A steering mode switching control method and device for a four-wheel steering vehicle

Abstract

The present application discloses a steering mode switching control method and device for a four-wheel steering vehicle; it relates to the field of four-wheel vehicles and solves the problem of cumbersome operation procedures when a four-wheel steering vehicle switches steering modes. The present application installs angle sensors on the front and rear axles to detect the deflection angles of the wheels on the left side of the front and rear axles. When the driver needs to switch the steering mode, no matter what angle the front and rear wheels are in, the steering angles of the wheels are monitored and adjusted in real time to ensure that in different steering modes, the driver is reminded how to operate the steering wheel according to the driver's steering needs and the deflection angles of the left and right tires of the front and rear axles. When the deflection angles of the wheels on the left and right sides of the front and rear axles meet the steering mode requirements, the corresponding steering solenoid valves are opened to achieve rapid adjustment of the steering mode, improve the vehicle's maneuverability and safety, avoid cumbersome steering mode switching procedures, and at the same time ensure the synchronization of the steering of the front and rear wheels after the steering mode is switched.

Description

Technical Field

[0001] The present application relates to the field of four-wheel vehicles, and in particular to a steering mode switching control method and device for a four-wheel steering vehicle. Background Art

[0002] Four-wheel steering vehicles can realize three steering modes: two-wheel steering, four-wheel steering, and crab steering, ensuring the working efficiency of the equipment in a small space and complex operating environment, and solving the problems of large turning radius and inflexible steering of special material handling equipment.

[0003] At present, when four-wheel steering vehicles switch between the three different steering modes of two-wheel, four-wheel, and crab steering, the driver mainly observes the position of the front and rear axle tires to determine whether the front and rear wheels are in the neutral state. When the front and rear wheels are in the neutral position, the corresponding steering solenoid valve is turned on through the steering mode selection switch to complete the switching of the steering mode. Although this method can achieve mutual switching between the three steering modes, it cannot accurately determine whether the front and rear wheels are in the neutral state when the steering is switched, which will lead to the problem of asynchronous front and rear wheel angles when switching to four-wheel or crab steering mode. Therefore, the driver needs to repeat the operation many times each time to ensure that the front and rear wheels are in the center state, which is extremely difficult and affects the work efficiency.

[0004] It can be seen that how to solve the cumbersome operation process when switching the steering mode of a four-wheel steering vehicle is a technical problem that needs to be solved urgently by people in this field. Summary of the invention

[0005] The purpose of the present application is to provide a steering mode switching control method and device for a four-wheel steering vehicle, so as to solve the problem of complicated operation procedures when the four-wheel steering vehicle switches the steering mode.

[0006] In order to solve the above technical problems, the present application provides a steering mode switching control method for a four-wheel steering vehicle, comprising:

[0007] After receiving the steering switch instruction, determining the corresponding target steering mode;

[0008] Acquire a first angle signal of a front axle angle sensor and a second angle signal of a rear axle angle sensor;

[0009] Determining whether the first angle signal and the second angle signal satisfy a preset steering angle relationship of a target steering mode;

[0010] If not, an adjustment command to control the front wheel steering or rear wheel steering is issued;

[0011] When the adjustment instruction is executed, the first angle signal and the second angle signal are acquired in real time until the first angle signal and the second angle signal are monitored to meet a predetermined steering angle relationship of the target steering mode;

[0012] If it is satisfied, the solenoid valve corresponding to the target steering mode is started.

[0013] As an optional embodiment, in the above steering mode switching control method for a four-wheel steering vehicle, after obtaining the first angle signal of the front axle angle sensor and the second angle signal of the rear axle angle sensor, the method further includes:

[0014] Get the original steering mode stored in the previous cycle;

[0015] Determine that the original steering pattern is consistent with the target steering pattern;

[0016] If they are consistent, the currently stored steering mode is maintained when the first angle signal and the second angle signal satisfy the preset steering angle relationship of the original steering mode;

[0017] If they are inconsistent, the step of determining whether the first angle signal and the second angle signal satisfy the preset steering angle relationship of the target steering mode is entered.

[0018] As an optional embodiment, in the above-mentioned steering mode switching control method for a four-wheel steering vehicle, the front axle angle sensor is arranged on the left front wheel, and the rear axle angle sensor is arranged on the left rear wheel;

[0019] Correspondingly, obtaining a first angle signal of a front axle angle sensor and a second angle signal of a rear axle angle sensor includes:

[0020] Acquire a first angle signal of a front axle angle sensor as a left front wheel steering angle;

[0021] Acquire a second angle signal of the rear axle angle sensor as the left rear wheel steering angle;

[0022] The right front wheel angle is obtained according to the preset proportional coefficient of the left and right wheel deflection angles and the left front wheel angle.

[0023] As an optional embodiment, in the steering mode switching control method for the four-wheel steering vehicle, when the first angle signal and the second angle signal satisfy the preset steering angle relationship of the original steering mode, the currently stored steering mode is maintained, including:

[0024] Determining whether the first angle signal and the second angle signal satisfy a preset steering angle relationship of the original steering mode;

[0025] If it is satisfied, the solenoid valve corresponding to the original steering mode is kept running;

[0026] If not, it switches to two-wheel steering mode and issues a steering adjustment command;

[0027] When the steering adjustment instruction is executed, the first angle signal and the second angle signal are monitored in real time and when the preset steering angle relationship of the original steering mode is met, the solenoid valve corresponding to the original steering mode is switched.

[0028] As an optional embodiment, in the above-mentioned steering mode switching control method for a four-wheel steering vehicle, if the original steering mode is a two-wheel steering mode and the target steering mode is a four-wheel steering mode, correspondingly, issuing an adjustment instruction for controlling the front wheel steering or the rear wheel steering includes:

[0029] Keep the solenoid valve corresponding to the two-wheel steering mode running and issue the corresponding steering adjustment command;

[0030] If the original steering mode is the two-wheel steering mode and the target steering mode is the crab steering mode, an adjustment instruction for controlling the front wheel steering or the rear wheel steering is issued accordingly, including:

[0031] Keep the solenoid valve corresponding to the two-wheel steering mode running and issue the corresponding steering adjustment command.

