Vehicle steering method, steering hand feeling simulation unit, vehicle steering system and vehicle

Abstract

The embodiment of the invention provides a vehicle steering method, a steering hand feeling simulation unit, a vehicle steering system and a vehicle. The method comprises the steps that a steering wheel rotation angle is obtained, and a steering mode is determined according to the steering wheel rotation angle; wherein the steering mode indicates a steering control mode of wheels of the vehicle; and controlling the vehicle to steer according to the determined steering mode. The method is used for steering the vehicle according to different steering modes, so that the effect of improving the steering flexibility of the vehicle is achieved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle steering method, a steering feel simulation unit, a vehicle steering system and a vehicle. Background Art

[0002] With the continuous development of technology, users have higher and higher requirements for the flexibility of driving vehicles. In some scenarios, users have little space to turn, and even need to turn around on the spot. Therefore, users have higher and higher requirements for the flexibility of vehicle steering.

[0003] In some technologies, in a vehicle steering system, a steering wheel of the vehicle is mechanically connected to the front wheels of the vehicle, and the vehicle steers in a steering mode in which the steering wheel controls the steering angle of the front wheels.

[0004] In the above solution, the steering mode of the vehicle cannot be flexibly changed, and there will be a problem of poor flexibility in controlling the steering of the vehicle by the steering wheel, which in turn leads to poor flexibility in the steering of the vehicle. Summary of the invention

[0005] The vehicle steering method, steering feel simulation unit, vehicle steering system and vehicle provided in the embodiments of the present application are used to steer the vehicle according to different steering modes, thereby achieving the effect of improving the steering flexibility of the vehicle.

[0006] In a first aspect, an embodiment of the present application provides a vehicle steering method, comprising:

[0007] Obtaining a steering wheel angle, and determining a steering mode according to the steering wheel angle; wherein the steering mode indicates a steering control method for the wheels of the vehicle;

[0008] The vehicle is controlled to steer according to the determined steering mode.

[0009] In a possible implementation, determining the steering mode according to the steering wheel angle includes:

[0010] If it is determined that the steering wheel angle is less than or equal to the first threshold, the steering mode is determined to be controlling the front wheel angle, or the steering mode is determined to be controlling the front wheel angle and the rear wheel angle, or the steering mode is determined to be controlling the front wheel angle and the speed difference between the inner and outer wheels;

[0011] If it is determined that the steering wheel angle is greater than the first threshold, the steering mode is determined to be controlling the rear wheel angle or controlling the speed difference between the inner and outer wheels.

[0012] In a possible implementation, if it is determined that the steering wheel angle is greater than a first threshold, determining the steering mode to control the rear wheel angle includes:

[0013] If it is determined that the steering wheel angle is greater than a first threshold and less than or equal to a second threshold, wherein the first threshold is less than the second threshold, then when there is a rear-wheel steering execution unit in the auxiliary steering subsystem, in response to the current speed of the vehicle being less than the first speed, the steering mode is determined to be to control the rear wheel angle to change so as to achieve steering of the vehicle.

[0014] In a possible implementation, if it is determined that the steering wheel angle is greater than the first threshold, determining the steering mode to control the speed difference between the inner and outer wheels includes:

[0015] If it is determined that the steering wheel angle is greater than a first threshold value and less than or equal to a second threshold value, wherein the first threshold value is less than the second threshold value, then when the auxiliary steering subsystem does not have a rear wheel steering execution unit and has a power steering execution unit, in response to the current vehicle speed being less than the second vehicle speed, determining the steering mode to change the speed difference between the inner and outer wheels to achieve steering of the vehicle;

[0016] If it is determined that the steering wheel angle is greater than a second threshold, where the second threshold is greater than the first threshold, then when there is a power steering execution unit in the auxiliary steering subsystem, in response to the current speed of the vehicle being less than the second speed, the steering mode is determined to be to control the speed difference between the inner and outer wheels to change so as to achieve steering of the vehicle.

[0017] In a possible implementation, the method further includes:

[0018] In response to a current vehicle speed being greater than or equal to a second vehicle speed, the steering wheel angle is adjusted to a first threshold.

[0019] In a possible implementation, the method further includes:

[0020] If it is determined that the steering wheel angle is greater than a second threshold, wherein the second threshold is greater than the first threshold, then when the auxiliary steering subsystem does not have a power steering execution unit, the steering wheel angle is adjusted to the first threshold.

[0021] In a possible implementation, if it is determined that the steering wheel angle is less than or equal to the first threshold, determining the steering mode is to control the front wheel angle, or determining the steering mode is to control the front wheel angle and the rear wheel angle, or determining the steering mode is to control the front wheel angle and the speed difference between the inner and outer wheels, including:

[0022] If it is determined that the steering wheel angle is less than or equal to a third threshold, determining the steering mode is to control the front wheel angle, wherein the third threshold is less than the first threshold;

[0023] If it is determined that the steering wheel angle is greater than the third threshold and less than or equal to the first threshold, the steering mode is determined to control the front wheel angle and the rear wheel angle, or the steering mode is determined to control the front wheel angle and the speed difference between the inner and outer wheels.

