Steering control method and device and vehicle

Abstract

The invention relates to the technical field of vehicle steering, and provides a steering control method and device and a vehicle. The method comprises the steps that the target steering angle, the actual running speed and the expected running speed of the vehicle are obtained; determining a target driving speed of the vehicle based on the target steering angle, the actual driving speed and the expected driving speed; determining a wheel rotation speed of the vehicle based on the target driving speed; and controlling vehicle steering based on the wheel rotating speed. Steering control is carried out based on the collected electronic signals, drive-by-wire electric steering is achieved, and compared with a traditional hydraulic steering system, the structure is simpler, the response is faster, and the maintenance cost is lower.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle steering, and in particular to a steering control method, device and vehicle. Background Art

[0002] With the rapid development of electrification technology, the application of electric forklifts in the logistics and warehousing industries has gradually increased. Traditional three-point electric forklifts generally use mechanical hydraulic steering systems. Although this system can provide a certain degree of steering accuracy, its structure is relatively complex and the production cost is high. The hydraulic steering system relies on the transmission of hydraulic oil, which makes the system susceptible to environmental factors and leads to a high failure rate. In addition, the maintenance and troubleshooting of the hydraulic system often require professional technicians, and the subsequent maintenance costs are also significantly increased. Summary of the invention

[0003] The present invention provides a steering control method, device and vehicle to solve the defects in the prior art.

[0004] The present invention provides a steering control method, comprising the following steps: Obtain the target steering angle, actual driving speed and expected driving speed of the vehicle; Determining a target driving speed of the vehicle based on the target steering angle, the actual driving speed, and the expected driving speed; Determining a wheel speed of the vehicle based on the target driving speed; Based on the wheel speed, the vehicle steering is controlled.

[0005] According to a steering control method provided by the present invention, determining the wheel speed of the vehicle based on the target driving speed includes: Determining a target wheel speed of the vehicle based on the target driving speed; The wheel speed is determined based on the relative position relationship between the turning center and the wheel, and the target wheel speed.

[0006] According to a steering control method provided by the present invention, the vehicle includes two front wheels and at least one rear wheel, and the relative position relationship includes a turning angle and a wheelbase, wherein the turning angle refers to the angle between the centerline of the front wheels and the centerline of the rear wheels, the centerline of the front wheels refers to the line between the centers of the two front wheels, the centerline of the rear wheels refers to the line between the turning center and the center of the rear wheels, and the wheelbase refers to the distance between the turning center and the tire cross section of the rear wheel; The determining the wheel speed based on the relative position relationship between the turning center and the wheel and the target wheel speed includes: Determining a turning radius based on the turning angle and the wheelbase; Determining a reference turning angle based on a front wheelbase and the wheelbase, wherein the front wheelbase refers to the distance between the centers of the two front wheels; The wheel speed is determined based on the reference turning angle, the target wheel speed, and the turning radius.

[0007] According to a steering control method provided by the present invention, determining the wheel speed based on the reference turning angle, the target wheel speed and the turning radius includes: If the turning angle is equal to the reference turning angle, the rotation speed of the first front wheel is zero, and the rotation speed of the second front wheel is determined based on the target wheel rotation speed; If the turning angle is not equal to the reference turning angle, determining the rotation speed of the first front wheel and the rotation speed of the second front wheel based on the front wheel track, the target wheel speed and the turning radius; The turning center is close to the first front wheel.

[0008] According to a steering control method provided by the present invention, determining a target driving speed of a vehicle based on the target steering angle, the actual driving speed and the expected driving speed includes: Determining an estimated target speed based on the actual driving speed and the expected driving speed; Based on the target steering angle, the estimated target speed is adjusted to obtain the target driving speed.

[0009] According to a steering control method provided by the present invention, the expected driving speed is determined based on the following steps: Based on the accelerator pedal force, determine the voltage value; The voltage value is converted into the desired driving speed.

