Steering response mode switching control method, device and vehicle

Abstract

The application discloses a kingpin steering response mode switching control method and device and a vehicle, and relates to the field of vehicle control.The application discloses a kingpin steering response mode switching control method, device and vehicle, and relates to the field of vehicle control.The application comprises the following steps: setting three response modes according to the state of the kingpin steering response vehicle steering demand, the three response modes are divided into a waiting response available mode, an immediate response activated mode and a stop response disabled mode; obtaining a judgment condition for switching among the three response modes according to the whole vehicle and the kingpin steering internal signals; and switching the response modes according to the judgment condition.The application can switch the response vehicle steering demand mode according to the preset condition according to the signal state of the whole vehicle and the kingpin steering system, can quantitatively monitor the response state of the kingpin steering, can judge whether the whole vehicle or the kingpin steering appears a fault, and can improve the safety.

Description

Technical Field

[0001] This invention relates to the technical field of automobiles, specifically to a kingpin steering response mode switching control method, device, and vehicle. Background Technology

[0002] Kingpin steering is a four-wheel independent steering system that calculates the steering torque applied to the kingpin of each wheel based on the target angle output by the vehicle's controller, enabling independent steering of all four wheels. This allows for functions such as rapid lane changes, U-turns, crabbing lateral movement, and diagonal driving, providing drivers with a new driving experience and saving parking space. Identifying the operational response status of the kingpin steering is crucial for vehicle safety. However, in actual operation, it's impossible to determine the presence of faults or the kingpin steering's status based solely on the signal status of the vehicle and the internal systems of the kingpin steering system, making quantitative monitoring of the kingpin steering system difficult. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention provides a kingpin steering response mode switching control method, which can determine whether a fault has occurred in the vehicle or the kingpin steering system based on the signal status of the vehicle and the kingpin steering system, and switch the response mode of the target angle of the vehicle controller according to preset conditions.

[0004] The present invention also provides a kingpin steering response mode switching control device and a vehicle.

[0005] According to a first aspect of the present invention, a kingpin steering response mode switching control method includes:

[0006] Three response modes are set according to the state of the kingpin steering response to the vehicle's steering needs. The three response modes are divided into an available mode of waiting for response, an active mode of immediate response, and a disabled mode of stopping response.

[0007] The judgment conditions for switching between the three response modes are derived based on the internal signals of the whole vehicle and the kingpin steering.

[0008] The response mode is switched according to the judgment conditions.

[0009] The kingpin steering response mode switching control method according to embodiments of the present invention has at least the following beneficial effects:

[0010] This invention sets three response modes based on the kingpin steering's response to vehicle steering demands: an available mode, an active mode, and a disabled mode. The response states for each kingpin steering response mode are defined: the available mode is a waiting-to-respond state, the active mode is an immediate-respond state, and the disabled mode is a stopped-respond state. Then, the internal signals of the vehicle and the kingpin steering system are used as the criteria for switching between the three response modes. This invention can switch the response mode to vehicle steering demands based on the signal states of the vehicle and the kingpin steering system, according to preset conditions. It can quantitatively monitor the kingpin steering response state and determine whether there is a malfunction in the vehicle or the kingpin steering system, thereby improving safety.

[0011] According to some embodiments of the present invention, the judgment condition for determining the switching between the three response modes based on the vehicle and kingpin steering internal signals includes:

[0012] The signal combination conditions are formed by the vehicle controller's angle control state, the vehicle controller's target angle, the vehicle speed signal, the current wheel angle state, the wheel angle calibration state, and the kingpin steering fault state, and are used as the judgment conditions.

[0013] According to some embodiments of the present invention, switching the response mode based on the judgment condition includes:

[0014] Determine whether the following first combination of conditions is met. If all conditions are met, switch from the disabled mode to the available mode; otherwise, switch from the available mode to the disabled mode, or switch from the active mode to the disabled mode.

[0015] The first combination condition is:

[0016] The current wheel angle state is valid;

[0017] The wheel angle is in a calibrated state.

[0018] The vehicle speed signal is a valid value;

[0019] The kingpin steering failure status is a fault-free status.

