Differential control based in-place turning control method, device and vehicle

Abstract

The application discloses a kind of in-place steering control method, device and vehicle based on differential control, by in-place steering mode, respectively control left front wheel steering gear and right rear wheel steering gear movement, to make left front wheel and right rear wheel rotate to preset first angle, respectively control right front wheel steering gear and left rear wheel steering gear movement, to make right front wheel and left rear wheel rotate to preset second angle;Control first differential lock closure is closed, and open second gear limiter;When detecting that brake state is release state, then control wheel and carry out in-place steering.Such, by the flexible arrangement four steering gears of vehicle chassis and brand-new differential assembly, it can be realized that four wheel steering independent control is relatively low cost, and the drive control of single wheel is realized, to complete vehicle in-place steering.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a method, device and vehicle for stationary steering control based on differential control. Background Technology

[0002] With the rapid development of China's economy and automotive industry, the number of cars on the road is increasing, exacerbating traffic congestion. While longer wheelbases provide more comfortable interior space, they also pose significant challenges to vehicle handling. Currently, most vehicles steer by controlling the front wheels, requiring a certain turning radius. Larger and medium-sized vehicles have even larger turning radii, making them less maneuverable in confined spaces.

[0003] With the development of automotive technology, some mid-to-high-end models have begun to be equipped with rear-wheel steering, including passive and active types. Passive steering cannot control the steering angle; it can only follow changes. Active steering can effectively reduce the turning radius and improve handling flexibility and stability, but it cannot achieve stationary turning. While a vehicle's differential allows the left and right (or front and rear) drive wheels to rotate at different speeds, it cannot allow the left and right wheels to rotate in opposite directions, thus preventing the vehicle from turning on the spot. Summary of the Invention

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

[0005] According to a first aspect of the present invention, a stationary steering control method based on differential control is provided, applied to a vehicle, the vehicle including a body, four wheels mounted on the body, each wheel connected to a steering gear, a first differential lock, and a second gear limiter, the method comprising:

[0006] In stationary steering mode, control the steering mechanism of the left front wheel and the steering mechanism of the right rear wheel respectively to make the left front wheel and the right rear wheel rotate to a preset first angle, and control the steering mechanism of the right front wheel and the steering mechanism of the left rear wheel respectively to make the right front wheel and the left rear wheel rotate to a preset second angle.

[0007] The system controls 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. 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 disengages 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 disengages from the planetary gear.

[0008] When the brake is detected to be released, the wheels are controlled to steer in place.

[0009] Optionally, before the step of controlling the left front wheel steering mechanism and the right rear wheel steering mechanism to rotate the left front wheel and the right rear wheel to a preset first angle in the stationary steering mode, and controlling the right front wheel steering mechanism and the left rear wheel steering mechanism to rotate the right front wheel and the left rear wheel to a preset second angle, the method further includes:

[0010] In response to the driver's selected stationary steering control, obtain braking status, vehicle speed, adaptive cruise control status, road information, and vehicle fault alarm information;

[0011] Based on the braking status, vehicle speed, adaptive cruise control status, road information, and vehicle fault alarm information, determine whether the mode entry conditions are met;

[0012] If the mode entry conditions are met, then enter the stationary turning mode.

[0013] Optionally, determining whether the mode entry conditions are met based on the braking state, vehicle speed, adaptive cruise control state, road surface information, and vehicle fault alarm information includes:

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

[0015] Optionally, the method further includes:

[0016] If the vehicle is detected to be in D gear, then the stationary steering mode is the stationary clockwise steering mode;

[0017] If the vehicle is detected to be in reverse (R) gear, then the stationary steering mode is the stationary counter-clockwise steering mode.

[0018] Optionally, the method further includes:

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

[0020] Based on the steering wheel information, the brake status, the mode running time, and the vehicle fault alarm information, determine whether the mode exit condition is met.

[0021] If the mode exit condition is met, then exit the stationary turning mode.