[0032] As an optional embodiment, in the above-mentioned steering mode switching control method for a four-wheel steering vehicle, if the original steering mode is a four-wheel steering mode and the target steering mode is a two-wheel steering mode, correspondingly, issuing an adjustment instruction for controlling the front wheel steering or the rear wheel steering includes:

[0033] Keep the solenoid valve corresponding to the four-wheel steering mode running and issue the corresponding steering adjustment command;

[0034] If the original steering mode is the four-wheel steering mode and the target steering mode is the crab steering mode, an adjustment instruction for controlling the front wheel steering or the rear wheel steering is issued accordingly, including:

[0035] The solenoid valve corresponding to the two-wheel steering mode is switched to operate and the corresponding steering adjustment command is issued.

[0036] As an optional embodiment, in the above steering mode switching control method for a four-wheel steering vehicle, if the original steering mode is a crab steering mode and the target steering mode is a two-wheel steering mode, correspondingly, issuing an adjustment instruction for controlling the front wheel steering or the rear wheel steering includes:

[0037] Keep the solenoid valve corresponding to the crab steering mode running and issue a rear wheel steering adjustment command;

[0038] If the original steering mode is the crab steering mode, and if the target steering mode is the four-wheel steering mode, correspondingly, an adjustment instruction for controlling the front wheel steering or the rear wheel steering is issued, including:

[0039] The solenoid valve corresponding to the two-wheel steering mode is switched to operate and a rear-wheel steering adjustment command is issued.

[0040] As an optional embodiment, in the above-mentioned steering mode switching control method for a four-wheel steering vehicle, the preset steering angle relationship of the two-wheel steering mode is: the left rear wheel steering angle is equal to 0 degrees;

[0041] The preset steering angle relationship of the four-wheel steering mode is: the left rear wheel steering angle is equal to the negative right front wheel steering angle;

[0042] The preset steering angle relationship of the crab steering mode is: the left rear wheel angle is equal to the left front wheel angle.

[0043] In order to solve the above technical problems, the present application also provides a steering mode switching control device for a four-wheel steering vehicle, comprising:

[0044] A receiving module, used for determining a corresponding target steering mode after receiving a steering switch instruction;

[0045] An acquisition module, used for acquiring a first angle signal of a front axle angle sensor and a second angle signal of a rear axle angle sensor;

[0046] A judgment module, used to judge whether the first angle signal and the second angle signal satisfy the preset steering angle relationship of the target steering mode; if not, the adjustment module is triggered; if satisfied, the switching module is triggered;

[0047] An adjustment module, used for issuing an adjustment instruction for controlling the front wheel steering or the rear wheel steering;

[0048] A monitoring module, used for acquiring the first angle signal and the second angle signal in real time when executing the adjustment instruction until the first angle signal and the second angle signal are monitored to meet a predetermined steering angle relationship of a target steering mode;

[0049] The switching module is used to start the solenoid valve corresponding to the target steering mode.

[0050] In order to solve the above technical problems, the present application also provides a steering mode switching control device for a four-wheel steering vehicle, comprising:

[0051] Memory for storing computer programs;

[0052] The processor is used to implement the steps of the above-mentioned steering mode switching control method for a four-wheel steering vehicle when executing a computer program.

[0053] The steering mode switching control method for a four-wheel steering vehicle provided in the present application determines the corresponding target steering mode after receiving a steering switching instruction; obtains a first angle signal of a front axle angle sensor and a second angle signal of a rear axle angle sensor; determines whether the first angle signal and the second angle signal satisfy a preset steering angle relationship of the target steering mode; if not, issues an adjustment instruction for controlling the front wheel steering or the rear wheel steering; when executing the adjustment instruction, obtains the first angle signal and the second angle signal in real time until it is monitored that the first angle signal and the second angle signal satisfy the preset steering angle relationship of the target steering mode; if so, starts the solenoid valve corresponding to the target steering mode. The present application installs angle sensors on the front and rear axles to detect the deflection angles of the left wheels of the front and rear axles, and calculates the steering angle of the right wheel of the front axle when turning through the relationship expression of the left and right wheels. When the driver needs to switch the steering mode, no matter what angle the front and rear wheels are in, the steering angle of the wheels is monitored and adjusted in real time to ensure that in different steering modes, the driver is reminded how to operate the steering wheel according to the driver's steering needs and the deflection angles of the left and right tires of the front and rear axles. When the deflection angles of the left and right wheels of the front and rear axles meet the steering mode requirements, the corresponding steering solenoid valves are opened to achieve rapid adjustment of the steering mode, improve the vehicle's controllability and safety, avoid the cumbersome steering mode switching process, achieve rapid steering mode switching, and at the same time ensure the synchronization of front and rear wheel steering after the steering mode is switched.

[0054] In addition, the present application also provides a device corresponding to the steering mode switching control method of the above-mentioned four-wheel steering vehicle, and the effect is the same as above. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0056] Figure 1 A flowchart of a steering mode switching control method for a four-wheel steering vehicle provided in an embodiment of the present application;

[0057] Figure 2 A schematic diagram of a four-wheel steering vehicle provided in an embodiment of the present application;

[0058] FIG3 (a) is a schematic diagram of a front axle inner wheel turning angle marking provided in an embodiment of the present application;

[0059] FIG3 (b) is a schematic diagram of a front axle outer wheel turning angle marking provided in an embodiment of the present application;

[0060] Figure 4A diagram showing the relationship between the inner and outer wheel turning angles of a front axle provided in an embodiment of the present application;

[0061] Figure 5 A schematic diagram of two-wheel steering mode switching provided in an embodiment of the present application;

[0062] Figure 6 A schematic diagram of a four-wheel steering mode switching provided in an embodiment of the present application;

[0063] Figure 7 A schematic diagram of switching a crab steering mode provided in an embodiment of the present application;

[0064] Figure 8 A structural diagram of a steering mode switching control device for a four-wheel steering vehicle provided in an embodiment of the present application;

[0065] Fig. 9 A structural diagram of another steering mode switching control device for a four-wheel steering vehicle provided in an embodiment of the present application.

