Automobile dual-mode steering control method and device and medium

Abstract

The invention discloses an automobile dual-mode steering control method and device and a medium. The method comprises the steps that a vehicle steering mode switching request is obtained; the dual-mode steering device comprises a steering wheel, a steering column, a dual-mode steering mechanism, a steering longitudinal pull rod, a steering axle, a steering transverse pull rod, a left driving wheel and a right driving wheel which are connected in sequence; the dual-mode steering mechanism comprises a traditional steering mechanism and a wheel side differential steering mechanism; the steering angle and posture information of a steering wheel rotated by a driver are collected through a wheel side differential steering mechanism; steering power parameters of the vehicle are determined, and a corresponding control instruction is generated; and through the control instruction, steering control is conducted on the corresponding driving wheel, and driving energy recovery is conducted through the driving motor corresponding to the other driving wheel. The mechanism is simple in structure and high in adaptability, electric power is saved, and during steering of the structure, a power battery can be charged through energy recovery under partial working conditions.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to an automobile dual-mode steering control method, device and medium. Background Art

[0002] With the rapid development of the automotive industry in the direction of intelligence and unmanned operation, more and more new cars are equipped with unmanned driving modes, and unmanned driving models all use the method of controlling the deflection of the steering gear to control the vehicle steering. The traditional vehicle steering mode mainly relies on the change of wheel angle to achieve direction change, usually using a set of steering devices, including steering wheels, steering gears, steering rods and other transmission devices, and the driver controls the steering wheel to make the wheel deflection angle, thereby realizing the steering condition of the car.

[0003] However, when a vehicle is driving on a highway, the driver often faces a long driving process, which is prone to fatigue driving, and the driver's reaction speed and judgment will also be reduced. In addition, the traditional steering mode relies on the mechanical structure to transmit the steering command, and the response speed is slow. When an unexpected situation occurs during high-speed driving, the slow response speed of the traditional steering mode makes it difficult to quickly and accurately adjust the vehicle's driving direction. The vehicle may hit an obstacle due to the inability to turn in time, or lose control due to improper direction control, which will lead to serious traffic accidents. At the same time, from the perspective of energy transmission and conversion efficiency of the vehicle system in the traditional steering mode, it is difficult to effectively utilize and recover the energy generated during the steering process. Summary of the invention

[0004] In order to solve the above problems, the present application proposes a dual-mode steering control method for an automobile, comprising: obtaining a switching request for a vehicle steering mode;

[0005] The steering mode is switched to a wheel differential steering mode by a dual-mode steering device; the dual-mode steering device comprises a steering wheel, a steering column, a dual-mode steering mechanism, a steering longitudinal tie rod, a steering axle, a steering tie rod, a left drive wheel and a right drive wheel connected in sequence; the dual-mode steering mechanism comprises a conventional steering mechanism and a wheel differential steering mechanism;

[0006] The steering angle of the steering wheel turned by the driver and the posture information of the vehicle are collected through the wheel-side differential steering mechanism;

[0007] Determining a steering power parameter of the vehicle according to the steering angle and the posture information, and generating a corresponding control instruction;

[0008] Through the control instruction, the steering of the corresponding driving wheel is controlled, and the driving energy is recovered through the driving motor corresponding to the other driving wheel.

[0009] In one implementation of the present application, the wheel-side differential steering mechanism includes a steering wheel angle sensor, a locking device, an acceleration sensor, a height sensor, a steering controller, a motor controller, a left drive motor and a right drive motor connected in sequence.

[0010] In one implementation of the present application, the conventional steering mechanism is locked by the locking device; the wheel-side differential steering mechanism is started to switch the steering mode to the wheel-side differential steering mode.

[0011] In one implementation of the present application, the steering angle includes steering direction, steering angle value, and steering speed; the posture information includes the whole vehicle posture angle, vehicle body height, suspension system status, vehicle tilt status, and vehicle driving speed; the steering angle of the driver turning the steering wheel is collected in real time through the steering wheel angle sensor; the posture information of the vehicle is collected in real time through the acceleration sensor and the height sensor; the steering angle and the posture information are sent to the steering controller.