[0024] In a possible implementation, if it is determined that the steering wheel angle is greater than the third threshold and less than or equal to the first threshold, determining the steering mode to control the front wheel angle and the rear wheel angle includes:

[0025] If it is determined that the steering wheel angle is greater than the third threshold and less than or equal to the first threshold, then when there is a rear-wheel steering execution unit in the auxiliary steering subsystem, in response to the current vehicle speed being less than the first speed, the steering mode is determined to control both the front wheel angle and the rear wheel angle to change so as to achieve steering of the vehicle.

[0026] In a possible implementation, if it is determined that the steering wheel angle is greater than the third threshold and less than or equal to the first threshold, determining the steering mode to control the front wheel angle and the speed difference between the inner and outer wheels includes:

[0027] If it is determined that the steering wheel angle is greater than the third threshold and less than or equal to the first threshold, then when the auxiliary steering subsystem does not have a rear-wheel steering execution unit and has a power steering execution unit, in response to the vehicle's current speed being less than the second speed, the steering mode is determined to control the front wheel angle and the speed difference between the inner and outer wheels to change so as to achieve steering of the vehicle.

[0028] In a possible implementation manner, controlling the vehicle to steer according to the determined steering mode includes:

[0029] When the steering mode is to control the front wheel angle, the front wheel angle target value is determined according to the steering wheel angle;

[0030] The front wheel steering angle target value is sent to the front wheel steering execution unit in the vehicle to realize the steering of the vehicle; wherein the front wheel steering angle target value is used to adjust the front wheel steering angle to the front wheel steering angle target value.

[0031] In a possible implementation manner, controlling the vehicle to steer according to the determined steering mode includes:

[0032] When the steering mode is to control the rear wheel angle, the rear wheel angle target value is determined according to the steering wheel angle, the current vehicle speed, the steering wheel rotation angular velocity, and the front wheel angle;

[0033] The rear wheel steering angle target value is sent to a rear wheel steering execution unit in the vehicle to realize the steering of the vehicle; wherein the rear wheel steering angle target value is used to adjust the rear wheel steering angle to the rear wheel steering angle target value.

[0034] In a possible implementation manner, controlling the vehicle to steer according to the determined steering mode includes:

[0035] When the steering mode is to control the speed difference between the inner and outer wheels, the speed difference target value between the inner and outer wheels is determined according to the steering wheel angle, the current vehicle speed, the steering wheel rotation angular velocity, and the front wheel angle;

[0036] The speed difference target value between the inner and outer wheels is sent to the power steering actuator in the vehicle to achieve the steering of the vehicle; wherein the speed difference target value between the inner and outer wheels is used to adjust the speed difference between the inner and outer wheels to the speed difference target value between the inner and outer wheels.

[0037] In a possible implementation manner, adjusting the speed difference between the inner and outer wheels to a target speed difference between the inner and outer wheels includes:

[0038] The power steering actuator applies a braking torque to the inner wheel and / or applies a driving torque to the outer wheel to adjust the speed difference between the inner and outer wheels to a target speed difference value between the inner and outer wheels.

[0039] In a possible implementation, the method further includes:

[0040] If it is determined that the steering wheel angle is greater than the first threshold, a steering wheel damping value corresponding to the steering wheel angle is determined, and the damping of the vehicle's steering wheel is set to the determined steering wheel damping value; wherein the steering wheel damping value is positively correlated with the steering wheel angle.

[0041] In a possible implementation, if it is determined that the steering wheel angle is greater than a first threshold, determining a steering wheel damping value corresponding to the steering wheel angle, and setting the damping of the steering wheel of the vehicle to the determined steering wheel damping value, includes:

[0042] If it is determined that the steering wheel angle is greater than the first threshold and less than the second threshold, the steering wheel damping value is determined to be the first damping, and the damping of the steering wheel of the vehicle is set to the first damping; wherein the second threshold is greater than the first threshold;

[0043] If it is determined that the steering wheel angle is greater than the second threshold, the steering wheel damping value is determined to be the second damping, and the damping of the steering wheel of the vehicle is set to the second damping; wherein the second damping is greater than the first damping.

[0044] In a second aspect, an embodiment of the present application provides a vehicle steering device, comprising:

[0045] The processing module is used to obtain the steering wheel angle and determine the steering mode according to the steering wheel angle; wherein the steering mode indicates the steering control method of the vehicle's wheels.

[0046] The control module is used to control the vehicle to steer according to the determined steering mode.

