Pivot steering control method and device based on differential control and vehicle

Abstract

The invention discloses an in-situ steering control method and device based on differential control and a vehicle. In an in-situ steering mode, a left front wheel steering machine and a right rear wheel steering machine are respectively controlled to move, so that a left front wheel and a right rear wheel rotate to a preset first angle; respectively controlling a right front wheel steering machine and a left rear wheel steering machine to move so as to enable a right front wheel and a left rear wheel to rotate to a preset second angle; a first differential lock is controlled to be closed, and a second gear limiter is opened; and when it is detected that the braking state is the release state, the wheels are controlled to conduct pivot steering. Thus, the four steering machines and the brand new differential assembly are flexibly arranged on the vehicle chassis, independent control over steering of the four wheels can be achieved with low cost, driving control over the single wheel is achieved, and therefore vehicle in-situ steering is completed.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a method, device and vehicle for controlling on-the-spot steering based on differential control. Background Art

[0002] With the rapid development of China's economy and automobile industry, the number of cars is increasing, which exacerbates the problem of traffic congestion. The wheelbase of cars is getting longer and longer, which brings good and comfortable space inside the car but also brings great challenges to the car's maneuverability. To improve the steering flexibility and passability of the car, most vehicles currently steer by controlling the front wheels, which requires a certain turning radius. The turning radius of large and medium-sized vehicles is larger, which is not flexible enough in a small space.

[0003] With the development of automobile technology, some mid-to-high-end models have begun to be equipped with rear-wheel steering functions, including passive and active types. Among them, the passive steering angle cannot be controlled and can only follow the changes; the active type can effectively reduce the turning radius and improve the flexibility and stability of operation, but it cannot achieve the function of turning in place. Although the differential on the vehicle can make the left and right (or front and rear) drive wheels rotate at different speeds, it cannot make the left and right wheels rotate in different directions, and cannot achieve the vehicle's in-place rotation. Summary of the invention

[0004] In view of the above problems, the present invention is proposed to provide a method, device and vehicle for controlling on-the-spot steering based on differential control, which solves the driving problem of the vehicle in the on-the-spot steering mode.

[0005] According to a first aspect of the present invention, there is provided a method for controlling in-situ steering based on differential control, which is applied to a vehicle, wherein the vehicle comprises a vehicle body, four wheels mounted on the vehicle body, each wheel being connected to a steering gear, a first differential lock and a second gear limiter, and the method comprises:

[0006] In the on-site steering mode, the left front wheel steering machine and the right rear wheel steering machine are respectively controlled to move so that the left front wheel and the right rear wheel are rotated to a preset first angle, and the right front wheel steering machine and the left rear wheel steering machine are respectively controlled to move so that the right front wheel and the left rear wheel are rotated to a preset second angle;

[0007] Controlling the first differential lock to close and the second gear limiter to open; wherein the first differential lock is connected to the left half-shaft gear, and the second gear limiter is connected to the right half-shaft gear, and after the first differential lock is closed and the second gear limiter is opened, the left half-shaft gear is rigidly connected to the driven gear, and the right half-shaft gear is disengaged from the contact with the planetary gear; or the first differential lock is connected to the right half-shaft gear, and the second gear limiter is connected to the left half-shaft gear, and after the first differential lock is closed and the second gear limiter is opened, the right half-shaft gear is rigidly connected to the driven gear, and the left half-shaft gear is disengaged from the contact with the planetary gear;

[0008] When the brake state is detected to be released, the wheels are controlled to turn on the spot.

[0009] Optionally, before the steps of respectively controlling the left front wheel steering machine and the right rear wheel steering machine to move in the in-situ steering mode so that the left front wheel and the right rear wheel are rotated to a preset first angle, and respectively controlling the right front wheel steering machine and the left rear wheel steering machine to move so that the right front wheel and the left rear wheel are rotated to a preset second angle, the method further comprises:

[0010] In response to the on-the-spot steering control selected by the driver, obtaining brake status, vehicle speed, adaptive cruise status, road surface information, and vehicle fault alarm information;

[0011] Determining whether a mode entry condition is met according to the braking state, the vehicle speed, the adaptive cruise state, the road surface information, and the vehicle fault alarm information;

[0012] If the mode entry conditions are met, the on-the-spot turning mode is entered.

[0013] Optionally, judging whether a mode entry condition is met according to the brake state, the vehicle speed, the adaptive cruise state, the road surface information and the vehicle fault alarm information includes:

[0014] If the braking state is the braking state, the vehicle speed is 0, the adaptive cruise control state is in the off state, the road slope angle in the road surface information is less than the preset angle, and the vehicle fault alarm information does not include a high-level fault alarm, then the mode entry condition is met.