[0012] In one implementation of the present application, the steering controller determines the steering power parameters of the vehicle according to the steering angle and the posture information, and the steering power parameters include a steering torque increment and a speed increment; based on the steering torque increment and the speed increment, a control instruction is generated, and the control instruction is sent to the motor controller.

[0013] In one implementation of the present application, the control instruction is executed by the motor controller; the drive wheel that executes the steering of the vehicle is determined according to the steering direction of the vehicle; based on the steering torque increment and the speed increment, the torque and the speed increase of the drive wheel are adjusted for the drive motor corresponding to the drive wheel.

[0014] In one implementation of the present application, when the vehicle turns left, the wheel executing the vehicle steering is determined to be the right drive wheel; when the vehicle turns right, the wheel executing the vehicle steering is determined to be the left drive wheel.

[0015] In one implementation of the present application, the kinetic energy corresponding to the drive wheel that executes the steering of the vehicle is collected by a drive motor corresponding to another drive wheel, and the kinetic energy is converted into electrical energy; the electrical energy is converted from alternating current to direct current through the motor controller and stored in a power battery.

[0016] The present application proposes a dual-mode steering control method for an automobile, which can bring the following beneficial effects:

[0017] The dual-mode steering mechanism has a simple structure and only requires the addition of a steering wheel angle sensor, a locking mechanism and a steering controller to the ordinary traditional steering device. The dual-mode steering mechanism has strong adaptability and can be applied to all wheeled vehicles. When the wheel-side differential steering is turned on, the traditional steering device can enter standby mode to save power, and when this structure is steering, the power battery can be charged through energy recovery under certain working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0019] Figure 1 A schematic diagram of a flow chart of a dual-mode steering control method for an automobile in an embodiment of the present application;

[0020] Figure 2 This is a schematic diagram of the structure of a dual-mode steering device in an embodiment of the present application;

[0021] Figure 3 This is a schematic structural diagram of a dual-mode steering mechanism in an embodiment of the present application;

[0022] Figure 4 This is a schematic diagram of a dual-mode steering control device for an automobile in an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0024] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0025] like Figure 1 As shown, the embodiment of the present application provides a dual-mode steering control method for an automobile, comprising:

[0026] S101: Obtain a vehicle steering mode switching request.

[0027] Specifically, the driver initiates a request to switch the vehicle's steering mode through the center console, instrument panel operation interface or steering mode switch button inside the vehicle. The vehicle control system receives the switch request issued by the driver and switches the vehicle's steering mode.

[0028] By switching the steering mode, the driver can choose the steering feel that best suits his or her personal preferences and driving habits, thereby improving driving comfort. Different steering modes can be applied to different driving scenarios. Reasonable steering mode selection can reduce unnecessary wear on the steering system, extend its service life, reduce maintenance costs, and also reduce energy consumption and emissions to a certain extent, meeting environmental protection requirements.

[0029] S102. Switch the steering mode to the wheel-side differential steering mode through a dual-mode steering device; the dual-mode steering device includes a steering wheel, a steering column, a dual-mode steering mechanism, a steering longitudinal tie rod, a steering axle, a steering transverse tie rod, a left drive wheel and a right drive wheel connected in sequence; the dual-mode steering mechanism includes a traditional steering mechanism and a wheel-side differential steering mechanism.

[0030] Specifically, a dual-mode steering device is provided in the steering structure of an automobile, such as Figure 2 As shown, the dual-mode steering device includes a steering wheel 1, a steering column 2, a dual-mode steering mechanism 3, a steering longitudinal tie rod 4, a steering axle 5, a steering transverse tie rod 6, a left drive wheel 7 and a right drive wheel 8 which are connected in sequence.

[0031] Among them, the steering wheel 1 is connected to the dual-mode steering mechanism 3 through the steering column 2, the steering column 2 is connected to the dual-mode steering mechanism 3 through the steering shaft, the dual-mode steering mechanism 3 transmits force to the steering rod system through the steering axle 5 to ultimately control the steering of the left and right wheels, the steering longitudinal tie rod 4 transmits the action generated by the dual-mode steering mechanism 3 to the steering axle 5 through the connection with the steering axle 5, the steering axle 5 receives the steering movement through the steering longitudinal tie rod 4, and is connected to the left and right drive wheels through the steering transverse tie rod 6 to control the steering angle of the wheels, the steering transverse tie rod 6 connects the two ends of the steering axle, and is connected to the left and right drive wheels to synchronously control the steering of the left and right wheels, and the left and right drive wheels are connected to the steering axle 4 through the steering transverse tie rod 6.

