Front wheel steering control method, vehicle control system, electronic equipment and medium

Abstract

The invention discloses a front wheel steering control method, a vehicle control system, electronic equipment and a medium. Comprising the steps that fault detection is conducted on multiple components in a steering system of a target vehicle, and the steering driving state of the target vehicle is determined based on fault detection results of the multiple components in the steering system; under the condition that the target vehicle is in the non-emergency driving state, a control instruction for a hydraulic pump station is generated based on pressure data of the hydraulic pump station in the steering system; based on the driving speed, the angle data and driving modes, a compensation torque control instruction is determined, and the driving modes comprise the intelligent driving mode and the manual driving mode; and the control instruction and the compensation torque control instruction are transmitted to a hydraulic pump station and an anti-explosion steering motor tubular column assembly of a steering system correspondingly, so that the anti-explosion steering motor tubular column assembly and the hydraulic pump station cooperatively control front wheel steering of the target vehicle. According to the scheme, the compensation torque can be determined in different driving modes, so that the front wheel steering control can be quickly responded.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a front wheel steering control method, a vehicle control system, an electronic device and a medium. Background Art

[0002] The application of explosion-proof auxiliary heavy-load wire-controlled vehicles for mining is crucial in the underground environment of coal mines. In underground operation scenarios, the steering force required for the front wheel steering of explosion-proof auxiliary heavy-load vehicles for mining is relatively large. Generally, a full hydraulic steering system is used to achieve hydraulic power assistance. Manned driving control is achieved through a steering wheel and an open-center hydraulic steering gear to achieve manned front wheel steering. A hydraulic explosion-proof solenoid valve is generally used to achieve wire-controlled steering.

[0003] The existing explosion-proof auxiliary heavy-duty vehicles for underground coal mines basically adopt full hydraulic power steering. After the subsequent intelligent upgrade of the vehicle, the pure hydraulic wire-controlled steering response has hysteresis and low steering system accuracy, which cannot meet the steering performance requirements of intelligent driving control. Summary of the invention

[0004] The present invention provides a front-wheel steering control method, a vehicle control system, an electronic device and a medium to solve the problems existing in the prior art of front-wheel steering response hysteresis, low steering accuracy and failure to meet the steering performance requirements of intelligent driving control.

[0005] According to one aspect of the present invention, a front wheel steering control method is provided, which is applied to a mining explosion-proof auxiliary transport heavy-load wire-controlled vehicle, comprising:

[0006] Performing fault detection on multiple components in the steering system of the target vehicle, and determining a steering driving state of the target vehicle based on the fault detection results of the multiple components in the steering system, wherein the steering driving state includes an emergency driving state and a non-emergency driving state;

[0007] When the target vehicle is in a non-emergency driving state, pressure data of a hydraulic pump station in a steering system is obtained, and a control instruction for the hydraulic pump station is generated based on the pressure data; and, a driving speed, angle data and a driving mode of the target vehicle are obtained, and a compensation torque control instruction is determined based on the driving speed, angle data and the driving mode, wherein the driving mode of the target vehicle includes an intelligent driving mode and a manual driving mode;

[0008] The control command is transmitted to the hydraulic pump station so that the hydraulic pump station controls the front wheel steering of the target vehicle, and the compensation torque control command is transmitted to the explosion-proof steering motor column assembly of the steering system so that the explosion-proof steering motor column assembly controls the front wheel steering of the target vehicle; wherein, the explosion-proof steering motor column assembly and the hydraulic pump station cooperate to control the front wheel steering of the target vehicle.

[0009] Optionally, fault detection is performed on multiple components in the steering system of the target vehicle, and the steering driving state of the target vehicle is determined based on the fault detection results of the multiple components in the steering system, including: receiving detection data uploaded by detection devices corresponding to the multiple components, wherein the multiple components include a hydraulic pump station and a drive axle assembly, the detection equipment includes an intrinsically safe pressure sensor provided on the hydraulic pump station and an intrinsically safe angle sensor provided on the drive axle assembly, and the detection data includes angle data and pressure data; performing abnormality judgment on the detection data, and determining that the fault detection result is a fault presence when the pressure data in the detection data does not satisfy the corresponding preset safety threshold, or when the pressure data and angle data in the detection data do not satisfy the corresponding preset safety threshold; determining that the fault detection result is no fault presence when the pressure data in the detection data satisfies the corresponding preset safety threshold; when the fault detection result is a fault presence, determining that the steering driving state of the target vehicle is an emergency driving state; when the fault detection result is no fault presence, determining that the steering driving state of the target vehicle is a non-emergency driving state.

[0010] Optionally, determining a compensation torque control instruction based on the driving speed, angle data and driving mode includes: determining a mapping relationship corresponding to the driving mode, wherein the intelligent driving mode and the manual driving mode correspond to different mapping relationships, and the mapping relationship characterizes the correspondence between the driving speed, angle and compensation torque under the driving mode; determining compensation torque data matching the driving speed and angle data based on the driving speed, angle data and the mapping relationship, and generating a compensation torque control instruction based on the compensation torque data.

[0011] Optionally, the mapping relationship corresponding to the manual driving mode includes the corresponding relationship between steering wheel torque, driving speed, angle and compensation torque; the method also includes: when the driving mode is the manual driving mode, obtaining steering wheel torque data, driving speed and angle data, matching the steering wheel torque data, driving speed and angle data with the mapping relationship corresponding to the manual driving mode, determining the compensation torque data that matches the torque data, driving speed and angle data in the manual driving mode, and generating a compensation torque control instruction based on the compensation torque data.

[0012] Optionally, after obtaining the target vehicle's driving speed, angle data and driving mode, the method also includes: determining whether the angle data is greater than a preset angle threshold, and generating an active return control instruction based on the angle data when it is determined that the angle data is greater than the preset angle threshold; transmitting the active return control instruction to the explosion-proof steering motor column assembly of the steering system, so that the explosion-proof steering motor column assembly controls the front wheels of the target vehicle to perform active return.

[0013] Optionally, the method further includes: when the steering driving state is an emergency driving state, generating a shutdown instruction, and controlling the target vehicle to shut down based on the shutdown instruction.