[0047] In a possible implementation manner, the steering mode is determined according to the steering wheel angle, and the processing module is used to:

[0048] If it is determined that the steering wheel angle is less than or equal to the first threshold, the steering mode is determined to be controlling the front wheel angle, or the steering mode is determined to be controlling the front wheel angle and the rear wheel angle, or the steering mode is determined to be controlling the front wheel angle and the speed difference between the inner and outer wheels;

[0049] If it is determined that the steering wheel angle is greater than the first threshold, the steering mode is determined to be controlling the rear wheel angle or controlling the speed difference between the inner and outer wheels.

[0050] In a possible implementation, if it is determined that the steering wheel angle is greater than the first threshold, the steering mode is determined to be controlling the rear wheel angle, and the processing module is used to:

[0051] If it is determined that the steering wheel angle is greater than a first threshold and less than or equal to a second threshold, wherein the first threshold is less than the second threshold, then when there is a rear-wheel steering execution unit in the auxiliary steering subsystem, in response to the current speed of the vehicle being less than the first speed, the steering mode is determined to be to control the rear wheel angle to change so as to achieve steering of the vehicle.

[0052] In a possible implementation, if it is determined that the steering wheel angle is greater than the first threshold, the steering mode is determined to be controlling the speed difference between the inner and outer wheels, and the processing module is used to:

[0053] If it is determined that the steering wheel angle is greater than a first threshold value and less than or equal to a second threshold value, wherein the first threshold value is less than the second threshold value, then when the auxiliary steering subsystem does not have a rear wheel steering execution unit and has a power steering execution unit, in response to the current vehicle speed being less than the second vehicle speed, determining the steering mode to change the speed difference between the inner and outer wheels to achieve steering of the vehicle;

[0054] If it is determined that the steering wheel angle is greater than a second threshold, where the second threshold is greater than the first threshold, then when there is a power steering execution unit in the auxiliary steering subsystem, in response to the current speed of the vehicle being less than the second speed, the steering mode is determined to be to control the speed difference between the inner and outer wheels to change so as to achieve steering of the vehicle.

[0055] In a possible implementation manner, the control module is further configured to:

[0056] In response to a current vehicle speed being greater than or equal to a second vehicle speed, the steering wheel angle is adjusted to a first threshold.

[0057] In a possible implementation manner, the control module is further configured to:

[0058] If it is determined that the steering wheel angle is greater than a second threshold, wherein the second threshold is greater than the first threshold, then when the auxiliary steering subsystem does not have a power steering execution unit, the steering wheel angle is adjusted to the first threshold.

[0059] In a possible implementation, if it is determined that the steering wheel angle is less than or equal to the first threshold, the steering mode is determined to be controlling the front wheel angle, or the steering mode is determined to be controlling the front wheel angle and the rear wheel angle, or the steering mode is determined to be controlling the front wheel angle and the speed difference between the inner and outer wheels, and the processing module is used to:

[0060] If it is determined that the steering wheel angle is less than or equal to a third threshold, determining the steering mode is to control the front wheel angle, wherein the third threshold is less than the first threshold;

[0061] If it is determined that the steering wheel angle is greater than the third threshold and less than or equal to the first threshold, the steering mode is determined to control the front wheel angle and the rear wheel angle, or the steering mode is determined to control the front wheel angle and the speed difference between the inner and outer wheels.

[0062] In a possible implementation, if it is determined that the steering wheel angle is greater than the third threshold and less than or equal to the first threshold, the steering mode is determined to be controlling the front wheel angle and the rear wheel angle, and the processing module is used to:

[0063] If it is determined that the steering wheel angle is greater than the third threshold and less than or equal to the first threshold, then when there is a rear-wheel steering execution unit in the auxiliary steering subsystem, in response to the current vehicle speed being less than the first speed, the steering mode is determined to control both the front wheel angle and the rear wheel angle to change so as to achieve steering of the vehicle.

[0064] In a possible implementation, if it is determined that the steering wheel angle is greater than the third threshold and less than or equal to the first threshold, the steering mode is determined to be controlling the front wheel angle and the speed difference between the inner and outer wheels, and the processing module is used to:

[0065] If it is determined that the steering wheel angle is greater than the third threshold and less than or equal to the first threshold, then when the auxiliary steering subsystem does not have a rear-wheel steering execution unit and has a power steering execution unit, in response to the vehicle's current speed being less than the second speed, the steering mode is determined to control the front wheel angle and the speed difference between the inner and outer wheels to change so as to achieve steering of the vehicle.

[0066] In a possible implementation manner, according to the determined steering mode, the vehicle is controlled to steer, and the control module is used to:

[0067] When the steering mode is to control the front wheel angle, the front wheel angle target value is determined according to the steering wheel angle;

[0068] The front wheel steering angle target value is sent to the front wheel steering execution unit in the vehicle to realize the steering of the vehicle; wherein the front wheel steering angle target value is used to adjust the front wheel steering angle to the front wheel steering angle target value.

