Vehicle control method and device, vehicle, electronic equipment, medium and product

Abstract

The invention provides a vehicle control method and device, a vehicle, electronic equipment, a medium and a product, and relates to the technical field of vehicles. The wheel comprises a rim with a plurality of inclined blade type spokes; the method comprises the steps that in response to a first instruction for entering a water running mode, the vehicle controls the axes of wheels and the longitudinal axis of a vehicle body to form an inclined angle so as to push the vehicle to run; the rotating direction of the wheel and the advancing direction of the vehicle are determined by the gradient of the blade type spoke, so that a better propelling effect can be ensured, and therefore, after the wheel rotates, water can be discharged from the back of the inclined vehicle, the scouring force of water flow to the bottom of the vehicle is reduced, parts at the bottom of the vehicle are protected, and the driving efficiency is improved; and moreover, the vehicle can run on water without an extra underwater driving system, so that the structure of the vehicle is simplified, and the design cost of the vehicle is saved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, device, vehicle, electronic equipment, medium and product. Background Art

[0002] With the diversification of outdoor activities, people's demand for the off-road function of passenger cars is no longer limited to driving on land, but gradually extends to water, such as the hope to explore and exercise on the water. Therefore, passenger cars with water driving functions can not only meet the needs of outdoor adventure enthusiasts, but can also be used in rescue, patrol and transportation and other fields, with broad application prospects.

[0003] Some amphibious vehicles currently on the market have been designed to be able to travel on land and water by adding a power system that can enable water travel, such as a water jet propulsion system or a propeller propulsion system, as well as by improving the vehicle body. For example, the design of the vehicle body needs to take into account the needs of both water and land travel, ensuring that the vehicle has sufficient buoyancy and stability on the water.

[0004] Therefore, existing amphibious vehicles are usually complex in design, expensive, and require underwater drive systems to achieve amphibious functions. Summary of the invention

[0005] The present application provides a vehicle control method, device, vehicle, electronic device, medium and product for realizing the vehicle's surface travel function. The vehicle axis is designed to form an inclined angle with the longitudinal axis of the vehicle body, and the wheel has a rim with multiple inclined blade-type spokes to provide driving power, so that it has the function of a conventional ship driving impeller, thereby realizing water travel. The vehicle has a simple structure and does not require an additional underwater drive system, thereby saving costs.

[0006] In a first aspect, the present application provides a control method for a vehicle that can travel on water, wherein the vehicle comprises a vehicle body and a wheel; the wheel comprises a rim having a plurality of inclined blade-type spokes; the method comprises:

[0007] In response to the first instruction to enter the water driving mode, the vehicle controls the axis of the wheel to form an inclined angle with the longitudinal axis of the vehicle body to propel the vehicle; the rotation direction of the wheel and the forward direction of the vehicle are determined by the inclination of the blade-type spokes.

[0008] In this way, after responding to the instruction to enter the water driving mode, the vehicle can automatically adjust the axis of the wheel to achieve a seamless transition from land driving to water driving. The blade-type spoke design of the vehicle can effectively utilize the rotation of the wheel to generate propulsion, and control the axis of the wheel to form an inclination angle with the longitudinal axis of the vehicle body. After the wheel rotates, water can be discharged from the back of the tilted vehicle, reducing the scouring force of the water flow on the bottom of the vehicle, protecting the bottom components of the vehicle, and improving the efficiency of water driving.

[0009] Optionally, the wheels include front wheels and rear wheels; the front wheels include a left front wheel and a right front wheel; the rear wheels include a left rear wheel and a right rear wheel; the axes of the wheels form an inclination angle with the longitudinal axis of the vehicle body, including: the axis of each front wheel forms an inclination angle with the longitudinal axis of the vehicle body, and / or the axis of each rear wheel forms an inclination angle with the longitudinal axis of the vehicle body.

[0010] It can be seen that the method provided by the present application can be applied to vehicles of three drive types: four-wheel drive, front-wheel drive, and rear-wheel drive, making it more applicable and able to meet the needs of different types of vehicles. Since the method is applicable to multiple drive forms, automobile manufacturers only need to develop one set of control logic to apply it to multiple vehicle models, thereby reducing development costs and time. For example, a modular design approach can be adopted to treat the control logic as an independent module for easy integration into vehicles with different drive forms.

[0011] Optionally, the inclination angle formed by the axis of the wheel and the longitudinal axis of the vehicle body includes: the front wheel and the vehicle body form an inverted figure eight structure, and / or the rear wheel and the vehicle body form an inverted figure eight structure.

[0012] Therefore, after the vehicle enters the water driving mode, the front wheels are controlled to form an inverted eight-shaped structure with the vehicle body, and / or the rear wheels are controlled to form an inverted eight-shaped structure with the vehicle body. The inclined wheels can push the water more effectively, thereby generating greater propulsion force, thereby improving the propulsion efficiency when driving on water. Moreover, the inverted eight-shaped structure can make the center of gravity of the vehicle lower, thereby improving the stability of the vehicle when driving on water and reducing the risk of capsizing.

[0013] Optionally, the vehicle also includes a wire-controlled steering column, a brake control module and a steering wheel; the wire-controlled steering column is used to monitor the steering angle value of the steering wheel and generate a direction angle signal; the brake control module is used to receive the direction angle signal and control the wheel speed to reduce based on the direction angle signal until it drops to a preset threshold value to control the vehicle to turn.

[0014] Through the communication and control logic between the above modules and components, more precise steering control can be achieved, the structural design of the vehicle can be simplified, and costs can be saved.

[0015] Optionally, the method further includes:

[0016] After the brake control module determines that the steering angle value corresponding to the received direction angle signal is greater than the first threshold and less than the second threshold, the brake control module does not control the wheel.

[0017] In this way, when the steering angle value corresponding to the direction angle signal is between the first threshold and the second threshold, the braking control module does not control the wheel, thereby avoiding unnecessary braking operations. By allowing the steering wheel to deviate within a certain range, the vehicle can more smoothly cope with buoyancy fluctuations when driving on water, maintain a straight-moving state, and improve driving stability. In a small steering range, the vehicle can flexibly respond to slight adjustments of the steering wheel. The driver does not need to frequently adjust the steering wheel to keep the vehicle going straight, which reduces the operating burden and improves the driving experience.

[0018] Optionally, the method further includes:

[0019] When the brake control module determines that the steering angle value corresponding to the received direction angle is less than or equal to the first threshold value, and the axis of each front wheel of the vehicle forms an inclination angle with the longitudinal axis of the vehicle body, the brake control module controls the left front wheel speed to decrease until it drops to a preset threshold value, and controls the right front wheel speed to increase, so as to achieve a left turn;

[0020] Among them, the increased speed value of the right front wheel is equal to the reduced speed value of the left front wheel.

[0021] Therefore, for front-wheel drive vehicles, as long as it is determined that the turning threshold is met, that is, less than or equal to the first threshold, the vehicle can be controlled to turn left, regardless of whether it is a large-angle turn or a small-angle turn, and by controlling the speed of the front wheels, left turn control can be achieved to ensure that the vehicle turns according to the expected trajectory.

[0022] Optionally, the method further includes:

[0023] When the brake control module determines that the steering angle value corresponding to the received direction angle signal is greater than or equal to the second threshold value, and the axis of each front wheel of the vehicle forms an inclination angle with the longitudinal axis of the vehicle body, the brake control module controls the right front wheel speed to decrease until it drops to a preset threshold value, and controls the left front wheel speed to increase to achieve a right turn;

[0024] Among them, the increased speed value of the left front wheel is equal to the reduced speed value of the right front wheel.

[0025] Therefore, by controlling the rotation speed of different front wheels, not only left turn control can be achieved, but also right turn control can be achieved, thereby meeting different turning needs and improving turning flexibility.

[0026] Optionally, the method further includes:

[0027] When the brake control module determines that the steering angle value corresponding to the received direction angle signal is less than or equal to the first threshold value, and the axis of each rear wheel of the vehicle forms an inclination angle with the longitudinal axis of the vehicle body, the brake control module controls the right rear wheel speed to decrease until it drops to a preset threshold value, and controls the left rear wheel speed to increase, so as to achieve a left turn;

[0028] Among them, the increased speed value of the left rear wheel is equal to the reduced speed value of the right rear wheel.

[0029] Therefore, for rear-wheel drive vehicles, the same control logic is still used. As long as it is determined that the turning threshold is met, that is, less than or equal to the first threshold, the vehicle can be controlled to turn left, regardless of whether it is a large-angle turn or a small-angle turn. By controlling the speed of the rear wheels, left turn control can be achieved to ensure that the vehicle turns according to the expected trajectory.

[0030] Optionally, the method further includes:

[0031] When the brake control module determines that the steering angle value corresponding to the received direction angle signal is greater than or equal to the second threshold value, and the axis of each rear wheel of the vehicle forms an inclined angle with the longitudinal axis of the vehicle body, the brake control module controls the left rear wheel speed to decrease until it drops to a preset threshold value, and controls the right rear wheel speed to increase, so as to achieve a right turn;

[0032] Among them, the increased speed value of the right rear wheel is equal to the reduced speed value of the left rear wheel.

[0033] Therefore, by controlling the rotation speed of different rear wheels, left turn control and right turn control can also be achieved, thereby meeting different turning needs and improving turning flexibility.