[0015] Optionally, the method further includes:

[0016] If it is detected that the vehicle gear is in the D gear, the on-site steering mode is the on-site clockwise steering mode;

[0017] If it is detected that the vehicle gear is in the R gear, the on-site steering mode is the on-site counterclockwise steering mode.

[0018] Optionally, the method further includes:

[0019] Get steering wheel information, brake status, mode running time, and vehicle fault alarm information;

[0020] Determining whether a mode exit condition is met according to the steering wheel information, the brake status, the mode running time and the vehicle fault alarm information;

[0021] If the mode exit condition is met, the on-the-spot turning mode is exited.

[0022] Optionally, judging whether a mode exit condition is met according to the steering wheel information, the brake state, the mode running time and the vehicle fault alarm information includes:

[0023] If it is determined based on the steering wheel information that the manual steering wheel rotation angle is greater than the preset angle, or the brake state is the braking state, or the mode operation time is greater than the preset time, or the vehicle fault alarm information includes a high-level fault alarm, then the mode exit condition is met.

[0024] Optionally, the method further includes:

[0025] The wheels are controlled to return to their initial positions, the first differential lock is opened, and the second gear limiter is closed.

[0026] According to a second aspect of the present invention, there is provided a stationary steering control device based on differential control, comprising:

[0027] An angle control module, used for controlling the movement of the left front wheel steering machine and the right rear wheel steering machine respectively in the in-situ steering mode so that the left front wheel and the right rear wheel are rotated to a preset first angle, and controlling the movement of the right front wheel steering machine and the left rear wheel steering machine respectively so that the right front wheel and the left rear wheel are rotated to a preset second angle;

[0028] A differential limiter module, used for controlling the closing of the first differential lock and opening of the second gear limiter; wherein the first differential lock is connected to the left half-shaft gear, and the second gear limiter is connected to the right half-shaft gear, and after the first differential lock is closed and the second gear limiter is opened, the left half-shaft gear is rigidly connected to the driven gear, and the right half-shaft gear is disengaged from the contact with the planetary gear; or the first differential lock is connected to the right half-shaft gear, and the second gear limiter is connected to the left half-shaft gear, and after the first differential lock is closed and the second gear limiter is opened, the right half-shaft gear is rigidly connected to the driven gear, and the left half-shaft gear is disengaged from the contact with the planetary gear;

[0029] The on-the-spot steering module is used to control the wheels to turn on the spot when it is detected that the brake state is released.

[0030] According to a third aspect of the present invention, a controller is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the aforementioned in-place steering control method based on differential control when executing the computer program.

[0031] According to a fourth aspect of the present invention, there is provided a vehicle, the vehicle comprising a vehicle body, four wheels mounted on the vehicle body, each wheel being connected to a steering gear, a first differential lock, a second gear limiter and a controller;

[0032] Wherein, the first differential lock is connected to the left half-shaft gear in the vehicle, and the second gear limiter is connected to the right half-shaft gear in the vehicle. After the first differential lock is closed and the second gear limiter is opened, the left half-shaft gear is rigidly connected to the driven gear, and the right half-shaft gear is disengaged from the contact with the planetary gear; or the first differential lock is connected to the right half-shaft gear, and the second gear limiter is connected to the left half-shaft gear. After the first differential lock is closed and the second gear limiter is opened, the right half-shaft gear is rigidly connected to the driven gear, and the left half-shaft gear is disengaged from the contact with the planetary gear;

[0033] The controller executes the aforementioned on-the-spot steering control method based on differential control.

[0034] The above one or more technical solutions in the embodiments of this specification have at least the following technical effects:

[0035] The embodiments of the present specification provide a method, device and vehicle for in-situ steering control based on differential control. In an in-situ steering mode, the left front wheel steering machine and the right rear wheel steering machine are respectively controlled to move so that the left front wheel and the right rear wheel are rotated to a preset first angle, and the right front wheel steering machine and the left rear wheel steering machine are respectively controlled to move so that the right front wheel and the left rear wheel are rotated to a preset second angle; the first differential lock is controlled to be closed and the second gear limiter is opened; wherein the first differential lock is connected to the left half-shaft gear, and the second gear limiter is connected to the right half-shaft gear. After the first differential lock is closed and the second gear limiter is opened, the left half-shaft gear is rigidly connected to the driven gear, and the right half-shaft gear is disengaged from the contact with the planetary gear; or the first differential lock is connected to the right half-shaft gear, and the second gear limiter is connected to the left half-shaft gear. After the first differential lock is closed and the second gear limiter is opened, the right half-shaft gear is rigidly connected to the driven gear, and the left half-shaft gear is disengaged from the contact with the planetary gear; when it is detected that the brake state is released, the wheel is controlled to perform in-situ steering. In this way, by flexibly arranging four steering gears and a new differential assembly on the vehicle chassis, independent control of the steering of the four wheels can be achieved at a relatively low cost, and drive control of a single wheel can be achieved, thereby completing the vehicle's on-the-spot turning.