[0069] In a possible implementation manner, according to the determined steering mode, the vehicle is controlled to steer, and the control module is used to:

[0070] When the steering mode is to control the rear wheel angle, the rear wheel angle target value is determined according to the steering wheel angle, the current vehicle speed, the steering wheel rotation angular velocity, and the front wheel angle;

[0071] The rear wheel steering angle target value is sent to a rear wheel steering execution unit in the vehicle to realize the steering of the vehicle; wherein the rear wheel steering angle target value is used to adjust the rear wheel steering angle to the rear wheel steering angle target value.

[0072] In a possible implementation manner, according to the determined steering mode, the vehicle is controlled to steer, and the control module is used to:

[0073] When the steering mode is to control the speed difference between the inner and outer wheels, the speed difference target value between the inner and outer wheels is determined according to the steering wheel angle, the current vehicle speed, the steering wheel rotation angular velocity, and the front wheel angle;

[0074] The speed difference target value between the inner and outer wheels is sent to the power steering actuator in the vehicle to achieve the steering of the vehicle; wherein the speed difference target value between the inner and outer wheels is used to adjust the speed difference between the inner and outer wheels to the speed difference target value between the inner and outer wheels.

[0075] In a possible implementation manner, the speed difference between the inner and outer wheels is adjusted to a target speed difference between the inner and outer wheels, and the control module is used to:

[0076] The power steering actuator applies a braking torque to the inner wheel and / or applies a driving torque to the outer wheel to adjust the speed difference between the inner and outer wheels to a target speed difference value between the inner and outer wheels.

[0077] In a possible implementation manner, the control module is further configured to:

[0078] If it is determined that the steering wheel angle is greater than the first threshold, a steering wheel damping value corresponding to the steering wheel angle is determined, and the damping of the vehicle's steering wheel is set to the determined steering wheel damping value; wherein the steering wheel damping value is positively correlated with the steering wheel angle.

[0079] In a possible implementation, if it is determined that the steering wheel angle is greater than the first threshold, a steering wheel damping value corresponding to the steering wheel angle is determined, and the damping of the steering wheel of the vehicle is set to the determined steering wheel damping value, and the control module is used to:

[0080] If it is determined that the steering wheel angle is greater than the first threshold and less than the second threshold, the steering wheel damping value is determined to be the first damping, and the damping of the steering wheel of the vehicle is set to the first damping; wherein the second threshold is greater than the first threshold;

[0081] If it is determined that the steering wheel angle is greater than the second threshold, the steering wheel damping value is determined to be the second damping, and the damping of the steering wheel of the vehicle is set to the second damping; wherein the second damping is greater than the first damping.

[0082] In a third aspect, an embodiment of the present application provides a steering feel simulation unit, including: a memory, a processor;

[0083] Memory stores computer-executable instructions;

[0084] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0085] In a fourth aspect, an embodiment of the present application provides a vehicle steering system, the vehicle steering system comprising: a front wheel steering subsystem, an auxiliary steering subsystem; the auxiliary steering subsystem comprises at least one of the following execution units: a rear wheel steering execution unit, a power steering execution unit;

[0086] The front-wheel steering subsystem includes the steering feel simulation unit provided in the third aspect above, and a front-wheel steering execution unit, wherein the steering feel simulation unit is respectively connected to the front-wheel steering execution unit, the rear-wheel steering execution unit, and the power steering execution unit.

[0087] In a fifth aspect, an embodiment of the present application provides a vehicle, which is equipped with a vehicle steering system provided in the fourth aspect above.

[0088] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0089] In a seventh aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0090] The vehicle steering method, steering feel simulation unit, vehicle steering system and vehicle provided in the embodiments of the present application obtain the steering wheel angle of the vehicle currently driven by the user, determine the steering mode that the current steering wheel angle can correspond to based on the steering wheel angle, and control the steering means of the vehicle based on the determined steering mode, thereby achieving the effect of improving the flexibility of vehicle steering. BRIEF DESCRIPTION OF THE DRAWINGS

[0091] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0092] Figure 1 Schematic diagram of the vehicle steering method provided in this application Figure 1 ;

[0093] Figure 2 Schematic diagram of the vehicle steering method provided in this application Figure 2 ;

[0094] Figure 3 is an exemplary variable steering ratio graph;

[0095] Figure 4 Schematic diagram of the vehicle steering method provided in this application Figure 3 ;

[0096] Figure 5 A schematic diagram of a process for exemplarily determining a target value of a rear wheel steering angle;

[0097] Figure 6 Schematic diagram of the vehicle steering method provided in this application Figure 4 ;

[0098] Figure 7 A schematic diagram of a flow chart for exemplarily determining a target value of the speed difference between the inner and outer wheels;

[0099] Figure 8 Schematic diagram of vehicle steering for exemplary multi-steering modes Figure 1 ;

[0100] Fig. 9 Schematic diagram of vehicle steering for exemplary multi-steering modes Figure 2 ;

[0101] Fig.10 A schematic diagram of the structure of the vehicle steering device provided in this application;

[0102] Fig.11 A schematic diagram of the structure of the steering feel simulation unit provided in this application;

[0103] Fig.12 This is a schematic diagram of the structure of the vehicle steering system provided in this application.