[0032] The dual-mode steering mechanism 3 includes a conventional steering mechanism and a wheel-side differential steering mechanism, wherein the structure of the wheel-side differential steering mechanism is as follows: Figure 3 As shown, it includes a steering wheel angle sensor 9, a locking device 10, an acceleration sensor 11, a height sensor 12, a steering controller 13, a motor controller 14, a left drive motor 15 and a right drive motor 16 which are connected in sequence.

[0033] Furthermore, in the dual-mode steering device, the locking device 10 is used to lock the conventional steering mechanism, start the wheel-side differential steering mechanism, and switch the steering mode from the conventional steering mode to the wheel-side differential steering mode. At this time, the conventional steering mode is in a standby state, waiting to be awakened at any time.

[0034] It should be noted that the wheel-side differential steering mode can accurately control the speed of each wheel, improving the steering accuracy. After the mode is switched, the other mode is in standby mode, waiting to be awakened again at any time, without affecting the original steering function of the car. At the same time, the wheel-side differential steering mode can reduce energy consumption by optimizing the distribution of wheel speeds. For example, when turning, the speed of the inner wheel can be appropriately reduced, while the speed of the outer wheel is increased accordingly to reduce unnecessary energy loss. This steering mode can also improve the driving efficiency of the vehicle, especially in situations where frequent steering is required.

[0035] S103, collecting the steering angle of the steering wheel turned by the driver and the posture information of the vehicle through the wheel-side differential steering mechanism.

[0036] Specifically, the steering wheel angle sensor 9 is used to collect the steering angle of the driver's steering wheel in real time. The steering angle includes the steering direction, steering angle value, and steering speed. The acceleration sensor 11 and the height sensor 12 are used to collect the vehicle's posture information in real time. The posture information includes the vehicle's posture angle, vehicle height, suspension system status, vehicle tilt status, and vehicle driving speed.

[0037] Furthermore, the steering angle and posture information are sent to the steering controller 13 .

[0038] It should be noted that by monitoring the driver's steering intention and the vehicle's posture information in real time, the vehicle's steering action can be controlled more accurately, thereby improving steering accuracy and response speed.

[0039] S104: Determine a steering power parameter of the vehicle according to the steering angle and the posture information, and generate a corresponding control instruction.

[0040] Specifically, through the steering controller 13, according to the steering angle and posture information, the lateral acceleration and body posture that can be achieved by the traditional steering mechanism are simulated to determine the steering power parameters of the vehicle, where the steering power parameters include the steering torque increment and the speed increment. Based on the steering torque increment and the speed increment, a control instruction is generated and sent to the motor controller 14.

[0041] It should be noted that by real-time monitoring and adjustment of steering power parameters, the vehicle can maintain optimal steering performance in various environments, improve the adaptability and reliability of the vehicle, and more accurately calculate the required steering power parameters based on the steering angle and posture information, thereby improving steering accuracy and stability, helping to reduce the risk of skidding and loss of control of the vehicle when turning, and improving driving safety.

[0042] S105. Steering control is performed on the corresponding driving wheel through the control instruction, and driving energy recovery is performed through the driving motor corresponding to the other driving wheel.

[0043] Specifically, the control instruction is executed by the motor controller 14, and the drive wheel that executes the vehicle steering is determined according to the steering direction of the vehicle. Based on the steering torque increment and the speed increment, the drive motor corresponding to the drive wheel adjusts the torque and the speed increase of the drive wheel.

[0044] Among them, when the vehicle turns left, the wheel that performs vehicle steering is determined to be the right drive wheel, and when the vehicle turns right, the wheel that performs vehicle steering is determined to be the left drive wheel.

[0045] Furthermore, the kinetic energy corresponding to the driving wheel that performs vehicle steering is collected through the driving motor corresponding to the other driving wheel, and the kinetic energy is converted into electrical energy. The electrical energy is converted from AC to DC through the motor controller and stored in the power battery.