[0036] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Also, throughout the accompanying drawings, the same reference figures are used to represent the same components. In the drawings:

[0038] Figure 1 A flow chart of a method for controlling stationary steering based on differential control in an embodiment of the present invention is shown.

[0039] Figure 2 A schematic diagram of a vehicle structure in an embodiment of the present invention is shown.

[0040] Figure 3 A schematic diagram showing a steering mode of a vehicle in an embodiment of the present invention is shown.

[0041] Figure 4 A block diagram of an on-the-spot steering control device based on differential control in an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0045] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] The embodiment of the present invention provides a method for controlling in situ steering based on differential control, Figure 1 As shown in the flowchart, the in-situ steering control method based on differential control includes steps 101 to 103:

[0047] Step 101: In the in-situ steering mode, the left front wheel steering machine and the right rear wheel steering machine are respectively controlled to move so that the left front wheel and the right rear wheel are rotated to a preset first angle, and the right front wheel steering machine and the left rear wheel steering machine are respectively controlled to move so that the right front wheel and the left rear wheel are rotated to a preset second angle;

[0048] It should be noted that the method of this embodiment is applied to a vehicle, which may be a fuel vehicle or a new energy vehicle.

[0049] The vehicle includes a vehicle body, four wheels mounted on the vehicle body, each wheel is connected to a steering gear, a first differential lock, a second gear limiter and a controller. For ease of description, the four wheels are recorded as a left front wheel, a right front wheel, a left rear wheel and a right rear wheel according to the position of the wheels on the vehicle. Each wheel is provided with a steering gear for controlling the steering of the wheel.

[0050] The vehicle also includes a differential assembly that allows the left and right drive wheels to roll at different speeds. Figure 2 As shown, the differential assembly includes a driven gear, two planetary gears connected to the driven gear, a left half-shaft gear and a right half-shaft gear respectively connected to the planetary gears, and also includes a first differential lock, a second gear limiter, a differential lock execution module and a limiter execution module. The differential lock execution module is connected to the controller of the whole vehicle to control the closing and opening of the first differential lock. The limiter execution module is connected to the controller of the whole vehicle to control the opening and closing of the second gear limiter.

[0051] In one embodiment, the first differential lock (ie Figure 2 The left half-axle differential lock in the left half-axle) has one end connected to the left half-axle gear and the other end connected to the left front wheel. The second gear limiter has one end connected to the right half-axle gear and the other end connected to the right front wheel. Figure 2 shown.

[0052] In another embodiment, one end of the first differential lock is connected to the right half-shaft gear, and the other end is connected to the left front wheel. One end of the second gear limiter is connected to the left half-shaft gear, and the other end is connected to the left front wheel.

[0053] by Figure 2 Take the connection method in as an example, the limiter execution module is used to control the movement of the right half-shaft gear. When the second gear limiter is opened, the right half-shaft gear is out of contact with the planetary gear and is not driven by the planetary gear; when the second gear limiter is closed, the right half-shaft gear resumes contact with the planetary gear. When the first differential lock is closed, the left half-shaft gear and the driven gear can be rigidly connected. The left half-shaft gear contacts the two planetary gears and transmits the driving force to the left front wheel.

[0054] The planetary gear is used to transmit power to the left and right half-shaft gears. When the resistance of the wheels on both sides is different, the planetary gear rotates through its own axis to achieve differential drive of the wheels on both sides. The right half-shaft gear contacts the two planetary gears and transmits the driving force to the right front wheel. The driven gear is driven by the driving gear and transmits the driving force to the two planetary gears. The driving gear is used to transmit the power from the gearbox to the driven gear.

[0055] In actual driving, when the driver wants to turn on the spot according to the road conditions, the driver will determine the direction of the turn, that is, whether to turn on the spot clockwise or counterclockwise. Figure 2 For example, if the vehicle is turned clockwise, the D gear needs to be engaged, and if the vehicle is turned counterclockwise, the R gear needs to be engaged. Therefore, when the controller detects that the vehicle gear is in the D gear, it determines that the on-site steering mode is the on-site clockwise steering mode, and displays it in the vehicle instrument to prompt the driver; if the vehicle gear is detected to be in the R gear, it determines that the on-site steering mode is the on-site counterclockwise steering mode, and displays it in the vehicle instrument to prompt the driver.