[0104] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0105] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0106] First, the terms involved in this application are explained:

[0107] Steering mode: refers to the different special modes determined by the steering wheel angle when the user is driving the vehicle. Different steering modes correspond to different ways of controlling the vehicle.

[0108] With the continuous development of science and technology and the progress of society, users' demands for driving vehicles are gradually increasing. Among them, users have higher and higher requirements for the flexibility of driving vehicles. For example, in some driving scenarios, users need to turn the vehicle. However, due to the road conditions or other factors, the space that allows users to turn the vehicle is small, and even some extreme cases require turning around on the spot. Therefore, users have higher and higher requirements for the flexibility of vehicle steering.

[0109] For example, in an outdoor off-road driving scenario, if the road ahead is not suitable for continued driving, there is not enough space for a conventional U-turn in the outdoor off-road driving scenario, that is, the user needs to drive the vehicle to make a U-turn on the spot. For another example, in a meeting scene on a narrow road, due to the narrow road, there is little space for the vehicle to turn. Therefore, the user needs a more flexible control method to turn the vehicle.

[0110] In some embodiments, the vehicle steering system carried by the vehicle is mechanically connected between the steering wheel of the vehicle and the front wheels of the vehicle, so that the vehicle is steered in a steering mode in which the steering wheel controls the turning angle of the front wheels. Specifically, the steering wheel controls the front wheels of the vehicle through a fixed steering transmission ratio to achieve the steering of the vehicle.

[0111] It can be seen from the above embodiments that the steering mode of the vehicle cannot be flexibly changed in the above embodiments, so there is a technical problem of poor flexibility in vehicle steering.

[0112] The vehicle steering method provided in the present application determines the steering mode corresponding to the current steering wheel angle according to the current steering wheel angle of the user driving the vehicle, and then realizes the steering of the vehicle according to the different control methods of the vehicle corresponding to different steering modes, thereby solving the technical problem of poor flexibility of vehicle steering.

[0113] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0114] Figure 1 Schematic diagram of the vehicle steering method provided in this application Figure 1 ,like Figure 1 As shown, the method includes:

[0115] Step 101. Obtain a steering wheel angle, and determine a steering mode based on the steering wheel angle; wherein the steering mode indicates a steering control method for the wheels of the vehicle.

[0116] Exemplarily, the execution subject of step 101 may be a controller or a handwheel actuator (HWA).

[0117] In one example, the executor of step 101 is a controller, and the vehicle can be configured with a steering wheel angle sensor, wherein the steering wheel angle sensor is connected to the controller. The steering wheel angle sensor can determine the actual angle of the steering wheel rotation controlled by the current user, obtain the steering wheel angle, and send the steering wheel angle to the controller so that the controller obtains the steering wheel angle.

[0118] After the controller obtains the steering wheel angle, it can determine the steering mode that the current steering wheel angle should correspond to based on the correspondence between the preset steering wheel angle and different steering modes.

[0119] In another example, the execution subject of step 101 is a steering feel simulation unit HWA. The steering feel simulation unit HWA can obtain the user's steering intention, where the steering intention can include a steering wheel angle. Optionally, the user's steering intention obtained by HWA can also include but is not limited to: steering wheel rotation angular velocity, user steering wheel torque, etc.

[0120] After the HWA obtains the steering wheel angle, it can determine the steering mode that the current steering wheel angle should correspond to based on the correspondence between the preset steering wheel angle and different steering modes.

[0121] Exemplarily, different steering modes correspond to different control methods for vehicle wheels. For example, steering mode A corresponds to controlling the front wheel angle of the vehicle, and steering mode B corresponds to controlling the rear wheel angle of the vehicle.

[0122] Step 102: Control the vehicle to steer according to the determined steering mode.

[0123] Exemplarily, each steering mode has a corresponding control method for the vehicle wheels. According to the steering mode determined in step 101, the corresponding control method for the vehicle wheels can be determined. According to the control method for the vehicle wheels, the turning angle of the corresponding wheel is controlled, or the speed of the corresponding wheel is controlled, so as to control the vehicle to steer.

[0124] The vehicle steering method provided in the embodiment of the present application determines the steering mode corresponding to the current steering wheel angle by obtaining the current steering wheel angle of the vehicle driven by the user; and controls the corresponding wheels according to the control method for the vehicle wheels indicated by the corresponding steering mode, thereby achieving vehicle steering. The steering mode to enter for steering can be determined by the steering wheel angle, and different steering modes can correspond to different control methods for the wheels, thereby improving the flexibility of the steering wheel to control the vehicle steering, thereby improving the flexibility of the vehicle steering.