[0014] Optionally, the method also includes: when an abnormality is detected in the pressure data and / or angle data, transmitting the corresponding abnormal data to the vehicle-mounted intrinsically safe display screen, and controlling the vehicle-mounted intrinsically safe display screen to display the abnormal data; and / or, generating corresponding abnormal prompt information based on the abnormal data, and issuing an early warning prompt for the abnormal prompt information through a preset early warning prompt method.

[0015] According to another aspect of the present invention, a vehicle control system is provided, including a vehicle controller, a hydraulic pump station, an explosion-proof steering motor column assembly, a drive axle assembly, an intrinsically safe angle sensor, and an intrinsically safe pressure sensor. The vehicle controller respectively transmits data with the hydraulic pump station, the explosion-proof steering motor column assembly, the drive axle assembly, the intrinsically safe angle sensor, and the intrinsically safe pressure sensor through a controller area network bus; wherein,

[0016] The intrinsically safe angle sensor is installed on the drive axle assembly to collect the angle data of the drive axle assembly and transmit the angle data to the vehicle controller;

[0017] Intrinsically safe pressure sensor, installed on the hydraulic pump station, is used to collect pressure data of the hydraulic pump station and transmit the pressure data to the vehicle controller;

[0018] The vehicle controller is used to receive the angle data and the pressure data, determine the steering driving state of the target vehicle based on the pressure data and the angle data; generate a control instruction to the hydraulic pump station based on the pressure data when the steering driving state is a non-emergency driving state; and obtain the driving mode and driving speed of the target vehicle, determine the compensation torque control instruction based on the driving speed, the angle data and the driving mode; transmit the control instruction and the compensation torque control instruction to the hydraulic pump station and the explosion-proof steering motor column assembly respectively;

[0019] A hydraulic pump station, used to respond to control commands and control the front wheel steering of the target vehicle;

[0020] The explosion-proof steering motor column assembly is used to respond to the compensation torque control instruction and cooperate with the hydraulic pump station to control the front wheel steering of the target vehicle, wherein the explosion-proof steering motor column assembly is mechanically connected to the drive axle assembly, and the drive axle assembly is used to receive the torque transmitted by the explosion-proof steering motor column assembly.

[0021] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0022] at least one processor; and

[0023] a memory communicatively connected to at least one processor; wherein,

[0024] The memory stores a computer program that can be executed by at least one processor. The computer program is executed by at least one processor so that the at least one processor can execute the front wheel steering control method of any embodiment of the present invention.

[0025] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the front wheel steering control method of any embodiment of the present invention when executed.

[0026] The technical solution of the embodiment of the present invention performs fault detection on multiple components in the steering system of the target vehicle, and determines the steering driving state of the target vehicle based on the fault detection results of the multiple components in the steering system, wherein the steering driving state includes an emergency driving state and a non-emergency driving state; when the target vehicle is in a non-emergency driving state, obtains pressure data of a hydraulic pump station in the steering system, and generates control instructions to the hydraulic pump station based on the pressure data; and obtains the driving speed, angle data and driving mode of the target vehicle, and determines a compensation torque control instruction based on the driving speed, angle data and driving mode, wherein the driving mode of the target vehicle includes an intelligent driving mode and a manual driving mode; transmits the control instruction to the hydraulic pump station so that the hydraulic pump station controls the target vehicle The invention relates to a vehicle's front wheel steering, and transmitting the compensation torque control instruction to the explosion-proof steering motor column assembly of the steering system so that the explosion-proof steering motor column assembly controls the front wheel steering of the target vehicle; wherein, the explosion-proof steering motor column assembly and the hydraulic pump station cooperate to control the front wheel steering of the target vehicle, and realize the determination of the compensation torque data of the explosion-proof steering motor column assembly under different driving modes, so as to control the explosion-proof steering motor column assembly to cooperate with the hydraulic pump station to control the front wheel steering of the target vehicle, solves the problem of the front wheel steering response hysteresis and low steering accuracy in the existing mining explosion-proof auxiliary heavy-load wire-controlled vehicles, improves the response speed and steering accuracy of the front wheel steering control, and also realizes the front wheel steering control in the intelligent driving mode, which can meet the steering performance requirements of the intelligent driving control.

[0027] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 is a flow chart of a front wheel steering control method provided by Embodiment 1 of the present invention;

[0030] Figure 2 is a flow chart of a front wheel steering control method provided by Embodiment 2 of the present invention;

[0031] Figure 3 is a structural schematic diagram of a vehicle control system provided by Embodiment 3 of the present invention;

[0032] Figure 4 It is a structural schematic diagram of an electronic device for implementing the front wheel steering control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] It should be noted that compared with the existing explosion-proof auxiliary transport heavy-load wire-controlled vehicles for mining, this solution adopts a combination of electromechanical and hydraulic methods such as steering wheel, explosion-proof steering motor column assembly, steering drive shaft, recirculating ball steering gear, steering tie rod assembly, drive axle assembly, vehicle controller, intrinsically safe angle sensor, intrinsically safe pressure sensor, on-board intrinsically safe display screen and hydraulic pump station to realize the steering system of the explosion-proof auxiliary transport heavy-load wire-controlled vehicles for mining. Specifically, the vehicle steering wheel is mechanically connected to the explosion-proof steering motor column assembly through a spline, the explosion-proof steering motor column assembly is fixed in the cab, the explosion-proof steering motor column assembly is mechanically connected to the steering drive shaft and the recirculating ball steering gear assembly through a universal joint, and the recirculating ball steering gear assembly is mechanically connected to the drive axle assembly through a steering tie rod assembly; the hydraulic pump station is connected to the recirculating ball steering gear through a hydraulic pipeline, the intrinsically safe angle sensor is installed on the drive axle assembly, and the intrinsically safe pressure sensor is installed on the hydraulic pump station; the vehicle controller, the on-board display, the intrinsically safe angle sensor, the intrinsically safe pressure sensor, the hydraulic pump station, etc. transmit information through the controller local area network bus. The front wheel steering is controlled by the explosion-proof steering motor column assembly and the hydraulic pump station. When the hydraulic pump station is working normally, the explosion-proof steering motor column assembly provides steering assistance. The explosion-proof steering motor column assembly can also realize the active return capability of the steering wheel of the front wheel steering, improve the control response speed of the front wheel steering, and realize the intelligent control process of the front wheel steering. The mechanical connection between the steering wheel and the front wheel steering mechanism effectively solves the problem of the vehicle being damaged and needing to be towed, ensuring that the vehicle has the ability to turn the steering wheel in an emergency.