[0046] It should be noted that by recovering the driving energy of the wheels that are not directly involved in steering, energy waste can be reduced and overall energy efficiency can be improved, which helps to extend the vehicle's range, especially in electric vehicles or hybrid vehicles.

[0047] The dual-mode steering mechanism in the embodiment of the present application has a simple structure and only requires the addition of a steering wheel angle sensor, a locking mechanism and a steering controller on the basis of an ordinary traditional steering device. The dual-mode steering mechanism has strong adaptability and can be applied to all wheeled vehicles. When the wheel-side differential steering is turned on, the traditional steering device can enter a standby state to save power, and when this structure is steering, the power battery can be charged through energy recovery under certain working conditions.

[0048] like Figure 4 As shown, a dual-mode steering control device for an automobile is characterized by comprising:

[0049] at least one processor; and,

[0050] a memory communicatively connected to the at least one processor; wherein,

[0051] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can perform the following operations: obtaining a request to switch the vehicle steering mode; switching the steering mode to a wheel-side differential steering mode through a dual-mode steering device; the dual-mode steering device includes a steering wheel, a steering column, a dual-mode steering mechanism, a steering longitudinal tie rod, a steering axle, a steering tie rod, a left drive wheel and a right drive wheel connected in sequence; the dual-mode steering mechanism includes a traditional steering mechanism and a wheel-side differential steering mechanism; the steering angle of the steering wheel turned by the driver and the posture information of the vehicle are collected through the wheel-side differential steering mechanism; the steering power parameters of the vehicle are determined based on the steering angle and the posture information, and corresponding control instructions are generated; the steering of the corresponding drive wheel is controlled through the control instructions, and drive energy recovery is performed through the drive motor corresponding to the other drive wheel.

[0052] The embodiment of the present application also provides a non-volatile computer storage medium, which stores computer executable instructions and is applied to a server, wherein the computer executable instructions are configured to: obtain a request for switching a vehicle steering mode; switch the steering mode to a wheel-side differential steering mode through a dual-mode steering device; the dual-mode steering device includes a steering wheel, a steering column, a dual-mode steering mechanism, a steering longitudinal tie rod, a steering axle, a steering tie rod, a left drive wheel and a right drive wheel connected in sequence; the dual-mode steering mechanism includes a traditional steering mechanism and a wheel-side differential steering mechanism; the steering angle of the steering wheel turned by the driver and the posture information of the vehicle are collected through the wheel-side differential steering mechanism; the steering power parameters of the vehicle are determined based on the steering angle and the posture information, and corresponding control instructions are generated; the steering of the corresponding drive wheel is controlled through the control instructions, and drive energy recovery is performed through the drive motor corresponding to the other drive wheel.

[0053] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0054] The devices and media provided in the embodiments of the present application correspond one-to-one to the methods. Therefore, the devices and media also have similar beneficial technical effects as the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0055] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0056] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0057] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0058] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0059] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0060] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0061] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0062] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0063] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A dual-mode steering control method for an automobile, characterized in that: include: Get the vehicle steering mode switching request; By means of a dual-mode steering device, the steering mode is switched to a wheel-side differential steering mode; The dual-mode steering device comprises a steering wheel, a steering column, a dual-mode steering mechanism, a steering longitudinal tie rod, a steering axle, a steering transverse tie rod, a left drive wheel and a right drive wheel connected in sequence; The dual-mode steering mechanism includes a conventional steering mechanism and a wheel-side differential steering mechanism; The steering angle of the steering wheel turned by the driver and the posture information of the vehicle are collected through the wheel-side differential steering mechanism; steering angle of the wheel and posture information of the vehicle; Determining a steering power parameter of the vehicle according to the steering angle and the posture information, and generating a corresponding control instruction; Through the control instruction, the steering of the corresponding driving wheel is controlled, and the driving energy is recovered through the driving motor corresponding to the other driving wheel.

2. The dual-mode steering control method for an automobile according to claim 1, characterized in that: The wheel-side differential steering mechanism comprises a steering wheel angle sensor, a locking device, an acceleration sensor, a height sensor, a steering controller, a motor controller, a left drive motor and a right drive motor which are connected in sequence.