[0034] Optionally, the method further includes:

[0035] When the brake control module determines that the steering angle value corresponding to the received direction angle signal is less than or equal to the first threshold value and greater than the third threshold value, and the axis of each wheel of the vehicle forms an inclination angle with the longitudinal axis of the vehicle body, the driving motor of the vehicle drives the front wheels to rotate, and the brake control module controls the right rear wheel speed to decrease until it drops to a preset threshold value, and controls the left rear wheel speed to increase, so as to realize a left turn;

[0036] Among them, the increased speed value of the left rear wheel is equal to the reduced speed value of the right rear wheel.

[0037] In this way, by precisely controlling the speed changes of the left and right rear wheels, the vehicle can achieve efficient left turns. The increased speed of the left rear wheel is equal to the reduced speed of the right rear wheel, ensuring balance and stability during the steering process, thereby improving driving safety.

[0038] Optionally, the method further includes:

[0039] When the brake control module determines that the steering angle value corresponding to the received direction angle signal is less than or equal to the third threshold value, and the axis of each wheel of the vehicle forms an inclination angle with the longitudinal axis of the vehicle body, the brake control module controls the rotation speeds of the right rear wheel and the left front wheel to decrease until they drop to a preset threshold value, and controls the rotation speeds of the left rear wheel and the right front wheel to increase, so as to realize a left turn;

[0040] Among them, the increased speed value of the left rear wheel is equal to the reduced speed value of the right rear wheel, and the increased speed value of the right front wheel is equal to the reduced speed value of the left front wheel.

[0041] In this way, by setting the third threshold, small-angle turns and large-angle turns can be accurately distinguished, and then corresponding control strategies can be adopted according to different steering angle values. When it is determined that the steering angle value of the vehicle is greater than the third threshold, more precise turning control can be achieved by accurately controlling the rotation speed of each wheel to meet different turning requirements. Among them, by balancing the rotation speed of each wheel, it can be ensured that the vehicle remains stable during the turning process.

[0042] Optionally, the method further includes:

[0043] When the brake control module determines that the steering angle value corresponding to the received direction angle signal is greater than or equal to the second threshold value and less than the fourth threshold value, and the axis of each wheel of the vehicle forms an inclined angle with the longitudinal axis of the vehicle body, the driving motor of the vehicle drives the front wheels to rotate, and the brake control module controls the left rear wheel speed to decrease until it drops to a preset threshold value, and controls the right rear wheel speed to increase, so as to realize a right turn;

[0044] Among them, the increased speed value of the right rear wheel is equal to the reduced speed value of the left rear wheel.

[0045] Therefore, by precisely controlling the rotation speed of the rear wheels, more precise small-angle right turn control can be achieved, and by balancing the rotation speed of the rear wheels, the vehicle can be ensured to remain stable during the turn.

[0046] Optionally, the method further includes:

[0047] When the brake control module determines that the steering angle value corresponding to the received direction angle signal is greater than or equal to the fourth threshold value, and the axis of each wheel of the vehicle forms an inclined angle with the longitudinal axis of the vehicle body, the brake control module controls the rotation speeds of the left rear wheel and the right front wheel to decrease until they drop to a preset threshold value, and controls the rotation speeds of the right rear wheel and the left front wheel to increase to achieve a right turn;

[0048] Among them, the increased speed value of the right rear wheel is equal to the reduced speed value of the left rear wheel, and the increased speed value of the left front wheel is equal to the reduced speed value of the right front wheel.

[0049] Therefore, by accurately controlling the rotation speed of each wheel, more precise large-angle right turn control can be achieved, and by accurately controlling the rotation speed of each wheel, more precise turning control can be achieved to meet different turning requirements. Among them, by balancing the rotation speed of each wheel, it can be ensured that the vehicle remains stable during the turning process.

[0050] Optionally, the vehicle further includes a wire-controlled steering column and a steering wheel, the wire-controlled steering column includes a load mechanism and a torque sensor; the torque sensor is used to monitor whether a steering hand force is applied to the steering wheel and generate a torque signal; the load mechanism is used to receive the torque signal and simulate the steering force based on the torque signal to control the steering wheel to return to the center position; the method further includes:

[0051] After detecting that the torque value corresponding to the torque signal is 0 and the torque value corresponding to the torque signal remains unchanged for a period exceeding a time threshold, the load mechanism drives the steering wheel to return to the center.

[0052] Therefore, by setting a reasonable time threshold, it is possible to prevent misoperation caused by a short period of steering wheel stillness, thereby ensuring that the vehicle can detect and respond within an appropriate time and drive the steering wheel back to the center position in time, thereby reducing the driving load and ensuring the safety of the vehicle.

[0053] In a second aspect, the present application provides a control device for a vehicle that can travel on water, wherein the vehicle comprises a body and a wheel; the wheel comprises a rim having a plurality of inclined blade-type spokes; the device comprises:

[0054] The control module is used to control the axis of the wheel to form an inclination angle with the longitudinal axis of the vehicle body in response to the first instruction to enter the water driving mode, so as to propel the vehicle; the rotation direction of the wheel and the forward direction of the vehicle are determined by the inclination of the blade-type spokes.

[0055] In a third aspect, the present application provides a water-travelable vehicle, the vehicle comprising: a vehicle body, wheels and a control device for the water-travelable vehicle as described in the second aspect; the wheels comprise a rim having a plurality of inclined blade-type spokes.

[0056] In a fourth aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0057] Memory stores computer-executable instructions;

[0058] The processor executes the computer-executable instructions stored in the memory to implement the method as described in any one of the first aspects.

[0059] In a fifth aspect, the present application provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the method as described in any one of the first aspects.

[0060] In a sixth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method as described in any one of the first aspects.

[0061] It should be understood that the second to sixth aspects of the present application correspond to the technical solutions of the first aspect of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated here.

[0062] In summary, the present application provides a vehicle control method, device, vehicle, electronic device, medium and product. By making some improvements to the wheel spokes of the vehicle, the wheel is designed to have a rim structure including multiple inclined blade-type spokes, so that it has the function of a conventional ship driving impeller. Furthermore, after the vehicle enters the water driving mode, the axis of the wheel is controlled to form an inclination angle with the longitudinal axis of the vehicle body. In this way, after the wheel rotates, water can be discharged from the back of the tilted vehicle, reducing the scouring force of the water flow on the bottom of the vehicle, protecting the bottom components of the vehicle, and improving the driving efficiency. It can also realize the water driving of the vehicle without the need for an additional underwater drive system, simplifying the structure of the vehicle, and saving the design cost of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0064] Figure 1 A schematic diagram of a scene of an existing amphibious vehicle driving in water;

[0065] Figure 2 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application;

[0066] Figure 3 A schematic diagram of the structure of a wheel provided in an embodiment of the present application;

[0067] Figure 4 A schematic diagram of an application scenario provided for an embodiment of the present application;

[0068] Figure 5 A schematic diagram of the forces acting on a vehicle traveling on water provided in an embodiment of the present application;

[0069] Figure 6 A schematic diagram of an existing vehicle turning scenario;

[0070] Figure 7 A schematic diagram of the forces acting on a vehicle when turning left at a small angle is provided for an embodiment of the present application;

[0071] Figure 8A schematic diagram of the forces acting on a vehicle when turning left at a large angle is provided for an embodiment of the present application;

[0072] Fig. 9 A schematic diagram of the forces acting on a vehicle when turning left is provided for an embodiment of the present application;

[0073] Fig.10 Another force diagram of a vehicle turning left is provided for an embodiment of the present application;

[0074] Fig.11 A schematic diagram of the relationship between the steering angle value of a steering wheel and the driving direction of a vehicle provided in an embodiment of the present application;

[0075] Fig.12 A schematic flow chart of a control method for a vehicle capable of traveling on water provided in an embodiment of the present application;

[0076] Fig.13 A schematic diagram of the structure of a control device for a vehicle capable of traveling on water provided in an embodiment of the present application;

[0077] Fig.14 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0078] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0079] In order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and the like are used to distinguish the same items or similar items with substantially the same functions and effects. For example, the first device and the second device are only used to distinguish different devices, and their order is not limited. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not necessarily limit them to be different.

[0080] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0081] In the present application, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0082] Existing amphibious vehicles can achieve driving on land and water by adding a power system that can achieve water driving, such as a water jet propulsion system or a propeller propulsion system, and improving the body of the vehicle. For example, the design of the body needs to take into account the needs of both water and land driving to ensure that the vehicle has sufficient buoyancy and stability on the water.

[0083] However, existing amphibious vehicles are usually complex in design, expensive, and require underwater drive systems to achieve amphibious functions.

[0084] Especially in some amphibious vehicles, the corresponding control method is usually only applicable to vehicles with independent four motors, and is not applicable to vehicles with other power types. Moreover, in the existing control method, if the amphibious vehicle is in the water, due to the effect of the water flow, the water flow will wash the bottom of the vehicle, which will have an adverse effect on the impact of the components. For example, Figure 1 The schematic diagram of the scene of the existing amphibious vehicle driving in water is as follows: Figure 1 As shown, according to the interaction between water flow and force, after the water flow hits the bottom parts of the vehicle 10, the driving efficiency of the vehicle 10 is reduced due to the force F; wherein the force F can be decomposed into a horizontal force F1 and a vertical force F2.