[0125] Based on the above embodiments, it can be known that the vehicle steering method provided in the above embodiments can determine the steering mode according to the steering wheel angle of the vehicle. In some embodiments, different steering modes can be determined according to the range of the steering wheel angle, and different steering modes can correspond to different control methods for the vehicle wheels. This embodiment explains how to determine the steering mode according to the steering wheel angle of the vehicle, and how to control the vehicle wheels to achieve vehicle steering in different steering modes.

[0126] In a possible implementation, if it is determined that the steering wheel angle is less than or equal to a first threshold, then the steering mode is determined to be controlling the front wheel angle.

[0127] For example, if it is determined that the steering wheel angle currently operated by the user is less than or equal to the first threshold, it can be determined that the current steering mode is to control the front wheel angle to achieve vehicle steering. It can be understood that when the user turns the steering wheel so that the steering wheel angle is between 0 and the first threshold, the steering mode is to control the front wheel angle for steering.

[0128] Furthermore, Figure 2 Schematic diagram of the vehicle steering method provided in this application Figure 2 The method controls the vehicle to steer according to the determined steering mode, such as Figure 2 As shown, it may specifically include:

[0129] Step 201: When the steering mode is to control the front wheel angle, determine the front wheel angle target value according to the steering wheel angle.

[0130] Exemplarily, the corresponding relationship between the steering wheel angle and the front wheel angle target value may be preset in the HWA. Optionally, the corresponding relationship between the steering wheel angle and the front wheel angle target value may satisfy a variable steering ratio curve.

[0131] Figure 3 is an exemplary variable steering ratio graph, such as Figure 3 As shown in FIG. 1 , the horizontal axis of the variable steering ratio curve is the steering wheel angle ω, and the vertical axis is the front wheel angle target value θ. Among them, ω1 is the first threshold value, θ max is the front wheel turning angle limit. Figure 2 As shown, when it is determined that the steering wheel angle ω of the vehicle is less than or equal to the first threshold ω1, the front wheel angle target value θ corresponding to the current steering wheel angle ω of the vehicle is determined according to the variable steering ratio curve diagram.

[0132] It should be noted that when the steering wheel angle ω is equal to the first threshold ω1, the front wheel angle target value is the front wheel angle limit value θ max .

[0133] Step 202: Send the front wheel steering angle target value to the front wheel steering execution unit in the vehicle to achieve the steering of the vehicle.

[0134] The front wheel turning angle target value is used to adjust the front wheel turning angle to the front wheel turning angle target value.

[0135] Exemplarily, after the HWA determines the front wheel steering target value, the front wheel steering target value is sent to the front wheel steering actuator (Road Wheel Actuator, RWA for short) so that the front wheel steering actuator RWA adjusts the front wheel steering angle based on the front wheel steering target value.

[0136] Specifically, the RWA may include steering motors respectively arranged on the left front wheel and the right front wheel, and the steering angles of the left front wheel and the right front wheel are adjusted to the front wheel steering angle target value by the steering motors respectively arranged on the left front wheel and the right front wheel.

[0137] In the above example, the steering feel simulation unit determines the front wheel angle target value according to the steering wheel angle, and sends the front wheel angle target value to the front wheel steering execution unit, thereby controlling the front wheel angle to the front wheel angle target value, and controlling the front wheel angle according to the steering wheel angle, thereby realizing vehicle steering. According to different situations, there can be different corresponding relationships between the steering wheel angle and the front wheel angle target value, thereby improving the flexibility of the vehicle steering wheel control steering.

[0138] In a possible implementation, if it is determined that the steering wheel angle is greater than a first threshold, the steering mode is determined to be controlling the rear wheel angle or controlling the speed difference between the inner and outer wheels.

[0139] For example, if it is determined that the steering wheel angle currently operated by the user is greater than the first threshold, it can be determined that the current steering mode is to control the rear wheel angle or control the speed difference between the inner and outer wheels to achieve vehicle steering.

[0140] It should be noted that, according to the above example, when the steering wheel angle is equal to the first threshold value, the front wheel angle has reached the front wheel angle limit value, and when the steering wheel angle continues to increase, the front wheel angle will not increase further. At this time, the front wheel angle is maintained at the front wheel angle limit value, and the steering of the vehicle is further achieved by controlling the rear wheel angle or controlling the speed difference between the inner and outer wheels.

[0141] In one example, the steering wheel angle currently operated by the user is greater than a first threshold, and the vehicle steering is achieved by changing the rear wheel angle, that is, the current steering mode is determined to control the rear wheel angle to achieve vehicle steering.

[0142] Exemplarily, if it is determined that the steering wheel angle is greater than a first threshold and less than or equal to a second threshold, wherein the first threshold is less than the second threshold, then when there is a rear-wheel steering execution unit in the auxiliary steering subsystem, in response to the current speed of the vehicle being less than the first speed, the steering mode is determined to be to control the rear wheel angle to change so as to achieve steering of the vehicle.

