 20 to drive the left front wheel 300 and the right front wheel 400 to rotate along the second direction Y. At this time, the hydraulic system 40 does not need to control the rotation of the left front wheel 300 and the right front wheel 400, and the steering axle 30 does not need to control the rotation of the left rear wheel 500 and the right rear wheel 600. When the left front wheel 300 and the right front wheel 400 rotate along the second direction Y, the left front wheel 300 and the right front wheel 400 drive the left rear wheel 500 and the right rear wheel 600 to rotate along the second direction Y, so that the vehicle 1000 can move to the left. After the user inputs the left-moving instruction, the vehicle controller 10 can control the left front wheel 300 and the right front wheel 400 to rotate along the second direction Y, and the user's control method of the vehicle 1000 is relatively simple.

[0193] Please combine Fig.21 When the vehicle 1000 moves to the left, the cab 50 can be controlled to rotate so that the front portion 51 of the cab 50 faces the left side of the frame 200, that is, the front portion 51 of the cab 50 faces the left front wheel 300 and the left rear wheel 500. Compared with the position of the cab 50 when the vehicle 1000 moves forward, the rotating mechanism can drive the cab 50 to rotate 270 degrees. At this time, the driver can better observe the road conditions through the front portion 51 of the cab 50, which is convenient for the driver's work.

[0194] See also Figure 1 and Figure 7 In some embodiments, the driving mode includes a turning driving mode. 04: Controlling the directions of the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 relative to the vehicle frame 200 according to the driving mode includes:

[0195] 045: According to the turning driving mode, the first axis a of the left front wheel 300 and the second axis b of the right front wheel 400 are controlled to form a first angle with the front axle of the vehicle 1000, and the third axis c of the left rear wheel 500 and the fourth axis d of the right rear wheel 600 are controlled to form a second angle with the rear axle of the vehicle 1000, and the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 have a common center of rotation, which is located within the projection range of the frame 200 in the height direction, and the second angle is greater than the first angle.

[0196] See also Figure 8 , Fig.17 ,and Fig.18 In some embodiments, the driving mode includes a turning driving mode, and the vehicle controller 10 is further used to: control the first steering execution unit 41 according to the turning driving mode so that the first axis a of the left front wheel 300 and the front axle of the vehicle 1000 form a first angle, control the second steering execution unit 43 so that the second axis b of the right front wheel 400 and the front axle of the vehicle 1000 form a first angle, control the first drive component 31 so that the third axis c of the left rear wheel 500 and the rear axle of the vehicle 1000 form a second angle, control the second drive component 33 so that the fourth axis d of the right rear wheel 600 and the rear axle of the vehicle 1000 form a second angle, and the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 have a common center of rotation, the center of rotation is located within the projection range of the frame 200 in the height direction, and the second angle is greater than the first angle.

[0197] When the driving mode of the vehicle 1000 is the swing driving mode, the vehicle 1000 can achieve a 360° rotation in situ, that is, the directions of the front side of the vehicle 1000 and the rear side of the vehicle 1000 can be reversed. When the vehicle 1000 is in the swing driving mode, the vehicle 1000 can have a right swing driving posture and a left swing driving posture.

[0198] When the vehicle controller 10 obtains that the driving mode of the vehicle 1000 is the turning driving mode, the hydraulic system 40 can control the first axis a of the left front wheel 300 to intersect with the front axle of the vehicle 1000, and control the second axis b of the right front wheel 400 to intersect with the front axle of the vehicle 1000. The steering axle 30 can control the third axis c of the left rear wheel 500 to intersect with the rear axle of the vehicle 1000, and control the fourth axis d of the right rear wheel 600 to intersect with the rear axle of the vehicle 1000. For example, the first angle between the first axis a of the left front wheel 300 and the front axle of the vehicle 1000 can be 45°, the first angle between the second axis b of the right front wheel 400 and the front axle of the vehicle 1000 can be 45°, the third angle between the third axis c of the left rear wheel 500 and the rear axle of the vehicle 1000 can be 60°, and the first angle between the fourth axis d of the right rear wheel 600 and the rear axle of the vehicle 1000 can be 60°.

[0199] See also Figure 8 , Fig.17 ,and Fig.18, when the vehicle controller 10 obtains that the driving mode of the vehicle 1000 is the turning driving mode, if the angle sensor on the hydraulic system 40 detects that the angle between the first axis a of the left front wheel 300 and the front axle of the vehicle 1000 is the first angle, the vehicle controller 10 controls the first steering execution unit 41 to keep the left front wheel 300 at the current position. If the angle sensor detects that the first axis a of the left front wheel 300 is consistent with or intersects with the front axle of the vehicle 1000 (but not the first angle), the vehicle controller 10 controls the first steering execution unit 41 to drive the left front wheel 300 to rotate so that the angle between the first axis a of the left front wheel 300 and the frame 200 is the first angle. If the angle sensor detects that the angle between the second axis b of the right front wheel 400 and the frame 200 is the first angle, the vehicle controller 10 controls the second steering execution unit 43 to keep the right front wheel 400 at the current position. If the angle sensor detects that the second axis b of the right front wheel 400 is consistent with or intersects the front axle of the vehicle 1000 (but is not the first angle), the vehicle controller 10 controls the second steering execution unit 43 to drive the right front wheel 400 to rotate so that the angle between the second axis b of the right front wheel 400 and the frame 200 is the first angle.

[0200] See also Figure 8 , Fig.17 ,and Fig.18 If the steering encoder 35 of the steering axle 30 detects that the angle between the third axis c of the left rear wheel 500 and the rear axle of the vehicle 1000 is the second angle, the vehicle controller 10 controls the first drive assembly 31 to keep the left rear wheel 500 at the current position. If the steering encoder 35 detects that the third axis c of the left rear wheel 500 is consistent with or intersects with the rear axle of the vehicle 1000 (but not the second angle), the vehicle controller 10 controls the first drive assembly 31 to drive the left rear wheel 500 to rotate so that the angle between the third axis c of the left rear wheel 500 and the rear axle of the vehicle 1000 is the second angle. If the steering encoder 35 detects that the angle between the fourth axis d of the right rear wheel 600 and the rear axle of the vehicle 1000 is the second angle, the vehicle controller 10 controls the second drive assembly 33 to keep the right rear wheel 600 at the current position. If the steering encoder 35 detects that the fourth axis d of the right rear wheel 600 is consistent with or intersects with the rear axle of the vehicle 1000 (but is not the second angle), the vehicle controller 10 controls the second drive assembly 33 to drive the right rear wheel 600 to rotate so that the angle between the fourth axis d of the right rear wheel 600 and the rear axle of the vehicle 1000 is the first angle.