[0066] Reference numerals:

[0067] 11-Front axle angle sensor; 12-Rear axle angle sensor; 13-Front axle steering cylinder; 14-Rear axle steering cylinder; 15-Three-position four-way steering solenoid valve. DETAILED DESCRIPTION

[0068] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0069] The core of the present application is to provide a steering mode switching control method and device for a four-wheel steering vehicle.

[0070] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0071] At present, when a four-wheel steering vehicle switches between the three different steering modes of two-wheel, four-wheel and crab steering, the driver mainly observes the position of the front and rear axle tires to determine whether the front and rear wheels are in a neutral state. When the front and rear wheels are in a neutral position, the corresponding steering solenoid valve is opened through the steering mode selection switch to complete the switching of the steering mode. Although this method can realize the mutual switching between the three steering modes, it cannot accurately determine whether the front and rear wheels are in a neutral state when the steering is switched, which will lead to the problem of asynchronous front and rear wheel angles when switching to four-wheel or crab steering mode.

[0072] It is difficult to center the front and rear wheels (the front and rear wheels are in the middle position). Since the front and rear wheel angle deviations must be as small as possible after the steering mode is switched, whether the front and rear axle proximity switches or angle sensors are used, the centering state can only be determined within a very small angle range from the middle position of the front and rear wheels. Therefore, the driver needs to repeat the operation many times each time to ensure that the front and rear wheels are in the center state. Centering is extremely difficult, which affects work efficiency.

[0073] The steering mode switching operation process is rather complicated. When switching the steering mode, for example, switching from the crab steering mode to the four-wheel steering mode, the front wheels must first be adjusted to the middle position, and then the rear wheels must be adjusted to the middle position according to the two-wheel steering (front-wheel steering). The steering mode can only be switched when both the front and rear wheels are in the centered state. The operation process is rather complicated. For the operator, each time the steering mode is switched, complicated operations are required to successfully switch the direction, which affects work efficiency.

[0074] In order to solve the above problems, the present invention provides a steering mode switching control method for a four-wheel steering vehicle. Figure 1 A flowchart of a steering mode switching control method for a four-wheel steering vehicle is provided in an embodiment of the present application. Figure 1 As shown, including:

[0075] S11: Determine the corresponding target steering mode after receiving the steering switch instruction;

[0076] S12: Acquire a first angle signal of a front axle angle sensor and a second angle signal of a rear axle angle sensor;

[0077] S13: Determine whether the first angle signal and the second angle signal satisfy a preset steering angle relationship of a target steering mode;

[0078] S14: If not satisfied, issuing an adjustment instruction to control the front wheel steering or the rear wheel steering;

[0079] S15: when the adjustment instruction is executed, the first angle signal and the second angle signal are acquired in real time until the first angle signal and the second angle signal are monitored to satisfy a predetermined steering angle relationship of the target steering mode;

[0080] S16: If the conditions are met, the solenoid valve corresponding to the target steering mode is started.

[0081] Figure 2 A schematic diagram of a four-wheel steering vehicle provided in an embodiment of the present application, such as Figure 2As shown, the front axle angle sensor 11 and the rear axle angle sensor 12 are respectively installed on the inner side of the left wheels of the front and rear axles, one end of which is fixed on the bridge housing of the steering axle, and the other end is installed on the steering knuckle. When the Y1 solenoid valve in the three-position four-way steering solenoid valve 15 is energized, four-wheel steering control is realized, when Y2 is energized, crab steering control is realized, and when both Y1 and Y2 are not energized, two-wheel steering control is performed. Among them, the steering cylinder 14 of the steering rear axle is driven to move left and right by controlling the on-off control of the solenoid valves Y1 and Y2, thereby pushing the steering connecting rod to drive the steering knuckle to rotate and then push the wheel to rotate. At this time, the angle values ​​of the front and rear axle angle sensors change with the rotation of the steering knuckle, so as to realize the three steering modes of two-wheel steering, four-wheel steering and crab steering of four-wheel steering vehicles.

[0082] Step S11 determines the corresponding target steering mode after receiving the steering switch command, which means that the steering mode switch request issued by the driver is received through the vehicle control interface, such as a button, a touch screen or a voice command. Determining the target mode means that the vehicle controller identifies and determines the target steering mode required by the driver, such as two-wheel steering, four-wheel steering or crab steering, based on the received command through built-in logical judgment or a preset command set. In this step, the reception of the command and the determination of the target mode are realized by the signal receiving and processing unit of the vehicle controller.

[0083] In order to ensure that the driver's intention can be accurately recognized and executed by the system, accurate instruction reception and mode determination are performed through step S11.

[0084] In order to ensure the accuracy and safety of steering mode switching, and provide a basis for subsequent judgment and adjustment. Obtain the first angle signal of the front axle angle sensor and the second angle signal of the rear axle angle sensor, and use the sensors installed on the front and rear axles of the vehicle to monitor and obtain the steering angle of the wheels in real time. The first angle signal and the second angle signal refer to signals representing the current steering angles of the front and rear axle wheels, respectively. Real-time monitoring of the front and rear axle angles is achieved through angle sensors and signal transmission lines.

[0085] Determine whether the first angle signal and the second angle signal satisfy the preset steering angle relationship of the target steering mode, and compare the currently acquired angle signal with the angle relationship required by the target steering mode through the algorithm or logic judgment mechanism inside the vehicle controller. The preset steering angle relationship refers to the relationship between the front axle and rear axle angles in each steering mode that is pre-set according to the vehicle design and steering mechanism, and is used to guide and verify the actual steering state.

[0086] In this step, the current angle signal is compared with the preset relationship through the logic judgment unit of the vehicle controller.

[0087] If not, an adjustment command to control the front wheel steering or rear wheel steering is issued, which means that when the judgment result shows that the current angle signal does not meet the requirements of the target steering mode, the on-board controller issues an adjustment command to the corresponding steering actuator. According to the judgment result, it is determined whether the steering angle of the front wheel or the rear wheel needs to be adjusted to meet the requirements of the target steering mode. The steering actuator is controlled by the command output unit of the on-board controller.

[0088] When executing the adjustment command, the first angle signal and the second angle signal are acquired in real time until the first angle signal and the second angle signal meet the predetermined steering angle relationship of the target steering mode. This means that during the execution of the adjustment command, the system continuously monitors the angle signals of the front axle and the rear axle to ensure the real-time and accuracy of the adjustment process. Through real-time monitoring, it is confirmed that the angle signal has been adjusted to the angle relationship required to meet the target steering mode. In order to ensure that the steering mode can be switched accurately, continuous monitoring and adjustment are performed until the requirements are met.