3. The dual-mode steering control method for an automobile according to claim 2, characterized in that: The step of switching the steering mode to the wheel differential steering mode by the dual-mode steering device specifically includes: The conventional steering mechanism is locked by the locking device; The wheel differential steering mechanism is started to switch the steering mode to the wheel differential steering mode.

4. A dual-mode steering control method for an automobile according to claim 2, characterized in that: The steering angle includes steering direction, steering angle value, and steering speed; the posture information includes vehicle posture angle, vehicle height, suspension system status, vehicle tilt status, and vehicle speed; The collecting of the steering angle of the steering wheel turned by the driver and the posture information of the vehicle through the wheel side differential steering mechanism specifically includes: The steering wheel angle sensor is used to collect the steering angle of the driver's steering wheel in real time; Collecting the posture information of the vehicle in real time through the acceleration sensor and the height sensor; The steering angle and the posture information are sent to a steering controller.

5. The dual-mode steering control method for an automobile according to claim 4, characterized in that: The determining of the steering power parameter of the vehicle according to the steering angle and the posture information and generating a corresponding control instruction specifically includes: Determining, by the steering controller, a steering power parameter of the vehicle according to the steering angle and the posture information, the steering power parameter including a steering torque increment and a rotation speed increment; A control instruction is generated based on the steering torque increment and the rotation speed increment, and the control instruction is sent to the motor controller.

6. The dual-mode steering control method for an automobile according to claim 5, characterized in that: The controlling the steering of the corresponding driving wheel by the control instruction specifically includes: Executing the control instruction by the motor controller; Determining the driving wheels for steering the vehicle according to the steering direction of the vehicle; Based on the steering torque increment and the rotation speed increment, the torque and the speed increase of the driving wheel are adjusted for the driving motor corresponding to the driving wheel.

7. The dual-mode steering control method for an automobile according to claim 6, characterized in that: Determining the driving wheel for steering the vehicle according to the steering direction of the vehicle specifically includes: When the vehicle turns left, determining that the wheel performing the steering of the vehicle is the right drive wheel; When the vehicle turns right, it is determined that the wheel performing the steering of the vehicle is the left drive wheel.

8. The dual-mode steering control method for an automobile according to claim 6, characterized in that: The driving energy recovery by the driving motor corresponding to another driving wheel specifically includes: The kinetic energy corresponding to the driving wheel for steering the vehicle is collected by a driving motor corresponding to another driving wheel, and the kinetic energy is converted into electrical energy; The electric energy is converted from alternating current to direct current through the motor controller and stored in a power battery.

9. A dual-mode steering control device for an automobile, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform, for example: Get the vehicle steering mode switching request; The steering mode is switched to a wheel differential steering mode by a dual-mode steering device; the dual-mode steering device comprises a steering wheel, a steering column, a dual-mode steering mechanism, a steering longitudinal tie rod, a steering axle, a steering tie rod, a left drive wheel and a right drive wheel connected in sequence; the dual-mode steering mechanism comprises a conventional steering mechanism and a wheel differential steering mechanism; The steering angle of the steering wheel turned by the driver and the posture information of the vehicle are collected through the wheel-side differential steering mechanism; Determining a steering power parameter of the vehicle according to the steering angle and the posture information, and generating a corresponding control instruction; Through the control instruction, the steering of the corresponding driving wheel is controlled, and the driving energy is recovered through the driving motor corresponding to the other driving wheel.

10. A non-volatile computer storage medium storing computer executable instructions, characterized in that: The computer executable instructions are configured to: Get the vehicle steering mode switching request; The steering mode is switched to a wheel-side differential steering mode by a dual-mode steering device; the dual-mode steering device comprises a steering wheel, a steering column, a dual-mode steering mechanism, a steering longitudinal tie rod, a steering axle, a steering tie rod, a left drive wheel and a right drive wheel connected in sequence; The dual-mode steering mechanism includes a conventional steering mechanism and a wheel-side differential steering mechanism; The steering angle of the steering wheel turned by the driver and the posture information of the vehicle are collected through the wheel-side differential steering mechanism; Determining a steering power parameter of the vehicle according to the steering angle and the posture information, and generating a corresponding control instruction; Through the control instruction, the steering of the corresponding driving wheel is controlled, and the driving energy is recovered through the driving motor corresponding to the other driving wheel.

Images