[0036] Embodiment 1

[0037] Figure 1 This is a flow chart of a front wheel steering control method provided by the first embodiment of the present invention. This embodiment is applicable to the front wheel steering control of a vehicle. The method can be executed by a vehicle control system. The vehicle control system can be implemented in the form of hardware and / or software. The vehicle control system can be configured in electronic devices such as a controller and an onboard computer. Figure 1 As shown, the method includes:

[0038] S110, performing fault detection on multiple components in the steering system of the target vehicle, and determining a steering driving state of the target vehicle based on the fault detection results of the multiple components in the steering system, wherein the steering driving state includes an emergency driving state and a non-emergency driving state.

[0039] Among them, the target vehicle can be specifically understood as a vehicle that needs to perform front wheel steering control. For example, the target vehicle can be an explosion-proof auxiliary heavy-load wire-controlled vehicle for mining. The steering system specifically refers to a system composed of multiple components, sensors, controllers and other equipment for realizing the front wheel steering of the vehicle. The components in the steering system include but are not limited to a steering wheel, an explosion-proof steering motor column assembly, a drive axle assembly, a vehicle controller, an intrinsically safe angle sensor, an intrinsically safe pressure sensor, an on-board intrinsically safe display screen and a hydraulic pump station. The fault detection result can be specifically understood as data that characterizes whether there is a fault in the steering system. The fault detection result can be obtained by performing fault detection on multiple components in the steering system. The multiple components can be pre-specified components according to the detection requirements. For example, the multiple components in the steering system can include a drive axle assembly and a hydraulic pump station. The steering driving state can be specifically understood as the driving state that characterizes the target vehicle during the steering process or when it is about to enter a steering process. It should be noted that different steering driving states correspond to different steering control methods, and corresponding steering control methods can be set in advance for different driving states. When the steering driving state of the target vehicle is determined, the corresponding steering control method can be directly called, wherein the steering driving state includes an emergency driving state and a non-emergency driving state.

[0040] Specifically, multiple components in the steering system of the target vehicle can be detected for faults by real-time detection or timed detection, so as to timely understand whether the steering system of the target vehicle has faults and make corresponding emergency treatment of faults in time, which is helpful to improve the safety of the operation of the target vehicle. By installing corresponding detection equipment on multiple components in the steering system to obtain the operation data of each component, judging whether the corresponding component is abnormal based on the detected operation data, obtaining the abnormal judgment results of each component, determining the fault state of the steering system according to the abnormal judgment results of each component, and then determining the steering driving state of the target vehicle, wherein the steering driving state includes an emergency driving state and a non-emergency driving state. Exemplarily, it can be set that if the abnormal judgment results of each component are all abnormal, then the steering driving state of the target vehicle is judged to be an emergency steering state; it can also be set that if the abnormal judgment result of a specified component among multiple components is abnormal, then the steering driving state of the target vehicle is judged to be an emergency steering state, which can be set according to actual driving needs.

[0041] Optionally, fault detection is performed on multiple components in the steering system of the target vehicle, and the steering driving state of the target vehicle is determined based on the fault detection results of the multiple components in the steering system, including: receiving detection data uploaded by detection devices corresponding to the multiple components, wherein the multiple components include a hydraulic pump station and a drive axle assembly, the detection equipment includes an intrinsically safe pressure sensor provided on the hydraulic pump station and an intrinsically safe angle sensor provided on the drive axle assembly, and the detection data includes angle data and pressure data; performing abnormality judgment on the detection data, and determining that the fault detection result is a fault presence when the pressure data in the detection data does not satisfy the corresponding preset safety threshold, or when the pressure data and angle data in the detection data do not satisfy the corresponding preset safety threshold; determining that the fault detection result is no fault presence when the pressure data in the detection data satisfies the corresponding preset safety threshold; when the fault detection result is a fault presence, determining that the steering driving state of the target vehicle is an emergency driving state; when the fault detection result is no fault presence, determining that the steering driving state of the target vehicle is a non-emergency driving state.

[0042] Among them, the hydraulic pump station is connected to the circulating ball steering gear through a hydraulic pipeline. During the steering control process, the vehicle controller provides a hydraulic power source to the circulating ball steering gear after regulating the speed of the hydraulic pump station to output stably. The circulating ball in the circulating ball steering gear plays the role of transmitting hydraulic pressure. The circulating ball transmits the hydraulic pressure to the output end of the steering gear through contact with the steering valve, thereby realizing the control of the front wheel steering action. The pressure output of the hydraulic pump station is too high or too low, which will cause problems that are not conducive to safe driving. The pressure data of the hydraulic pump station can be collected by installing the pressure sensor of this case on the hydraulic pump station to determine whether there is a fault in the hydraulic pump station. In addition, the angle data corresponding to the drive axle assembly is too large, which will also affect the control accuracy of the front wheel steering. Therefore, it is necessary to detect the angle data corresponding to the drive axle assembly in real time to ensure the safety of the front wheel steering. The intrinsically safe angle sensor can be installed on the drive column assembly to collect the angle data corresponding to the drive axle assembly to determine whether there is an abnormality in the angle data of the drive axle assembly.

[0043] Specifically, parameter information of each component is collected by sensor equipment installed on the component to obtain detection data of each component. Specifically, pressure data is collected by an intrinsically safe pressure sensor installed on the hydraulic pump station, and angle data is collected by an intrinsically safe angle sensor installed on the drive axle assembly. That is, the detection data includes angle data and pressure data. The collected angle data and pressure data are transmitted to the target controller through the controller local area network bus. Exemplarily, the target controller can be a vehicle controller. After the target controller receives the completed angle data and pressure data, it makes an abnormal judgment on the detection data, compares the detection data with the corresponding preset safety threshold, determines whether each component has a fault according to the comparison result, and specifically judges whether the pressure data in the detection data meets the preset safety threshold corresponding to the pressure parameter. In the case where the pressure data in the detection data does not meet the corresponding preset safety threshold, it can be determined that the fault detection result is a fault; or, judge whether the pressure data in the detection data meets the preset safety threshold corresponding to the pressure parameter and judge whether the angle data in the detection data meets the preset safety threshold corresponding to the angle parameter. If the pressure data in the detection data does not meet the corresponding preset safety threshold, and the angle data in the detection data does not meet the corresponding preset safety threshold, it can be determined that the fault detection result is a fault; in the case where the pressure data in the detection data meets the corresponding preset safety threshold, it can be determined that the fault detection result is no fault. After determining the fault detection result, the steering driving state of the target vehicle is determined based on the detection result, that is, in the case where the fault detection result is a fault, the steering driving state of the target vehicle is determined to be an emergency driving state; in the case where the fault detection result is no fault, the steering driving state of the target vehicle is determined to be a non-emergency driving state.