[0085] In response to the above-mentioned problems, the present application provides a control method for a vehicle that can travel on water. By making some improvements to the wheel spokes of the vehicle, the wheel is designed to have a rim structure including multiple inclined blade-type spokes, so that it has the function of a conventional ship driving impeller. Furthermore, after the vehicle enters the water driving mode, the axis of the wheel is controlled to form an inclination angle with the longitudinal axis of the vehicle body. In this way, after the wheel rotates, water can be discharged from the back of the tilted vehicle, reducing the scouring force of the water flow on the bottom of the vehicle, protecting the bottom components of the vehicle, and improving the driving efficiency. It can also realize the water driving of the vehicle without the need for an additional underwater driving system, simplifying the structure of the vehicle, and saving the design cost of the vehicle.

[0086] It should be noted that in order to realize the vehicle's driving on water, some necessary conditions for the vehicle's driving on water must be met, such as the vehicle must also meet waterproofness, sealing and reasonable buoyancy requirements.

[0087] The vehicle's controller has the judgment and switching logic for the land driving mode and the water driving mode, that is, the vehicle can judge whether it has waded through water and floated. After determining that it has entered the water, it can switch from the land driving mode to the water driving mode, and when it is determined that the conditions meet the land driving conditions, it exits the water driving mode and then switches back to the land driving mode.

[0088] Optionally, the vehicle also needs to have four-wheel independent steering function.

[0089] For example, Figure 2 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the vehicle 10 includes a body 100, wheels 200 and a control device 300. The control device 300 can determine whether the vehicle 10 enters a land driving mode or a water driving mode according to environmental conditions detected by peripheral sensors, and send a driving mode signal to a controller area network (CAN) bus; when the vehicle 10 enters the water driving mode, the differential lock function is controlled to be closed, that is, one of the left and right wheels is allowed to be locked; it can be understood that the control device 300 is also used to execute the control method of the water-driving vehicle described in any implementation of the present application.

[0090] in, Figure 3 A schematic diagram of the structure of a wheel provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the wheel 200 includes a rim, which includes spokes 201, a rim 202 and a hub 203; wherein the spokes are designed to be in an inclined blade shape, and a plurality of inclined blade-type spokes form a propeller mechanism similar to a ship, or a windmill structure for power generation, which is used to generate underwater thrust to propel the vehicle. The embodiment of the present application does not specifically limit the inclination and inclination direction of the blade-type spokes.

[0091] Among them, Figure 3 As shown in A, it is the left wheel of the vehicle, and its rotation direction is counterclockwise. Correspondingly, the direction of thrust is shown in the figure. Figure 3 As shown in B, it is the right wheel of the vehicle, and its rotation direction is clockwise. Correspondingly, the direction of thrust generated is as shown in the figure.

[0092] It can be understood that the front wheels include a left front wheel and a right front wheel; and the rear wheels include a left rear wheel and a right rear wheel.

[0093] Optionally, the vehicle also includes a steering controller, a wire-controlled steering column, a brake control module, a steering wheel and pedals; wherein the wire-controlled steering column has a controller, a steering angle sensor and a torque sensor inside, the controller is used to provide a steering angle signal and a steering torque signal to the CAN bus, the steering angle signal can be used to characterize the driver's driving intention; the torque signal is used to characterize whether the driver's hand controls the steering wheel; therefore, the wire-controlled steering column can monitor the steering angle value of the steering wheel and generate a steering angle signal.

[0094] Optionally, the wire-controlled steering column also includes a load mechanism, which can generate a torque signal after the torque sensor monitors that steering hand force is applied to the steering wheel; the load mechanism is used to receive the torque signal and simulate the steering force based on the torque signal to control the steering wheel to return to the center position.

[0095] After the brake control module receives the first instruction to enter the water driving mode sent by the control device on the CAN bus, it also enters the control logic corresponding to the water driving mode. At this time, the control logic in the land driving mode is turned off, such as the anti-lock braking function, traction control function, dynamic control function, etc.; the brake control module is used to use the received direction angle signal as the driver's driving intention for the vehicle, and then use the active boost function to separately control the left front, right front, left rear and right rear four brake calipers of the vehicle, that is, send a first control instruction to the brake caliper to clamp and / or release it, so as to control a wheel of the vehicle to reduce the speed until it drops to a preset threshold value without locking, thereby realizing the turning of the vehicle. The preset threshold value is set based on the wear of the differential, usually a critical value, and the embodiment of the present application does not specifically limit its size.

[0096] Optionally, after receiving the direction angle signal, the braking control module can also generate a second control instruction for controlling a wheel of the vehicle to reduce its speed until it drops to a preset threshold without locking, and then send the second control instruction to the vehicle's drive motor to drive a wheel of the vehicle to reduce its speed and increase the speed of the corresponding wheel. For example, the speed of the left wheel decreases, and correspondingly, the speed of the right wheel increases, so as to achieve a turn of the vehicle.

[0097] It should be noted that the embodiment of the present application does not specifically limit the number of drive motors in the vehicle, which can be determined based on the performance of the vehicle. For example, a four-wheel drive vehicle needs to use four drive motors to drive the vehicle wheels separately to achieve speed adjustment.

[0098] When the CAN bus receives the first signal of the water driving mode sent by the control device, the steering controller also enters the control logic of the water driving mode and controls the axis of the wheel of the vehicle to form an inclination angle with the longitudinal axis of the vehicle body, such as Figure 2As shown; at the same time, the steering controller can also send the current state of the vehicle to the brake control module in the form of a CAN signal, so that in the water driving mode, the rotation of the steering wheel no longer controls the steering of the wheels.

[0099] Through the communication and control logic between the above modules and components, more precise steering control can be achieved, the structural design of the vehicle can be simplified, and costs can be saved.

[0100] Optionally, after the steering controller receives the first instruction, it can control the vehicle to switch from the land driving mode to the water driving mode.

[0101] The accelerator pedal is used to control the torque of the drive motor. Optionally, in response to the driver's operation of the brake accelerator pedal, a second instruction is generated; the second instruction is used to indicate the driving speed of the wheel rotation;

[0102] Based on the second command, the drive motor drives the wheels to rotate at the running speed.

[0103] For example, Figure 4 A schematic diagram of an application scenario provided in an embodiment of the present application, such as Figure 4 As shown in A, the vehicle 10 is in the land driving mode and is driving on land. When the vehicle 10 responds to the first instruction to enter the water driving mode, the land driving mode can be switched to the water driving mode. After the vehicle 10 is in the water driving mode, as shown in FIG. Figure 4 As shown in B, the axis of the wheel is controlled to form an inclined angle with the longitudinal axis of the vehicle body, and the wheel is driven to rotate to propel the vehicle 10 to travel.

[0104] It should be noted that the embodiment of the present application does not limit the specific value and inclination direction of the inclination angle formed by the axis of the wheel and the longitudinal axis of the vehicle body. Figure 4 As shown in B, it is an inverted eight-shaped structure. Optionally, the inclination angle formed by the axis of the front wheel and the longitudinal axis of the vehicle body is 40°, and the inclination angle formed by the axis of the rear wheel and the longitudinal axis of the vehicle body is 15°.

[0105] It can be understood that when the vehicle is traveling on land, the rotatable inclination angle formed by the axis of the front wheel and the longitudinal axis of the vehicle body is usually 40°, and the rotatable inclination angle formed by the axis of the rear wheel and the longitudinal axis of the vehicle body is 15°. Therefore, in the present application, it is set to the same maximum allowable rotation inclination angle as when traveling on land, which can simplify the design and manufacturing process of the vehicle, reduce the number and complexity of required parts, and also enable it to be easily switched in different environments.

[0106] It should be noted that the specific value of the inclination angle formed by the axis of the wheel and the longitudinal axis of the vehicle body is limited by the wheel arch space. Therefore, within the allowable wheel movement range, the larger the inclination angle is set, the better the corresponding driving effect.

[0107] Exemplarily, the present application provides a method for controlling a vehicle that can travel on water, the method comprising:

[0108] In response to the first instruction to enter the water driving mode, the vehicle controls the axis of the wheel to form an inclined angle with the longitudinal axis of the vehicle body to propel the vehicle; the rotation direction of the wheel and the forward direction of the vehicle are determined by the inclination of the blade-type spokes.

[0109] Among them, the axis of the wheel refers to the straight line that passes through the center of the wheel and is perpendicular to the rotation plane of the wheel. The longitudinal axis of the vehicle body refers to the axis parallel to the driving direction of the vehicle. The embodiment of the present application does not limit the inclination angle formed by the axis of the wheel and the longitudinal axis of the vehicle body. It can be set based on the overall design and structure of the vehicle, the design of the wheel, the depth of the water, the flow rate, the waves and other environmental conditions. For example, the inclination angle of the blade-type spokes needs to match the rotation direction of the wheel and the forward direction of the vehicle to generate maximum propulsion.

[0110] In the embodiment of the present application, the first instruction may be an instruction generated through the driver's operation or after the vehicle automatically detects that it has entered water areas. The embodiment of the present application does not specifically limit the method for generating the first instruction.

[0111] It should be noted that the rotation direction of the wheel and the forward direction of the vehicle are determined by the inclination of the blade-type spokes. For example, according to different designs of the inclination of the blade-type spokes, the rotation direction of the wheel can be set to be the same as or opposite to the forward direction of the vehicle. The embodiment of the present application does not make specific limitations on this, and it can be set based on design requirements.

[0112] It should be noted that the rotation direction of the wheel and the forward direction of the vehicle are determined by the inclination of the blades, which can ensure a better propulsion effect.