[0010] The present invention also provides a steering control device, comprising the following modules: An information acquisition unit, used to acquire a target steering angle, an actual driving speed, and an expected driving speed of the vehicle; A first determining unit, configured to determine a target driving speed of the vehicle based on the target steering angle, the actual driving speed and the expected driving speed; a second determining unit, configured to determine a wheel speed of the vehicle based on the target driving speed; A steering control unit is used to control the steering of the vehicle based on the wheel speed.

[0011] The present invention also provides a vehicle, comprising: a turning angle sensor, a speed sensor and the steering control device as described above, wherein the turning angle sensor is used to collect the target steering angle, and the speed sensor is used to collect the actual driving speed.

[0012] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any one of the steering control methods described above is implemented.

[0013] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steering control method described in any one of the above is implemented.

[0014] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steering control method described above is implemented.

[0015] The steering control method, device and vehicle provided by the present invention collect electronic signals (such as target steering angle, actual driving speed and expected driving speed) and perform signal processing based on the electronic signals, such as determining the target driving speed of the vehicle based on the target steering angle, actual driving speed and expected driving speed, determining the wheel speed of the vehicle based on the target driving speed, and finally controlling the steering of the vehicle based on the calculated wheel speed. In other words, the present invention performs steering control based on the collected electronic signals to realize wire-controlled electric steering, which has a simpler structure, faster response and lower maintenance cost than the traditional hydraulic steering system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a flow chart of the steering control method provided by the present invention.

[0018] Figure 2 It is a schematic diagram of a deceleration curve provided by the present invention.

[0019] Figure 3 It is a schematic diagram of the relative position relationship between the turning center and the wheels provided by the present invention.

[0020] Figure 4 It is a structural schematic diagram of the steering control device provided by the present invention.

[0021] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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 are within the scope of protection of the present invention.

[0023] Traditional three-pivot electric forklifts generally use mechanical hydraulic steering systems. Although this system can provide a certain degree of steering accuracy, its structure is relatively complex and the production cost is high. The hydraulic steering system relies on the transmission of hydraulic oil, which makes the system susceptible to environmental factors and leads to a high failure rate. In addition, the maintenance and troubleshooting of the hydraulic system often requires professional technicians, and the subsequent maintenance costs are also significantly increased.

[0024] In the context of increasing requirements for forklift performance and reliability in modern logistics, the shortcomings of hydraulic steering systems are becoming more and more obvious. For example, after long-term use, hydraulic systems may experience problems such as hydraulic oil leakage, oil pipe aging, and valve failure, which not only affects the normal use of forklifts, but also may bring safety hazards. In order to improve the operating efficiency and maintenance convenience of forklifts, compared with traditional hydraulic steering systems, wire-controlled electric steering systems have the advantages of simple structure, rapid response, and low maintenance cost, which can better meet the market's demand for electric forklift performance.

[0025] Figure 1 FIG. 1 is a flow chart of the steering control method provided by the present invention. The method can be applied to electric steering vehicles, such as electric forklifts, electric vehicles, etc. The execution subject of the method can be a controller in the vehicle, such as a vehicle control unit (VCU). Figure 1 As shown, the method includes step 110 , step 120 , step 130 and step 140 .

[0026] Step 110: Obtain the target steering angle, actual driving speed, and expected driving speed of the vehicle.

[0027] Specifically, the target steering angle refers to the steering angle that the driver expects the vehicle to turn. The target steering angle can be measured by a steering angle sensor connected to the steering wheel, that is, the target steering angle can be understood as the steering angle corresponding to when the driver turns the steering wheel to the target angle. In addition, the steering angle value measured by the steering sensor determines the steering direction, such as a positive value indicates a right turn, and a negative value indicates a left turn.

[0028] The actual driving speed refers to the actual driving speed of the vehicle at present, which can be measured by the speed sensor. The expected driving speed refers to the driving speed that the driver expects the vehicle to drive, which can be determined by the force with which the driver steps on the accelerator. For example, the greater the force with which the accelerator is stepped on, the greater the driving speed that the driver expects the vehicle to drive, that is, the greater the expected driving speed; the smaller the force with which the accelerator is stepped on, the smaller the driving speed that the driver expects the vehicle to drive, that is, the smaller the expected driving speed.