[0022] Optionally, determining whether the mode exit condition is met based on the steering wheel information, the brake status, the mode running time, and the vehicle fault alarm information includes:

[0023] If, based on the steering wheel information, it is determined that the angle of manual steering wheel rotation is greater than a preset angle, or the braking state is a braking state, or the mode running time is greater than a preset duration, 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] Control the wheels to return to their initial position, open the first differential lock, and close the second gear limiter.

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

[0027] An angle control module is used to control the steering mechanism of the left front wheel and the steering mechanism of the right rear wheel respectively in the stationary steering mode so that the left front wheel and the right rear wheel rotate to a preset first angle, and to control the steering mechanism of the right front wheel and the steering mechanism of the left rear wheel respectively so that the right front wheel and the left rear wheel rotate to a preset second angle.

[0028] A differential limit module is used to control the closing of a first differential lock and the opening of a 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 disengages from 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 disengages from contact with the planetary gear.

[0029] The stationary steering module is used to control the wheels to turn in place when the brake is detected to be in the released state.

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

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

[0032] In this configuration, 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. When 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 disengages from the planetary gear. Alternatively, 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. When 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 disengages from the planetary gear.

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

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

[0035] This specification provides an embodiment of a stationary steering control method, device, and vehicle based on differential control. In stationary steering mode, the left front wheel steering mechanism and the right rear wheel steering mechanism are controlled to rotate to a preset first angle, and then controlled to rotate to a preset second angle. A first differential lock is closed, and a second gear limiter is opened. 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 disengages from the planetary gear. Alternatively, 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 disengages from the planetary gear. When the brake is detected to be in a released state, the wheels are controlled to perform stationary steering. Thus, by flexibly arranging four steering gears and a brand-new differential assembly in the vehicle chassis, independent control of the steering of the four wheels can be achieved at a lower cost, and drive control of a single wheel can be achieved, thereby enabling the vehicle to turn in place.

[0036] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0037] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference figures denote the same parts throughout the drawings. In the drawings:

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

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

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

[0041] Figure 4 A block diagram of a stationary steering control device based on differential control is shown in an embodiment of the present invention. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0044] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0045] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0046] This invention provides a method for in-situ steering control based on differential control, combined with... Figure 1 The flowchart shown illustrates that the differential-based stationary steering control method includes steps 101 to 103:

[0047] Step 101: In stationary steering mode, control the steering mechanism of the left front wheel and the steering mechanism of the right rear wheel respectively to make the left front wheel and the right rear wheel rotate to a preset first angle, and control the steering mechanism of the right front wheel and the steering mechanism of the left rear wheel respectively to make the right front wheel and the left rear wheel rotate to a preset second angle.

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

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

[0050] The vehicle also includes a differential assembly, which allows the left and right drive wheels to rotate 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 vehicle's controller and is used to control the closing and opening of the first differential lock. The limiter execution module is connected to the vehicle's controller and is used to control the opening and closing of the second gear limiter.

[0051] In one implementation, the first differential lock (i.e. Figure 2 The left half-shaft differential lock is connected at one end to the left half-shaft gear and at the other end to the left front wheel. The second gear limiter is connected at one end to the right half-shaft gear and at the other end to the right front wheel, as shown below. Figure 2 As 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 Taking the connection method in the example, the limit switch actuator module controls the movement of the right half-shaft gear. When the second gear limit switch is open, the right half-shaft gear disengages from the planetary gears and is not driven by them; when the second gear limit switch is closed, the right half-shaft gear resumes contact with the planetary gears. When the first differential lock is closed, it can make the left half-shaft gear and the driven gear rigidly connected. The left half-shaft gear contacts the two planetary gears and transmits the driving force to the left front wheel.

[0054] Planetary gears transmit power to the left and right axle gears. When the resistance experienced by the two wheels is different, the planetary gears rotate along their own axes, achieving differential drive for the two wheels. The right axle gear contacts the two planetary gears and transmits driving force to the right front wheel. The driven gear is driven by the driving gear and transmits driving force to the two planetary gears. The driving gear transmits power from the gearbox to the driven gear.