[0113] Therefore, after responding to the instruction to enter the water driving mode, the embodiment of the present application can automatically adjust the axis of the wheel to achieve a seamless transition from land driving to water driving, wherein the blade-type spoke design of the vehicle can effectively utilize the rotation of the wheel to generate propulsion, and control the axis of the wheel to form an inclination angle with the longitudinal axis of the vehicle body. After the wheel rotates, water can be discharged from the back of the tilted vehicle, reducing the scouring force of the water flow on the bottom of the vehicle, protecting the bottom components of the vehicle, and improving the efficiency of water driving.

[0114] Optionally, since the vehicle has a four-wheel independent steering function, the inclination angle formed by the axis of the wheel and the longitudinal axis of the vehicle body includes: the axis of each front wheel forms an inclination angle with the longitudinal axis of the vehicle body, and / or the axis of each rear wheel forms an inclination angle with the longitudinal axis of the vehicle body.

[0115] It can be understood that when the vehicle is in the front-wheel drive mode, after entering the water driving mode, the axis of each front wheel can be controlled to form an inclination angle with the longitudinal axis of the vehicle body; when the vehicle is in the rear-front drive mode, after entering the water driving mode, the axis of each rear wheel can be controlled to form an inclination angle with the longitudinal axis of the vehicle body; and when the vehicle is in the four-wheel drive mode, after entering the water driving mode, the axis of each wheel can be controlled to form an inclination angle with the longitudinal axis of the vehicle body.

[0116] Therefore, the method provided in the present application can be applied to vehicles of three drive types: four-wheel drive, front-wheel drive, and rear-wheel drive, making it more applicable and able to meet the needs of different types of vehicles. Since the method is applicable to multiple drive forms, automobile manufacturers only need to develop one set of control logic to apply it to multiple vehicle models, thereby reducing development costs and time. For example, a modular design approach can be adopted to treat the control logic as an independent module for easy integration into vehicles with different drive forms.

[0117] Optionally, the inclination angle formed by the axis of the wheel and the longitudinal axis of the vehicle body includes: the front wheel and the vehicle body form an inverted figure eight structure, and / or the rear wheel and the vehicle body form an inverted figure eight structure.

[0118] In an embodiment of the present application, when the vehicle enters the water driving mode, each wheel can be turned to the position shown in the following 2, that is, the left and right wheels are opened in an inverted "eight" shape to form an inverted eight structure. When the vehicle moves forward, the driver can drive the wheels to rotate by normally stepping on the accelerator pedal.

[0119] For example, Figure 5 A schematic diagram of the forces acting on a vehicle traveling on water is provided in an embodiment of the present application, such as Figure 5 As shown in the figure, taking the inverted eight-shaped structure formed by the front wheel and the vehicle body and the inverted eight-shaped structure formed by the rear wheel and the vehicle body as an example, for the front wheel, under the action of the blade-type spokes, water can generate a reverse thrust F obliquely to the right rear of the right front wheel 右前 , F 右前 It can be decomposed into a horizontal component force F to the right 右前1 and the backward force F 右前2 ; At the same time, a thrust F is generated in the oblique left-front direction 左前 , F 左前 It can be decomposed into a horizontal component force F to the right 左前1 and the forward component F 左前2; Similarly, the left and right rear wheels can also generate the same force, such as Figure 5 As shown, I will not describe them one by one here. For details, please refer to Figure 5 In this way, under the premise that the left and right wheels form an inverted eight-shaped structure, F 右前2 、F 左前2 、F 右后2 、F 左后2 That is, it can correspond to the driving force of the vehicle moving forward on the water, and then, when the wheels rotate, it can generate a forward thrust. Moreover, due to the design of the inverted eight-shaped structure, it can also prevent water from washing to the bottom of the vehicle, thereby protecting the bottom components of the vehicle.

[0120] It should be noted that when the vehicle is in the front-wheel drive mode, the front wheels and the vehicle body can be controlled to form an inverted eight-shaped structure; when the vehicle is in the rear-wheel drive mode, the rear wheels and the vehicle body can be controlled to form an inverted eight-shaped structure; the corresponding implementation principle is similar to the implementation principle described in the above-mentioned four-wheel drive vehicle, except that only the front wheels or the rear wheels are controlled to form an inverted eight-shaped structure, and the embodiments of the present application will not be repeated here.

[0121] Therefore, after the vehicle enters the water driving mode, the front wheels are controlled to form an inverted eight-shaped structure with the vehicle body, and / or the rear wheels are controlled to form an inverted eight-shaped structure with the vehicle body. The inclined wheels can push the water more effectively, thereby generating greater propulsion force, thereby improving the propulsion efficiency when driving on water. Moreover, the inverted eight-shaped structure can make the center of gravity of the vehicle lower, thereby improving the stability of the vehicle when driving on water and reducing the risk of capsizing.

[0122] It is understood that when the vehicle is in land driving mode, the coaxial wheels turn in the same direction. Figure 6 A schematic diagram of an existing vehicle turning scenario is shown in FIG. Figure 6 As shown in Figure 2, when the steering wheel turns left, the steering of the wheels is as follows: Figure 6 As shown in A or B, the four wheels corresponding to the four-wheel drive vehicle all turn left, the front wheels corresponding to the front-wheel drive vehicle all turn left, and the steering wheel does not control the rotation of the rear wheels.

[0123] However, when the vehicle enters the water driving mode, the vehicle's forward, left turn, right turn and other operating conditions are different from the corresponding conditions of the land driving mode. The control logic based on the land driving mode cannot control the vehicle to drive on the water. The following takes a four-wheel drive vehicle as an example to explain the functional logic of the vehicle's water driving mode.

[0124] Optionally, the method further includes:

[0125] After the brake control module determines that the steering angle value corresponding to the received direction angle signal is greater than the first threshold and less than the second threshold, the brake control module does not control the wheel.

[0126] In the embodiment of the present application, the range of steering angle values ​​determined by the first threshold and the second threshold is used to determine the control logic of the vehicle going straight. Because the steering wheel may produce a small offset due to the fluctuation of buoyancy when the vehicle is traveling on water, the first threshold and the second threshold are set to meet the offset. In this case, the steering wheel is allowed to have a certain offset.

[0127] It is understandable that the first threshold and the second threshold are not set too large, so the first threshold and the second threshold can be preliminarily set based on the type, size and steering wheel sensitivity of the vehicle. For example, the first threshold is preliminarily set to -3° and the second threshold is preliminarily set to 3°.

[0128] Among them, the steering angle value corresponds to a negative number, indicating that the steering wheel is biased to the left, and the steering angle value corresponds to a positive number, indicating that the steering wheel is biased to the right.

[0129] It should be noted that the embodiment of the present application does not specifically limit the sizes of the first threshold and the second threshold, and they can also be modified manually.

[0130] Exemplarily, after the braking control module receives the direction angle signal, it determines whether the steering angle value corresponding to the direction angle signal is greater than a first threshold and less than a second threshold. Further, after determining that the steering angle value corresponding to the direction angle signal is greater than the first threshold and less than the second threshold, the braking control module does not control the wheels. At this time, the vehicle's drive motor can drive the wheels to rotate to achieve straight driving of the vehicle.

[0131] Among them, the braking control module does not control the wheels, including any of the following situations: the braking control module is in standby, turned off, and various states where the wheels are not controlled, such as an operating state where the wheel speed is not adjusted. The embodiment of the present application does not specifically limit the state of the braking control module.

[0132] It should be noted that, in this step, the vehicle's drive motor and brake control module are two independent components. The brake control module is used to receive the direction angle signal to generate a control instruction based on the direction angle signal, and send the control instruction to the corresponding component to control the wheel speed to decrease until it drops to a preset threshold to achieve vehicle turning; the vehicle's drive motor is used to receive a second instruction to drive the wheel to rotate at a driving speed indicated by the second instruction.

[0133] In this way, when the steering angle value corresponding to the direction angle signal is between the first threshold and the second threshold, the braking control module does not control the wheel, thereby avoiding unnecessary braking operations. By allowing the steering wheel to deviate within a certain range, the vehicle can more smoothly cope with buoyancy fluctuations when driving on water, maintain a straight-moving state, and improve driving stability. In addition, within a small steering range, the vehicle can flexibly respond to slight adjustments of the steering wheel. The driver does not need to frequently adjust the steering wheel to keep the vehicle going straight, which reduces the operating burden and improves the driving experience.

[0134] Optionally, the method further includes:

[0135] When the brake control module determines that the steering angle value corresponding to the received direction angle signal is less than or equal to the first threshold value and greater than the third threshold value, and the axis of each wheel of the vehicle forms an inclination angle with the longitudinal axis of the vehicle body, the driving motor of the vehicle drives the front wheels to rotate, and the brake control module controls the right rear wheel speed to decrease until it drops to a preset threshold value, and controls the left rear wheel speed to increase, so as to realize a left turn;

[0136] Among them, the increased speed value of the left rear wheel is equal to the reduced speed value of the right rear wheel.

[0137] In the embodiment of the present application, the braking control module can apply intermittent braking pressure to the right rear caliper through active boosting to reduce the speed of the right rear wheel until it drops to a preset threshold, but not to the point of locking. According to the working principle of the differential, the speed of the left rear wheel increases as much as the speed of the right rear wheel decreases.