[0143] At this time, the steering angle of the steering wheel operated by the user is greater than the first threshold and less than or equal to the second threshold. If the auxiliary steering subsystem of the current vehicle is equipped with a rear wheel steering execution unit (Rear Wheel Steering, RWS for short), it is determined whether the current speed of the vehicle is less than the first speed.

[0144] If it is determined that the current speed of the vehicle is less than the first speed, the steering mode is determined to control the rear wheel steering angle to change to achieve the steering of the vehicle.

[0145] Furthermore, Figure 4 Schematic diagram of the vehicle steering method provided in this application Figure 3 The method controls the vehicle to steer according to the determined steering mode, such as Figure 4 As shown, it may specifically include:

[0146] Step 401. When the steering mode is to control the rear wheel angle, determine the rear wheel angle target value according to the steering wheel angle, the current vehicle speed, the steering wheel rotation angular velocity, and the front wheel angle.

[0147] Exemplarily, the corresponding relationship between the input parameters and the target value of the rear wheel angle can be preset in the HWA, wherein the input parameters include one or more of the following parameters: steering wheel angle, current vehicle speed, steering wheel rotation angular velocity, front wheel angle. Optionally, a first calibration map can be preset in the HWA. The first calibration map is a multi-dimensional parameter relationship map obtained through experimental calibration. The first calibration map is used to indicate the corresponding relationship between the input parameters and the target value of the rear wheel angle.

[0148] For example, when the input parameter is a steering wheel angle, the first calibration map is used to indicate rear wheel angle target values ​​corresponding to different steering wheel angles. Based on the first calibration map, the rear wheel angle target value can be determined according to the steering wheel angle.

[0149] For another example, when the input parameters are the steering wheel angle and the current vehicle speed, the first calibration map is used to indicate the rear wheel angle target values ​​corresponding to different steering wheel angles at different current vehicle speeds. Based on the first calibration map, the rear wheel angle target value can be determined according to the current vehicle speed and the steering wheel angle.

[0150] For another example, when the input parameters are the steering wheel angle, the current vehicle speed, and the steering wheel angular velocity, the first calibration map includes multiple steering wheel rear wheel angle relationships at different current vehicle speeds; wherein the steering wheel rear wheel angle relationship is the rear wheel angle target value corresponding to different steering wheel angles at different steering wheel angular velocities. Based on the first calibration map, the rear wheel angle target value can be determined according to the current vehicle speed, the steering wheel angle, and the steering wheel angular velocity.

[0151] It can be understood that based on the first calibration map, the corresponding rear wheel steering angle target value can be determined according to one or more of the input parameters.

[0152] Step 402: Send the rear wheel steering angle target value to the rear wheel steering execution unit in the vehicle to achieve the steering of the vehicle.

[0153] The rear wheel turning angle target value is used to adjust the rear wheel turning angle to the rear wheel turning angle target value.

[0154] Exemplarily, after the HWA determines the rear wheel steering angle target value, the rear wheel steering angle target value is sent to the rear wheel steering execution unit RWS, so that the RWS adjusts the rear wheel steering angle based on the rear wheel steering angle target value.

[0155] Specifically, the RWS may include steering motors respectively arranged on the left rear wheel and the right rear wheel, and the steering angles of the left rear wheel and the right rear wheel are adjusted to the rear wheel steering angle target value by the steering motors respectively arranged on the left rear wheel and the right rear wheel.

[0156] Figure 5 Schematic diagram of a process for determining a target value of a rear wheel steering angle, as shown in FIG. Figure 5As shown, the vehicle speed signal corresponds to the current vehicle speed, the steering wheel angle corresponds to the steering wheel angle, the steering wheel angular velocity corresponds to the steering wheel rotation angular velocity, and the front wheel angle corresponds to the front wheel angle. Figure 5 In the embodiment, the hand feel simulator corresponds to the steering hand feel simulation unit HWA, the rear wheel angle request may include a rear wheel steering angle target value, and the rear wheel auxiliary steering device corresponds to the rear wheel steering execution unit RWS.

[0157] It should be noted that if it is determined that the current vehicle speed is greater than or equal to the first vehicle speed, the steering wheel angle is adjusted to the first threshold in response to the current vehicle speed being greater than or equal to the first vehicle speed.

[0158] Specifically, since the steering wheel angle of the vehicle currently operated by the user is greater than the first threshold and less than or equal to the second threshold, but the current speed of the vehicle is not suitable for steering by controlling the rear wheel angle through RWS, the steering wheel angle is adjusted to the first threshold by HWA control. Exemplarily, HWA can control the steering wheel angle to an angle aligned with RWA. By verifying the current speed of the vehicle, the user is prevented from entering the steering mode of controlling the rear wheel angle at too fast a speed, thereby improving the safety of vehicle steering.