[0044] In this embodiment, by performing fault detection on multiple components in the steering system of the target vehicle and then determining the steering driving state of the target vehicle based on the fault detection results, it is possible to accurately and quickly determine the steering driving state of the target vehicle, and then determine the corresponding steering control strategy according to different steering driving states, which helps to improve the accuracy, rapidity and safety of the front wheel steering control of the target vehicle.

[0045] S120. When the target vehicle is in a non-emergency driving state, obtain pressure data of the hydraulic pump station in the steering system, and generate control instructions for the hydraulic pump station based on the pressure data; and obtain the driving speed, angle data and driving mode of the target vehicle, and determine the compensation torque control instructions based on the driving speed, angle data and driving mode, wherein the driving mode of the target vehicle includes an intelligent driving mode and a manual driving mode.

[0046] Among them, the hydraulic pump station regulates the motor frequency of the hydraulic pump station through the vehicle controller, controls the pressure and flow output by the hydraulic pump station according to the motor frequency, so as to control the hydraulic power source transmitted to the circulating ball steering gear, and the steering gear drives the front wheel to steer. Different pressure data corresponds to different frequency data, and the mapping relationship between pressure data and frequency data can be pre-calibrated. When the pressure data of the hydraulic pump station is obtained, the preset mapping relationship can be directly called to determine the frequency data matching the pressure data. The control instruction of the hydraulic pump station can be specifically understood as an instruction for controlling the output parameters of the hydraulic pump station to accurately control the power source data transmitted to the circulating ball steering gear to meet the requirements of front wheel steering. The compensation torque control instruction can be specifically understood as the torque data required for controlling the coordinated hydraulic pump station to complete the front wheel steering. The compensation torque data matching the driving speed, angle data and driving mode of the target vehicle can be determined through the pre-calibrated mapping relationship. It should be noted that in the manual driving mode, the torque data generated by the manual twisting of the steering wheel will be generated. In the intelligent driving mode, the torque data generated by the steering wheel does not need to be considered. Therefore, in different driving modes, the mapping relationship required to determine the compensation torque control instruction is different.

[0047] Specifically, when it is determined that the target vehicle is in a non-emergency driving state, the pressure data of the hydraulic pump station in the steering system is obtained, the mapping relationship table corresponding to the pre-calibrated pressure data is called, the frequency data matching the pressure data is determined from the mapping relationship, the corresponding control instruction is generated according to the frequency data, and the control instruction for the hydraulic pump station is obtained. Also, the driving speed of the vehicle is obtained, the pressure data transmitted by the intrinsically safe pressure sensor is received, the driving mode parameter data is read, the current driving mode of the target vehicle is determined, and the driving mode can be a manual driving mode or an intelligent driving mode. The compensation torque data determination algorithm is called, and the matching compensation torque data is determined according to the acquired driving speed, angle data and driving mode of the target vehicle. Exemplarily, the mapping relationship between the three parameters of the pre-calibrated driving speed, angle data and driving mode and the compensation torque data is called, and the determined driving speed, angle data and driving mode are matched with the mapping relationship to obtain the compensation torque data matching the determined driving speed, angle data and driving mode.

[0048] Optionally, after obtaining the target vehicle's driving speed, angle data and driving mode, the method also includes: determining whether the angle data is greater than a preset angle threshold, and generating an active return control instruction based on the angle data when it is determined that the angle data is greater than the preset angle threshold; transmitting the active return control instruction to the explosion-proof steering motor column assembly of the steering system, so that the explosion-proof steering motor column assembly controls the front wheels of the target vehicle to perform active return.

[0049] The preset angle threshold can be specifically understood as a threshold set for determining whether the front wheels of the target vehicle need to be actively returned to the center. It can be dynamically set according to actual needs. For example, the corresponding preset angle threshold can be set in real time according to the target angle value of the front wheel steering; the corresponding preset angle threshold can also be set according to safety requirements. The active return control instruction specifically refers to an instruction for controlling the front wheel steering system to actively return to the center. The active return control instruction includes the torque data required to achieve the purpose of active return of the front wheels. Different angle data correspond to different torque data required for active return of the front wheels.

[0050] Specifically, after obtaining the driving speed, angle data and driving mode of the target vehicle, the obtained angle data is compared with the preset angle threshold. When it is determined that the angle data is greater than the preset angle threshold, the corresponding torque data is determined according to the angle data, and an active return control instruction is generated according to the torque data. During the active return process, the explosion-proof steering motor column assembly acts as an actuator and needs to transmit the active return control instruction to the explosion-proof steering motor column assembly of the steering system, so that the explosion-proof steering motor column assembly controls the front wheels of the target vehicle to perform active return according to the return control instruction.

[0051] In this embodiment, by judging the real-time detected angle data and determining whether to generate an active return control instruction based on the judgment result, it is possible to quickly and automatically generate a corresponding active return control instruction based on the angle data, which is used to control the active return of the front wheels, avoid safety driving problems caused by excessive angle data, and improve the safety and intelligence of the front wheel steering.

[0052] S130, transmitting a control instruction to a hydraulic pump station so that the hydraulic pump station controls the front wheel steering of a target vehicle, and transmitting a compensation torque control instruction to an explosion-proof steering motor column assembly of a steering system so that the explosion-proof steering motor column assembly controls the front wheel steering of the target vehicle; wherein the explosion-proof steering motor column assembly and the hydraulic pump station cooperate to control the front wheel steering of the target vehicle.