[0201] When the turning centers of the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 are located within the projection range of the frame 200 in the height direction, the turning radius of the vehicle 1000 is smaller, and the space occupied by the vehicle 1000 during the turning process is smaller, which makes it easier for the vehicle 1000 to turn in a smaller space.

[0202] See also Figure 1 and Figure 7 In some embodiments, the control command includes a right turn command, and the vehicle 1000 has a right turn driving posture in the turning driving mode; 06: In response to the control command input by the user, the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 are controlled to move so that the vehicle 1000 drives according to the driving posture in the driving mode, including:

[0203] 0691: In response to the right turn instruction, the first drive axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a in the first direction X, and the second drive axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b in the second direction Y, so that the vehicle 1000 travels in a right turning driving posture, and the first direction X is opposite to the second direction Y.

[0204] See also Figure 8 , Fig.17 ,and Fig.18 In some embodiments, the control command includes a right turn command, and the vehicle 1000 has a right turn driving posture in the turn driving mode; the control system 100 also includes a cab 50, a steering wheel 60 and a wire-controlled steering encoder 70, the steering wheel 60 is arranged in the cab 50, and is used for the user to input a right turn command; the wire-controlled steering encoder 70 is used to output a right turn control signal in response to the right turn command; the vehicle controller 10 is also used to: in response to the right turn control signal, control the first drive axle 21 to drive the left front wheel 300 to rotate around the first axis a along the first direction X, and control the second drive axle 23 to drive the right front wheel 400 to rotate around the second axis b along the second direction Y, so that the vehicle 1000 travels in a right turn driving posture, and the first direction X is opposite to the second direction Y.

[0205] Among them, the right turning driving posture of the vehicle 1000 is the state in which the vehicle 1000 turns toward the right side. After the wire-controlled steering encoder 70 obtains the right turning instruction and processes the instruction, the wire-controlled steering encoder 70 outputs a right turn control signal to the vehicle controller 10. The vehicle controller 10 controls the drive axle assembly 20 to drive the left front wheel 300 to rotate along the first direction X and the right front wheel 400 to rotate along the second direction Y. When the left front wheel 300 rotates along the first direction X and the right front wheel 400 rotates along the second direction Y, the left front wheel 300 and the right front wheel 400 can drive the frame 200 to rotate. After the user inputs the right turn instruction, the vehicle controller 10 can control the left front wheel 300 to rotate along the first direction X and control the right front wheel 400 to rotate along the second direction Y, and the user's control method of the vehicle 1000 is relatively simple.

[0206] When the vehicle 1000 turns right, the cab 50 can be controlled to rotate so that the front portion 51 of the cab 50 faces the rear side of the frame 200, that is, the front portion 51 of the cab 50 faces the left rear wheel 500 and the right rear wheel 600. Compared with the position of the cab 50 when the vehicle 1000 is moving straight forward, the rotating mechanism can drive the cab 50 to rotate 180 degrees. At this time, the driver can better observe the road conditions through the front portion 51 of the cab 50, so as to facilitate the driver's work.

[0207] See also Figure 1 and Figure 7 In some embodiments, the control command includes a left turn command, and the vehicle 1000 has a left turn driving posture in the turning driving mode; 06: In response to the control command input by the user, the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 are controlled to move so that the vehicle 1000 drives according to the driving posture in the driving mode, including:

[0208] 0693: In response to the left turn instruction, the first drive axle 21 is controlled to drive the left front wheel 300 to rotate around the first axis a along the second direction Y, and the second drive axle 23 is controlled to drive the right front wheel 400 to rotate around the second axis b along the first direction X, so that the vehicle 1000 travels in a left turn driving posture, and the first direction X is opposite to the second direction Y.

[0209] See also Figure 8 , Fig.17 ,and Fig.18In some embodiments, the control instruction includes a left turn instruction, and the vehicle 1000 has a left turn driving posture in the turn driving mode; the steering wheel 60 is also used for the user to input a left turn instruction; the wire control steering encoder 70 is also used to output a left turn control signal in response to the left turn instruction; the vehicle controller 10 is also used to: in response to the left turn control signal, control the first drive axle 21 to drive the left front wheel 300 to rotate around the first axis a along the second direction Y, and control the second drive axle 23 to drive the right front wheel 400 to rotate around the second axis b along the first direction X, so that the vehicle 1000 travels in a left turn driving posture, and the first direction X is opposite to the second direction Y.

[0210] Among them, the left turning driving posture of the vehicle 1000 is the state in which the vehicle 1000 turns toward the left side. After the wire-controlled steering encoder 70 obtains the left turning instruction and processes the instruction, the wire-controlled steering encoder 70 outputs a left turn control signal to the vehicle controller 10. The vehicle controller 10 controls the drive axle assembly 20 to drive the left front wheel 300 to rotate along the second direction Y and the right front wheel 400 to rotate along the first direction X. When the left front wheel 300 rotates along the second direction Y and the right front wheel 400 rotates along the first direction X, the left front wheel 300 and the right front wheel 400 can drive the frame 200 to rotate. After the user inputs the right turn instruction, the vehicle controller 10 can control the left front wheel 300 to rotate along the second direction Y and control the right front wheel 400 to rotate along the first direction X, and the user's control method of the vehicle 1000 is relatively simple.

[0211] When the vehicle 1000 turns left, the cab 50 can be controlled to rotate so that the front portion 51 of the cab 50 faces the rear side of the frame 200, that is, the front portion 51 of the cab 50 faces the left rear wheel 500 and the right rear wheel 600. Compared with the position of the cab 50 when the vehicle 1000 is moving forward, the rotating mechanism can drive the cab 50 to rotate 180 degrees. At this time, the driver can better observe the road conditions through the front portion 51 of the cab 50, so as to facilitate the driver's work.

[0212] See also Figure 1 , Figure 6 ,and Figure 7 In some embodiments, the control method further includes: 08: controlling the output torque of the first drive axle 21 and the second drive axle 23 to reduce the traveling speed of the vehicle 1000 .

[0213] Please combine Figure 8 In some embodiments, the vehicle controller 10 is also used to control the output torque of the first drive axle 21 and the second drive axle 23 to reduce the traveling speed of the vehicle 1000 .