[0089] If it is satisfied, the solenoid valve corresponding to the target steering mode is started. When it is confirmed that the angle signal meets the requirements of the target steering mode, the on-board controller activates the corresponding solenoid valve to achieve the final switching of the steering mode. The solenoid valve corresponding to the target steering mode refers to the solenoid valve directly associated with the target steering mode, and its state determines the steering behavior of the vehicle. The solenoid valve is controlled by the final command output of the on-board controller to complete the switching of the steering mode. In order to complete the switching of the steering mode and ensure that the vehicle acts according to the driver's intention, the solenoid valve is activated.

[0090] By means of the steering mode switching control method for a four-wheel steering vehicle provided by the present embodiment, a corresponding target steering mode is determined after receiving a steering switching instruction; a first angle signal of a front axle angle sensor and a second angle signal of a rear axle angle sensor are obtained; it is determined whether the first angle signal and the second angle signal satisfy a preset steering angle relationship of the target steering mode; if not, an adjustment instruction for controlling the front wheel steering or the rear wheel steering is issued; when the adjustment instruction is executed, the first angle signal and the second angle signal are obtained in real time until it is monitored that the first angle signal and the second angle signal satisfy the preset steering angle relationship of the target steering mode; if so, the solenoid valve corresponding to the target steering mode is started. The present application installs angle sensors on the front and rear axles to detect the deflection angles of the left wheels of the front and rear axles, and calculates the steering angle of the right wheel of the front axle when turning through the relationship expression of the left and right wheels. When the driver needs to switch the steering mode, no matter what angle the front and rear wheels are in, the steering angle of the wheels is monitored and adjusted in real time to ensure that in different steering modes, the driver is reminded how to operate the steering wheel according to the driver's steering needs and the deflection angles of the left and right tires of the front and rear axles. When the deflection angles of the left and right wheels of the front and rear axles meet the steering mode requirements, the corresponding steering solenoid valves are opened to achieve rapid adjustment of the steering mode, improve the vehicle's controllability and safety, avoid the cumbersome steering mode switching process, achieve rapid steering mode switching, and at the same time ensure the synchronization of front and rear wheel steering after the steering mode is switched.

[0091] According to the above embodiment, specifically, in the above steering mode switching control method for a four-wheel steering vehicle, after obtaining the first angle signal of the front axle angle sensor and the second angle signal of the rear axle angle sensor, the method further includes:

[0092] Get the original steering mode stored in the previous cycle;

[0093] Determine that the original steering pattern is consistent with the target steering pattern;

[0094] If they are consistent, the currently stored steering mode is maintained when the first angle signal and the second angle signal satisfy the preset steering angle relationship of the original steering mode;

[0095] If they are inconsistent, the step of determining whether the first angle signal and the second angle signal satisfy the preset steering angle relationship of the target steering mode is entered.

[0096] After obtaining the first angle signal of the front axle angle sensor and the second angle signal of the rear axle angle sensor, obtaining the original steering mode stored in the previous cycle refers to the mechanism used in the vehicle control system to store the steering mode used in the previous operation cycle, which can be a variable in the memory or a record in the database. After the last successful steering operation, the system records and stores the steering mode, which may be any of two-wheel steering, four-wheel steering or crab steering. Obtaining the original steering mode of the previous cycle by querying the storage mechanism is the key to achieving seamless switching of steering modes.

[0097] Determine whether the original steering mode is consistent with the target steering mode. If they are consistent, the currently stored steering mode is maintained when the first angle signal and the second angle signal satisfy the preset steering angle relationship of the original steering mode. This means that when the original steering mode is the same as the target steering mode and the current steering angle signal satisfies the requirements of the mode, the system will continue to maintain the current steering mode unchanged.

[0098] Whether the steering mode needs to be adjusted or switched is determined by real-time monitoring and verification of the steering angle signal. If there is inconsistency, the step of determining whether the first angle signal and the second angle signal satisfy the preset steering angle relationship of the target steering mode is entered. When the original steering mode is different from the target steering mode, the system will enter a new judgment process to determine whether the requirements of the target steering mode are met.

[0099] The system can not only respond to the driver's immediate instructions, but also intelligently determine whether the steering mode needs to be switched based on historical data and current status, thereby improving the convenience of operation and the controllability of the vehicle.

[0100] According to the above embodiment, specifically, in the above steering mode switching control method for a four-wheel steering vehicle, the front axle angle sensor is arranged on the left front wheel, and the rear axle angle sensor is arranged on the left rear wheel;

[0101] Correspondingly, obtaining a first angle signal of a front axle angle sensor and a second angle signal of a rear axle angle sensor includes:

[0102] Acquire a first angle signal of a front axle angle sensor as a left front wheel steering angle;

[0103] Acquire a second angle signal of the rear axle angle sensor as the left rear wheel steering angle;

[0104] The right front wheel angle is obtained according to the preset proportional coefficient of the left and right wheel deflection angles and the left front wheel angle.

[0105] The front axle angle sensor is set on the left front wheel to monitor the steering angle of the left front wheel. The rear axle angle sensor is set on the left rear wheel to monitor the steering angle of the left rear wheel.

[0106] The first angle signal refers to the signal obtained from the front axle angle sensor installed on the left front wheel, which directly reflects the current turning angle of the left front wheel. The second angle signal refers to the signal obtained from the rear axle angle sensor installed on the left rear wheel, which directly reflects the current turning angle of the left rear wheel.

[0107] The right front wheel angle is obtained based on the preset left and right wheel deflection angle proportionality coefficient and the left front wheel angle. The proportionality coefficient refers to the preset proportional relationship between the left and right wheel deflection angles based on the vehicle design and steering mechanism, which is used to calculate the theoretical right wheel angle from the known left wheel angle. The left front wheel angle is used to calculate the theoretical right front wheel angle.