[0056] On the contrary, if one end of the first differential lock is connected to the right half-shaft gear, and the other end is connected to the left front wheel. One end of the second gear limiter is connected to the left half-shaft gear, and the other end is connected to the left front wheel. At this time, if the driver uses clockwise steering, it is necessary to engage the R gear, and if counterclockwise steering is used, it is necessary to engage the D gear. When the controller detects that the vehicle gear is in the R gear, it determines that the in-situ steering mode is the in-situ clockwise steering mode, and displays it in the vehicle instrument to prompt the driver; if it is detected that the vehicle gear is in the D gear, it determines that the in-situ steering mode is the in-situ counterclockwise steering mode, and displays it in the vehicle instrument to prompt the driver.

[0057] Before entering the on-the-spot steering mode, the driver needs to step on the brake, shift into D gear or R gear, and press the on-the-spot steering control or on-the-spot steering switch, where the on-the-spot steering switch can be a physical switch, and the on-the-spot steering control can be a soft switch integrated in the vehicle system. For safety reasons, the vehicle needs to meet certain conditions before entering the on-the-spot steering mode to steer, otherwise it cannot enter the on-the-spot steering mode. Specifically:

[0058] The vehicle will respond to the on-the-spot steering controls selected by the driver and obtain information on brake status, vehicle speed, adaptive cruise status, road surface information, and vehicle fault warnings;

[0059] Determining whether a mode entry condition is met according to the braking state, the vehicle speed, the adaptive cruise state, the road surface information, and the vehicle fault alarm information;

[0060] The on-the-spot turning mode can be entered only if the mode entry conditions are met; if the mode entry conditions are not met, the on-the-spot turning mode will not be entered.

[0061] That is to say, if the brake state is in the braking state, the vehicle speed is 0, the adaptive cruise control state is in the off state, the road slope angle in the road information is less than the preset angle, and the vehicle fault alarm information does not include a high-level fault alarm, it means that many factors that are not conducive to the on-the-spot steering mode have been eliminated, and the mode entry conditions can be considered to be met. Among them, high-level fault alarms generally refer to handbrake alarms, ESC / ABS alarms, car key insensitivity alarms, seat belt unfastened alarms, low battery alarms, door / hood / trunk open alarms, airbag alarms, water temperature alarms, and alarms for various automatic assisted driving functions.

[0062] In the in-situ steering mode, the left front wheel steering machine and the right rear wheel steering machine are controlled to move respectively so that the left front wheel and the right rear wheel are rotated to a preset first angle, and the right front wheel steering machine and the left rear wheel steering machine are controlled to move respectively so that the right front wheel and the left rear wheel are rotated to a preset second angle. Among them, the first angle can be taken from a range of 20 to 25 degrees, and the second angle can be taken from a range of -20 to -25 degrees. The positive and negative before the value represent the direction of wheel deflection, and the value represents the degree of wheel deflection. In this embodiment, after entering the in-situ steering mode, the deflection directions of the left front wheel and the right front wheel are opposite, and the absolute values ​​of the deflection angles are the same. The left front wheel and the right front wheel are inward-facing, and the left rear wheel and the right rear wheel are outward-facing.

[0063] It should be noted that the controller of this embodiment can be divided into a vehicle controller, a front wheel controller and a rear wheel controller. The front wheel controller is used to control the left front wheel steering gear and the right front wheel steering gear. The rear wheel controller is used to control the left rear wheel steering gear and the right rear wheel steering gear. After entering the in-place steering mode, combined with Figure 3 As shown, the turning angles of the left front wheel and the right rear wheel are consistent in magnitude and direction, and the turning angles of the right front wheel and the left rear wheel are consistent in magnitude and direction.

[0064] Step 102: Control the first differential lock to close and open the second gear limiter; wherein the first differential lock is connected to the left half-shaft gear, and the second gear limiter is connected to the right half-shaft gear. After the first differential lock is closed and the second gear limiter is opened, the left half-shaft gear is rigidly connected to the driven gear, and the right half-shaft gear is disengaged from the planetary gear; or the first differential lock is connected to the right half-shaft gear, and the second gear limiter is connected to the left half-shaft gear. After the first differential lock is closed and the second gear limiter is opened, the right half-shaft gear is rigidly connected to the driven gear, and the left half-shaft gear is disengaged from the planetary gear;

[0065] In this embodiment, the first differential lock can be arranged on the left side of the vehicle and connected to the left half-shaft gear, and correspondingly, the second gear stopper is arranged on the right side of the vehicle and connected to the right half-shaft gear. Of course, the first differential lock can also be arranged on the right side of the vehicle and connected to the right half-shaft gear, and the second gear stopper is arranged on the left side of the vehicle and connected to the left half-shaft gear. This embodiment is not limited to this.