[0053] It should be noted that the vehicle steering wheel is mechanically connected to the explosion-proof steering motor column assembly through a spline, the explosion-proof steering motor column assembly is fixed in the cab, the explosion-proof steering motor column assembly is mechanically connected to the steering drive shaft and the recirculating ball steering gear assembly through a universal joint, the explosion-proof steering motor column assembly transmits the torque transmitted by the steering wheel and / or the torque generated according to the compensating torque control command issued by the vehicle control to the steering gear to control the front wheel steering of the target vehicle, the explosion-proof steering motor column assembly can also transmit the force and impact exerted on the front wheels of the target vehicle back to the steering wheel, in the manual driving mode, the driver can perceive the road conditions and take corresponding operations on the vehicle, thereby improving the driver's driving feel during driving.

[0054] Specifically, when the control instruction and the compensation torque control instruction are determined, the control instruction is transmitted to the hydraulic pump station, and the hydraulic pump station controls the output pressure and flow according to the received control instruction, controls the steering force transmitted to the front wheel, and realizes the coordinated work with the explosion-proof steering motor column assembly to complete the front wheel steering control of the target vehicle. And, the compensation torque control instruction is transmitted to the explosion-proof steering motor column assembly of the steering system, so that the explosion-proof steering motor column assembly transmits the torque generated according to the compensation torque control instruction to the steering gear, so as to complete the coordinated work with the hydraulic pump station front wheel control and realize the front wheel steering control of the target vehicle. Preferably, in the control process of the front wheel steering, the hydraulic pump station is the main power source for the front wheel steering, and the explosion-proof steering motor column assembly realizes speed-dependent power steering, and provides steering assistance according to the compensation torque control instruction, so that the front wheels of the target vehicle can quickly reach the target steering angle, so as to quickly complete the front wheel steering of the target vehicle.

[0055] In this embodiment, the control function of front wheel steering is achieved by using a hydraulic pump station and an explosion-proof steering motor column assembly to assist in coordination. The explosion-proof steering motor column assembly provides steering assistance for the hydraulic pump station. The hydraulic pump station is mainly used to overcome the front wheel steering resistance torque. The explosion-proof steering motor column assembly realizes power steering in different driving modes based on the compensation torque.

[0056] Based on the above embodiment, the method further includes: when the steering driving state is an emergency driving state, generating a shutdown instruction, and controlling the target vehicle to stop based on the shutdown instruction.

[0057] Specifically, when the steering driving state is determined to be the emergency driving state, it can be determined that there is a fault in the hydraulic pump station. In this case, in order to avoid the overload problem of the explosion-proof steering motor column assembly due to the fault of the hydraulic pump station, the motor in the explosion-proof steering motor column assembly is controlled to stop working. Considering the complex environment of underground operations, a shutdown command can also be directly generated to control the target vehicle to shut down, avoiding equipment damage and safety problems caused by operation in the presence of a fault.

[0058] On the basis of the above embodiments, the method also includes: when an abnormality is detected in the pressure data and / or angle data, the corresponding abnormal data is transmitted to the vehicle-mounted intrinsically safe display screen, and the vehicle-mounted intrinsically safe display screen is controlled to display the abnormal data; and / or, corresponding abnormal prompt information is generated based on the abnormal data, and the abnormal prompt information is warned through a preset warning prompt method.

[0059] Specifically, a vehicle-mounted intrinsically safe display screen can be installed on the target vehicle, and the driver can be reminded in the manual driving mode to pay attention to the abnormal problems in the steering system of the target vehicle in time, so that the driver can control the target vehicle to perform the fault handling operation corresponding to the abnormal problem to solve the corresponding abnormal problem and avoid causing a safety accident. For the judgment of abnormal problems, the sensor installed on the designated component collects the detection data, and the detection data includes pressure data and angle data. The pressure data and the angle data are respectively compared with the corresponding preset safety thresholds to determine whether there is data that does not meet the preset safety threshold. When it is detected that one or more of the pressure data and the angle data do not meet the corresponding preset safety threshold, the corresponding abnormal data is displayed on the vehicle-mounted intrinsically safe display screen. Alternatively, the corresponding abnormal prompt information is generated according to the abnormal data according to the preset abnormal information prompt template, and the abnormal prompt information is warned through the preset warning prompt method, wherein the preset warning prompt method includes but is not limited to the broadcast method, the email reminder method, the SMS reminder method and the vehicle-mounted intrinsically safe display screen displaying the abnormal prompt information. It is also possible to use two methods at the same time to remind of abnormal data, namely, display the abnormal data on the vehicle-mounted intrinsically safe display screen, generate abnormal prompt information corresponding to the abnormal data, and issue an early warning prompt for the abnormal prompt information through a preset early warning prompt method to ensure that relevant staff can obtain the abnormal prompt information in time.

[0060] In this embodiment, by making an abnormality judgment on the detected pressure data and angle data, it is helpful to promptly determine whether there is an abnormality in the steering system. When an abnormality is detected, the abnormal information can be displayed and corresponding abnormal prompt information can be generated, so that relevant personnel can quickly grasp the abnormal problems of the steering system and improve the safety of the steering control process.

[0061] The technical solution of this embodiment is to perform fault detection on multiple components in the steering system of the target vehicle, determine the steering driving state of the target vehicle based on the fault detection results of the multiple components in the steering system, wherein the steering driving state includes an emergency driving state and a non-emergency driving state; when the target vehicle is in a non-emergency driving state, obtain the pressure data of the hydraulic pump station in the steering system, and generate a control instruction to the hydraulic pump station based on the pressure data; and obtain the driving speed, angle data and driving mode of the target vehicle, and determine the compensation torque control instruction based on the driving speed, angle data and driving mode, wherein the driving mode of the target vehicle includes an intelligent driving mode and a manual driving mode; transmit the control instruction to the hydraulic pump station so that the hydraulic pump station controls the target vehicle. Front-wheel steering, and transmitting the compensation torque control command to the explosion-proof steering motor column assembly of the steering system, so that the explosion-proof steering motor column assembly controls the front-wheel steering of the target vehicle; wherein, the explosion-proof steering motor column assembly and the hydraulic pump station cooperate to control the front-wheel steering of the target vehicle, and realize the determination of the compensation torque data of the explosion-proof steering motor column assembly under different driving modes, so as to control the explosion-proof steering motor column assembly to cooperate with the hydraulic pump station to control the front-wheel steering of the target vehicle, solve the problems of delayed front-wheel steering response and low steering accuracy in the existing explosion-proof auxiliary heavy-load wire-controlled vehicles for mining, improve the response speed and steering accuracy of the front-wheel steering control, and also realize the front-wheel steering control in the intelligent driving mode, which can meet the steering performance requirements of the intelligent driving control.