[0020] According to some embodiments of the present invention, the judgment condition for determining the switching between the three response modes based on the vehicle and kingpin steering internal signals includes:

[0021] The disabled mode cannot be directly switched to the activated mode.

[0022] According to some embodiments of the present invention, the judgment condition for determining the switching between the three response modes based on the vehicle and kingpin steering internal signals further includes:

[0023] Set the vehicle speed range for the effective value of the vehicle speed signal.

[0024] According to some embodiments of the present invention, switching the response mode based on the judgment condition includes:

[0025] Determine whether the following second combination of conditions are all satisfied. If all conditions are satisfied, switch the available mode to the active mode; otherwise, switch the active mode to the available mode.

[0026] The second combination condition is:

[0027] The angle control state of the vehicle controller is a controllable mode.

[0028] The vehicle controller controls the target angle to be an effective value.

[0029] According to some embodiments of the present invention, the judgment condition for determining the switching between the three response modes based on the vehicle and kingpin steering internal signals includes:

[0030] The effective angle range of the target angle controlled by the vehicle controller is set.

[0031] According to some embodiments of the present invention, the judgment condition for determining the switching between the three response modes based on the vehicle and kingpin steering internal signals includes:

[0032] The current wheel angle status and wheel angle calibration status are detected by using the TAS sensor.

[0033] According to some embodiments of the present invention, the setting of three response modes based on the state of the kingpin steering response to the vehicle's steering demand includes:

[0034] Three response modes are set by the execution state of the kingpin steering response to the target angle request of the vehicle controller. The execution state of the available mode is to wait for the vehicle controller to respond to the target angle request. The execution state of the active mode is to respond to the vehicle controller to the target angle request immediately. The execution state of the disabled mode is to stop responding to the vehicle controller to the target angle request.

[0035] A kingpin steering response mode switching control device according to a second aspect of an embodiment of the present invention includes:

[0036] The setting module is used to set three response modes according to the state of the kingpin steering response to the vehicle's steering needs. The three response modes are: available mode for waiting for response, active mode for immediate response, and disabled mode for stopping response.

[0037] The judgment module is used to determine the switching conditions between the three response modes based on the internal signals of the whole vehicle and the kingpin steering.

[0038] A switching control module is used to switch the response mode according to the judgment conditions.

[0039] According to a third aspect of the present invention, a vehicle includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the aforementioned kingpin steering response mode switching control method.

[0040] According to a fourth aspect of the present invention, a computer-readable storage medium stores computer-executable instructions for causing a computer to perform the aforementioned kingpin steering response mode switching control method.

[0041] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. Attached Figure Description

[0042] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0043] Figure 1 This is a flowchart of the steps of the kingpin steering response mode switching control method of the present invention;

[0044] Figure 2 This is a schematic diagram illustrating the switching between various response modes of the main steering mechanism according to the present invention;

[0045] Figure 3 This is a schematic diagram of the kingpin steering response mode switching control device of the present invention. Detailed Implementation

[0046] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0047] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0048] In the description of this invention, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features or their sequential relationship.

[0049] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0050] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are some embodiments of the present invention, not all embodiments.

[0051] Kingpin steering is a key component in a car's steering system. Its main function is to articulate the front axle and steering knuckle, allowing the steering knuckle to swing around the kingpin to achieve wheel steering. In actual vehicle operation, kingpin steering controls the rotation of each wheel by using the target angle output by the vehicle's overall controller to enable functions such as rapid lane changes, U-turns, crabbing, and diagonal driving. Considering that the state of the vehicle or the kingpin steering system can affect the vehicle's steering, to improve safety, it is necessary to determine whether the kingpin steering is activated to execute the target angle based on the state of the vehicle and the kingpin steering system. This allows for switching of the response mode based on the kingpin steering and also enables quantitative monitoring of the kingpin steering.

[0052] like Figure 1 As shown, this embodiment of the invention provides a kingpin steering response mode switching control method. Based on the state of the vehicle and the kingpin steering system, it determines whether kingpin steering is activated to execute a target angle, thereby achieving switching of the kingpin steering-based response mode. The kingpin steering response mode switching control method of this embodiment includes, but is not limited to, the following:

[0053] Step S100: Set three response modes according to the state of the kingpin steering response to the vehicle's steering needs. The three response modes are: available mode for waiting for response, active mode for immediate response, and disabled mode for stopping response.