[0138] It can be understood that in order to realize the left turn of the vehicle, a left turn threshold, that is, the first threshold, can be set for the steering angle value corresponding to the steering wheel direction angle signal. After the braking control module determines that the steering angle value corresponding to the direction angle signal is less than or equal to the first threshold, the vehicle is controlled to realize the left turn.

[0139] However, the turning range includes a first turning range and a second turning range; the second turning range is larger than the first turning range. Therefore, the first turning range of the vehicle is determined by setting the third threshold, that is, the steering angle value less than the third threshold belongs to the first turning range, and the steering angle value greater than or equal to the third threshold belongs to the second turning range. The setting of the third threshold can be based on parameters such as the steering angle, turning radius, and vehicle speed. The third threshold is defined as a specific value of the steering angle, which is used to distinguish between two different turning behaviors or turning ranges of the vehicle. The embodiment of the present application does not specifically limit the size of the third threshold. For example, the third threshold can be set to -45°.

[0140] Among them, the first turning range can be understood as a small-angle turn, and the second turning range can be understood as a large-angle turn. The embodiment of the present application does not specifically limit the numerical interval range corresponding to the first turning range and the second turning range, which can be determined based on the type, size and configuration of the vehicle. For example, the first turning range can be -45° to -3°, and the second turning range can be -90° to -45°.

[0141] For example, Figure 7 A schematic diagram of the force of a vehicle turning left at a small angle is provided for the embodiment of the present application, such as Figure 7 As shown, by controlling the right rear wheel speed to decrease until it drops to a preset threshold, and controlling the left rear wheel speed to increase, a speed difference is generated between the left and right wheels, thereby making the horizontal force F 右后1 >F 左后1 At this time, the rear axle of the vehicle is subjected to a horizontal force F to the right 后 , which can cause the vehicle to generate a counterclockwise torque M 后 , to achieve left steering, it can be understood that the greater the speed difference between the left rear wheel and the right rear wheel, the greater the horizontal rightward force F 后 The larger the counterclockwise torque M 后 The larger it is, the greater the turning angle of the vehicle and the faster it turns.

[0142] For example, when the steering wheel turns left, the brake control module detects the driver's steering intention through the steering angle value of the direction angle signal sent by the wire-controlled steering column. When the steering wheel angle a>-3° ​​and is within the range of -3° to -45°, the vehicle swing angle can be controlled by reducing the speed of the right rear wheel, and the other three wheels rotate normally, such as Figure 7 As shown in FIG. 1 , the grid-shaped tire represents the braked wheel.

[0143] In this way, by precisely controlling the speed changes of the left and right rear wheels, the vehicle can achieve efficient left turns. The increased speed of the left rear wheel is equal to the reduced speed of the right rear wheel, ensuring balance and stability during the steering process, thereby improving driving safety.

[0144] Optionally, the method further includes:

[0145] When the brake control module determines that the steering angle value corresponding to the received direction angle signal is less than or equal to the third threshold value, and the axis of each wheel of the vehicle forms an inclination angle with the longitudinal axis of the vehicle body, the brake control module controls the rotation speeds of the right rear wheel and the left front wheel to decrease until they drop to a preset threshold value, and controls the rotation speeds of the left rear wheel and the right front wheel to increase, so as to realize a left turn;

[0146] Among them, the increased speed value of the left rear wheel is equal to the reduced speed value of the right rear wheel, and the increased speed value of the right front wheel is equal to the reduced speed value of the left front wheel.

[0147] It is understandable that after the right rear wheel drops to the preset threshold, it still cannot meet the vehicle's need to turn at a larger angle, that is, the requirement can no longer be met by just swinging the rear of the vehicle. At this time, the speed of the left front wheel can be controlled to decrease until it drops to the preset threshold to achieve a large-angle left turn.

[0148] In the embodiment of the present application, when the steering angle value of the vehicle is greater than the third threshold value, it is considered that the vehicle is in the second turning range. For example, Figure 8 A schematic diagram of the force of a vehicle turning left at a large angle is provided for the embodiment of the present application, such as Figure 8 As shown, in Figure 7 Based on the figure, the brake control module applies brake pressure to the left front caliper through the active boost function, causing a speed difference between the left front wheel and the right front wheel. At this time, the horizontal force F 左前1 >F 右前1 The front axle of the vehicle is subjected to a horizontal force F to the left. 前 , and then the vehicle adds a counterclockwise torque M 前 , accelerate to complete the left turn, such as Figure 8 As shown in FIG. 1 , the grid-shaped tire represents the braked wheel.

[0149] It should be noted that the above process is to gradually reduce the speed of the left front wheel after a small-angle turn to gradually increase the turning angle of the vehicle. This process can achieve a U-turn on the spot.

[0150] Exemplarily, after the braking control module receives the direction angle signal, it determines whether the steering angle value corresponding to the direction angle signal is less than or equal to a third threshold. If it is determined that the steering angle value corresponding to the direction angle signal is less than or equal to the third threshold, a large-angle left turn is triggered.

[0151] It can be understood that when making a large-angle left turn, the speeds of the right rear wheel and the left front wheel can be controlled to decrease simultaneously until they reach a preset threshold, and the speeds of the left rear wheel and the right front wheel can be controlled to increase simultaneously to achieve a left turn. Alternatively, the speed of the right rear wheel can be controlled to decrease first until it reaches a preset threshold, and the speed of the left rear wheel can be controlled to increase, and then the speed of the left front wheel can be controlled to decrease until it reaches the preset threshold, and the speed of the right front wheel can be controlled to increase. The embodiment of the present application does not specifically limit the order of controlling the speed changes of the front or rear wheels.

[0152] In this way, by setting the third threshold, small-angle turns and large-angle turns can be accurately distinguished, and then corresponding control strategies can be adopted according to different steering angle values. When it is determined that the steering angle value of the vehicle is greater than the third threshold, more precise turning control can be achieved by accurately controlling the rotation speed of each wheel to meet different turning requirements. Among them, by balancing the rotation speed of each wheel, it can be ensured that the vehicle remains stable during the turning process.

[0153] It should be noted that the implementation principles of right turns and left turns are similar, and their control logics are opposite. Therefore, the force analysis and specific implementation principles of small-angle right turns and large-angle right turns will not be repeated in the embodiments of the present application, and they can refer to the description of left turns.

[0154] Optionally, the method further includes:

[0155] When the brake control module determines that the steering angle value corresponding to the received direction angle signal is greater than or equal to the second threshold value and less than the fourth threshold value, and the axis of each wheel of the vehicle forms an inclined angle with the longitudinal axis of the vehicle body, the driving motor of the vehicle drives the front wheels to rotate, and the brake control module controls the left rear wheel speed to decrease until it drops to a preset threshold value, and controls the right rear wheel speed to increase, so as to realize a right turn;

[0156] Among them, the increased speed value of the right rear wheel is equal to the reduced speed value of the left rear wheel.

[0157] It should be noted that the definition of the fourth threshold is similar to that of the third threshold. However, the fourth threshold is set to achieve a right turn. When the steering angle value corresponding to the turning angle signal is greater than or equal to the second threshold and less than the fourth threshold, a small-angle right turn is achieved. When the steering angle value corresponding to the turning angle signal is greater than the fourth threshold, a large-angle right turn can be achieved.

[0158] Exemplarily, after the braking control module receives the direction angle signal, it determines whether the steering angle value corresponding to the direction angle signal is greater than or equal to the second threshold and less than the fourth threshold. After determining that the steering angle value corresponding to the direction angle signal is greater than or equal to the second threshold and less than the fourth threshold, it indicates that the vehicle is within the range of a small angle right turn, and the vehicle is controlled to make a small angle right turn.

[0159] Therefore, by precisely controlling the rotation speed of the rear wheels, more precise small-angle right turn control can be achieved, and by balancing the rotation speed of the rear wheels, the vehicle can be ensured to remain stable during the turn.

[0160] Optionally, the method further includes:

[0161] When the brake control module determines that the steering angle value corresponding to the received direction angle signal is greater than or equal to the fourth threshold value, and the axis of each wheel of the vehicle forms an inclined angle with the longitudinal axis of the vehicle body, the brake control module controls the rotation speeds of the left rear wheel and the right front wheel to decrease until they drop to a preset threshold value, and controls the rotation speeds of the right rear wheel and the left front wheel to increase to achieve a right turn;

[0162] Among them, the increased speed value of the right rear wheel is equal to the reduced speed value of the left rear wheel, and the increased speed value of the left front wheel is equal to the reduced speed value of the right front wheel.

[0163] Exemplarily, after the braking control module receives the direction angle signal, it determines whether the steering angle value corresponding to the direction angle signal is greater than or equal to a fourth threshold value. After determining that the steering angle value corresponding to the direction angle signal is greater than or equal to the fourth threshold value, it indicates that the vehicle is within the range of a large-angle right turn, and the vehicle is controlled to make a large-angle right turn.

[0164] Therefore, by accurately controlling the rotation speed of each wheel, more precise large-angle right turn control can be achieved, and by accurately controlling the rotation speed of each wheel, more precise turning control can be achieved to meet different turning requirements. Among them, by balancing the rotation speed of each wheel, it can be ensured that the vehicle remains stable during the turning process.