[0062] Embodiment 2

[0063] Figure 2 This is a flow chart of a front wheel steering control method provided by the second embodiment of the present invention. This embodiment is a further optimization of the method of the above embodiment. Optionally, a mapping relationship corresponding to the driving mode is determined, wherein the intelligent driving mode and the manual driving mode correspond to different mapping relationships, and the mapping relationship represents the corresponding relationship between the driving speed, angle and compensation torque in the driving mode; based on the driving speed, angle data and the mapping relationship, the compensation torque data matching the driving speed and angle data is determined, and the compensation torque control instruction is generated based on the compensation torque data. Figure 2 As shown, the method includes:

[0064] S210, performing fault detection on multiple components in the steering system of the target vehicle, and determining a steering driving state of the target vehicle based on the fault detection results of the multiple components in the steering system, wherein the steering driving state includes an emergency driving state and a non-emergency driving state.

[0065] S220: When the target vehicle is in a non-emergency driving state, obtain pressure data of a hydraulic pump station in the steering system, and generate a control instruction for the hydraulic pump station based on the pressure data.

[0066] S230: Obtain the driving speed, angle data and driving mode of the target vehicle.

[0067] S240. Determine a mapping relationship corresponding to the driving mode, wherein the intelligent driving mode and the manual driving mode correspond to different mapping relationships, respectively, and the mapping relationship represents a corresponding relationship between a driving speed, an angle, and a compensation torque in the driving mode.

[0068] It should be noted that the driving mode includes manual driving mode and intelligent driving mode. In manual driving mode, the front wheel steering can be controlled by applying steering force on the steering wheel, which will affect the compensation torque data of the explosion-proof steering motor column assembly. In intelligent driving mode, there is no need to consider the steering wheel factor. Therefore, different driving modes correspond to different mapping relationships. The mapping relationship represents the correspondence between driving speed, angle and compensation torque. In different modes, the mapping relationship is different, and the parameter information required to determine the torque data is different. The representation of the mapping relationship can be in the form of a database table or in the form of a relationship curve corresponding to the mapping relationship, which is not limited here.

[0069] Specifically, a corresponding mapping relationship is determined according to the current driving mode of the target vehicle, and corresponding compensation torque data can be determined according to the mapping relationship.

[0070] In this embodiment, corresponding mapping relationships are determined according to different driving modes, which are used to determine compensation torque data that matches the current driving mode, thereby improving the accuracy and applicability of determining the compensation torque data.

[0071] S250 , determining compensation torque data matching the driving speed and the angle data based on the driving speed, the angle data and the mapping relationship, and generating a compensation torque control instruction based on the compensation torque data.

[0072] Specifically, the driving speed of the target vehicle and the angle data collected by the angle sensor installed on the drive axle assembly are obtained, and matching is performed based on the driving speed and the angle data in a mapping relationship to obtain compensation torque data that matches the driving speed and the angle data, and a compensation torque control instruction is generated based on the compensation torque data.

[0073] On the basis of the above embodiments, the mapping relationship corresponding to the manual driving mode includes the corresponding relationship between steering wheel torque, driving speed, angle and compensation torque; the method also includes: when the driving mode is a manual driving mode, obtaining steering wheel torque data, driving speed and angle data, matching the steering wheel torque data, driving speed and angle data with the mapping relationship corresponding to the manual driving mode, determining the compensation torque data that matches the torque data, driving speed and angle data in the manual driving mode, and generating a compensation torque control instruction based on the compensation torque data.

[0074] Specifically, in the manual driving mode, the steering wheel torque generated by the force applied by the driver on the steering wheel is taken into consideration. Therefore, the mapping relationship corresponding to the manual driving mode includes the corresponding relationship between the steering wheel torque, the driving speed, the angle and the compensation torque. In the case where the driving mode is the manual driving mode, in addition to obtaining the driving speed and angle data of the target vehicle, it is also necessary to obtain the steering wheel torque, match the steering wheel torque data, the driving speed and the angle data in the mapping relationship corresponding to the manual driving mode, obtain the compensation torque data matching the torque data, the driving speed and the angle data in the manual driving mode, and generate the compensation torque control instruction according to the obtained compensation torque data.

[0075] S260, transmitting the control command to the hydraulic pump station so that the hydraulic pump station controls the front wheel steering of the target vehicle, and transmitting the compensation torque control command to the explosion-proof steering motor column assembly of the steering system so that the explosion-proof steering motor column assembly controls the front wheel steering of the target vehicle; wherein the explosion-proof steering motor column assembly and the hydraulic pump station cooperate to control the front wheel steering of the target vehicle.

[0076] The technical solution of this embodiment is to perform fault detection on multiple components in the steering system of the target vehicle, determine the steering driving state of the target vehicle based on the fault detection results of the multiple components in the steering system, wherein the steering driving state includes an emergency driving state and a non-emergency driving state; when the target vehicle is in a non-emergency driving state, obtain pressure data of a hydraulic pump station in the steering system, and generate a control instruction to the hydraulic pump station based on the pressure data; obtain the driving speed, angle data and driving mode of the target vehicle; determine a mapping relationship corresponding to the driving mode, wherein the intelligent driving mode and the manual driving mode correspond to different mapping relationships, and the mapping relationship represents the corresponding relationship between the driving speed, angle and compensation torque in the driving mode; determine compensation torque data matching the driving speed and angle data based on the driving speed, angle data and mapping relationship, generate a compensation torque control instruction based on the compensation torque data, transmit the control instruction to the hydraulic pump station, so that the hydraulic pump station controls the front wheel steering of the target vehicle, and transmit the compensation torque control instruction to the explosion-proof steering motor column assembly of the steering system, so that the explosion-proof steering motor column assembly controls the front wheel steering of the target vehicle; wherein the explosion-proof steering motor column assembly and the hydraulic pump station collaboratively control the front wheel steering of the target vehicle. It realizes the determination of the compensation torque data of the explosion-proof steering motor column assembly under different driving modes, so as to control the explosion-proof steering motor column assembly to coordinate with the hydraulic pump station to control the front wheel steering of the target vehicle, solves the problems of delayed front wheel steering response and low steering accuracy in the existing mining explosion-proof auxiliary heavy-load wire-controlled vehicles, improves the response speed and steering accuracy of the front wheel steering control, and also realizes the front wheel steering control under the intelligent driving mode, which can meet the steering performance requirements of the intelligent driving control.