[0214] The vehicle 1000 of the present application is a forklift, and the front side of the forklift is loaded with goods, that is, the center of gravity of the forklift is at the front side. When the driving mode of the forklift is a lateral driving mode or a rotary driving mode, if the forklift travels too fast, a safety accident may occur. When the vehicle controller 10 obtains that the driving mode of the vehicle 1000 is a lateral driving mode or a rotary driving mode, the vehicle controller 10 controls the output torque of the first drive axle 21 and the second drive axle 23, thereby reducing the travel speed of the forklift so that the forklift can travel safely, and the safety performance of the forklift is relatively high.

[0215] See also Figure 8 The vehicle controller 10 of the embodiment of the present application includes a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the control method of the vehicle 1000 of the above embodiment is implemented.

[0216] In the vehicle controller 10 of the embodiment of the present application, after obtaining the driving mode of the vehicle 1000, the vehicle controller 10 can control the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 of the vehicle 1000 to rotate relative to the frame 200, so that the vehicle 1000 has a variety of driving modes. The vehicle 1000 can have multiple driving modes such as straight driving, turning and rotating, and the vehicle 1000 has many application scenarios.

[0217] See also Figure 1 The control system 100 of the vehicle 1000 according to the embodiment of the present application includes the vehicle controller 10 according to the above embodiment.

[0218] In the control system 100 of the vehicle 1000 of the embodiment of the present application, after acquiring the driving mode of the vehicle 1000, the vehicle controller 10 can control the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 of the vehicle 1000 to rotate relative to the frame 200, so that the vehicle 1000 has a variety of driving modes. The vehicle 1000 can have a variety of driving modes such as straight driving, turning and rotating, and the vehicle 1000 has many application scenarios.

[0219] See also Figure 1 The vehicle 1000 of the embodiment of the present application includes the control system 100 of the vehicle 1000 of the above embodiment; or, includes the vehicle controller 10 of the above embodiment.

[0220] In the vehicle 1000 of the embodiment of the present application, after obtaining the driving mode of the vehicle 1000, the vehicle controller 10 can control the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 of the vehicle 1000 to rotate relative to the frame 200, so that the vehicle 1000 has a variety of driving modes. The vehicle 1000 can have a variety of driving modes such as straight driving, turning and rotating, and the vehicle 1000 has many application scenarios.

[0221] See also Fig. 22 The storage medium 3000 of the embodiment of the present application stores a computer program 3001 thereon, which, when executed by the processor 3003, implements the control method of the vehicle 1000 of the embodiment of the present application.

[0222] For example, when the computer program 3001 is executed by the processor 3003, the following control method is implemented:

[0223] 02: Obtain the driving mode of the vehicle 1000. The vehicle 1000 has different driving postures in different driving modes;

[0224] 04: Control the directions of the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 relative to the vehicle frame 200 according to the driving mode; and

[0225] 06: In response to the control command input by the user, the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 are controlled to move so that the vehicle 1000 travels according to the driving posture in the driving mode.

[0226] For another example, when the computer program 3001 is executed by the processor 3003, other control methods in the above-mentioned embodiments can also be implemented.

[0227] In the vehicle 1000 of the embodiment of the present application, after obtaining the driving mode of the vehicle 1000, the vehicle controller 10 can control the left front wheel 300, the right front wheel 400, the left rear wheel 500 and the right rear wheel 600 of the vehicle 1000 to rotate relative to the frame 200, so that the vehicle 1000 has a variety of driving modes. The vehicle 1000 can have a variety of driving modes such as straight driving, turning and rotating, and the vehicle 1000 has many application scenarios.

[0228] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0229] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0230] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any storage medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, a storage medium can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of storage media (a non-exhaustive list) include the following: an electrical connection portion with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the storage medium may even be paper or other suitable medium on which the program is printed, since the program can be obtained electronically, for example by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in the computer memory.

[0231] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0232] A person of ordinary skill in the art will appreciate that all or part of the steps carried by the method for implementing the above-mentioned embodiment can be completed by instructing the relevant hardware through a program, and the program can be stored in a storage medium, which, when executed, includes one or a combination of the steps of the method embodiment. In addition, each functional unit in each embodiment of the present application can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The above-mentioned storage medium can be a read-only memory, a disk or an optical disk, etc.

[0233] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A method for controlling a vehicle (1000), characterized in that: The vehicle (1000) comprises a frame (200) and a left front wheel (300), a right front wheel (400), a left rear wheel (500) and a right rear wheel (600) all connected to the frame (200); the control method comprises: Acquiring a driving mode of the vehicle (1000), wherein the vehicle (1000) has different driving postures in different driving modes; Controlling the directions of the left front wheel (300), the right front wheel (400), the left rear wheel (500) and the right rear wheel (600) relative to the vehicle frame (200) according to the driving mode; and In response to a control instruction input by a user, the left front wheel (300), the right front wheel (400), the left rear wheel (500) and the right rear wheel (600) are controlled to move, so that the vehicle (1000) travels in accordance with the travel posture in the travel mode; The control instruction includes a forward straight driving instruction, the driving mode includes a straight driving mode, and the vehicle (1000) has a forward straight driving posture in the straight driving mode; The controlling of the directions of the left front wheel (300), the right front wheel (400), the left rear wheel (500) and the right rear wheel (600) relative to the vehicle frame (200) according to the driving mode comprises: According to the straight-ahead driving mode, the first axis (a) of the left front wheel (300) and the second axis (b) of the right front wheel (400) are controlled to be consistent with the front axle of the vehicle (1000), and the third axis (c) of the left rear wheel (500) and the fourth axis (d) of the right rear wheel (600) are controlled to be consistent with the rear axle of the vehicle (1000); The control command also includes a right turn command, the right turn command includes a first right turn command and a second right turn command, the turning radius of the vehicle (1000) under the first right turn command is greater than the turning radius under the second right turn command; the vehicle (1000) has a first forward straight-forward and right-turn driving posture and a second forward straight-forward and right-turn driving posture in the straight-forward driving mode; The method of responding to a control instruction input by a user to control the movement of the left front wheel (300), the right front wheel (400), the left rear wheel (500) and the right rear wheel (600) so that the vehicle (1000) travels in accordance with the travel posture in the travel mode comprises: In response to the forward straight driving instruction, the first driving axle (21) is controlled to drive the left front wheel (300) to rotate about the first axis (a) along the first direction (X), and the second driving axle (23) is controlled to drive the right front wheel (400) to rotate about the second axis (b) along the first direction (X), so that the vehicle (1000) drives in the forward straight driving posture; When the angle of the steering wheel turned right is less than a first preset threshold, the first right turn instruction is obtained and responded to, the first drive assembly (31) is controlled to drive the left rear wheel (500) to turn left around the fifth axis (e) in the height direction of the frame (200), the second drive assembly (33) is controlled to drive the right rear wheel (600) to turn left around the sixth axis (f) in the height direction of the frame (200), the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) in the first direction (X), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) in the first direction (X), so that the vehicle (1000) drives in accordance with the first forward straight-ahead and right-turn driving posture; When the angle of the steering wheel turned right is greater than a first preset threshold, the second right turn instruction is obtained and responded to, the first drive component (31) is controlled to drive the left rear wheel (500) to turn left around the fifth axis (e) in the height direction of the frame (200), the second drive component (33) is controlled to drive the right rear wheel (600) to turn right around the sixth axis (f) in the height direction of the frame (200), the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) in the first direction (X), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) in the second direction (Y), so that the vehicle (1000) drives in accordance with the second forward straight and right turn driving posture, the second direction (Y) being opposite to the first direction (X); When the vehicle moves forward straight ahead and turns right, the left rear wheel (500) and the right rear wheel (600) have a common rotation center; When the vehicle (1000) is traveling in the first forward straight-ahead and right-turning driving posture, the rotation center is located outside the projection range of the vehicle frame (200) in the height direction; When the vehicle (1000) is traveling in the second forward straight-ahead and right-turning driving posture, the rotation center is located within the projection range of the vehicle frame (200) in the height direction.