[0108] FIG. 3 (a) is a schematic diagram of a front axle inner wheel angle marking provided in an embodiment of the present application, and FIG. 3 (b) is a schematic diagram of a front axle outer wheel angle marking provided in an embodiment of the present application; Figure 4 A diagram showing the relationship between the inner and outer wheel turning angles of the front axle is provided in an embodiment of the present application; as shown in Figures 3 (a) and 3 (b), the inner and outer wheel turning angles are marked when the front axle deviates to the left and right when the vehicle turns, wherein a1 is the left front wheel turning angle, a2 is the right front wheel turning angle, and it is stipulated that the angles of the front and rear wheels are both positive when they deviate to the left, and are both negative when they deviate to the right. Figure 4 is the relationship between the steering angles of the inner and outer wheels of the front axle. The relationship expression is: when turning left: a2=f*a1, when turning right: a1=f*a2, f is the proportional coefficient of the left and right wheel steering angles, which is guaranteed by the vehicle steering mechanism.

[0109] Figure 5 A schematic diagram of two-wheel steering mode switching provided in an embodiment of the present application; Figure 6 A schematic diagram of a four-wheel steering mode switching provided in an embodiment of the present application; Figure 7 A schematic diagram of a crab steering mode switching provided in an embodiment of the present application; specifically, in the steering mode switching control method of the above-mentioned four-wheel steering vehicle, the preset steering angle relationship of the two-wheel steering mode is: the left rear wheel angle is equal to 0 degrees;

[0110] The preset steering angle relationship of the four-wheel steering mode is: the left rear wheel steering angle is equal to the negative right front wheel steering angle;

[0111] The preset steering angle relationship of the crab steering mode is: the left rear wheel angle is equal to the left front wheel angle.

[0112] like Figure 5 As shown in the figure, the preset steering angle relationship of the two-wheel steering mode is that the left rear wheel steering angle is equal to 0 degrees. In the two-wheel steering mode, the vehicle mainly relies on the front wheels for steering, while the rear wheels remain consistent with the vehicle's driving direction and do not participate in steering. Therefore, the steering angle of the left rear wheel is set to 0 degrees, indicating that the rear wheel does not deflect.

[0113] like Figure 6 As shown in the figure, the preset steering angle relationship of the four-wheel steering mode is that the left rear wheel angle is equal to the negative right front wheel angle: In the four-wheel steering mode, both the front and rear wheels of the vehicle participate in steering to achieve a smaller turning radius. The angle of the left rear wheel is equal to and opposite to the angle of the right front wheel to ensure that the vehicle remains stable when turning. The on-board controller calculates the angle of the right front wheel based on the angle of the left front wheel and adjusts the angle of the left rear wheel accordingly to achieve coordinated four-wheel steering.

[0114] like Figure 7 As shown, the preset steering angle relationship of the crab steering mode is that the left rear wheel angle is equal to the left front wheel angle: In the crab steering mode, the vehicle can achieve lateral movement, similar to the way a crab walks. At this time, the left front wheel and the left rear wheel have the same angle to achieve lateral movement of the vehicle. The on-board controller ensures that the left front wheel and the left rear wheel have the same angle to achieve lateral movement of the vehicle.

[0115] According to the above embodiment, specifically, in the above steering mode switching control method for a four-wheel steering vehicle, when the first angle signal and the second angle signal satisfy the preset steering angle relationship of the original steering mode, the currently stored steering mode is maintained, including:

[0116] Determining whether the first angle signal and the second angle signal satisfy a preset steering angle relationship of the original steering mode;

[0117] If it is satisfied, the solenoid valve corresponding to the original steering mode is kept running;

[0118] If not, it switches to two-wheel steering mode and issues a steering adjustment command;

[0119] When the steering adjustment instruction is executed, the first angle signal and the second angle signal are monitored in real time and when the preset steering angle relationship of the original steering mode is met, the solenoid valve corresponding to the original steering mode is switched.

[0120] Determining whether the first angle signal and the second angle signal satisfy the preset steering angle relationship of the original steering mode refers to the specific angle relationship that the front axle and rear axle angle sensor signals should satisfy, which is preset according to the original steering mode (such as two-wheel steering, four-wheel steering or crab steering). The first angle signal and the second angle signal acquired in real time are compared with the preset angle relationship of the original steering mode through the logic judgment unit of the vehicle controller.

[0121] If it is satisfied, the solenoid valve corresponding to the original steering mode will be kept running, which means that when the angle signal monitored in real time meets the requirements of the original steering mode, the system will continue to maintain the current steering mode without any switching.

[0122] If not, it switches to the two-wheel steering mode and issues a steering adjustment command, which means that when the current angle signal does not meet the requirements of the original steering mode, the system will temporarily switch to the two-wheel steering mode. This is a basic steering mode, usually used to adjust and reposition the wheels.

[0123] When the steering adjustment instruction is executed, the first angle signal and the second angle signal are monitored in real time and the solenoid valve corresponding to the original steering mode is switched when the preset steering angle relationship of the original steering mode is met. During the execution of the steering adjustment instruction, the system continuously monitors the angle signals of the front axle and the rear axle to ensure the real-time and accuracy of the adjustment process.

[0124] Once the monitored angle signal meets the requirements of the original steering mode again, the system will immediately switch back to the solenoid valve corresponding to the original steering mode.

[0125] According to the above embodiment, specifically, in the above steering mode switching control method for a four-wheel steering vehicle, if the original steering mode is a two-wheel steering mode and the target steering mode is a four-wheel steering mode, correspondingly, issuing an adjustment instruction for controlling the front wheel steering or the rear wheel steering includes:

[0126] Keep the solenoid valve corresponding to the two-wheel steering mode running and issue the corresponding steering adjustment command;

[0127] If the original steering mode is the two-wheel steering mode and the target steering mode is the crab steering mode, an adjustment instruction for controlling the front wheel steering or the rear wheel steering is issued accordingly, including:

[0128] Keep the solenoid valve corresponding to the two-wheel steering mode running and issue the corresponding steering adjustment command.

[0129] When the original steering mode is the two-wheel steering mode and the target steering modes are the four-wheel steering mode and the crab steering mode, there are two cases:

[0130] When switching to the four-wheel steering mode, the solenoid valve corresponding to the two-wheel steering mode is kept running, which means that during the switching process, the solenoid valve maintaining the two-wheel steering mode continues to work to ensure the stability and controllability of the vehicle during the switching process. According to the requirements of the four-wheel steering mode, the command to adjust the steering angle of the front or rear wheels is calculated and issued.