[0077] Embodiment 3

[0078] Figure 3 Schematic diagram of the structure of a vehicle control system provided by Embodiment 3 of the present invention. Figure 3 As shown, the system includes a vehicle controller 310, a hydraulic pump station 320, an explosion-proof steering motor column assembly 330, a drive axle assembly 340, an intrinsically safe angle sensor 350, and an intrinsically safe pressure sensor 360. The vehicle controller 310 respectively transmits data with the hydraulic pump station 320, the explosion-proof steering motor column assembly 330, the drive axle assembly 340, the intrinsically safe angle sensor 350, and the intrinsically safe pressure sensor 360 through a controller area network bus; wherein,

[0079] The intrinsically safe angle sensor 350 is installed on the drive axle assembly 340 and is used to collect angle data of the drive axle assembly 340 and transmit the angle data to the vehicle controller 310;

[0080] The intrinsically safe pressure sensor 360 is installed on the hydraulic pump station 320 and is used to collect pressure data of the hydraulic pump station 320 and transmit the pressure data to the vehicle controller 310;

[0081] The vehicle controller 310 is used to receive the angle data and the pressure data, and determine the steering driving state of the target vehicle based on the pressure data and the angle data; when the steering driving state is a non-emergency driving state, generate a control instruction to the hydraulic pump station 320 based on the pressure data; and obtain the driving mode and driving speed of the target vehicle, and determine the compensation torque control instruction based on the driving speed, the angle data and the driving mode; and transmit the control instruction and the compensation torque control instruction to the hydraulic pump station 320 and the explosion-proof steering motor column assembly 330 respectively;

[0082] A hydraulic pump station 320, for responding to control instructions and controlling the front wheel steering of the target vehicle;

[0083] The explosion-proof steering motor column assembly 330 is used to respond to the compensation torque control instruction and cooperate with the hydraulic pump station 320 to control the front wheel steering of the target vehicle, wherein the explosion-proof steering motor column assembly 330 is mechanically connected to the drive axle assembly 340, and the drive axle assembly 340 is used to receive the torque transmitted by the explosion-proof steering motor column assembly 330.

[0084] Specifically, an intrinsically safe angle sensor 350 is installed on the drive axle assembly 340 to collect angle data of the drive axle assembly 340 and transmit the angle data to the vehicle controller 310; an intrinsically safe pressure sensor 360 is installed on the hydraulic pump station 320 to collect pressure data of the hydraulic pump station 320 and transmit the pressure data to the vehicle controller 310, wherein the intrinsically safe angle sensor 350 and the intrinsically safe pressure sensor 360 transmit the collected data to the vehicle controller 310 in real time, and the data transmission is carried out in the form of a controller local area network bus. The vehicle controller 310 receives the pressure data and the angle data, calls the steering driving state determination algorithm, determines the steering driving state of the target vehicle based on the pressure data and the angle data, that is, determines whether the steering driving state of the target vehicle is in an emergency driving state or a non-emergency driving state; when the steering driving state is in a non-emergency driving state, matches the pressure data with a preset pressure mapping frequency mapping relationship to obtain frequency data matching the pressure data, and generates control instructions for the hydraulic pump station 320 based on the frequency data; and determines a mapping relationship matching the driving mode based on the driving mode, obtains the driving speed and angle data of the target vehicle, and generates a control instruction for the hydraulic pump station 320 based on the driving speed and angle data. The degree data is matched with a mapping relationship that matches the driving mode, and a compensation torque that matches the driving speed and angle data is determined, and a compensation torque control instruction is generated according to the determined compensation torque data; the control instruction and the compensation torque control instruction are transmitted to the hydraulic pump station 320 and the explosion-proof steering motor column assembly 330 respectively; the hydraulic pump station 320 responds to the received control instruction to control the front wheel steering of the target vehicle; the explosion-proof steering motor column assembly 330 responds to the compensation torque control instruction, and cooperates with the hydraulic pump station 320 to control the front wheel steering of the target vehicle, and the explosion-proof steering motor column assembly 330 specifically transmits the compensation torque to the drive axle assembly 340 to control the steering gear to complete the front wheel steering.

[0085] The vehicle control system provided in the embodiment of the present invention can execute the front wheel steering control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0086] Embodiment 4

[0087] Figure 41 is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0088] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0089] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0090] The processor 11 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a front wheel steering control method.

[0091] In some embodiments, the front wheel steering control method may be implemented as a computer program, which is tangibly contained in a computer readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the front wheel steering control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the front wheel steering control method in any other appropriate manner (e.g., by means of firmware).

[0092] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0093] The computer program for implementing the front wheel steering control method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program can be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0094] Embodiment 5

[0095] Embodiment 5 of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to execute a front wheel steering control method, the method comprising:

[0096] Performing fault detection on multiple components in the steering system of the target vehicle, and determining a steering driving state of the target vehicle based on the fault detection results of the multiple components in the steering system, wherein the steering driving state includes an emergency driving state and a non-emergency driving state;

[0097] When the target vehicle is in a non-emergency driving state, pressure data of a hydraulic pump station in a steering system is obtained, and a control instruction for the hydraulic pump station is generated based on the pressure data; and, a driving speed, angle data and a driving mode of the target vehicle are obtained, and a compensation torque control instruction is determined based on the driving speed, angle data and the driving mode, wherein the driving mode of the target vehicle includes an intelligent driving mode and a manual driving mode;

[0098] The control command is transmitted to the hydraulic pump station so that the hydraulic pump station controls the front wheel steering of the target vehicle, and the compensation torque control command is transmitted to the explosion-proof steering motor column assembly of the steering system so that the explosion-proof steering motor column assembly controls the front wheel steering of the target vehicle; wherein, the explosion-proof steering motor column assembly and the hydraulic pump station cooperate to control the front wheel steering of the target vehicle.