[0029] Step 120: Determine a target driving speed of the vehicle based on the target steering angle, the actual driving speed, and the expected driving speed.

[0030] Specifically, considering the influence of centrifugal force when turning, if the vehicle's turning speed is too high, the friction between the wheels and the road surface may not be sufficient to support the vehicle's steering requirements, and the vehicle may skid or drift. In this regard, it is necessary to reduce the vehicle's turning speed, so that when the vehicle's turning speed reaches the target speed, the vehicle can be guaranteed to turn safely and smoothly at the target steering angle. In other words, the target speed can be understood as the speed that can ensure that the vehicle can turn safely and smoothly at the target steering angle. Based on this, the embodiment of the present invention determines the target speed of the vehicle based on the target steering angle, the actual speed, and the expected speed.

[0031] Step 130: Determine the wheel speed of the vehicle based on the target driving speed.

[0032] Specifically, wheel speed refers to the rotation speed of the wheel when the vehicle reaches the target driving speed, and the wheel speed is usually expressed in revolutions per minute (RPM). In other words, the wheel speed can ensure that the vehicle travels at the target driving speed, and since the target driving speed can ensure that the vehicle can turn safely and smoothly at the target steering angle, the wheel speed can also ensure that the vehicle can turn safely and smoothly at the target steering angle.

[0033] Step 140: Control the vehicle steering based on the wheel speed.

[0034] Specifically, a corresponding control signal is generated according to the calculated wheel speed, so as to adjust the drive motor of the corresponding wheel based on the control signal to achieve the desired steering action. The method of controlling the steering may include adjusting the difference in wheel speed to achieve turning, or achieving more precise control through other methods.

[0035] The steering control method provided by the embodiment of the present invention collects electronic signals (such as target steering angle, actual driving speed and expected driving speed) and performs signal processing based on the electronic signals, such as determining the target driving speed of the vehicle based on the target steering angle, actual driving speed and expected driving speed, determining the wheel speed of the vehicle based on the target driving speed, and finally controlling the steering of the vehicle based on the calculated wheel speed. In other words, the embodiment of the present invention performs steering control based on the collected electronic signals to realize wire-controlled electric steering, which has a simpler structure, faster response and lower maintenance cost than the traditional hydraulic steering system.

[0036] Based on the above embodiment, determining the wheel speed of the vehicle based on the target driving speed includes: determining a target wheel speed of the vehicle based on the target driving speed; The wheel speed is determined based on the relative position relationship between the turning center and the wheel, and the target wheel speed.

[0037] Specifically, the target wheel speed refers to the corresponding wheel rotation speed when the vehicle moves at the target driving speed. Exemplarily, the target driving speed can be converted into the target wheel speed based on the wheel radius.

[0038] In addition, the turning center is the virtual center point around which the wheels of the vehicle turn. The relative position relationship between the turning center and the wheels refers to the spatial relationship between the wheels of the vehicle and the turning center when the vehicle turns. The relative position relationship between the turning center and the wheels may include the turning angle, the turning radius of the wheels, etc.

[0039] When the vehicle turns left, the left front wheel approaches the turning center and the right front wheel moves away from the turning center. At this time, the turning radius of the left front wheel is smaller than that of the right front wheel. Due to the different turning radii, the corresponding rotation speeds of the left front wheel and the right front wheel are different.

[0040] Furthermore, the target wheel speed can be understood as the wheel speed corresponding to the turning radius being the wheel radius, but for different target turning angles, the turning center may be located at the wheel center, or may not be located at the wheel center, that is, the turning radius may not be equal to the wheel radius.

[0041] Therefore, the embodiment of the present invention adjusts the target wheel speed based on the relative position relationship between the turning center and different wheels, so that the wheel speed of the corresponding wheel can be flexibly and accurately determined at different target turning angles.