2. The control method according to claim 1, characterized in that: The control method further comprises: The control cab (50) is directed toward the head of the vehicle frame (200).

3. The control method according to claim 1, characterized in that: The control instruction also includes a left turn instruction, and the vehicle (1000) has a first forward straight-forward and left turn driving posture and a second forward straight-forward and left turn driving posture in the straight-forward driving mode; The method responds to a control instruction input by a user to control the movement of the left front wheel (300), the right front wheel (400), the left rear wheel (500) and the right rear wheel (600) so that the vehicle (1000) travels in accordance with the travel posture in the travel mode, and further comprises: In response to the left turn instruction, the first drive assembly (31) is controlled to drive the left rear wheel (500) to rotate around a fifth axis (e) in the height direction of the frame (200), and the second drive assembly (33) is controlled to drive the right rear wheel (600) to rotate around a sixth axis (f) in the height direction of the frame (200), so that when the vehicle moves forward and turns left, the left rear wheel (500) and the right rear wheel (600) have a common rotation center; When the rotation center is outside the projection range of the vehicle frame (200) in the height direction, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) in a first direction (X), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) in the first direction (X), so that the vehicle (1000) drives in the first forward straight-ahead and left-turn driving posture; and When the rotation center is located within the projection range of the vehicle frame (200) in the height direction, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) in the second direction (Y), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) in the first direction (X), so that the vehicle (1000) drives in the second forward straight-ahead and left-turn driving posture.

4. The control method according to claim 3, characterized in that: The left turn instruction comprises a first left turn instruction and a second left turn instruction, the turning radius of the vehicle (1000) under the first left turn instruction is greater than the turning radius under the second left turn instruction; in response to the left turn instruction, controlling the first drive assembly (31) to drive the left rear wheel (500) to rotate around a fifth axis (e) in the height direction of the frame (200), and controlling the second drive assembly (33) to drive the right rear wheel (600) to rotate around a sixth axis (f) in the height direction of the frame (200), comprising: In response to the first left turn instruction, the first drive assembly (31) is controlled to drive the left rear wheel (500) to turn right around a fifth axis (e) in the height direction of the frame (200), and the second drive assembly (33) is controlled to drive the right rear wheel (600) to turn right around a sixth axis (f) in the height direction of the frame (200); and In response to the second left turn instruction, the first drive assembly (31) is controlled to drive the left rear wheel (500) to turn left around a fifth axis (e) in the height direction of the frame (200), and the second drive assembly (33) is controlled to drive the right rear wheel (600) to turn right around a sixth axis (f) in the height direction of the frame (200).

5. The control method according to claim 1, characterized in that: The control instruction includes a backward straight driving instruction, and the vehicle (1000) has a backward straight driving posture in the straight driving mode; the control method also includes: Controlling the cab (50) to face the rear of the vehicle frame (200); The method of responding to a control instruction input by a user to control the movement of the left front wheel (300), the right front wheel (400), the left rear wheel (500) and the right rear wheel (600) so that the vehicle (1000) travels in accordance with the travel posture in the travel mode comprises: In response to the backward straight driving instruction, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) in the second direction (Y), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) in the second direction (Y), so that the vehicle (1000) drives in the backward straight driving posture.

6. The control method according to claim 5, characterized in that: The control instruction also includes a right turn instruction, and the vehicle (1000) has a first straight-ahead and right-turn driving posture and a second straight-ahead and right-turn driving posture in the straight-ahead driving mode; The method responds to a control instruction input by a user to control the movement of the left front wheel (300), the right front wheel (400), the left rear wheel (500) and the right rear wheel (600) so that the vehicle (1000) travels in accordance with the travel posture in the travel mode, and further comprises: In response to the right turn instruction, the first drive assembly (31) is controlled to drive the left rear wheel (500) to rotate around a fifth axis (e) in the height direction of the frame (200), and the second drive assembly (33) is controlled to drive the right rear wheel (600) to rotate around a sixth axis (f) in the height direction of the frame (200), so that when the vehicle moves straight backward and turns right, the left rear wheel (500) and the right rear wheel (600) have a common rotation center; When the rotation center is outside the projection range of the vehicle frame (200) in the height direction, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) along the second direction (Y), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) along the second direction (Y), so that the vehicle (1000) travels in the first backward straight-ahead and right-turning travel posture; and When the rotation center is located within the projection range of the vehicle frame (200) in the height direction, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) in the first direction (X), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) in the second direction (Y), so that the vehicle (1000) drives in the second backward straight-ahead and right-turn driving posture.

7. The control method according to claim 6, characterized in that: The right turn instruction comprises a third right turn instruction and a fourth right turn instruction, the turning radius of the vehicle (1000) under the third right turn instruction is greater than the turning radius under the fourth right turn instruction; in response to the right turn instruction, controlling the first drive assembly (31) to drive the left rear wheel (500) to rotate around a fifth axis (e) in the height direction of the frame (200), and controlling the second drive assembly (33) to drive the right rear wheel (600) to rotate around a sixth axis (f) in the height direction of the frame (200), comprising: In response to the third right turn instruction, the first drive assembly (31) is controlled to drive the left rear wheel (500) to turn left around a fifth axis (e) in the height direction of the frame (200), and the second drive assembly (33) is controlled to drive the right rear wheel (600) to turn left around a sixth axis (f) in the height direction of the frame (200); and In response to the fourth right turn instruction, the first drive assembly (31) is controlled to drive the left rear wheel (500) to turn left around a fifth axis (e) in the height direction of the frame (200), and the second drive assembly (33) is controlled to drive the right rear wheel (600) to turn right around a sixth axis (f) in the height direction of the frame (200).