[0055] In actual driving, when a driver wants to turn on the spot based on road conditions, the driver will determine the direction of the turn, that is, whether to turn clockwise or counterclockwise. Figure 2 Taking the connection method in the system as an example, if clockwise steering is used, the vehicle needs to be in D gear, and if counterclockwise steering is used, the vehicle needs to be in R gear. Therefore, when the controller detects that the vehicle is in D gear, it determines that the stationary steering mode is the stationary clockwise steering mode and displays it on the vehicle's instrument panel to remind the driver; if it detects that the vehicle is in R gear, it determines that the stationary steering mode is the stationary counterclockwise steering mode and displays it on the vehicle's instrument panel to remind the driver.

[0056] Conversely, if one end of the first differential lock is connected to the right half-shaft gear and the other end to the left front wheel, and one end of the second gear limiter is connected to the left half-shaft gear and the other end to the left front wheel, then if the driver turns clockwise, they need to engage R gear; if they turn counterclockwise, they need to engage D gear. When the controller detects that the vehicle is in R gear, it determines the stationary steering mode as a clockwise stationary steering mode and displays it on the vehicle's instrument panel to alert the driver. If it detects that the vehicle is in D gear, it determines the stationary steering mode as a counterclockwise stationary steering mode and displays it on the vehicle's instrument panel to alert the driver.

[0057] Before entering the stationary steering mode, the driver needs to depress the brake, shift into D or R gear, and press the stationary steering control or stationary steering switch. The stationary steering switch can be a physical switch, while the stationary steering control can be a soft switch integrated into the vehicle's infotainment system. For safety reasons, the vehicle must meet certain conditions to enter stationary steering mode and perform steering; otherwise, it cannot enter stationary steering mode. Specifically:

[0058] The vehicle will respond to the driver's selected steering control and obtain braking status, vehicle speed, adaptive cruise control status, road information, and vehicle fault alarm information;

[0059] Based on the braking status, vehicle speed, adaptive cruise control status, road information, and vehicle fault alarm information, determine whether the mode entry conditions are met;

[0060] If the entry conditions are met, the stationary turning mode can be entered; if the entry conditions are not met, the stationary turning mode will not be entered.

[0061] In other words, if the braking state is braking, the vehicle speed is 0, the adaptive cruise control is off, the road slope angle in the road information is less than a preset angle, and the vehicle fault alarm information does not include high-level fault alarms, it indicates that many factors unfavorable to the stationary steering mode have been eliminated, and the mode entry conditions can be considered met. High-level fault alarms generally refer to handbrake alarms, ESC / ABS alarms, keyless entry alarms, seatbelt unfastened alarms, low battery alarms, door / hood / trunk open alarms, airbag alarms, coolant temperature alarms, and alarms for various automatic driver assistance functions.

[0062] In stationary steering mode, the steering mechanisms of the left front wheel and the right rear wheel are controlled separately to rotate them to a preset first angle. The steering mechanisms of the right front wheel and the left rear wheel are then controlled separately to rotate them to a preset second angle. The first angle can be between 20 and 25 degrees, and the second angle can be between -20 and -25 degrees. The positive or negative sign before the value indicates the direction of wheel deflection, and the value represents the degree of wheel deflection. In this embodiment, after entering stationary steering mode, the left and right front wheels deflect in opposite directions, but the absolute values ​​of their deflection angles are the same. Furthermore, the left and right front wheels are angled inwards (eight-footed), while the left and right rear wheels are angled outwards (eight-footed).

[0063] It should be noted that the controller in this embodiment can be divided into a vehicle controller, a front wheel controller, and a rear wheel controller. The front wheel controller controls the steering mechanisms of the left and right front wheels. The rear wheel controller controls the steering mechanisms of the left and right rear wheels. After entering the stationary steering mode, combined with... Figure 3 As shown, the turning angles and directions of the left front wheel and the right rear wheel are the same, and the turning angles and directions of the right front wheel and the left rear wheel are the same.

[0064] Step 102: Control 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. 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 disengages 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 disengages from the planetary gear.