[0131] The steering mode is switched to the crab steering mode, and the solenoid valve corresponding to the two-wheel steering mode is kept running. Similar to the four-wheel steering mode switch, the solenoid valve of the two-wheel steering mode continues to work to ensure the stability of the vehicle during the switching process. According to the requirements of the crab steering mode, the command to adjust the steering angle of the front or rear wheels is calculated and issued.

[0132] Specifically, if the mode is switched to four-wheel steering mode, the steering wheel is turned while maintaining the two-wheel steering mode. When the steering angles of the left wheels of the front and rear axles satisfy the angle relationship b1=-a2=-f*a1, the four-wheel steering solenoid valve is opened and the steering mode is switched successfully. If the mode is switched to crab steering mode, the steering wheel is turned while maintaining the two-wheel steering state. When the steering angles of the left wheels of the front and rear axles are the same, that is, b1=a1, the crab steering solenoid valve is opened and the steering mode is switched successfully.

[0133] According to the above embodiment, specifically, in the above steering mode switching control method for a four-wheel steering vehicle, if the original steering mode is a four-wheel steering mode and the target steering mode is a two-wheel steering mode, correspondingly, issuing an adjustment instruction for controlling the front wheel steering or the rear wheel steering includes:

[0134] Keep the solenoid valve corresponding to the four-wheel steering mode running and issue the corresponding steering adjustment command;

[0135] If the original steering mode is the four-wheel steering mode and the target steering mode is the crab steering mode, an adjustment instruction for controlling the front wheel steering or the rear wheel steering is issued accordingly, including:

[0136] The solenoid valve corresponding to the two-wheel steering mode is switched to operate and the corresponding steering adjustment command is issued.

[0137] When the original steering mode is the four-wheel steering mode, and the target steering modes are the two-wheel steering mode and the crab steering mode, when switching to the two-wheel steering mode, the solenoid valve corresponding to the four-wheel steering mode is kept running, and the solenoid valve of the four-wheel steering mode is temporarily maintained to continue working to ensure the stability and controllability of the vehicle during the switching process. According to the requirements of the two-wheel steering mode, the command to adjust the steering angle of the front or rear wheels is calculated and issued to smoothly transition the vehicle from the four-wheel steering mode to the two-wheel steering mode.

[0138] The steering mode is switched to the crab steering mode, and the solenoid valve corresponding to the two-wheel steering mode is switched to operate. Before switching to the crab steering mode, the vehicle is first switched to the two-wheel steering mode to simplify the steering adjustment process. The on-board controller sends a command to activate the solenoid valve corresponding to the two-wheel steering mode and close the solenoid valve corresponding to the four-wheel steering mode to prepare for the switching of the crab steering mode.

[0139] Specifically, if the two-wheel steering mode is switched, the steering wheel is rotated while maintaining the four-wheel steering state. When the rear wheel steering angle returns to the center, that is, b1=0, the two-wheel steering solenoid valve is turned on, and the steering mode is switched successfully; if the crab steering mode is switched, the steering wheel is rotated while maintaining the two-wheel steering mode. When the left wheel steering angles of the front and rear axles are the same, that is, b1=a1, the crab steering solenoid valve is turned on, and the steering mode is switched successfully;

[0140] According to the above embodiment, specifically, in the above steering mode switching control method for a four-wheel steering vehicle, if the original steering mode is a crab steering mode and the target steering mode is a two-wheel steering mode, correspondingly, issuing an adjustment instruction for controlling the front wheel steering or the rear wheel steering includes:

[0141] Keep the solenoid valve corresponding to the crab steering mode running and issue a rear wheel steering adjustment command;

[0142] If the original steering mode is the crab steering mode, and if the target steering mode is the four-wheel steering mode, correspondingly, an adjustment instruction for controlling the front wheel steering or the rear wheel steering is issued, including:

[0143] The solenoid valve corresponding to the two-wheel steering mode is switched to operate and a rear-wheel steering adjustment command is issued.

[0144] When the original steering mode is the crab steering mode, and the target steering modes are the two-wheel steering mode and the four-wheel steering mode, the steering mode is switched to the two-wheel steering mode, and the solenoid valve corresponding to the crab steering mode is kept running. During the switching process, the solenoid valve of the crab steering mode is temporarily maintained to continue to work to ensure the stability and controllability of the vehicle during the switching process. According to the requirements of the two-wheel steering mode, the command to adjust the rear wheel steering angle is calculated and issued to smoothly transition the vehicle from the crab steering mode to the two-wheel steering mode.

[0145] The steering mode is switched to the four-wheel steering mode, and the solenoid valve corresponding to the two-wheel steering mode is switched to operate. Before switching to the four-wheel steering mode, the vehicle is first switched to the two-wheel steering mode to simplify the steering adjustment process. The on-board controller sends a command to activate the solenoid valve corresponding to the two-wheel steering mode and close the solenoid valve corresponding to the crab steering mode to prepare for the switching of the four-wheel steering mode.

[0146] Specifically, if switched to the two-wheel steering mode, the steering wheel is turned in the crab steering mode. When the rear wheel angle returns to the center, that is, b1=0, the two-wheel steering solenoid valve is opened, and the steering mode is switched successfully. If switched to the four-wheel steering mode, the two-wheel steering mode is maintained. When the left wheel angles of the front and rear axles satisfy the angle relationship b1=-a2=-f*a1, the four-wheel steering solenoid valve is opened, and the steering mode is switched successfully.

[0147] In the above embodiments, the steering mode switching control method of a four-wheel steering vehicle is described in detail, and the present application also provides a corresponding embodiment of a steering mode switching control device for a four-wheel steering vehicle. It should be noted that the present application describes the embodiments of the device part from two perspectives, one is based on the perspective of functional modules, and the other is based on the perspective of hardware.