8. The control method according to claim 5, characterized in that: The control instruction also includes a left turn instruction, and the vehicle (1000) has a first straight-ahead and left-turn driving posture and a second straight-ahead and left-turn driving posture in the straight-ahead driving mode; The method responds to a control instruction input by a user to control the movement of the left front wheel (300), the right front wheel (400), the left rear wheel (500) and the right rear wheel (600) so that the vehicle (1000) travels in accordance with the travel posture in the travel mode, and further comprises: In response to the left turn instruction, the first drive assembly (31) is controlled to drive the left rear wheel (500) to rotate around a fifth axis (e) in the height direction of the frame (200), and the second drive assembly (33) is controlled to drive the right rear wheel (600) to rotate around a sixth axis (f) in the height direction of the frame (200), so that when the vehicle moves straight backward and turns left, the left rear wheel (500) and the right rear wheel (600) have a common rotation center; When the rotation center is outside the projection range of the vehicle frame (200) in the height direction, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) along the second direction (Y), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) along the second direction (Y), so that the vehicle (1000) travels in the first backward straight-ahead and left-turning driving posture; and When the rotation center is located within the projection range of the vehicle frame (200) in the height direction, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) along the second direction (Y), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) along the first direction (X), so that the vehicle (1000) drives in the second backward straight-ahead and left-turn driving posture.

9. The control method according to claim 8, characterized in that: The left turn instruction comprises a third left turn instruction and a fourth left turn instruction, the turning radius of the vehicle (1000) under the third left turn instruction is greater than the turning radius under the fourth left turn instruction; in response to the left turn instruction, controlling the first drive assembly (31) to drive the left rear wheel (500) to turn right around a fifth axis (e) in the height direction of the frame (200), and controlling the second drive assembly (33) to drive the right rear wheel (600) to turn right around a sixth axis (f) in the height direction of the frame (200), comprising: In response to the third left turn instruction, the first drive assembly (31) is controlled to drive the left rear wheel (500) to turn right around a fifth axis (e) in the height direction of the frame (200), and the second drive assembly (33) is controlled to drive the right rear wheel (600) to turn right around a sixth axis (f) in the height direction of the frame (200); and In response to the fourth left turn instruction, the first drive assembly (31) is controlled to drive the left rear wheel (500) to turn left around a fifth axis (e) in the height direction of the frame (200), and the second drive assembly (33) is controlled to drive the right rear wheel (600) to turn right around a sixth axis (f) in the height direction of the frame (200).

10. The control method according to claim 1, characterized in that: The driving mode includes a lateral driving mode, and the control of the directions of the left front wheel (300), the right front wheel (400), the left rear wheel (500) and the right rear wheel (600) relative to the vehicle frame (200) according to the driving mode includes: According to the lateral driving mode, the first axis (a) of the left front wheel (300) and the second axis (b) of the right front wheel (400) are controlled to be perpendicular to the front axle of the vehicle (1000), and the third axis (c) of the left rear wheel (500) and the fourth axis (d) of the right rear wheel (600) are controlled to be perpendicular to the rear axle of the vehicle (1000), and the two opposite surfaces of the left front wheel (300) and the right front wheel (400) before turning are located on the same side of the front axle of the vehicle (1000) after turning, and the two opposite surfaces of the left rear wheel (500) and the right rear wheel (600) before turning are located on the same side of the rear axle of the vehicle (1000) after turning.

11. The control method according to claim 10, characterized in that: The control instruction comprises a rightward driving instruction, and the vehicle (1000) has a rightward driving posture in the lateral driving mode; The control method further comprises: Controlling the driving cab (50) to face the right side of the vehicle frame (200); The method of responding to a control instruction input by a user to control the movement of the left front wheel (300), the right front wheel (400), the left rear wheel (500) and the right rear wheel (600) so that the vehicle (1000) travels in accordance with the travel posture in the travel mode comprises: In response to the rightward travel instruction, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) in a first direction (X), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) in the first direction (X), so that the vehicle (1000) travels in the rightward travel posture.

12. The control method according to claim 10, characterized in that: The control instruction comprises a leftward driving instruction, and the vehicle (1000) has a leftward driving posture in the lateral driving mode; Controlling the driving cab (50) to face the left side of the vehicle frame (200); The method of responding to a control instruction input by a user to control the movement of the left front wheel (300), the right front wheel (400), the left rear wheel (500) and the right rear wheel (600) so that the vehicle (1000) travels in accordance with the travel posture in the travel mode comprises: In response to the leftward travel instruction, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) in the second direction (Y), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) in the second direction (Y), so that the vehicle (1000) travels in the leftward travel posture.

13. The control method according to claim 1, characterized in that: The driving mode includes a turning driving mode, and controlling the directions of the left front wheel (300), the right front wheel (400), the left rear wheel (500) and the right rear wheel (600) relative to the vehicle frame (200) according to the driving mode includes: According to the turning driving mode, the first axis (a) of the left front wheel (300) and the second axis (b) of the right front wheel (400) are controlled to have a first angle with the front axle of the vehicle (1000), and the third axis (c) of the left rear wheel (500) and the fourth axis (d) of the right rear wheel (600) are controlled to have a second angle with the rear axle of the vehicle (1000), and the left front wheel (300), the right front wheel (400), the left rear wheel (500) and the right rear wheel (600) have a common turning center, the turning center is located within the projection range of the frame (200) in the height direction, and the second angle is greater than the first angle.

14. The control method according to claim 13, characterized in that: The control instruction includes a right turn instruction, and the vehicle (1000) has a right turn driving posture in the turning driving mode; The method of responding to a control instruction input by a user to control the movement of the left front wheel (300), the right front wheel (400), the left rear wheel (500) and the right rear wheel (600) so that the vehicle (1000) travels in accordance with the travel posture in the travel mode comprises: In response to the right turn instruction, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) in a first direction (X), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) in a second direction (Y), so that the vehicle (1000) travels in the right turning driving posture.