[0066] This embodiment is described by taking the example that the first differential lock is connected to the left half-shaft gear and the second gear limiter is connected to the right half-shaft gear. When the vehicle is turning in place, the vehicle controller controls the differential lock execution module to close the first differential lock. At this time, the left half-shaft gear and the driven gear form a rigid connection, and the left half-shaft gear is driven by the driven gear and is not driven by the planetary gear; at the same time, the vehicle controller controls the limiter execution module to open the second gear limiter. At this time, the right half-shaft gear moves a certain distance to the right, the right half-shaft gear is disengaged from the planetary gear, and the right half-shaft gear is not driven by the driven gear and the planetary gear, and the right half-shaft gear becomes a driven wheel; the force from the driving gear only drives the left half-shaft gear, that is, only drives the left front wheel to rotate forward or backward, and the right front wheel follows the movement.

[0067] When the vehicle is in a non-stationary steering mode (e.g. Figure 3 The power from the transmission shaft is transmitted to the driven gear through the driving gear, and the driven gear drives the planetary gear shaft to rotate together, and at the same time drives the left and right half-shaft gears to rotate, thereby pushing the drive wheel forward. When the vehicle is traveling in a straight line, the left and right wheels are subject to the same resistance, the planetary gears do not rotate, and the power is transmitted to the left and right half-shaft gears. At this time, the left and right wheels have the same speed (equivalent to a rigid connection). When the vehicle turns, the left and right wheels are subject to different resistance, and the planetary gears rotate around the half-shafts and rotate at the same time, thereby absorbing the resistance difference, allowing the wheels to rotate at different speeds, ensuring that the car can turn smoothly.

[0068] Step 103: When it is detected that the brake state is released, the wheels are controlled to turn on the spot.

[0069] In this embodiment, the brake state includes a brake state and a release state. The brake state refers to the state when the brake pedal is pressed, and the release state refers to the state when the brake pedal is not pressed. The driver needs to release the brake pedal before the vehicle turns in place. The vehicle can prompt the driver on the instrument or screen, or prompt the driver by voice. After the driver releases the brake pedal, the vehicle starts to turn in place.

[0070] If the following influencing factors occur, it is necessary to determine whether the vehicle exits the on-the-spot steering mode, and the influencing factors include: steering wheel information, brake status, mode running time, vehicle fault alarm information, etc. According to the steering wheel information, the brake status, the mode running time and the vehicle fault alarm information, it is determined whether the mode exit condition is met; if the mode exit condition is met, the on-the-spot steering mode is exited.

[0071] Specifically, the angle of manual steering wheel rotation can be determined based on the steering wheel information. When this angle is greater than a preset angle, it means that the driver actively takes over the steering wheel, and the mode exit condition is met.

[0072] Or the brake state is the braking state, or the mode operation time is greater than the preset time, which also indicates that the driver intervenes and the mode exit condition is met;

[0073] Or if the vehicle fault alarm information includes a high-level fault alarm, the mode exit condition is met.

[0074] After exiting the in-situ steering mode, the wheels are controlled to return to their initial positions, for example, the angles of the wheels when driving straight. At the same time, the first differential lock is opened, the second gear limiter is closed, and a prompt message is output to the instrument to prompt the driver to take over the vehicle.

[0075] If the driver makes an error or needs to re-enter the on-the-spot steering mode within the set time, he needs to step on the brake pedal and press the on-the-spot steering control again. When the conditions for entering the mode are met, the driver releases the brake pedal to re-enter the on-the-spot steering mode.

[0076] In summary, the embodiment of the present specification provides a method for controlling in-situ steering based on differential control, which comprises the following steps: in an in-situ steering mode, respectively controlling the movement of the left front wheel steering machine and the right rear wheel steering machine so that the left front wheel and the right rear wheel are rotated to a preset first angle, and respectively controlling the movement of the right front wheel steering machine and the left rear wheel steering machine so that the right front wheel and the left rear wheel are rotated to a preset second angle; controlling the first differential lock to be closed and the second gear stopper to be opened; wherein the first differential lock is connected to the left half-shaft gear, and the second gear stopper is connected to the right half-shaft gear, and after the first differential lock is closed and the second gear stopper is opened, the left half-shaft gear is rigidly connected to the driven gear, and the right half-shaft gear is disengaged from the contact with the planetary gear; or the first differential lock is connected to the right half-shaft gear, and the second gear stopper is connected to the left half-shaft gear, and after the first differential lock is closed and the second gear stopper is opened, the right half-shaft gear is rigidly connected to the driven gear, and the left half-shaft gear is disengaged from the contact with the planetary gear; when it is detected that the brake state is a released state, the wheel is controlled to perform in-situ steering. In this way, by flexibly arranging four steering gears and a new differential assembly on the vehicle chassis, it is possible to achieve independent control of the steering of the four wheels at a relatively low cost, and to achieve drive control of a single wheel, thereby completing in-situ steering. This solution makes relatively minor changes to the existing vehicle architecture, making it easy to promote and apply on a large scale.