[0054] Step S200: Determine the switching conditions between the three response modes based on the internal signals of the whole vehicle and the kingpin steering.

[0055] Step S300: Switch the response mode according to the judgment conditions.

[0056] In step S100, since the kingpin steering mainly executes the target angle output by the vehicle controller, the present invention sets three response modes by the execution state of the kingpin steering response to the target angle request of the vehicle controller. The three response modes include an available mode, an active mode, and a disabled mode. The execution state of the available mode is to wait for the vehicle controller to respond to the target angle request, the execution state of the active mode is to immediately respond to the target angle request, and the execution state of the disabled mode is to stop responding to the target angle request.

[0057] Understandably, based on the attributes and characteristics of the kingpin steering, three response modes applicable to the kingpin steering response are set. Each response mode corresponds to the kingpin steering response state. At the same time, an output signal of the kingpin steering response mode state can also be generated and sent to the vehicle display. The kingpin steering response state can be determined through this signal.

[0058] This invention sets three response modes based on the kingpin steering's response to vehicle steering demands: an available mode, an active mode, and a disabled mode. The response states for each kingpin steering response mode are defined: the available mode is a waiting-to-respond state, the active mode is an immediate-respond state, and the disabled mode is a stopped-respond state. Then, the internal signals of the vehicle and the kingpin steering system are used as the criteria for switching between the three response modes. This invention can switch the response mode to vehicle steering demands based on the signal states of the vehicle and the kingpin steering system, according to preset conditions. It can quantitatively monitor the kingpin steering response state and determine whether there is a malfunction in the vehicle or the kingpin steering system, thereby improving safety.

[0059] In step S200, the response mode is switched according to the internal signals of the vehicle and the kingpin steering. It can be understood that under different signals of the vehicle and the kingpin steering, the kingpin steering needs to be switched to the corresponding response mode.

[0060] The whole vehicle and the kingpin steering have different signals. This invention uses the signal combination conditions of different signals as the judgment conditions. Then, in step S300, according to different judgment conditions, a kingpin steering response jump state machine is designed. The state machine jump is performed through the condition combination set to realize the switching of the kingpin steering response mode.

[0061] In step S200, the present invention uses the angle control state of the vehicle controller, the target angle of the vehicle controller, the vehicle speed signal, the current wheel angle state, the wheel angle calibration state, and the kingpin steering fault state to form a signal combination condition as a judgment condition.

[0062] To obtain the angle control status of the vehicle controller, the vehicle controller sends a "vehicle controller angle control status" request signal to the kingpin steering via the CAN bus. The angle control status of the vehicle controller includes two modes: "controllable mode" and "non-controllable mode".

[0063] To obtain the target angle for the vehicle controller, the vehicle controller sends a "vehicle controller target angle" request signal to the kingpin steering via the CAN bus and sets the effective angle range for the target angle. In this embodiment of the invention, the effective angle range is set to -35° to 92°. In other embodiments, the effective angle range for the target angle is determined according to different vehicle models. In actual operation, the wheels can only rotate within the effective angle range. It is understood that if the target angle for the vehicle controller is outside the effective angle range, the kingpin steering will not be executed.

[0064] Regarding the acquisition of vehicle speed signals, the anti-lock braking system (ABS) obtains the "vehicle speed signal" through the CAN bus and sets the effective speed range of the vehicle speed signal. In this embodiment of the invention, the effective speed range is set to 0~327.65km / h. In some other embodiments, the effective speed range of the vehicle speed signal is determined according to different vehicle models. In actual operation, the wheels can only rotate within the effective speed range. It can be understood that if the vehicle speed exceeds the effective speed range, the kingpin steering will not be executed, thereby improving driving safety performance.

[0065] Furthermore, the message containing the vehicle speed signal needs to be verified by a rolling counter and a checksum to improve the accuracy of the vehicle speed signal.