[0042] Based on any of the above embodiments, the vehicle includes two front wheels (such as a left front wheel and a right front wheel) and at least one rear wheel, and the relative position relationship includes a turning angle and a wheelbase, the turning angle refers to the angle between the centerline of the front wheels and the centerline of the rear wheels, the centerline of the front wheels refers to the line between the centers of the two front wheels, the centerline of the rear wheels refers to the line between the turning center and the center of the rear wheels, and the wheelbase refers to the distance between the turning center and the tire cross section of the rear wheel; Based on the relative position relationship between the turning center and the wheel, and the target wheel speed, the wheel speed is determined, including: Determine the turning radius based on the turning angle and wheelbase; Determine the reference turning angle based on the front track and wheelbase. The front track refers to the distance between the centers of the two front wheels. The wheel speed is determined based on the reference turning angle, the target wheel speed, and the turning radius.

[0043] Specifically, the turning angle refers to the angle between the centerline of the front wheels and the centerline of the rear wheels. The centerline of the front wheels is the straight line connecting the center points of the two front wheels, while the centerline of the rear wheels is the straight line connecting the center of the turn and the center of the rear wheels. The turning angle reflects the degree of change in direction of the vehicle when turning.

[0044] The wheelbase is the distance between the turning center and the tire section of the rear wheel. The turning radius is the distance between the turning center and the center of the front wheel axle, and the center of the front wheel axle is the midpoint of the line connecting the center points of the two front wheels.

[0045] In addition, the front track refers to the distance between the centers of the two front wheels. The front track affects the vehicle's handling stability and turning ability. A wide front track can improve steering stability. The reference turning angle is a benchmark value of the turning angle calculated based on the front track and wheelbase. The reference turning angle is used to determine the position of the turning center. For example, when the vehicle turns left, if the turning angle is less than the reference turning angle, it means that the turning center is to the left of the left front wheel; if the turning angle is equal to the reference turning angle, it means that the turning center is on the left front wheel; if the turning angle is greater than the reference turning angle, it means that the turning center is to the right of the left front wheel.

[0046] When the wheel turns, the wheel's center of mass rotates around the turning center. If the position of the turning center changes, the distance between the wheel's center of mass and the turning center will also change, and the corresponding wheel speed will also change.

[0047] In this regard, the embodiment of the present invention determines the turning center position based on the reference turning angle, so that the wheel speed can be determined according to the turning center position, the target wheel speed and the turning radius.

[0048] Based on any of the above embodiments, determining the wheel speed based on the reference turning angle, the target wheel speed and the turning radius includes: If the turning angle is equal to the reference turning angle, the rotation speed of the first front wheel is zero, and the rotation speed of the second front wheel is determined based on the target wheel rotation speed; If the turning angle is not equal to the reference turning angle, determining the rotation speed of the first front wheel and the rotation speed of the second front wheel based on the front wheel track, the target wheel speed and the turning radius; The center of turn is close to the first front wheel.

[0049] It should be noted that if the vehicle turns left, the first front wheel in the embodiment of the present invention is the left front wheel, and the second front wheel is the right front wheel; if the vehicle turns right, the first front wheel in the embodiment of the present invention is the right front wheel, and the second front wheel is the left front wheel.

[0050] If the turning angle is equal to the reference turning angle, the turning center is located on the first front wheel, and then the speed of the first front wheel is 0, and the speed of the second front wheel is determined based on the target wheel speed. If the turning angle is less than the reference turning angle, the turning center is on the side of the first front wheel close to the center of the front wheel axle. If the turning angle is greater than the reference turning angle, the turning center is on the side of the first front wheel far from the center of the front wheel axle.

[0051] If the turning angle is not equal to the reference turning angle, the rotation speed of the first front wheel and the rotation speed of the second front wheel are determined based on the front wheel track, the target wheel speed and the turning radius, so that the wheel speed can be accurately determined according to the turning center position.