[0077] Based on the same inventive concept, combined Figure 4 As shown, an embodiment of the present invention further provides an on-site steering control device based on differential control, comprising:

[0078] An angle control module, used for controlling the movement of the left front wheel steering machine and the right rear wheel steering machine respectively in the in-situ steering mode so that the left front wheel and the right rear wheel are rotated to a preset first angle, and controlling the movement of the right front wheel steering machine and the left rear wheel steering machine respectively so that the right front wheel and the left rear wheel are rotated to a preset second angle;

[0079] A differential limiter module, used for controlling the closing of the first differential lock and opening of the second gear limiter; wherein the first differential lock is connected to the left half-shaft gear, and the second gear limiter is connected to the right half-shaft gear, and after the first differential lock is closed and the second gear limiter is opened, the left half-shaft gear is rigidly connected to the driven gear, and the right half-shaft gear is disengaged from the contact with the planetary gear; or the first differential lock is connected to the right half-shaft gear, and the second gear limiter is connected to the left half-shaft gear, and after the first differential lock is closed and the second gear limiter is opened, the right half-shaft gear is rigidly connected to the driven gear, and the left half-shaft gear is disengaged from the contact with the planetary gear;

[0080] The on-the-spot steering module is used to control the wheels to turn on the spot when it is detected that the brake state is released.

[0081] Optionally, the angle control module is also used to:

[0082] In response to the on-the-spot steering control selected by the driver, obtaining brake status, vehicle speed, adaptive cruise status, road surface information, and vehicle fault alarm information;

[0083] Determining whether a mode entry condition is met according to the braking state, the vehicle speed, the adaptive cruise state, the road surface information, and the vehicle fault alarm information;

[0084] If the mode entry conditions are met, the on-the-spot turning mode is entered.

[0085] Optionally, the angle control module is also used to:

[0086] If the braking state is the braking state, the vehicle speed is 0, the adaptive cruise control state is in the off state, the road slope angle in the road surface information is less than the preset angle, and the vehicle fault alarm information does not include a high-level fault alarm, then the mode entry condition is met.

[0087] Optionally, the in-situ steering module is also used to:

[0088] If it is detected that the vehicle gear is in the D gear, the on-site steering mode is the on-site clockwise steering mode;

[0089] If it is detected that the vehicle gear is in the R gear, the on-site steering mode is the on-site counterclockwise steering mode.

[0090] Optionally, the in-situ steering module is also used to:

[0091] Get steering wheel information, brake status, mode running time, and vehicle fault alarm information;

[0092] Determining whether a mode exit condition is met according to the steering wheel information, the brake status, the mode running time and the vehicle fault alarm information;

[0093] If the mode exit condition is met, the on-the-spot turning mode is exited.

[0094] Optionally, the in-situ steering module is also used to:

[0095] If it is determined based on the steering wheel information that the manual steering wheel rotation angle is greater than the preset angle, or the brake state is the braking state, or the mode operation time is greater than the preset time, or the vehicle fault alarm information includes a high-level fault alarm, then the mode exit condition is met.

[0096] Optionally, the in-situ steering module is also used to:

[0097] The wheels are controlled to return to their initial positions, the first differential lock is opened, and the second gear limiter is closed.

[0098] In summary, the embodiment of the present specification provides a stationary steering control device based on differential control, which controls the movement of the left front wheel steering machine and the right rear wheel steering machine in the stationary steering mode respectively, so that the left front wheel and the right rear wheel are rotated to a preset first angle, and controls the movement of the right front wheel steering machine and the left rear wheel steering machine respectively, so that the right front wheel and the left rear wheel are rotated to a preset second angle; controls the first differential lock to be closed, and opens the second gear limiter; wherein the first differential lock is connected to the left half-shaft gear, and the second gear limiter is connected to the right half-shaft gear. After the first differential lock is closed and the second gear limiter is opened, the left half-shaft gear is rigidly connected to the driven gear, and the right half-shaft gear is disengaged from the contact with the planetary gear; or the first differential lock is connected to the right half-shaft gear, and the second gear limiter is connected to the left half-shaft gear. After the first differential lock is closed and the second gear limiter is opened, the right half-shaft gear is rigidly connected to the driven gear, and the left half-shaft gear is disengaged from the contact with the planetary gear; when it is detected that the brake state is released, the wheel is controlled to perform stationary steering. In this way, by flexibly arranging four steering gears and a new differential assembly on the vehicle chassis, independent control of the steering of the four wheels can be achieved at a relatively low cost, and drive control of a single wheel can be achieved, thereby completing on-the-spot turning.