[0065] In this embodiment, the first differential lock can be located on the left side of the vehicle and connected to the left half-shaft gear, while the second gear limiter is located on the right side of the vehicle and connected to the right half-shaft gear. Alternatively, the first differential lock can be located on the right side of the vehicle and connected to the right half-shaft gear, while the second gear limiter is located on the left side of the vehicle and connected to the left half-shaft gear. This embodiment does not limit the specific configuration.

[0066] This embodiment uses the connection between the first differential lock and the left half-shaft gear, and the connection between the second gear limiter and the right half-shaft gear as an example for explanation. When the vehicle performs a stationary turn, 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 not 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, disengages from the planetary gear, and is no longer driven by the driven gear and the planetary gear. 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, while the right front wheel follows the movement.

[0067] When the vehicle is in non-stationary steering mode (e.g., Figure 3 The vehicle features various steering modes (front-wheel steering, rear-wheel steering, small-radius steering, and diagonal steering, etc.). Power from the drive shaft is transmitted to the driven gear via the driving gear. The driven gear drives the planetary gear shaft to rotate, simultaneously rotating the left and right half-shaft gears, thus propelling the drive wheels forward. When the vehicle is traveling straight, the resistance experienced by the left and right wheels is the same, the planetary gear does not rotate on its own axis, and transmits power to the left and right half-shaft gears. At this time, the left and right wheels rotate at the same speed (equivalent to a rigid connection). When the vehicle is turning, the resistance experienced by the left and right wheels is different. The planetary gear rotates around the half-shaft and simultaneously rotates on its own axis, thus absorbing the resistance difference and allowing the wheels to rotate at different speeds, ensuring the car can smoothly navigate corners.

[0068] Step 103: When the brake is detected to be in the released state, control the wheels to turn in place.

[0069] In this embodiment, the braking state includes a braking state and a release state. The braking state refers to the state when the brake pedal is depressed, and the release state refers to the state when the brake pedal is not depressed. Before the vehicle can turn on the spot, the driver needs to release the brake pedal. The vehicle can provide a prompt to the driver on the instrument panel or screen, or via voice prompt. After the driver releases the brake pedal, the vehicle begins to turn on the spot.

[0070] If any of the following factors occur, it is necessary to determine whether the vehicle should exit the stationary steering mode. These factors include: steering wheel information, brake status, mode running time, and vehicle fault alarm information. Based on the steering wheel information, brake status, mode running time, and vehicle fault alarm information, it is determined whether the mode exit conditions are met; if the mode exit conditions are met, the stationary steering mode is exited.

[0071] Specifically, the angle at which the steering wheel can be manually turned can be determined based on the steering wheel information. When this angle is greater than the preset angle, it means that the driver has taken over the steering wheel, and the mode exit condition is met.

[0072] If the braking state is active, or the mode running time is longer than the preset time, it also indicates that the driver has intervened, and the mode exit condition is met.

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

[0074] After exiting the stationary steering mode, the system restores each wheel to its initial position, such as the wheel angle when driving straight. Simultaneously, the first differential lock engages, the second gear limiter engages, and a notification message is sent to the instrument panel to alert the driver to take over the vehicle.

[0075] If the driver misoperates or needs to re-enter the stationary steering mode within the set time, they need to press the brake pedal and press the stationary steering control again. Once the mode entry conditions are met, the driver can release the brake pedal to re-enter the stationary steering mode.

[0076] In summary, the on-the-spot steering control method based on differential control provided in this specification involves controlling the steering mechanisms of the left front wheel and the right rear wheel respectively in on-the-spot steering mode to rotate the left front wheel and the right rear wheel to a preset first angle, and controlling the steering mechanisms of the right front wheel and the left rear wheel respectively to rotate the right front wheel and the left rear wheel to rotate 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. 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; when the brake is detected to be in a released state, the wheels are controlled to perform on-the-spot steering. Thus, by flexibly arranging four steering gears and a brand-new differential assembly in the vehicle chassis, independent control of the steering of all four wheels can be achieved at a relatively low cost, along with drive control of a single wheel, thereby enabling in-place turning. This solution requires minimal modification to the existing vehicle architecture, facilitating large-scale deployment and application.