[0165] It should be noted that the turning control logic of the present application can also be applied to front-wheel drive vehicles and rear-wheel drive vehicles. For the turning control logic of the water driving mode of the front-wheel drive vehicles and rear-wheel drive vehicles, it is only necessary to subtract the control logic of the four-wheel drive vehicle, that is, the rear wheels of the front-wheel drive vehicle will not have any movement, and the turning is only achieved by controlling the front wheels; and the front wheels of the rear-wheel drive vehicle will not have any movement, and the turning is only achieved by controlling the rear wheels; the turning control logic of the front-wheel drive vehicles and rear-wheel drive vehicles is described below.

[0166] Optionally, the method further includes:

[0167] When the brake control module determines that the steering angle value corresponding to the received direction angle is less than or equal to the first threshold value, and the axis of each front wheel of the vehicle forms an inclination angle with the longitudinal axis of the vehicle body, the brake control module controls the left front wheel speed to decrease until it drops to a preset threshold value, and controls the right front wheel speed to increase, so as to achieve a left turn;

[0168] Among them, the increased speed value of the right front wheel is equal to the reduced speed value of the left front wheel.

[0169] It should be noted that since a front-wheel drive vehicle does not apply driving force to the rear wheels, when turning, the vehicle can only turn by controlling the front wheels.

[0170] For example, Fig. 9 A schematic diagram of the force of a vehicle turning left is provided for the embodiment of the present application, such as Fig. 9As shown in the figure, the brake control module applies brake pressure to the left front caliper through the active boost function, causing a speed difference between the left front wheel and the right front wheel. At this time, the horizontal force F 左前1 >F 右前1 The front axle of the vehicle is subjected to a horizontal force F to the left. 前 , and the vehicle generates a counterclockwise torque M 前 , to achieve left turn, such as Fig. 9 As shown in FIG. 1 , the grid-shaped tire represents the braked wheel.

[0171] Therefore, for front-wheel drive vehicles, as long as it is determined that the turning threshold is met, that is, less than or equal to the first threshold, the vehicle can be controlled to turn left, regardless of whether it is a large-angle turn or a small-angle turn, and by controlling the speed of the front wheels, left turn control can be achieved to ensure that the vehicle turns according to the expected trajectory.

[0172] Optionally, the method further includes:

[0173] When the brake control module determines that the steering angle value corresponding to the received direction angle signal is greater than or equal to the second threshold value, and the axis of each front wheel of the vehicle forms an inclination angle with the longitudinal axis of the vehicle body, the brake control module controls the right front wheel speed to decrease until it drops to a preset threshold value, and controls the left front wheel speed to increase to achieve a right turn;

[0174] Among them, the increased speed value of the left front wheel is equal to the reduced speed value of the right front wheel.

[0175] It should be noted that the control logic of the right turn is similar to that of the left turn. For details, please refer to the description of the above embodiment, which will not be repeated here.

[0176] Therefore, by controlling the rotation speed of different front wheels, not only left turn control can be achieved, but also right turn control can be achieved, thereby meeting different turning needs and improving turning flexibility.

[0177] Optionally, the method further includes:

[0178] When the brake control module determines that the steering angle value corresponding to the received direction angle signal is less than or equal to the first threshold value, and the axis of each rear wheel of the vehicle forms an inclination angle with the longitudinal axis of the vehicle body, the brake control module controls the right rear wheel speed to decrease until it drops to a preset threshold value, and controls the left rear wheel speed to increase, so as to achieve a left turn;

[0179] Among them, the increased speed value of the left rear wheel is equal to the reduced speed value of the right rear wheel.

[0180] It should be noted that since a rear-wheel drive vehicle does not apply driving force to the front wheels, when turning, the vehicle only controls the rear wheels to achieve the desired turn.

[0181] For example, Fig.10 Another force diagram of a vehicle turning left is provided for the embodiment of the present application, such as Fig.10 As shown, by controlling the right rear wheel speed to reduce the horizontal force F 右后1 >F 左后1 At this time, the rear axle of the vehicle is subjected to a horizontal force F to the right 后 , which can cause the vehicle to generate a counterclockwise torque M 后 , to achieve left steering, where the grid-shaped tires represent the braked wheels.

[0182] Therefore, for rear-wheel drive vehicles, the same control logic is still used. As long as it is determined that the turning threshold is met, that is, less than or equal to the first threshold, the vehicle can be controlled to turn left, regardless of whether it is a large-angle turn or a small-angle turn. By controlling the speed of the rear wheels, left turn control can be achieved to ensure that the vehicle turns according to the expected trajectory.

[0183] Optionally, the method further includes:

[0184] When the brake control module determines that the steering angle value corresponding to the received direction angle signal is greater than or equal to the second threshold value, and the axis of each rear wheel of the vehicle forms an inclined angle with the longitudinal axis of the vehicle body, the brake control module controls the left rear wheel speed to decrease until it drops to a preset threshold value, and controls the right rear wheel speed to increase, so as to achieve a right turn;

[0185] Among them, the increased speed value of the right rear wheel is equal to the reduced speed value of the left rear wheel.

[0186] Therefore, by controlling the rotation speed of different rear wheels, left turn control and right turn control can also be achieved, thereby meeting different turning needs and improving turning flexibility.

[0187] It should be noted that the existing amphibious vehicle control method usually does not have an active return function after turning, while the present application can achieve active return after turning during driving on water.

[0188] Optionally, the method further includes:

[0189] After detecting that the torque value corresponding to the torque signal is 0 and the torque value corresponding to the torque signal remains unchanged for a period exceeding a time threshold, the load mechanism drives the steering wheel to return to the center.

[0190] In the embodiment of the present application, a time threshold is set to determine whether the maintenance time of the torque value of 0 exceeds the threshold, and the basis for setting the time threshold may include driving behavior analysis, vehicle dynamic characteristics, response time and safety requirements, etc. The embodiment of the present application does not specifically limit the basis and size of the setting of the time threshold, for example, the time threshold can be 1s.

[0191] Exemplarily, when it is detected that no hand force is applied to the steering wheel, at this time, the controller of the wire-controlled steering column detects that the torque value is 0, and then after determining that the torque value is 0 for more than 1 second, the load mechanism can drive the steering wheel to return to the center.

[0192] It should be noted that when the steering wheel returns to the center position, the steering angle value of the steering wheel does not meet the above-mentioned turning conditions. The brake control module will cancel the brake pressure applied to the left front caliper and the right rear caliper in turn. At this time, the left front wheel and the right rear wheel resume rotation, and the left and right wheels of the front and rear axles drive the vehicle to continue moving forward together.

[0193] Therefore, the embodiment of the present application can prevent misoperation caused by a short period of steering wheel stillness by setting a reasonable time threshold, thereby ensuring that the vehicle can detect and respond within an appropriate time and drive the steering wheel back to the center position in time, thereby reducing the driving load and ensuring the safety of the vehicle.

[0194] In combination with the above embodiments, the relationship between the steering wheel steering angle value and the vehicle driving direction can be summarized. For example, the vehicle is a four-wheel drive vehicle, the first threshold is -3°, the second threshold is 3°, the third threshold is -45°, and the fourth threshold is 45°. Fig.11 A schematic diagram of the relationship between the steering angle value of the steering wheel and the driving direction of the vehicle provided in an embodiment of the present application, such as Fig.11 As shown, the range of the steering angle value of the steering wheel corresponding to a small-angle left turn is -45°<a<-3°; the range of the steering angle value of the steering wheel corresponding to a large-angle left turn is -90°<a<-45°; the range of the steering angle value of the steering wheel corresponding to a straight line is: -3°<a<3°; the range of the steering angle value of the steering wheel corresponding to a small-angle right turn is 3°<a<45°; the range of the steering angle value of the steering wheel corresponding to a large-angle right turn is 45°<a<90°; wherein, the working logic of the right turn is the same as that of the left turn, except that the braking deceleration strategy is different at this time. Optionally, the braking control module only takes -90° (left turn) to 90° (right turn) as the effective angle for the steering angle value corresponding to the received direction angle signal. If the left turn is greater than -90°, it is calculated as -90°, and if the right turn is greater than 90° (right turn), it is calculated as 90°, so as to avoid the trouble of turning the steering wheel more times due to a large angle and simplify the algorithm logic.

[0195] based on Fig.11 The relationship example diagram shown is Fig.12 A flow chart of a control method for a water-traveling vehicle provided in an embodiment of the present application is shown in FIG. Fig.12 As shown, the control method includes the following steps:

[0196] Step A: The control device determines whether to enter the water driving mode. If so, step B is executed; if not, the land driving mode is continued.

[0197] Step B: The brake control module, the steering controller, and the wire-controlled steering column enter the water driving mode, and control the front wheels and the vehicle body to form an inverted figure eight structure, and the rear wheels and the vehicle body to form an inverted figure eight structure. Further, the brake control module determines whether the direction angle signal is -3°<a<3°. If so, the vehicle is controlled to go straight, that is, the drive motor drives the four wheels to rotate. At this time, the brake control module does not operate, that is, it is in a closed state. If not, execute step C.

[0198] Step C: The braking control module determines whether the direction angle signal is -45°<a<-3°. If so, the vehicle is controlled to turn left at a small angle, that is, the speed of the right rear wheel is controlled to decrease until it drops to a preset threshold, and the speed of the left rear wheel is controlled to increase to achieve a small angle left turn; if not, execute step D.

[0199] Step D: The braking control module determines whether the direction angle signal is -90°<a<-45°. If so, the vehicle is controlled to turn left at a large angle, that is, the speed of the right rear wheel and the left front wheel are controlled to decrease until they drop to a preset threshold, and the speed of the left rear wheel and the right front wheel are controlled to increase to achieve a large angle left turn; if not, execute step E.