[0148] From the perspective of functional modules, Figure 8A structural diagram of a steering mode switching control device for a four-wheel steering vehicle provided in an embodiment of the present application, such as Figure 8 As shown, a steering mode switching control device for a four-wheel steering vehicle comprises:

[0149] A receiving module 21, configured to determine a corresponding target steering mode after receiving a steering switch instruction;

[0150] An acquisition module 22, used for acquiring a first angle signal of a front axle angle sensor and a second angle signal of a rear axle angle sensor;

[0151] The judging module 23 is used to judge whether the first angle signal and the second angle signal satisfy the preset steering angle relationship of the target steering mode; if not, the adjusting module is triggered; if satisfied, the switching module is triggered;

[0152] An adjustment module 24, used for issuing an adjustment instruction for controlling the front wheel steering or the rear wheel steering;

[0153] A monitoring module 25, for acquiring the first angle signal and the second angle signal in real time when executing the adjustment instruction until the first angle signal and the second angle signal meet a predetermined steering angle relationship of a target steering mode;

[0154] The switching module 26 is used to start the solenoid valve corresponding to the target steering mode.

[0155] Since the embodiments of the apparatus part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the apparatus part, which will not be repeated here.

[0156] Fig. 9 A structural diagram of another steering mode switching control device for a four-wheel steering vehicle provided in an embodiment of the present application, such as Fig. 9 As shown, the steering mode switching control device for a four-wheel steering vehicle includes: a memory 30 for storing a computer program;

[0157] The processor 31 is used to implement the steps of the method for obtaining the user's operating habit information in the above embodiment (the steering mode switching control method for a four-wheel steering vehicle) when executing the computer program.

[0158] The steering mode switching control device for a four-wheel steering vehicle provided in this embodiment may include but is not limited to a smart phone, a tablet computer, a laptop computer or a desktop computer.

[0159] Among them, the processor 31 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 31 may be implemented in at least one hardware form of a digital signal processor (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 31 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 31 may be integrated with a graphics processing unit (GPU), and the GPU is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 31 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0160] The memory 30 may include one or more computer-readable storage media, which may be non-transitory. The memory 30 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 30 is at least used to store the following computer program 301, wherein, after the computer program is loaded and executed by the processor 31, the relevant steps of the steering mode switching control method for a four-wheel steering vehicle disclosed in any of the aforementioned embodiments can be implemented. In addition, the resources stored in the memory 30 may also include an operating system 302 and data 303, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 302 may include Windows, Unix, Linux, etc. The data 303 may include but is not limited to data involved in implementing the steering mode switching control method for a four-wheel steering vehicle, etc.

[0161] In some embodiments, the steering mode switching control device for a four-wheel steering vehicle may further include a display screen 32 , an input / output interface 33 , a communication interface 34 , a power supply 35 , and a communication bus 36 .

[0162] Those skilled in the art will understand that Fig. 9 The structure shown in the figure does not constitute a limitation on the steering mode switching control device for a four-wheel steering vehicle, and may include more or fewer components than those shown in the figure.

[0163] The steering mode switching control device for a four-wheel steering vehicle provided in an embodiment of the present application includes a memory and a processor. When the processor executes a program stored in the memory, it can implement the following method: a steering mode switching control method for a four-wheel steering vehicle.

[0164] The above is a detailed introduction to the steering mode switching control method and device for a four-wheel steering vehicle provided by the present application. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

[0165] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A steering mode switching control method for a four-wheel steering vehicle, characterized in that: include: After receiving the steering switch instruction, determining the corresponding target steering mode; Acquire a first angle signal of a front axle angle sensor and a second angle signal of a rear axle angle sensor; Determining whether the first angle signal and the second angle signal satisfy a preset steering angle relationship of the target steering mode; If not, an adjustment command to control the front wheel steering or rear wheel steering is issued; When executing the adjustment instruction, acquiring the first angle signal and the second angle signal in real time until monitoring that the first angle signal and the second angle signal satisfy a predetermined steering angle relationship of the target steering mode; If the conditions are met, the solenoid valve corresponding to the target steering mode is started; Wherein, after acquiring the first angle signal of the front axle angle sensor and the second angle signal of the rear axle angle sensor, the method further includes: Get the original steering mode stored in the previous cycle; Determining that the original steering mode is consistent with the target steering mode; If they are consistent, the currently stored steering mode is maintained when the first angle signal and the second angle signal satisfy the preset steering angle relationship of the original steering mode; If they are inconsistent, entering the step of determining whether the first angle signal and the second angle signal satisfy the preset steering angle relationship of the target steering mode; Wherein, the front axle angle sensor is arranged on the left front wheel, and the rear axle angle sensor is arranged on the left rear wheel; Correspondingly, the step of acquiring the first angle signal of the front axle angle sensor and the second angle signal of the rear axle angle sensor includes: Acquire a first angle signal of a front axle angle sensor as a left front wheel steering angle; Acquire a second angle signal of the rear axle angle sensor as the left rear wheel steering angle; Obtaining the right front wheel turning angle according to the preset proportional coefficient of the left and right wheel deflection angles and the left front wheel turning angle; When the first angle signal and the second angle signal satisfy the preset steering angle relationship of the original steering mode, the currently stored steering mode is maintained, including: Determining whether the first angle signal and the second angle signal satisfy a preset steering angle relationship of the original steering mode; If the conditions are met, the solenoid valve corresponding to the original steering mode is kept running; If not, it switches to two-wheel steering mode and issues a steering adjustment command; When the steering adjustment instruction is executed, the first angle signal and the second angle signal are monitored in real time, and when the preset steering angle relationship of the original steering mode is satisfied, the solenoid valve corresponding to the original steering mode is switched; Wherein, if the original steering mode is a two-wheel steering mode and the target steering mode is a four-wheel steering mode, correspondingly, issuing an adjustment instruction for controlling the front wheel steering or the rear wheel steering includes: Keep the solenoid valve corresponding to the two-wheel steering mode running and issue the corresponding steering adjustment command; If the original steering mode is the two-wheel steering mode and the target steering mode is the crab steering mode, correspondingly, issuing the adjustment instruction for controlling the front wheel steering or the rear wheel steering includes: Keep the solenoid valve corresponding to the two-wheel steering mode running and issue the corresponding steering adjustment command; Wherein, if the original steering mode is a four-wheel steering mode and the target steering mode is a two-wheel steering mode, correspondingly, issuing an adjustment instruction for controlling the front wheel steering or the rear wheel steering includes: Keep the solenoid valve corresponding to the four-wheel steering mode running and issue the corresponding steering adjustment command; If the original steering mode is the four-wheel steering mode and the target steering mode is the crab steering mode, correspondingly, issuing the adjustment instruction for controlling the front wheel steering or the rear wheel steering includes: Switch to the solenoid valve corresponding to the two-wheel steering mode and issue the corresponding steering adjustment command; Wherein, if the original steering mode is the crab steering mode and the target steering mode is the two-wheel steering mode, correspondingly, issuing the adjustment instruction for controlling the front wheel steering or the rear wheel steering includes: Keep the solenoid valve corresponding to the crab steering mode running and issue a rear wheel steering adjustment command; If the original steering mode is the crab steering mode and the target steering mode is the four-wheel steering mode, correspondingly, issuing the adjustment instruction for controlling the front wheel steering or the rear wheel steering includes: Switch to the solenoid valve operation corresponding to the two-wheel steering mode and issue a rear wheel steering adjustment command; Wherein, the preset steering angle relationship of the two-wheel steering mode is: the left rear wheel steering angle is equal to 0 degrees; The preset steering angle relationship of the four-wheel steering mode is: the left rear wheel steering angle is equal to the negative right front wheel steering angle; The preset steering angle relationship of the crab steering mode is: the left rear wheel steering angle is equal to the left front wheel steering angle.