[0066] To obtain the current wheel angle status and wheel angle calibration status, this invention uses a TAS sensor to detect the current wheel angle status and wheel angle calibration status. The current wheel angle status includes two states: "valid" and "invalid". This signal is used to determine whether the current wheel angle is valid. The wheel angle calibration status includes two states: "calibrated" and "uncalibrated". This signal is used to determine whether the wheel angle is calibrated. Whether the wheel angle is calibrated depends mainly on the vehicle manufacturer's design specifications and whether the vehicle needs to undergo four-wheel alignment during use to adjust these angles to confirm whether the wheels are normal.

[0067] The kingpin steering fault status includes two states: "faulty" and "no fault". This signal is used to determine whether there is a fault in the kingpin steering.

[0068] In step S300, the system takes the angle control status of the vehicle controller, the target angle of the vehicle controller, the vehicle speed signal, the current wheel angle status, the wheel angle calibration status, and the kingpin steering fault status combination as inputs, and outputs the "kingpin steering response mode status" through state machine jump to realize the response mode switching. The kingpin steering response mode status includes the above-mentioned available mode, active mode, and disabled mode.

[0069] like Figure 3 As shown, the specific switching control of the kingpin steering response mode in this embodiment of the invention is as follows:

[0070] To switch from disabled mode to enabled mode, the first combination of the following input conditions must be met;

[0071] The first combination of conditions includes the current wheel angle state being valid, the wheel angle calibration state being calibrated, the vehicle speed signal being valid, and the kingpin steering fault state being fault-free.

[0072] If any of the first combination of conditions above is not met, then switch from the available mode to the disabled mode, or switch from the active mode to the disabled mode.

[0073] Determine whether the following first combination of conditions is met. If all conditions are met, switch from the disabled mode to the available mode; otherwise, switch from the available mode to the disabled mode, or switch from the active mode to the disabled mode.

[0074] In this setting, the disabled mode cannot be directly switched to the active mode. It can be understood that the disabled mode needs to go through the available mode before it can be switched to the active mode.

[0075] To switch from available mode to active mode, the second combination of the following input conditions must be met;

[0076] The second set of conditions includes the vehicle controller's angle control state being in a controllable mode and the vehicle controller's target angle being a valid value.

[0077] If any of the conditions in the second combination above are not met, the system will switch from active mode to available mode.

[0078] The control method of the present invention realizes the switching of the response mode of the kingpin steering. It can determine whether there is a fault in the vehicle or the kingpin steering based on the signal status of the vehicle and the kingpin steering system, and switch the response mode of the target angle of the vehicle controller according to preset conditions.

[0079] like Figure 3 As shown in the figure, this embodiment of the invention also provides a kingpin steering response mode switching control device, including: a setting module, a judgment module and a switching control module.

[0080] The setting module is used to set three response modes based on the execution status of the target angle request from the vehicle controller in response to the kingpin steering response. The three response modes are available mode, active mode and disabled mode.

[0081] The judgment module of this invention is used to determine the switching conditions between three response modes based on the internal signals of the vehicle and the kingpin steering system. The judgment module is connected to the vehicle controller and various sensors in the kingpin steering system to obtain signals such as the angle control status of the vehicle controller, the target angle of the vehicle controller, the vehicle speed signal, the current wheel angle status, the wheel angle calibration status, and the kingpin steering fault status. The signals are then combined to serve as the judgment conditions.

[0082] The switching control module is used to switch the response mode according to the judgment conditions. The specific switching control refers to the above principle.

[0083] According to a third aspect of the present invention, a vehicle includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the aforementioned kingpin steering response mode switching control method.

[0084] According to a fourth aspect of the present invention, a computer-readable storage medium is characterized in that the computer-readable storage medium stores computer-executable instructions, the computer-executable instructions being used to cause a computer to execute the aforementioned kingpin steering response mode switching control method.

[0085] This invention also provides a vehicle, including a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the aforementioned kingpin steering response mode switching control method.

[0086] The processor can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0087] The memory can be implemented in the form of read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory and is called and executed by the processor.