[0200] Step E: The braking control module determines whether the direction angle signal is 3°<a<45°. If so, the vehicle is controlled to turn right at a small angle, that is, the left rear wheel speed is controlled to decrease until it drops to a preset threshold, and the right rear wheel speed is controlled to increase to achieve a small angle right turn; if not, execute step F.

[0201] Step F: The braking control module determines whether the direction angle signal is 45°<a<90°. If so, the vehicle is controlled to turn right at a large angle, that is, the speed of the left rear wheel and the right front wheel are controlled to decrease until they drop to a preset threshold, and the speed of the right rear wheel and the left front wheel are controlled to increase to achieve a large angle right turn; if not, continue to monitor the steering wheel.

[0202] Therefore, the control method provided by the present application is applicable to three driving types: four-wheel drive vehicles, front-wheel drive vehicles, and rear-wheel drive vehicles, and the corresponding control logic can be basically realized through existing hardware equipment, with minor changes to the layout of vehicle components. Only by braking a certain wheel of the floating vehicle through the braking control module, the floating vehicle can move forward and turn on the water, and the active self-centering function maintains the driving habits of land driving and reduces the driving load. Since the axis of the wheel forms an inclined angle with the longitudinal axis of the vehicle body, the vehicle can also avoid water flow from washing to the bottom of the vehicle during the entire water driving process, so as to protect the bottom components of the vehicle.

[0203] In the above embodiments, the control method of the water-traveling vehicle provided by the embodiments of the present application is introduced. In order to realize the functions in the method provided by the embodiments of the present application, the electronic device as the execution subject may include a hardware structure and / or a software module, and the above functions are realized in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether one of the above functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0204] For example, Fig.13 A schematic diagram of a control device for a water-traveling vehicle provided in an embodiment of the present application is shown in FIG. Fig.13 As shown, the vehicle includes a body and a wheel; the wheel includes a rim having a plurality of inclined blade-type spokes; the control device 1300 includes:

[0205] The control module 1301 is used to respond to the first instruction to enter the water driving mode, control the axis of the wheel to form an inclination angle with the longitudinal axis of the vehicle body to propel the vehicle; the rotation direction of the wheel and the forward direction of the vehicle are determined by the inclination of the blade-type spokes.

[0206] Optionally, the wheels include front wheels and rear wheels; the front wheels include a left front wheel and a right front wheel; the rear wheels include a left rear wheel and a right rear wheel; the axes of the wheels form an inclination angle with the longitudinal axis of the vehicle body, including: the axis of each front wheel forms an inclination angle with the longitudinal axis of the vehicle body, and / or the axis of each rear wheel forms an inclination angle with the longitudinal axis of the vehicle body.

[0207] Optionally, the inclination angle formed by the axis of the wheel and the longitudinal axis of the vehicle body includes: the front wheel and the vehicle body form an inverted figure eight structure, and / or the rear wheel and the vehicle body form an inverted figure eight structure.

[0208] Optionally, the vehicle also includes a wire-controlled steering column, a brake control module and a steering wheel; the wire-controlled steering column is used to monitor the steering angle value of the steering wheel and generate a direction angle signal; the brake control module is used to receive the direction angle signal and control the wheel speed to reduce based on the direction angle signal until it drops to a preset threshold value to control the vehicle to turn.

[0209] Optionally, the control device 1300 further includes a first determining module, where the first determining module is configured to:

[0210] After the brake control module determines that the steering angle value corresponding to the received direction angle signal is greater than the first threshold and less than the second threshold, the brake control module does not control the wheel.

[0211] Optionally, the control device 1300 further includes a second determining module, where the second determining module is configured to:

[0212] When the brake control module determines that the steering angle value corresponding to the received direction angle is less than or equal to the first threshold value, and the axis of each front wheel of the vehicle forms an inclination angle with the longitudinal axis of the vehicle body, the brake control module controls the left front wheel speed to decrease until it drops to a preset threshold value, and controls the right front wheel speed to increase, so as to achieve a left turn;

[0213] Among them, the increased speed value of the right front wheel is equal to the reduced speed value of the left front wheel.

[0214] Optionally, the control device 1300 further includes a third determining module, where the third determining module is configured to:

[0215] When the brake control module determines that the steering angle value corresponding to the received direction angle signal is greater than or equal to the second threshold value, and the axis of each front wheel of the vehicle forms an inclination angle with the longitudinal axis of the vehicle body, the brake control module controls the right front wheel speed to decrease until it drops to a preset threshold value, and controls the left front wheel speed to increase to achieve a right turn;

[0216] Among them, the increased speed value of the left front wheel is equal to the reduced speed value of the right front wheel.

[0217] Optionally, the control device 1300 further includes a fourth determining module, where the fourth determining module is configured to:

[0218] When the brake control module determines that the steering angle value corresponding to the received direction angle signal is less than or equal to the first threshold value, and the axis of each rear wheel of the vehicle forms an inclination angle with the longitudinal axis of the vehicle body, the brake control module controls the right rear wheel speed to decrease until it drops to a preset threshold value, and controls the left rear wheel speed to increase, so as to achieve a left turn;

[0219] Among them, the increased speed value of the left rear wheel is equal to the reduced speed value of the right rear wheel.

[0220] Optionally, the control device 1300 further includes a fifth determining module, where the fifth determining module is configured to:

[0221] When the brake control module determines that the steering angle value corresponding to the received direction angle signal is greater than or equal to the second threshold value, and the axis of each rear wheel of the vehicle forms an inclined angle with the longitudinal axis of the vehicle body, the brake control module controls the left rear wheel speed to decrease until it drops to a preset threshold value, and controls the right rear wheel speed to increase, so as to achieve a right turn;

[0222] Among them, the increased speed value of the right rear wheel is equal to the reduced speed value of the left rear wheel.

[0223] Optionally, the control device 1300 further includes a sixth determining module, where the sixth determining module is configured to:

[0224] When the brake control module determines that the steering angle value corresponding to the received direction angle signal is less than or equal to the first threshold value and greater than the third threshold value, and the axis of each wheel of the vehicle forms an inclination angle with the longitudinal axis of the vehicle body, the driving motor of the vehicle drives the front wheels to rotate, and the brake control module controls the right rear wheel speed to decrease until it drops to a preset threshold value, and controls the left rear wheel speed to increase, so as to realize a left turn;

[0225] Among them, the increased speed value of the left rear wheel is equal to the reduced speed value of the right rear wheel.

[0226] Optionally, the control device 1300 further includes a seventh determining module, where the seventh determining module is configured to:

[0227] When the brake control module determines that the steering angle value corresponding to the received direction angle signal is less than or equal to the third threshold value, and the axis of each wheel of the vehicle forms an inclination angle with the longitudinal axis of the vehicle body, the brake control module controls the rotation speeds of the right rear wheel and the left front wheel to decrease until they drop to a preset threshold value, and controls the rotation speeds of the left rear wheel and the right front wheel to increase, so as to realize a left turn;

[0228] Among them, the increased speed value of the left rear wheel is equal to the reduced speed value of the right rear wheel, and the increased speed value of the right front wheel is equal to the reduced speed value of the left front wheel.

[0229] Optionally, the control device 1300 further includes an eighth determining module, where the eighth determining module is configured to:

[0230] When the brake control module determines that the steering angle value corresponding to the received direction angle signal is greater than or equal to the second threshold value and less than the fourth threshold value, and the axis of each wheel of the vehicle forms an inclined angle with the longitudinal axis of the vehicle body, the driving motor of the vehicle drives the front wheels to rotate, and the brake control module controls the left rear wheel speed to decrease until it drops to a preset threshold value, and controls the right rear wheel speed to increase, so as to realize a right turn;

[0231] Among them, the increased speed value of the right rear wheel is equal to the reduced speed value of the left rear wheel.

[0232] Optionally, the control device 1300 further includes a ninth determining module, the ninth determining module being configured to:

[0233] When the brake control module determines that the steering angle value corresponding to the received direction angle signal is greater than or equal to the fourth threshold value, and the axis of each wheel of the vehicle forms an inclined angle with the longitudinal axis of the vehicle body, the brake control module controls the rotation speeds of the left rear wheel and the right front wheel to decrease until they drop to a preset threshold value, and controls the rotation speeds of the right rear wheel and the left front wheel to increase to achieve a right turn;

[0234] Among them, the increased speed value of the right rear wheel is equal to the reduced speed value of the left rear wheel, and the increased speed value of the left front wheel is equal to the reduced speed value of the right front wheel.

[0235] Optionally, the vehicle further includes a wire-controlled steering column and a steering wheel, the wire-controlled steering column includes a load mechanism and a torque sensor; the torque sensor is used to monitor whether a steering hand force is applied to the steering wheel and generate a torque signal; the load mechanism is used to receive the torque signal and simulate the steering force based on the torque signal to control the steering wheel to return to the center; the control device 1300 further includes a return module, which is used to:

[0236] After detecting that the torque value corresponding to the torque signal is 0 and the torque value corresponding to the torque signal remains unchanged for a period exceeding a time threshold, the load mechanism drives the steering wheel to return to the center.

[0237] It should be noted that the specific implementation principle and effects of the control device for the above-mentioned water-traveling vehicle can be found in the relevant descriptions and effects corresponding to the above-mentioned embodiments, and no further details will be given here.