[0099] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the on-the-spot steering control device based on differential control described above can refer to the corresponding process in the aforementioned method, and will not be elaborated herein.

[0100] Based on the same inventive concept, an embodiment of the present invention also provides a controller, which includes an on-the-spot steering control device based on differential control, a memory, a processor and a communication unit. The memory stores machine-readable instructions executable by the processor. When the controller is running, the processor and the memory communicate through a bus, the processor executes the machine-readable instructions, and executes the on-the-spot steering control method based on differential control.

[0101] The memory, the processor, and the communication unit are electrically connected to each other directly or indirectly to achieve signal transmission or interaction. For example, these elements can be electrically connected to each other via one or more communication buses or signal lines. The in-situ steering control device based on differential control includes at least one software function module that can be stored in the memory in the form of software or firmware. The processor is used to execute the executable module stored in the memory (for example, the software function module or computer program included in the in-situ steering control device based on differential control).

[0102] Among them, the memory can be, but is not limited to, random access memory (Random Access Memory, RAM), read only memory (Read Only Memory, ROM), programmable read-only memory (Programmable Read-Only Memory, PROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable read-only memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.

[0103] In some embodiments, the processor is used to perform one or more functions described in this embodiment. In some embodiments, the processor may include one or more processing cores (eg, a single-core processor (S) or a multi-core processor (S)).

[0104] In this embodiment, the memory is used to store the program, and the processor is used to execute the program after receiving the execution instruction. The process definition method disclosed in any implementation of this embodiment can be applied to the processor, or implemented by the processor.

[0105] The communication unit is used to establish a communication connection between the controller and other devices through the network, and to send and receive data through the network.

[0106] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the controller described above can refer to the corresponding process in the aforementioned method, and will not be elaborated here.

[0107] Based on the same inventive concept, an embodiment of the present invention further provides a vehicle, the vehicle comprising a vehicle body, four wheels mounted on the vehicle body, each wheel being connected to a steering gear, a first differential lock, a second gear limiter and a controller;

[0108] Wherein, the first differential lock is connected to the left half-shaft gear in the vehicle, and the second gear limiter is connected to the right half-shaft gear in the vehicle. After the first differential lock is closed and the second gear limiter is opened, the left half-shaft gear is rigidly connected to the driven gear, and the right half-shaft gear is disengaged from the contact with the planetary gear; or the first differential lock is connected to the right half-shaft gear, and the second gear limiter is connected to the left half-shaft gear. After the first differential lock is closed and the second gear limiter is opened, the right half-shaft gear is rigidly connected to the driven gear, and the left half-shaft gear is disengaged from the contact with the planetary gear;

[0109] The controller executes the aforementioned on-the-spot steering control method based on differential control. The specific contents refer to the above embodiments and will not be repeated here.

[0110] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the controller of the vehicle described above can refer to the corresponding process in the aforementioned method, and will not be elaborated here.

[0111] The above are only various embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for controlling in-situ steering based on differential control, characterized in that: The method is applied to a vehicle, the vehicle comprising a vehicle body, four wheels mounted on the vehicle body, each wheel being connected to a steering gear, a first differential lock, a second gear limiter and a controller, and the method comprises: In the on-site steering mode, the left front wheel steering machine and the right rear wheel steering machine are respectively controlled to move so that the left front wheel and the right rear wheel are rotated to a preset first angle, and the right front wheel steering machine and the left rear wheel steering machine are respectively controlled to move so that the right front wheel and the left rear wheel are rotated to a preset second angle; Controlling the first differential lock to close and the second gear limiter to open; wherein the first differential lock is connected to the left half-shaft gear, and the second gear limiter is connected to the right half-shaft gear, and after the first differential lock is closed and the second gear limiter is opened, the left half-shaft gear is rigidly connected to the driven gear, and the right half-shaft gear is disengaged from the contact with the planetary gear; or the first differential lock is connected to the right half-shaft gear, and the second gear limiter is connected to the left half-shaft gear, and after the first differential lock is closed and the second gear limiter is opened, the right half-shaft gear is rigidly connected to the driven gear, and the left half-shaft gear is disengaged from the contact with the planetary gear; When the brake state is detected to be released, the wheels are controlled to turn on the spot.