[0052] Based on any of the above embodiments, determining a target driving speed of the vehicle based on the target steering angle, the actual driving speed, and the expected driving speed includes: Determine an estimated target speed based on the actual driving speed and the expected driving speed; Based on the target steering angle, the estimated target speed is adjusted to obtain the target driving speed.

[0053] Specifically, the estimated target speed is calculated based on the current actual driving speed and the expected driving speed, which reflects the real dynamic situation of the vehicle in the current environment. The expected driving speed can be understood as the ideal speed that the driver expects to achieve, but it needs to be combined with the actual situation of the vehicle in the current environment. In this regard, the embodiment of the present invention combines the actual driving speed and the expected driving speed to determine the estimated target speed.

[0054] After determining the estimated target speed, the target driving speed is determined based on the target steering angle. Optionally, a reduction ratio can be determined based on the target steering angle, and the target driving speed is determined based on the reduction ratio. The reduction ratio is used to characterize the ratio of the target driving speed to the estimated target speed.

[0055] Figure 2 It is a schematic diagram of the deceleration curve provided by the present invention, such as Figure 2As shown in the figure, the abscissa of the deceleration curve represents the target steering angle, and the ordinate represents the deceleration ratio. If the target steering angle is between 0 and 10 degrees, the target driving speed is equal to the estimated target speed. If the target steering angle is between 10 and 50 degrees, the target driving speed decreases linearly with the estimated target speed. If the target steering angle is between 50 and 90 degrees, the target driving speed is 0.1 times the estimated target speed.

[0056] Based on any of the above embodiments, the expected driving speed is determined based on the following steps: Based on the accelerator pedal force, determine the voltage value; Convert the voltage value to the desired driving speed.

[0057] Specifically, the accelerator pedal force refers to the force applied by the driver on the accelerator pedal, usually in Newtons (N). This force can be a continuous value, reflecting the driver's demand for vehicle acceleration. The accelerator pedal is usually equipped with a sensor to convert physical actions into electrical signals. The force of the accelerator pedal is converted into a voltage signal through a sensor (such as a potentiometer or Hall effect sensor) to obtain the corresponding voltage value. Among them, the voltage value is proportional to the accelerator pedal force. The greater the force, the higher the voltage value.

[0058] The desired driving speed is the speed that the driver wants the vehicle to reach. The voltage value is converted into the desired driving speed after a series of processing and calculation. For example, the corresponding speed can be calculated according to different voltage values ​​based on a mapping function used to characterize the relationship between the voltage value and the speed.

[0059] Figure 3 is a schematic diagram of the relative position relationship between the turning center and the wheels provided by the present invention, such as Figure 3 As shown, the vehicle turns left, point O represents the turning center (point O is located on the left front wheel side), b represents the turning angle, t represents the front wheel track, x represents the turning radius, and w represents the wheelbase. After determining the target driving speed v by referring to any of the above embodiments, the left front wheel speed and the right front wheel speed are determined based on the following steps: S1. Convert the target driving speed v into the target wheel speed y (rpm): y=v×3.6×60 / (2×pi×r), where r is the wheel radius in meters.

[0060] S2. Calculate the distance between the turning center and the front axle center (i.e., wheelbase w): x=w / tg(b).

[0061] S3. Calculate the reference turning angle B when the turning center is located at the left front wheel, B=arctg(2×w / t).

[0062] S4. Calculate the rotation speeds of the left and right front wheels respectively according to the following three situations: (1) When b < B, the turning center is to the left of the left front wheel. At this time, the left and right front wheels rotate forward. The rotational speed of the left front wheel = y×(x - track / 2) / x, and the rotational speed of the right front wheel = y×(x + track / 2) / x.

[0063] (2) When b = B, the turning center is at the left front wheel. The rotational speed of the left front wheel = 0, and the rotational speed of the right front wheel = y×2.

[0064] (3) When b > B, the turning center is to the right of the left front wheel. At this time, the left and right front wheels rotate backward. The rotational speed of the left front wheel = -y×(track / 2 - x) / (track / 2), and the rotational speed of the right front wheel = y×(track / 2 + x) / (track / 2). Here, the "-" indicates that the left and right front wheels rotate backward.