[0088] The vehicle also includes the aforementioned kingpin steering response mode switching control device. Specifically, the vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. The vehicle can also be a commercial vehicle, such as a van, bus, small truck, or large semi-trailer. The vehicle can be a gasoline-powered vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0089] According to an embodiment of the present invention, a computer-readable storage medium is stored thereon, which, when executed by a processor, implements the above-described kingpin steering response mode switching control method.

[0090] The computer-readable storage medium of this invention can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0091] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0092] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0093] It is understood that the contents of the above-described kingpin steering response mode switching control device embodiments are all applicable to this vehicle embodiment. The specific functions implemented in this vehicle embodiment are the same as those in the above-described kingpin steering response mode switching control device embodiments, and the beneficial effects achieved are also the same as those achieved in the above-described kingpin steering response mode switching control device embodiments.

[0094] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0095] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0096] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A method for switching kingpin steering response modes, characterized in that, include: Step S100: Set three response modes according to the state of the kingpin steering response to the vehicle steering demand. The three response modes are divided into an available mode waiting for response, an active mode responding immediately, and a disabled mode stopping response. This step includes: setting the three response modes by the execution state of the kingpin steering response to the vehicle controller target angle request. The execution state of the available mode is waiting for the vehicle controller target angle request, the execution state of the active mode is responding immediately to the vehicle controller target angle request, and the execution state of the disabled mode is stopping the response to the vehicle controller target angle request. Step S200: Based on the internal signals of the vehicle and the kingpin steering, determine the judgment conditions for switching between the three response modes. This step includes: forming a signal combination condition based on the angle control state of the vehicle controller, the target angle controlled by the vehicle controller, the vehicle speed signal, the current wheel angle state, the wheel angle calibration state, and the kingpin steering fault state as the judgment conditions. Step S300: Switch the response mode according to the judgment conditions. This step includes: judging whether the following first combination conditions are all satisfied. If all conditions are satisfied, switch from the disabled mode to the available mode; otherwise, switch from the available mode to the disabled mode, or switch from the active mode to the disabled mode. The first combination condition is: The current wheel angle state is valid; The wheel angle is in a calibrated state. The vehicle speed signal is a valid value; The kingpin steering fault status is a fault-free status; Determine whether the following second combination of conditions are all satisfied. If all conditions are satisfied, switch the available mode to the active mode; otherwise, switch the active mode to the available mode. The second combination condition is: The angle control state of the vehicle controller is a controllable mode. The vehicle controller controls the target angle to be an effective value.

2. The kingpin steering response mode switching control method according to claim 1, characterized in that: The judgment conditions for switching between the three response modes based on the internal signals of the whole vehicle and the kingpin steering include: The disabled mode cannot be directly switched to the activated mode.

3. The kingpin steering response mode switching control method according to claim 1, characterized in that: The judgment condition for switching between the three response modes based on the internal signals of the whole vehicle and the kingpin steering also includes: Set the vehicle speed range for the effective value of the vehicle speed signal.

4. The kingpin steering response mode switching control method according to claim 1, characterized in that: The judgment conditions for switching between the three response modes based on the internal signals of the whole vehicle and the kingpin steering include: The effective angle range of the target angle controlled by the vehicle controller is set.

5. The kingpin steering response mode switching control method according to claim 1, characterized in that: The judgment conditions for switching between the three response modes based on the internal signals of the whole vehicle and the kingpin steering include: The current wheel angle status and wheel angle calibration status are detected by using the TAS sensor.

6. A kingpin steering response mode switching control device, applicable to the kingpin steering response mode switching control method as described in any one of claims 1 to 5, characterized in that, include: The setting module is used to set three response modes according to the state of the kingpin steering response to the vehicle's steering needs. The three response modes are: available mode for waiting for response, active mode for immediate response, and disabled mode for stopping response. The judgment module is used to determine the switching conditions between the three response modes based on the internal signals of the whole vehicle and the kingpin steering. A switching control module is used to switch the response mode according to the judgment conditions.

7. A vehicle, characterized in that, It includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the kingpin steering response mode switching control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the kingpin steering response mode switching control method as described in any one of claims 1 to 5.

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