[0238] The present application also provides a schematic diagram of the structure of an electronic device. Fig.14 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Fig.14 As shown, the electronic device 1400 may include: a processor 1401 and a memory 1402 communicatively connected to the processor; the memory 1402 stores a computer program; the processor 1401 executes the computer program stored in the memory 1402, so that the processor 1401 executes the method described in any of the above embodiments.

[0239] The memory 1402 and the processor 1401 may be connected via a bus 1403 .

[0240] An embodiment of the present application further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the method described in any of the aforementioned embodiments of the present application.

[0241] An embodiment of the present application further provides a chip for executing instructions, wherein the chip is used to execute the method described in any of the aforementioned embodiments as executed by an electronic device in any of the aforementioned embodiments of the present application.

[0242] An embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the method described in any of the aforementioned embodiments of the present application executed by an electronic device can be implemented.

[0243] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0244] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to implement the solution of this embodiment.

[0245] In addition, each functional module in each embodiment of the present application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The above-mentioned module-composed unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0246] The above-mentioned integrated module implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, including a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the method described in each embodiment of the present application.

[0247] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the application may be directly implemented as being executed by a hardware processor, or may be implemented by a combination of hardware and software modules in the processor.

[0248] The memory may include high-speed random access memory (RAM), and may also include non-volatile memory (NVM), such as at least one disk storage, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk or an optical disk, etc.

[0249] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0250] The above storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special computer.

[0251] An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a main control device.

[0252] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0253] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0254] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0255] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the claims.

[0256] The above is only a specific implementation of the embodiment of the present application, but the protection scope of the embodiment of the present application is not limited thereto, and any changes or replacements within the technical scope disclosed in the embodiment of the present application should be included in the protection scope of the embodiment of the present application. Therefore, the protection scope of the embodiment of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling a vehicle capable of traveling on water, characterized in that: The vehicle comprises a body and a wheel; the wheel comprises a rim having a plurality of inclined bladed spokes; the method comprises: In response to a first instruction to enter a water driving mode, the vehicle controls the axis of the wheel to form an inclined angle with the longitudinal axis of the vehicle body to propel the vehicle; the rotation direction of the wheel and the forward direction of the vehicle are determined by the inclination of the blade-type spokes.

2. The method according to claim 1, characterized in that The wheels include front wheels and rear wheels; the front wheels include a left front wheel and a right front wheel; the rear wheels include a left rear wheel and a right rear wheel; the axes of the wheels form an inclination angle with the longitudinal axis of the vehicle body, including: the axis of each front wheel forms an inclination angle with the longitudinal axis of the vehicle body, and / or the axis of each rear wheel forms an inclination angle with the longitudinal axis of the vehicle body.

3. The method according to claim 2, characterized in that The inclination angle formed between the axis of the wheel and the longitudinal axis of the vehicle body includes: the front wheel and the vehicle body form an inverted figure eight structure, and / or the rear wheel and the vehicle body form an inverted figure eight structure.

4. The method according to claim 2, characterized in that: The vehicle also includes a wire-controlled steering column, a brake control module and a steering wheel; the wire-controlled steering column is used to monitor the steering angle value of the steering wheel and generate a direction angle signal; the brake control module is used to receive the direction angle signal and control the rotation speed of the wheel to decrease based on the direction angle signal until it drops to a preset threshold value, so as to control the vehicle to turn.

5. The method according to claim 4, characterized in that The method further comprises: After the brake control module determines that the steering angle value corresponding to the received direction angle signal is greater than a first threshold and less than a second threshold, the brake control module does not control the wheel.

6. The method according to claim 4, characterized in that The method further comprises: When the brake control module determines that the steering angle value corresponding to the received direction angle is less than or equal to a first threshold value, and the axis of each front wheel of the vehicle forms an inclination angle with the longitudinal axis of the vehicle body, the brake control module controls the left front wheel speed to decrease until it drops to a preset threshold value, and controls the right front wheel speed to increase, so as to realize a left turn; The increased speed value of the right front wheel is equal to the decreased speed value of the left front wheel.

7. The method according to claim 4, characterized in that The method further comprises: When the brake control module determines that the steering angle value corresponding to the received direction angle signal is greater than or equal to a second threshold value, and the axis of each front wheel of the vehicle forms an inclination angle with the longitudinal axis of the vehicle body, the brake control module controls the right front wheel speed to decrease until it drops to a preset threshold value, and controls the left front wheel speed to increase, so as to realize a right turn; The increased speed value of the left front wheel is equal to the decreased speed value of the right front wheel.

8. The method according to claim 4, characterized in that The method further comprises: When the brake control module determines that the steering angle value corresponding to the received direction angle signal is less than or equal to a first threshold value, and the axis of each rear wheel of the vehicle forms an inclination angle with the longitudinal axis of the vehicle body, the brake control module controls the right rear wheel speed to decrease until it drops to a preset threshold value, and controls the left rear wheel speed to increase, so as to realize a left turn; The increased speed value of the left rear wheel is equal to the decreased speed value of the right rear wheel.

9. The method according to claim 4, characterized in that The method further comprises: When the brake control module determines that the steering angle value corresponding to the received direction angle signal is greater than or equal to a second threshold value, and the axis of each rear wheel of the vehicle forms an inclined angle with the longitudinal axis of the vehicle body, the brake control module controls the left rear wheel speed to decrease until it drops to a preset threshold value, and controls the right rear wheel speed to increase, so as to realize a right turn; The increased speed value of the right rear wheel is equal to the decreased speed value of the left rear wheel.

10. The method according to claim 4, characterized in that The method further comprises: When the brake control module determines that the steering angle value corresponding to the received direction angle signal is less than or equal to the first threshold value and greater than the third threshold value, and the axis of each wheel of the vehicle forms an inclined angle with the longitudinal axis of the vehicle body, the driving motor of the vehicle drives the front wheels to rotate, and the brake control module controls the right rear wheel speed to decrease until it drops to a preset threshold value, and controls the left rear wheel speed to increase, so as to realize a left turn; The increased speed value of the left rear wheel is equal to the decreased speed value of the right rear wheel.

11. The method according to claim 4, characterized in that The method further comprises: When the brake control module determines that the steering angle value corresponding to the received direction angle signal is less than or equal to a third threshold value, and the axis of each wheel of the vehicle forms an inclination angle with the longitudinal axis of the vehicle body, the brake control module controls the rotation speeds of the right rear wheel and the left front wheel to decrease until they drop to a preset threshold value, and controls the rotation speeds of the left rear wheel and the right front wheel to increase, so as to realize a left turn; The increased speed value of the left rear wheel is equal to the decreased speed value of the right rear wheel, and the increased speed value of the right front wheel is equal to the decreased speed value of the left front wheel.

12. The method according to claim 4, characterized in that The method further comprises: When the brake control module determines that the steering angle value corresponding to the received direction angle signal is greater than or equal to the second threshold value and less than the fourth threshold value, and the axis of each wheel of the vehicle forms an inclined angle with the longitudinal axis of the vehicle body, the driving motor of the vehicle drives the front wheels to rotate, and the brake control module controls the left rear wheel speed to decrease until it drops to a preset threshold value, and controls the right rear wheel speed to increase, so as to realize a right turn; The increased speed value of the right rear wheel is equal to the decreased speed value of the left rear wheel.

13. The method according to claim 4, characterized in that The method further comprises: When the brake control module determines that the steering angle value corresponding to the received direction angle signal is greater than or equal to a fourth threshold value, and the axis of each wheel of the vehicle forms an inclination angle with the longitudinal axis of the vehicle body, the brake control module controls the rotation speeds of the left rear wheel and the right front wheel to decrease until they drop to a preset threshold value, and controls the rotation speeds of the right rear wheel and the left front wheel to increase, so as to realize a right turn; The increased speed value of the right rear wheel is equal to the decreased speed value of the left rear wheel, and the increased speed value of the left front wheel is equal to the decreased speed value of the right front wheel.

14. The method according to claim 1, characterized in that The vehicle further comprises a wire-controlled steering column and a steering wheel, wherein the wire-controlled steering column comprises a load mechanism and a torque sensor; the torque sensor is used to monitor whether a steering hand force is applied to the steering wheel and generate a torque signal; The load mechanism is used to receive the torque signal and simulate the steering force based on the torque signal to control the steering wheel to return to the center position; the method further includes: After detecting that the torque value corresponding to the torque signal is 0 and the torque value corresponding to the torque signal remains unchanged for a period exceeding a time threshold, the load mechanism drives the steering wheel to return to the center.

15. A control device for a vehicle capable of traveling on water, characterized in that: The vehicle comprises a body and a wheel; the wheel comprises a rim having a plurality of inclined blade-type spokes; the device comprises: The control module is used to control the axis of the wheel to form an inclination angle with the longitudinal axis of the vehicle body in response to the first instruction to enter the water driving mode, so as to propel the vehicle; the rotation direction of the wheel and the forward direction of the vehicle are determined by the inclination of the blade-type spokes.

16. A vehicle capable of travelling on water, characterized in that: The vehicle comprises: a vehicle body, wheels and a control device for a water-travelable vehicle as claimed in claim 15; the wheels comprise a rim having a plurality of inclined blade-type spokes.

17. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 14.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method according to any one of claims 1 to 14.

19. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 14.

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