[0065] The steering control device provided by the present invention will be described below. The steering control device described below can be correspondingly referred to the steering control method described above.

[0066] Based on any of the above embodiments, Figure 4 is a schematic structural diagram of the steering control device provided by the present invention. As Figure 4 shown, the device includes: An information acquisition unit 410, configured to acquire the target steering angle, actual driving speed, and desired driving speed of the vehicle; A first determination unit 420, configured to determine the target driving speed of the vehicle based on the target steering angle, actual driving speed, and desired driving speed; A second determination unit 430, configured to determine the wheel rotational speed of the vehicle based on the target driving speed; A steering control unit 440, configured to control the vehicle steering based on the wheel rotational speed.

[0067] Based on any of the above embodiments, determining the wheel rotational speed of the vehicle based on the target driving speed includes: Determining the target wheel rotational speed of the vehicle based on the target driving speed; Determining the wheel rotational speed based on the relative position relationship between the turning center and the wheel, and the target wheel rotational speed.

[0068] Based on any of the above embodiments, the vehicle includes two front wheels and at least one rear wheel. The relative position relationship includes the turning angle and the wheelbase. The turning angle refers to the included angle between the center line of the front wheels and the center line of the rear wheels. The center line of the front wheels refers to the connection line between the centers of the two front wheels. The center line of the rear wheels refers to the connection line between the turning center and the center of the rear wheel. The wheelbase refers to the distance between the turning center and the tire cross-section of the rear wheel; Determining the wheel rotational speed based on the relative position relationship between the turning center and the wheel, and the target wheel rotational speed includes: Determine the turning radius based on the turning angle and wheelbase; Determine the reference turning angle based on the front track and wheelbase. The front track refers to the distance between the centers of the two front wheels. The wheel speed is determined based on the reference turning angle, the target wheel speed, and the turning radius.

[0069] Based on any of the above embodiments, determining the wheel speed based on the reference turning angle, the target wheel speed and the turning radius includes: If the turning angle is equal to the reference turning angle, the rotation speed of the first front wheel is zero, and the rotation speed of the second front wheel is determined based on the target wheel rotation speed; If the turning angle is not equal to the reference turning angle, determining the rotation speed of the first front wheel and the rotation speed of the second front wheel based on the front wheel track, the target wheel speed and the turning radius; The center of turn is close to the first front wheel.

[0070] Based on any of the above embodiments, determining a target driving speed of the vehicle based on the target steering angle, the actual driving speed, and the expected driving speed includes: Determine an estimated target speed based on the actual driving speed and the expected driving speed; Based on the target steering angle, the estimated target speed is adjusted to obtain the target driving speed.

[0071] Based on any of the above embodiments, the expected driving speed is determined based on the following steps: Based on the accelerator pedal force, determine the voltage value; Convert the voltage value to the desired driving speed.

[0072] Based on any of the above embodiments, the present invention further provides a vehicle, comprising: a steering angle sensor, a speed sensor and a steering control device as described in any of the above embodiments, wherein the steering angle sensor is used to collect a target steering angle, and the speed sensor is used to collect an actual driving speed.

[0073] The vehicle may be a three-point forklift or other steer-by-wire vehicles. The steering control device may be installed in the VCU of the vehicle, and the angle sensor and the speed sensor transmit the collected data to the VCU, so that the VCU performs steering control according to any of the above embodiments.

[0074] Figure 5 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 5As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530 and a communication bus 540, wherein the processor 510, the communication interface 520 and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call the logic instructions in the memory 530 to execute the steering control method, which includes: obtaining the target steering angle, the actual driving speed and the expected driving speed of the vehicle; determining the target driving speed of the vehicle based on the target steering angle, the actual driving speed and the expected driving speed; determining the wheel speed of the vehicle based on the target driving speed; and controlling the steering of the vehicle based on the wheel speed.