2. The method according to claim 1, characterized in that: Before the steps of respectively controlling the left front wheel steering machine and the right rear wheel steering machine to move in the in-situ steering mode so that the left front wheel and the right rear wheel rotate to a preset first angle, and respectively controlling the right front wheel steering machine and the left rear wheel steering machine to move so that the right front wheel and the left rear wheel rotate to a preset second angle, the method further comprises: Responding to the on-the-spot steering control selected by the driver, obtaining brake status, vehicle speed, adaptive cruise status, road surface information, and vehicle fault warning information; Determining whether a mode entry condition is met according to the braking state, the vehicle speed, the adaptive cruise state, the road surface information, and the vehicle fault alarm information; If the mode entry conditions are met, the on-the-spot turning mode is entered.

3. The method according to claim 2, characterized in that The determining whether a mode entry condition is met according to the braking state, the vehicle speed, the adaptive cruise state, the road surface information and the vehicle fault alarm information includes: If the braking state is the braking state, the vehicle speed is 0, the adaptive cruise control state is in the off state, the road slope angle in the road surface information is less than the preset angle, and the vehicle fault alarm information does not include a high-level fault alarm, then the mode entry condition is met.

4. The method according to claim 2, characterized in that: The method further comprises: If it is detected that the vehicle gear is in the D gear, determining that the in-situ steering mode is an in-situ clockwise steering mode; If it is detected that the vehicle gear is in the R gear, it is determined that the in-place steering mode is the in-place counterclockwise steering mode.

5. The method according to claim 1, characterized in that The method further comprises: Get steering wheel information, brake status, mode running time, and vehicle fault alarm information; Determining whether a mode exit condition is met according to the steering wheel information, the brake status, the mode running time and the vehicle fault alarm information; If the mode exit condition is met, the on-the-spot turning mode is exited.

6. The method according to claim 5, characterized in that The determining whether a mode exit condition is met according to the steering wheel information, the brake state, the mode running time and the vehicle fault alarm information includes: If it is determined based on the steering wheel information that the angle of the manual steering wheel rotation is greater than the preset angle, or the braking state is the braking state, or the mode running time is greater than the preset time, or the vehicle fault alarm information includes a high-level fault alarm, then the mode exit condition is met.

7. The method according to claim 5 or 6, characterized in that: The method further comprises: The wheels are controlled to return to their initial positions, the first differential lock is opened, and the second gear limiter is closed.

8. A stationary steering control device based on differential control, characterized in that: include: An angle control module, used for controlling the movement of the left front wheel steering machine and the right rear wheel steering machine respectively in the in-situ steering mode so that the left front wheel and the right rear wheel are rotated to a preset first angle, and controlling the movement of the right front wheel steering machine and the left rear wheel steering machine respectively so that the right front wheel and the left rear wheel are rotated to a preset second angle; A differential limiter module, used for controlling the closing of the first differential lock and opening of the second gear limiter; wherein the first differential lock is connected to the left half-shaft gear, and the second gear limiter is connected to the right half-shaft gear, and after the first differential lock is closed and the second gear limiter is opened, the left half-shaft gear is rigidly connected to the driven gear, and the right half-shaft gear is disengaged from the contact with the planetary gear; or the first differential lock is connected to the right half-shaft gear, and the second gear limiter is connected to the left half-shaft gear, and after the first differential lock is closed and the second gear limiter is opened, the right half-shaft gear is rigidly connected to the driven gear, and the left half-shaft gear is disengaged from the contact with the planetary gear; The on-the-spot steering module is used to control the wheels to turn on the spot when it is detected that the brake state is released.

9. A controller, characterized in that: The controller includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method for controlling in-situ steering based on differential control described in any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: The vehicle comprises a vehicle body, four wheels mounted on the vehicle body, each wheel being connected to a steering gear, a first differential lock, a second gear limiter and a controller; Wherein, the first differential lock is connected to the left half-shaft gear in the vehicle, and the second gear limiter is connected to the right half-shaft gear in the vehicle. After the first differential lock is closed and the second gear limiter is opened, the left half-shaft gear is rigidly connected to the driven gear, and the right half-shaft gear is disengaged from the contact with the planetary gear; or the first differential lock is connected to the right half-shaft gear, and the second gear limiter is connected to the left half-shaft gear. After the first differential lock is closed and the second gear limiter is opened, the right half-shaft gear is rigidly connected to the driven gear, and the left half-shaft gear is disengaged from the contact with the planetary gear; The controller executes the on-the-spot steering control method based on differential control as described in any one of claims 1-7.

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