[0077] Based on the same inventive concept, combined with Figure 4 As shown, this embodiment of the invention also provides a stationary steering control device based on differential control, comprising:

[0078] An angle control module is used to control the steering mechanism of the left front wheel and the steering mechanism of the right rear wheel respectively in the stationary steering mode so that the left front wheel and the right rear wheel rotate to a preset first angle, and to control the steering mechanism of the right front wheel and the steering mechanism of the left rear wheel respectively so that the right front wheel and the left rear wheel rotate to a preset second angle.

[0079] A differential limit module is used to control the closing of a first differential lock and the opening of a 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 disengages from 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 disengages from contact with the planetary gear.

[0080] The stationary steering module is used to control the wheels to turn in place when the brake is detected to be in the released state.

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

[0082] In response to the driver's selected stationary steering control, obtain braking status, vehicle speed, adaptive cruise control status, road information, and vehicle fault alarm information;

[0083] Based on the braking status, vehicle speed, adaptive cruise control status, road information, and vehicle fault alarm information, determine whether the mode entry conditions are met;

[0084] If the mode entry conditions are met, then enter the stationary turning mode.

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

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

[0087] Optionally, the stationary steering module is also used for:

[0088] If the vehicle is detected to be in D gear, then the stationary steering mode is the stationary clockwise steering mode;

[0089] If the vehicle is detected to be in reverse (R) gear, then the stationary steering mode is the stationary counter-clockwise steering mode.

[0090] Optionally, the stationary steering module is also used for:

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

[0092] Based on the steering wheel information, the brake status, the mode running time, and the vehicle fault alarm information, determine whether the mode exit condition is met.

[0093] If the mode exit condition is met, then exit the stationary turning mode.

[0094] Optionally, the stationary steering module is also used for:

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

[0096] Optionally, the stationary steering module is also used for:

[0097] Control the wheels to return to their initial position, open the first differential lock, and close the second gear limiter.

[0098] In summary, the differential-based stationary steering control device provided in this specification, in stationary steering mode, controls the left front wheel steering mechanism and the right rear wheel steering mechanism to rotate the left front wheel and the right rear wheel to a preset first angle, and controls the right front wheel steering mechanism and the left rear wheel steering mechanism to rotate the right front wheel and the left rear wheel to rotate to a preset second angle; controls 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; 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; when the brake is detected to be in a released state, the wheels are controlled to perform stationary steering. Thus, by flexibly arranging four steering gears and a brand-new differential assembly in the vehicle chassis, independent control of the steering of the four wheels can be achieved at a lower cost, and drive control of a single wheel can be achieved, thereby completing the turning on the spot.

[0099] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the differential-based stationary steering control device described above can be referred to the corresponding process in the aforementioned method, and will not be elaborated further here.

[0100] Based on the same inventive concept, embodiments of the present invention also provide a controller, which includes a stationary steering control device based on differential control, a memory, a processor, and a communication unit. The memory stores machine-readable instructions that can be executed by the processor. When the controller is running, the processor and the memory communicate with each other via a bus. The processor executes the machine-readable instructions and performs the stationary steering control method based on differential control.

[0101] The memory, processor, and communication unit are electrically connected directly or indirectly to achieve signal transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The stationary 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 (e.g., the software function module or computer program included in the stationary steering control device based on differential control).

[0102] The memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically 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 (e.g., 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 communication connections between the controller and other devices via the network, and to send and receive data via the network.

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

[0107] Based on the same inventive concept, this embodiment of the invention also provides a vehicle, the vehicle including a vehicle body, four wheels mounted on the vehicle body, each wheel connected to a steering gear connection, a first differential lock, a second gear limiter and a controller;

[0108] In this configuration, 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. When 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 disengages from the planetary gear. Alternatively, 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. When 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 disengages from the planetary gear.