[0075] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0076] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the steering control method provided by the above-mentioned methods, which includes: obtaining the target steering angle, actual driving speed and expected driving speed of the vehicle; determining the target driving speed of the vehicle based on the target steering angle, the actual driving speed and the expected driving speed; determining the wheel speed of the vehicle based on the target driving speed; and controlling the steering of the vehicle based on the wheel speed.

[0077] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the steering control method provided by the above-mentioned methods, the method comprising: obtaining the target steering angle, actual driving speed and expected driving speed of the vehicle; determining the target driving speed of the vehicle based on the target steering angle, the actual driving speed and the expected driving speed; determining the wheel speed of the vehicle based on the target driving speed; and controlling the steering of the vehicle based on the wheel speed.

[0078] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0079] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A steering control method, characterized in that: include: Obtain the target steering angle, actual driving speed and expected driving speed of the vehicle; Determining a target driving speed of the vehicle based on the target steering angle, the actual driving speed, and the expected driving speed; Determining a wheel speed of the vehicle based on the target driving speed; Based on the wheel speed, the vehicle steering is controlled.

2. The steering control method according to claim 1, characterized in that: The determining the wheel speed of the vehicle based on the target driving speed includes: Determining a target wheel speed of the vehicle based on the target driving speed; The wheel speed is determined based on the relative position relationship between the turning center and the wheel, and the target wheel speed.

3. The steering control method according to claim 2, characterized in that: The vehicle includes two front wheels and at least one rear wheel, and the relative position relationship includes a turning angle and a wheelbase, wherein the turning angle refers to the angle between the centerline of the front wheels and the centerline of the rear wheels, the centerline of the front wheels refers to the line between the centers of the two front wheels, the centerline of the rear wheels refers to the line between the turning center and the center of the rear wheels, and the wheelbase refers to the distance between the turning center and the tire cross section of the rear wheel; The determining the wheel speed based on the relative position relationship between the turning center and the wheel and the target wheel speed includes: Determining a turning radius based on the turning angle and the wheelbase; Determining a reference turning angle based on a front wheelbase and the wheelbase, wherein the front wheelbase refers to the distance between the centers of the two front wheels; The wheel speed is determined based on the reference turning angle, the target wheel speed, and the turning radius.

4. The steering control method according to claim 3, characterized in that: The determining the wheel speed based on the reference turning angle, the target wheel speed and the turning radius includes: If the turning angle is equal to the reference turning angle, the rotation speed of the first front wheel is zero, and the rotation speed of the second front wheel is determined based on the target wheel rotation speed; If the turning angle is not equal to the reference turning angle, determining the rotation speed of the first front wheel and the rotation speed of the second front wheel based on the front wheel track, the target wheel speed and the turning radius; The turning center is close to the first front wheel.

5. The steering control method according to any one of claims 1 to 4, characterized in that: The determining the target driving speed of the vehicle based on the target steering angle, the actual driving speed and the expected driving speed includes: Determining an estimated target speed based on the actual driving speed and the expected driving speed; Based on the target steering angle, the estimated target speed is adjusted to obtain the target driving speed.

6. The steering control method according to any one of claims 1 to 4, characterized in that: The desired driving speed is determined based on the following steps: Based on the accelerator pedal force, determine the voltage value; The voltage value is converted into the desired driving speed.

7. A steering control device, characterized in that: include: An information acquisition unit, used to acquire a target steering angle, an actual driving speed, and an expected driving speed of the vehicle; A first determining unit, configured to determine a target driving speed of the vehicle based on the target steering angle, the actual driving speed and the expected driving speed; a second determining unit, configured to determine a wheel speed of the vehicle based on the target driving speed; A steering control unit is used to control the steering of the vehicle based on the wheel speed.

8. A vehicle, characterized in that: include: A steering angle sensor, a speed sensor, and the steering control device as claimed in claim 7, wherein the steering angle sensor is used to collect the target steering angle, and the speed sensor is used to collect the actual driving speed.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steering control method according to any one of claims 1 to 6 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steering control method according to any one of claims 1 to 6 is implemented.

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