15. The control method according to claim 13, characterized in that: The control instruction comprises a left turn instruction, and the vehicle (1000) has a left turn driving posture in the turning driving mode; The method of responding to a control instruction input by a user to control the movement of the left front wheel (300), the right front wheel (400), the left rear wheel (500) and the right rear wheel (600) so that the vehicle (1000) travels in accordance with the travel posture in the travel mode comprises: In response to the left turn instruction, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) in the second direction (Y), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) in the first direction (X), so that the vehicle (1000) travels in the left turn driving posture.

16. The control method according to claim 11, 12, 14 or 15, characterized in that: The control method further comprises: The output torque of the first drive axle (21) and the second drive axle (23) is controlled to reduce the travel speed of the vehicle (1000).

17. A control system (100) for a vehicle (1000), characterized in that: The vehicle (1000) comprises a vehicle frame (200) and a left front wheel (300), a right front wheel (400), a left rear wheel (500) and a right rear wheel (600) all connected to the vehicle frame (200); the control system comprises a vehicle controller (10), a drive axle assembly (20) and a steering axle (30); the drive axle assembly (20) is arranged on the vehicle frame (200) and comprises a first drive axle (21) and a second drive axle (23); the steering axle (30) is arranged on the vehicle frame (200) and comprises a first drive assembly (31) and a second drive assembly (33); the vehicle controller (10) is used for: Acquiring a driving mode of a vehicle (1000), wherein the vehicle (1000) has different driving postures in different driving modes; Controlling the directions of the left front wheel (300), the right front wheel (400), the left rear wheel (500) and the right rear wheel (600) relative to the vehicle frame (200) according to the driving mode; and In response to a control instruction input by a user, the left front wheel (300), the right front wheel (400), the left rear wheel (500) and the right rear wheel (600) are controlled to move, so that the vehicle (1000) travels in accordance with the travel posture in the travel mode; The control instruction includes a forward straight driving instruction, the driving mode includes a straight driving mode, and the vehicle (1000) has a forward straight driving posture in the straight driving mode; The vehicle controller (10) is also used for: According to the straight-ahead driving mode, the first axis (a) of the left front wheel (300) and the second axis (b) of the right front wheel (400) are controlled to be consistent with the front axle of the vehicle (1000), and the third axis (c) of the left rear wheel (500) and the fourth axis (d) of the right rear wheel (600) are controlled to be consistent with the rear axle of the vehicle (1000); The control command also includes a right turn command, the right turn command includes a first right turn command and a second right turn command, the turning radius of the vehicle (1000) under the first right turn command is greater than the turning radius under the second right turn command; the vehicle (1000) has a first forward straight-forward and right-turn driving posture and a second forward straight-forward and right-turn driving posture in the straight-forward driving mode; The vehicle controller (10) is also used for: In response to the forward straight driving instruction, the first driving axle (21) is controlled to drive the left front wheel (300) to rotate about the first axis (a) along the first direction (X), and the second driving axle (23) is controlled to drive the right front wheel (400) to rotate about the second axis (b) along the first direction (X), so that the vehicle (1000) drives in the forward straight driving posture; When the angle of the steering wheel turned right is less than a first preset threshold, the first right turn instruction is obtained and responded to, the first drive assembly (31) is controlled to drive the left rear wheel (500) to turn left around the fifth axis (e) in the height direction of the frame (200), the second drive assembly (33) is controlled to drive the right rear wheel (600) to turn left around the sixth axis (f) in the height direction of the frame (200), the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) in the first direction (X), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) in the first direction (X), so that the vehicle (1000) drives in accordance with the first forward straight-ahead and right-turn driving posture; When the angle of the steering wheel turned right is greater than a first preset threshold, the second right turn instruction is obtained and responded to, the first drive component (31) is controlled to drive the left rear wheel (500) to turn left around the fifth axis (e) in the height direction of the frame (200), the second drive component (33) is controlled to drive the right rear wheel (600) to turn right around the sixth axis (f) in the height direction of the frame (200), the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) in the first direction (X), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) in the second direction (Y), so that the vehicle (1000) drives in accordance with the second forward straight and right turn driving posture, the second direction (Y) being opposite to the first direction (X); When the vehicle moves forward straight ahead and turns right, the left rear wheel (500) and the right rear wheel (600) have a common rotation center; When the vehicle (1000) is traveling in the first forward straight-ahead and right-turning driving posture, the rotation center is located outside the projection range of the vehicle frame (200) in the height direction; When the vehicle (1000) is traveling in the second forward straight-ahead and right-turning driving posture, the rotation center is located within the projection range of the vehicle frame (200) in the height direction.

18. The control system according to claim 17, characterized in that: The control system further comprises: A hydraulic system (40), the hydraulic system (40) being connected to the drive axle assembly (20) and comprising a first steering execution unit (41) and a second steering execution unit (43), the first steering execution unit (41) being connected to the left front wheel (300) and being used for driving the left front wheel (300) to turn left or right around a seventh axis (g) in the height direction of the frame (200), the second steering execution unit (43) being connected to the right front wheel (400) and being used for driving the right front wheel (400) to turn left or right around an eighth axis (h) in the height direction of the frame (200).

19. The control system according to claim 18, characterized in that: The vehicle controller (10) is also used to: control the first steering execution unit (41) according to the straight-ahead driving mode so that the first axis (a) of the left front wheel (300) is consistent with the front axle of the vehicle (1000); control the second steering execution unit (43) so that the second axis (b) of the right front wheel (400) is consistent with the front axle of the vehicle (1000); control the first drive component (31) so that the third axis (c) of the left rear wheel (500) is consistent with the rear axle of the vehicle (1000); and control the second drive component (33) so that the fourth axis (d) of the right rear wheel (600) is consistent with the rear axle of the vehicle (1000).

20. The control system according to claim 19, characterized in that: The control instruction comprises a forward straight driving instruction, and the vehicle (1000) has a forward straight driving posture in the straight driving mode; The control system further comprises: Cab (50); The steering wheel (60) is arranged in the cab (50) and is used for the user to input the forward straight driving instruction; A wire-controlled steering encoder (70) is used to output a forward straight-moving control signal in response to the forward straight-moving instruction; and The rotating mechanism is arranged on the vehicle frame (200) and is used to drive the driving cab (50) to rotate relative to the vehicle frame (200).