2. A steering mode switching control device for a four-wheel steering vehicle, characterized in that: include: A receiving module, used for determining a corresponding target steering mode after receiving a steering switch instruction; An acquisition module, used for acquiring a first angle signal of a front axle angle sensor and a second angle signal of a rear axle angle sensor; A judgment module, used for judging whether the first angle signal and the second angle signal satisfy the preset steering angle relationship of the target steering mode; if not, triggering the adjustment module; if satisfied, triggering the switching module; The adjustment module is used to issue an adjustment instruction for controlling the front wheel steering or the rear wheel steering; A monitoring module, configured to acquire the first angle signal and the second angle signal in real time when executing the adjustment instruction until the first angle signal and the second angle signal are monitored to satisfy a predetermined steering angle relationship of the target steering mode; A switching module, used for starting a solenoid valve corresponding to the target steering mode; Wherein, after acquiring the first angle signal of the front axle angle sensor and the second angle signal of the rear axle angle sensor, the method further includes: Get the original steering mode stored in the previous cycle; Determining that the original steering mode is consistent with the target steering mode; If they are consistent, the currently stored steering mode is maintained when the first angle signal and the second angle signal satisfy the preset steering angle relationship of the original steering mode; If they are inconsistent, entering the step of determining whether the first angle signal and the second angle signal satisfy the preset steering angle relationship of the target steering mode; Wherein, the front axle angle sensor is arranged on the left front wheel, and the rear axle angle sensor is arranged on the left rear wheel; Correspondingly, the step of acquiring the first angle signal of the front axle angle sensor and the second angle signal of the rear axle angle sensor includes: Acquire a first angle signal of a front axle angle sensor as a left front wheel steering angle; Acquire a second angle signal of the rear axle angle sensor as the left rear wheel steering angle; Obtaining the right front wheel turning angle according to the preset proportional coefficient of the left and right wheel deflection angles and the left front wheel turning angle; When the first angle signal and the second angle signal satisfy the preset steering angle relationship of the original steering mode, the currently stored steering mode is maintained, including: Determining whether the first angle signal and the second angle signal satisfy a preset steering angle relationship of the original steering mode; If the conditions are met, the solenoid valve corresponding to the original steering mode is kept running; If not, it switches to two-wheel steering mode and issues a steering adjustment command; When the steering adjustment instruction is executed, the first angle signal and the second angle signal are monitored in real time, and when the preset steering angle relationship of the original steering mode is satisfied, the solenoid valve corresponding to the original steering mode is switched; Wherein, if the original steering mode is a two-wheel steering mode and the target steering mode is a four-wheel steering mode, correspondingly, issuing an adjustment instruction for controlling the front wheel steering or the rear wheel steering includes: Keep the solenoid valve corresponding to the two-wheel steering mode running and issue the corresponding steering adjustment command; If the original steering mode is the two-wheel steering mode and the target steering mode is the crab steering mode, correspondingly, issuing the adjustment instruction for controlling the front wheel steering or the rear wheel steering includes: Keep the solenoid valve corresponding to the two-wheel steering mode running and issue the corresponding steering adjustment command; Wherein, if the original steering mode is a four-wheel steering mode and the target steering mode is a two-wheel steering mode, correspondingly, issuing an adjustment instruction for controlling the front wheel steering or the rear wheel steering includes: Keep the solenoid valve corresponding to the four-wheel steering mode running and issue the corresponding steering adjustment command; If the original steering mode is the four-wheel steering mode and the target steering mode is the crab steering mode, correspondingly, issuing the adjustment instruction for controlling the front wheel steering or the rear wheel steering includes: Switch to the solenoid valve corresponding to the two-wheel steering mode and issue the corresponding steering adjustment command; Wherein, if the original steering mode is the crab steering mode and the target steering mode is the two-wheel steering mode, correspondingly, issuing the adjustment instruction for controlling the front wheel steering or the rear wheel steering includes: Keep the solenoid valve corresponding to the crab steering mode running and issue a rear wheel steering adjustment command; If the original steering mode is the crab steering mode and the target steering mode is the four-wheel steering mode, correspondingly, issuing the adjustment instruction for controlling the front wheel steering or the rear wheel steering includes: Switch to the solenoid valve operation corresponding to the two-wheel steering mode and issue a rear wheel steering adjustment command; Wherein, the preset steering angle relationship of the two-wheel steering mode is: the left rear wheel steering angle is equal to 0 degrees; The preset steering angle relationship of the four-wheel steering mode is: the left rear wheel steering angle is equal to the negative right front wheel steering angle; The preset steering angle relationship of the crab steering mode is: the left rear wheel steering angle is equal to the left front wheel steering angle.

3. A steering mode switching control device for a four-wheel steering vehicle, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the steering mode switching control method for a four-wheel steering vehicle as claimed in claim 1 when executing the computer program.

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