[0099] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0100] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0101] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0102] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0103] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0104] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A front wheel steering control method, characterized in that: Applied to explosion-proof auxiliary heavy-load wire-controlled vehicles for mining, including: Performing fault detection on multiple components in the steering system of the target vehicle, and determining a steering driving state of the target vehicle based on the fault detection results of the multiple components in the steering system, wherein the steering driving state includes an emergency driving state and a non-emergency driving state; When the target vehicle is in the non-emergency driving state, pressure data of a hydraulic pump station in the steering system is obtained, and a control instruction for the hydraulic pump station is generated based on the pressure data; and a driving speed, angle data and a driving mode of the target vehicle are obtained, and a compensation torque control instruction is determined based on the driving speed, the angle data and the driving mode, wherein the driving mode of the target vehicle includes an intelligent driving mode and a manual driving mode; The control instruction is transmitted to the hydraulic pump station so that the hydraulic pump station controls the front wheel steering of the target vehicle, and the compensation torque control instruction is transmitted to the explosion-proof steering motor column assembly of the steering system so that the explosion-proof steering motor column assembly controls the front wheel steering of the target vehicle; wherein the explosion-proof steering motor column assembly and the hydraulic pump station cooperate to control the front wheel steering of the target vehicle.

2. The method according to claim 1, characterized in that The method of performing fault detection on multiple components in the steering system of the target vehicle and determining the steering driving state of the target vehicle based on the fault detection results of the multiple components in the steering system includes: Receiving detection data uploaded by detection devices corresponding to the multiple components, wherein the multiple components include the hydraulic pump station and the drive axle assembly, the detection devices include an intrinsically safe pressure sensor provided on the hydraulic pump station and an intrinsically safe angle sensor provided on the drive axle assembly, and the detection data include angle data and pressure data; Performing abnormality determination on the detection data, and determining that the fault detection result is a fault if it is determined that the pressure data in the detection data does not meet the corresponding preset safety threshold, or if it is determined that both the pressure data and the angle data in the detection data do not meet the corresponding preset safety threshold; and determining that the fault detection result is a fault does not exist if it is determined that the pressure data in the detection data meets the corresponding preset safety threshold; When the fault detection result is that a fault exists, the steering driving state of the target vehicle is determined to be an emergency driving state; when the fault detection result is that a fault does not exist, the steering driving state of the target vehicle is determined to be a non-emergency driving state.

3. The method according to claim 1, characterized in that The determining of the compensation torque control command based on the driving speed, the angle data and the driving mode comprises: Determining a mapping relationship corresponding to the driving mode, wherein the intelligent driving mode and the manual driving mode correspond to different mapping relationships, respectively, and the mapping relationship represents a corresponding relationship between a driving speed, an angle, and a compensation torque under the driving mode; The compensation torque data matching the driving speed and the angle data is determined based on the driving speed, the angle data and the mapping relationship, and the compensation torque control instruction is generated based on the compensation torque data.

4. The method according to claim 3, characterized in that The mapping relationship corresponding to the manual driving mode includes the corresponding relationship between steering wheel torque, driving speed, angle and compensation torque; The method further comprises: When the driving mode is a manual driving mode, the steering wheel torque data, the driving speed and the angle data are obtained, and matching is performed based on a mapping relationship between the steering wheel torque data, the driving speed and the angle data and the manual driving mode, and compensation torque data matching the torque data, the driving speed and the angle data in the manual driving mode is determined, and the compensation torque control instruction is generated based on the compensation torque data.

5. The method according to claim 1, characterized in that After obtaining the driving speed, angle data and driving mode of the target vehicle, the method further includes: Determining whether the angle data is greater than a preset angle threshold, and generating an active return control instruction based on the angle data if it is determined that the angle data is greater than the preset angle threshold; The active return control instruction is transmitted to the explosion-proof steering motor column assembly of the steering system, so that the explosion-proof steering motor column assembly controls the front wheels of the target vehicle to perform active return.

6. The method according to claim 1, characterized in that The method also includes: When the steering driving state is an emergency driving state, a shutdown instruction is generated, and the target vehicle is controlled to stop based on the shutdown instruction.

7. The method according to claim 1, characterized in that The method also includes: When the pressure data and / or the angle data are detected to be abnormal, the corresponding abnormal data is transmitted to the vehicle-mounted intrinsically safe display screen, and the vehicle-mounted intrinsically safe display screen is controlled to display the abnormal data; and / or, Generate corresponding abnormal prompt information based on the abnormal data, and issue an early warning prompt for the abnormal prompt information through a preset early warning prompt method.

8. A vehicle control system, characterized in that: It includes a vehicle controller, a hydraulic pump station, an explosion-proof steering motor column assembly, a drive axle assembly, an intrinsically safe angle sensor, and an intrinsically safe pressure sensor. The vehicle controller transmits data with the hydraulic pump station, the explosion-proof steering motor column assembly, the drive axle assembly, the intrinsically safe angle sensor, and the intrinsically safe pressure sensor through a controller area network bus; wherein, The intrinsically safe angle sensor is installed on the drive axle assembly and is used to collect angle data of the drive axle assembly and transmit the angle data to the vehicle controller; The intrinsically safe pressure sensor is installed on the hydraulic pump station and is used to collect pressure data of the hydraulic pump station and transmit the pressure data to the vehicle controller; The vehicle controller is used to receive the angle data and the pressure data, determine the steering driving state of the target vehicle based on the pressure data and the angle data; generate a control instruction for the hydraulic pump station based on the pressure data when the steering driving state is a non-emergency driving state; and obtain the driving mode and driving speed of the target vehicle, determine the compensation torque control instruction based on the driving speed, the angle data and the driving mode; transmit the control instruction and the compensation torque control instruction to the hydraulic pump station and the explosion-proof steering motor column assembly respectively; The hydraulic pump station is used to control the front wheel steering of the target vehicle in response to the control instruction; The explosion-proof steering motor column assembly is used to respond to the compensation torque control instruction and cooperate with the hydraulic pump station to control the front wheel steering of the target vehicle, wherein the explosion-proof steering motor column assembly is mechanically connected to the drive axle assembly, and the drive axle assembly is used to receive the torque transmitted by the explosion-proof steering motor column assembly.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the front wheel steering control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the front wheel steering control method according to any one of claims 1 to 7 when executed.

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