21. The control system according to claim 20, characterized in that: The control instruction also includes a left turn instruction, and the vehicle (1000) has a first forward straight driving and left turn driving posture and a second forward straight driving and left turn driving posture in the straight driving mode; the steering wheel (60) is also used for a user to input the left turn instruction; the wire control steering encoder (70) is also used for outputting a left turn control signal in response to the left turn instruction; and the vehicle controller (10) is also used for: In response to the left-turn control signal, the first drive assembly (31) is controlled to drive the left rear wheel (500) to rotate around the fifth axis (e), and the second drive assembly (33) is controlled to drive the right rear wheel (600) to rotate around the sixth axis (f), so that when the vehicle moves forward and turns left, the left rear wheel (500) and the right rear wheel (600) have a common rotation center; When the rotation center is outside the projection range of the vehicle frame (200) in the height direction, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) in a first direction (X), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) in the first direction (X), so that the vehicle (1000) drives in the first forward straight-ahead and left-turn driving posture; and When the rotation center is located within the projection range of the vehicle frame (200) in the height direction, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) in the second direction (Y), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) in the first direction (X), so that the vehicle (1000) drives in the second forward straight-ahead and left-turn driving posture.

22. The control system according to claim 21, characterized in that The left turn instruction comprises a first left turn instruction and a second left turn instruction, and the turning radius of the vehicle (1000) under the first left turn instruction is greater than the turning radius under the second left turn instruction; the steering wheel (60) is also used for a user to input the first left turn instruction and the second left turn instruction; the wire-controlled steering encoder (70) is also used for outputting a first left turn control signal and a second left turn control signal in response to the first left turn instruction and the second left turn instruction; the vehicle controller (10) is also used for: In response to the first left-turn control signal, the first drive assembly (31) is controlled to drive the left rear wheel (500) to turn right around a fifth axis (e) in the height direction of the frame (200), and the second drive assembly (33) is controlled to drive the right rear wheel (600) to turn right around a sixth axis (f) in the height direction of the frame (200); and In response to the second left-turn control signal, the first drive component (31) is controlled to drive the left rear wheel (500) to turn left around a fifth axis (e) in the height direction of the frame (200), and the second drive component (33) is controlled to drive the right rear wheel (600) to turn right around a sixth axis (f) in the height direction of the frame (200).

23. The control system according to claim 20, characterized in that: The control instruction comprises a backward straight driving instruction, and the vehicle (1000) has a backward straight driving posture in the straight driving mode; the steering wheel (60) is also used for a user to input the backward straight driving instruction; the wire control steering encoder (70) is also used for outputting a backward straight driving control signal in response to the backward straight driving instruction; and the vehicle controller (10) is also used for: Controlling the rotating mechanism to drive the cab (50) toward the rear of the vehicle frame (200); In response to the backward straight-ahead control signal, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate about the first axis (a) in the second direction (Y), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate about the second axis (b) in the second direction (Y), so that the vehicle (1000) travels in the backward straight-ahead driving posture.

24. The control system according to claim 23, characterized in that: The control instruction also includes a right turn instruction, and the vehicle (1000) has a first backward straight driving posture and a right turn driving posture and a second backward straight driving posture and a right turn driving posture in the straight driving mode; the steering wheel (60) is also used for a user to input the right turn instruction; the wire control steering encoder (70) is also used for responding to the right turn instruction and outputting a right turn control signal; the vehicle controller (10) is also used for: In response to the right-turn control signal, the first drive assembly (31) is controlled to drive the left rear wheel (500) to rotate around the fifth axis (e), and the second drive assembly (33) is controlled to drive the right rear wheel (600) to rotate around the sixth axis (f), so that when the vehicle moves straight backward and turns right, the left rear wheel (500) and the right rear wheel (600) have a common rotation center; When the rotation center is outside the projection range of the vehicle frame (200) in the height direction, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) along the second direction (Y), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) along the second direction (Y), so that the vehicle (1000) travels in the first backward straight-ahead and right-turning travel posture; and When the rotation center is located within the projection range of the vehicle frame (200) in the height direction, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) in the first direction (X), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) in the second direction (Y), so that the vehicle (1000) drives in the second backward straight-ahead and right-turn driving posture.

25. The control system according to claim 24, characterized in that The right turn instruction comprises a third right turn instruction and a fourth right turn instruction, and the turning radius of the vehicle (1000) under the third right turn instruction is greater than the turning radius under the fourth right turn instruction; the steering wheel (60) is also used for a user to input the third right turn instruction and the fourth right turn instruction; the wire control steering encoder (70) is also used for outputting a third right turn control signal and a fourth right turn control signal in response to the third right turn instruction and the fourth right turn instruction; the vehicle controller (10) is also used for: In response to the third right-turn control signal, the first drive assembly (31) is controlled to drive the left rear wheel (500) to turn left around a fifth axis (e) in the height direction of the frame (200), and the second drive assembly (33) is controlled to drive the right rear wheel (600) to turn left around a sixth axis (f) in the height direction of the frame (200); and In response to the fourth right-turn control signal, the first drive component (31) is controlled to drive the left rear wheel (500) to turn left around a fifth axis (e) in the height direction of the frame (200), and the second drive component (33) is controlled to drive the right rear wheel (600) to turn right around a sixth axis (f) in the height direction of the frame (200).

26. The control system according to claim 23, characterized in that: The control instruction also includes a left turn instruction, and the vehicle (1000) has a first backward straight driving posture and a left turn driving posture and a second backward straight driving posture and a left turn driving posture in the straight driving mode; the steering wheel (60) is also used for a user to input the left turn instruction; the wire control steering encoder (70) is also used for outputting a left turn control signal in response to the left turn instruction; and the vehicle controller (10) is also used for: In response to the left turn control signal, the first drive assembly (31) is controlled to drive the left rear wheel (500) to rotate around a fifth axis (e) in the height direction of the frame (200), and the second drive assembly (33) is controlled to drive the right rear wheel (600) to rotate around a sixth axis (f) in the height direction of the frame (200), so that when the vehicle moves straight backward and turns left, the left rear wheel (500) and the right rear wheel (600) have a common rotation center; When the rotation center is outside the projection range of the vehicle frame (200) in the height direction, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) along the second direction (Y), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) along the second direction (Y), so that the vehicle (1000) travels in the first backward straight-ahead and left-turning driving posture; and When the rotation center is located within the projection range of the vehicle frame (200) in the height direction, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) along the second direction (Y), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) along the first direction (X), so that the vehicle (1000) drives in the second backward straight-ahead and left-turn driving posture.