[0109] The controller executes the aforementioned differential-based stationary steering control method, the details of which are described in the above embodiments and will not be repeated here.

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

[0111] The above are merely various embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for in-situ steering control based on differential control, characterized in that, Applied to a vehicle, the vehicle comprising a body, four wheels mounted on the body, each wheel connected to a steering gear, a first differential lock, a second gear limiter, and a controller, the method comprising: In stationary steering mode, control the steering mechanism of the left front wheel and the steering mechanism of the right rear wheel respectively to make the left front wheel and the right rear wheel rotate to a preset first angle, and control the steering mechanism of the right front wheel and the steering mechanism of the left rear wheel respectively to make the right front wheel and the left rear wheel rotate to a preset second angle. The system controls 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. 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, the right half-shaft gear disengages from the planetary gear, the left half-shaft gear is driven to rotate, and the right half-shaft gear is the driven 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, the left half-shaft gear disengages from the planetary gear, the right half-shaft gear is driven to rotate, and the left half-shaft gear is the driven gear. When the brake is detected to be released, the wheels are controlled to steer in place.

2. The method according to claim 1, characterized in that, Before the steps of controlling the left front wheel steering mechanism and the right rear wheel steering mechanism to rotate the left front wheel and the right rear wheel to a preset first angle in the stationary steering mode, and controlling the right front wheel steering mechanism and the left rear wheel steering mechanism to rotate the right front wheel and the left rear wheel to a preset second angle, the method further includes: In response to the driver's selected stationary steering control, obtain braking status, vehicle speed, adaptive cruise control status, road information, and vehicle fault alarm information; Based on the braking status, vehicle speed, adaptive cruise control status, road information, and vehicle fault alarm information, determine whether the mode entry conditions are met; If the mode entry conditions are met, then enter the stationary turning mode.

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

4. The method according to claim 2, characterized in that, The method further includes: If the vehicle is detected to be in D gear, then the stationary steering mode is determined to be the stationary clockwise steering mode. If the vehicle is detected to be in reverse (R) gear, then the stationary steering mode is determined to be a stationary counter-clockwise steering mode.

5. The method according to claim 1, characterized in that, The method further includes: Obtain steering wheel information, brake status, mode running time, and vehicle fault alarm information; Based on the steering wheel information, the brake status, the mode running time, and the vehicle fault alarm information, determine whether the mode exit condition is met. If the mode exit condition is met, then exit the stationary turning mode.

6. The method according to claim 5, characterized in that, The step of determining whether the mode exit condition is met based on the steering wheel information, the brake status, the mode running time, and the vehicle fault alarm information includes: If the steering wheel angle is determined to be greater than the preset angle based on the steering wheel information, or the braking state is the braking state, or the mode running time is greater than the preset duration, 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 includes: Control the wheels to return to their initial position, open the first differential lock, and close the second gear limiter.

8. A stationary steering control device based on differential control, characterized in that, The device for using the differential-based stationary steering control method according to any one of claims 1-7 includes: An angle control module is used to control the steering mechanism of the left front wheel and the steering mechanism of the right rear wheel respectively in the stationary steering mode so that the left front wheel and the right rear wheel rotate to a preset first angle, and to control the steering mechanism of the right front wheel and the steering mechanism of the left rear wheel respectively so that the right front wheel and the left rear wheel rotate to a preset second angle. A differential limit module is used to control the closing of a first differential lock and the opening of a 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 disengages from 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 disengages from contact with the planetary gear. The stationary steering module is used to control the wheels to turn in place when the brake is detected to be in the released state.

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, it implements the stationary steering control method based on differential control as described in any one of claims 1-7.

10. A vehicle, characterized in that, The vehicle includes a body, four wheels mounted on the body, and each wheel is connected to a steering gear, a first differential lock, a second gear limiter, and a controller. In this configuration, 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. When 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 disengages from the planetary gear. Alternatively, 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. When 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 disengages from the planetary gear. The controller performs the stationary steering control method based on differential control as described in any one of claims 1-7.

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