27. The control system according to claim 26, characterized in that The left turn instruction comprises a third left turn instruction and a fourth left turn instruction, and the turning radius of the vehicle (1000) under the third left turn instruction is greater than the turning radius under the fourth left turn instruction; the steering wheel (60) is also used for a user to input the third left turn instruction and the fourth left turn instruction; the wire control steering encoder (70) is also used for outputting a third left turn control signal and a fourth left turn control signal in response to the left turn instruction; and the vehicle controller (10) is also used for: In response to the third left-turn control signal, the first drive assembly (31) is controlled to drive the left rear wheel (500) to turn right around a fifth axis (e) in the height direction of the frame (200), and the second drive assembly (33) is controlled to drive the right rear wheel (600) to turn right around a sixth axis (f) in the height direction of the frame (200); and In response to the fourth left-turn control signal, the first drive component (31) is controlled to drive the left rear wheel (500) to turn left around a fifth axis (e) in the height direction of the frame (200), and the second drive component (33) is controlled to drive the right rear wheel (600) to turn right around a sixth axis (f) in the height direction of the frame (200).

28. The control system according to claim 18, characterized in that: The driving mode includes a lateral driving mode, and the vehicle controller (10) is further used to: control the first steering execution unit (41) according to the lateral driving mode so that the first axis (a) of the left front wheel (300) is perpendicular to the front axle of the vehicle (1000); control the second steering execution unit (43) so that the second axis (b) of the right front wheel (400) is perpendicular to the front axle of the vehicle (1000); control the first driving component (31) so that the third axis (c) of the left rear wheel (500) is perpendicular to the front axle of the vehicle (1000); ) is perpendicular to the rear axle of the vehicle (1000), and the second drive component (33) is controlled so that the fourth axis (d) of the right rear wheel (600) is perpendicular to the rear axle of the vehicle (1000), and the two opposite surfaces of the left front wheel (300) and the right front wheel (400) before turning are located on the same side of the front axle of the vehicle (1000) after turning, and the two opposite surfaces of the left rear wheel (500) and the right rear wheel (600) before turning are located on the same side of the rear axle of the vehicle (1000) after turning.

29. The control system according to claim 28, characterized in that The control instruction comprises a rightward driving instruction, and the vehicle (1000) has a rightward driving posture in the lateral driving mode; The control system further comprises: Cab (50); The steering wheel (60) is arranged in the cab (50) and is used for a user to input the rightward movement instruction; A wire-controlled steering encoder (70), configured to output a rightward travel control signal in response to the rightward travel instruction; and A rotating mechanism, disposed on the vehicle frame (200) and used to drive the cab (50) to rotate relative to the vehicle frame (200); The vehicle controller (10) is also used for: Controlling the rotating mechanism to drive the cab (50) toward the right side of the vehicle frame (200); In response to the rightward travel control signal, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) in a first direction (X), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) in the first direction (X), so that the vehicle (1000) travels in the rightward travel posture.

30. The control system according to claim 29, characterized in that The control instruction includes a leftward travel instruction, and the vehicle (1000) has a leftward travel posture in the lateral travel mode; the steering wheel (60) is also used for a user to input the leftward travel instruction; the wire control steering encoder (70) is also used for outputting a leftward travel control signal in response to the leftward travel instruction; and the vehicle controller (10) is also used for: Controlling the driving cab (50) to face the left side of the vehicle frame (200); In response to the left travel control signal, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) in the second direction (Y), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) in the second direction (Y), so that the vehicle (1000) travels in the left travel posture.

31. The control system according to claim 18, characterized in that: The driving mode includes a turning driving mode, and the vehicle controller (10) is further used to: control the first steering execution unit (41) according to the turning driving mode so that a first axis (a) of the left front wheel (300) and a front axle of the vehicle (1000) form a first angle, control the second steering execution unit (43) so that a second axis (b) of the right front wheel (400) and a front axle of the vehicle (1000) form a first angle, and control the first drive component (31) so that a first axis (b) of the left rear wheel (500) and a front axle of the vehicle (1000) form a first angle. A second angle is formed between the third axis (c) and the rear axle of the vehicle (1000); the second drive assembly (33) is controlled so that a second angle is formed between the fourth axis (d) of the right rear wheel (600) and the rear axle of the vehicle (1000); the left front wheel (300), the right front wheel (400), the left rear wheel (500) and the right rear wheel (600) have a common rotation center, the rotation center is located within the projection range of the frame (200) in the height direction, and the second angle is greater than the first angle.

32. The control system according to claim 31, characterized in that The control instruction includes a right turn instruction, and the vehicle (1000) has a right turn driving posture in the turning driving mode; The control system further comprises: Cab (50); The steering wheel (60) is arranged in the driving cab (50) and is used for the user to input the right turn instruction; A wire-controlled steering encoder (70), configured to output a right-turn control signal in response to the right-turn instruction; and The vehicle controller (10) is also used for: In response to the right turn control signal, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) in a first direction (X), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) in a second direction (Y), so that the vehicle (1000) travels in the right turn driving posture.

33. The control system according to claim 32, characterized in that: The control instruction comprises a left turn instruction, and the vehicle (1000) has a left turn driving posture in the swing driving mode; the steering wheel (60) is also used for a user to input the left turn instruction; the wire control steering encoder (70) is also used for outputting a left turn control signal in response to the left turn instruction; and the vehicle controller (10) is also used for: In response to the left-turn control signal, the first drive axle (21) is controlled to drive the left front wheel (300) to rotate around the first axis (a) in a second direction (Y), and the second drive axle (23) is controlled to drive the right front wheel (400) to rotate around the second axis (b) in a first direction (X), so that the vehicle (1000) travels in the left-turn driving posture.

34. A control system according to claim 29, 30, 32 or 33, characterised in that The vehicle controller (10) is also used for: The output torque of the first drive axle (21) and the second drive axle (23) is controlled to reduce the travel speed of the vehicle (1000).

35. A vehicle controller (10), characterized in that: It comprises a memory, a processor (3003) and a program stored in the memory and executable on the processor (3003); when the processor (3003) executes the program, a control method for a vehicle (1000) according to any one of claims 1 to 16 is implemented.

36. A control system (100) for a vehicle (1000), characterized in that: Including the vehicle controller (10) as described in claim 35.

37. A vehicle (1000), characterized in that: A control system (100) comprising a vehicle (1000) as described in any one of claims 17-34 and 36; or, a vehicle controller (10) as described in claim 35.

38. A storage medium (3000) having a computer program (3001) stored thereon, characterized in that: When the computer program is executed by the processor (3003), the control method of the vehicle (1000) described in any one of claims 1 to 16 is implemented.

Images