[0159] In the above example, the steering feel simulation unit determines the rear wheel angle target value according to multiple parameters, and sends the rear wheel angle target value to the rear wheel steering execution unit, thereby controlling the rear wheel angle to the rear wheel angle target value, and can control the rear wheel angle according to the steering wheel angle and other parameters, thereby realizing vehicle steering. Among them, the corresponding relationship between the steering wheel angle and other parameters and the rear wheel angle target value can be calibrated according to actual conditions. It can realize multiple steering mode control of vehicle steering and improve the flexibility of vehicle steering.

[0160] In another example, the steering wheel angle currently operated by the user is greater than a first threshold, and the vehicle steering is achieved by changing the speed difference between the inner and outer wheels, that is, the current steering mode is determined to control the speed difference between the inner and outer wheels to achieve vehicle steering.

[0161] In this example, when the steering wheel angle is greater than the first threshold, two example situations can be further divided.

[0162] In the first example case, if it is determined that the steering wheel angle is greater than a first threshold and less than or equal to a second threshold, wherein the first threshold is less than the second threshold, then when there is no rear-wheel steering execution unit and a power steering execution unit in the auxiliary steering subsystem, in response to the current vehicle speed being less than the second vehicle speed, the steering mode is determined to be to control the speed difference between the inner and outer wheels to change so as to achieve steering of the vehicle.

[0163] At this time, the steering wheel angle operated by the user is greater than the first threshold and less than or equal to the second threshold. If the auxiliary steering subsystem of the current vehicle is not equipped with RWS but is equipped with a power steering execution unit, it is determined whether the current speed of the vehicle is less than the second speed.

[0164] If it is determined that the current speed of the vehicle is less than the second speed, the steering mode is determined to control the speed difference between the inner and outer wheels to change to achieve the steering of the vehicle.

[0165] If it is determined that the current vehicle speed is greater than or equal to the second vehicle speed, the steering wheel angle is adjusted to a first threshold in response to the current vehicle speed being greater than or equal to the second vehicle speed.

[0166] Specifically, since the steering wheel angle of the vehicle currently operated by the user is greater than the first threshold and less than or equal to the second threshold, but the current vehicle speed is not suitable for steering by controlling the speed difference between the inner and outer wheels through the power steering actuator, the steering wheel angle is adjusted to the first threshold by HWA control.

[0167] In the second example case, if it is determined that the steering wheel angle is greater than a second threshold, where the second threshold is greater than the first threshold, then when there is a power steering execution unit in the auxiliary steering subsystem, in response to the current speed of the vehicle being less than the second speed, the steering mode is determined to be to control the speed difference between the inner and outer wheels to change so as to achieve steering of the vehicle.

[0168] At this time, the steering wheel angle operated by the user is greater than the second threshold. In one possible implementation, if it is determined that the steering wheel angle is greater than the second threshold, where the second threshold is greater than the first threshold, then when there is no power steering execution unit in the auxiliary steering subsystem, the steering wheel angle is adjusted to the first threshold.

[0169] If the auxiliary steering subsystem of the current vehicle is not equipped with RWS or a power steering actuator, the steering wheel angle is adjusted to the first threshold by HWA control.

[0170] If the auxiliary steering subsystem of the current vehicle is not equipped with RWS, but is equipped with a power steering execution unit, it is determined whether the current speed of the vehicle is less than the second speed. If it is determined that the current speed of the vehicle is less than the second speed, the steering mode is determined to control the speed difference between the inner and outer wheels to change to achieve the steering of the vehicle.

[0171] It should be noted that if it is determined that the current speed of the vehicle is greater than or equal to the second speed, the steering wheel angle is adjusted to the first threshold in response to the current speed of the vehicle being greater than or equal to the second speed. The steering wheel angle is adjusted to the first threshold by HWA control.

[0172] Based on the above two example situations, the vehicle steering can be achieved by changing the speed difference between the inner and outer wheels in the following implementation manner. Figure 6 Schematic diagram of the vehicle steering method provided in this application Figure 4 The method controls the vehicle to steer according to the determined steering mode, such as Figure 6 As shown, it may specifically include:

[0173] Step 601. When the steering mode is to control the speed difference between the inner and outer wheels, determine the target value of the speed difference between the inner and outer wheels according to the steering wheel angle, the current vehicle speed, the steering wheel rotation angular velocity, and the front wheel angle.

[0174] Exemplarily, the corresponding relationship between the input parameters and the target value of the speed difference between the inner and outer wheels can be preset in the HWA, wherein the input parameters include one or more of the following parameters: steering wheel angle, current vehicle speed, steering wheel rotation angular velocity, front wheel angle. Optionally, a second calibration map can be preset in the HWA. The second calibration map is a multi-dimensional parameter relationship map obtained through experimental calibration. The second calibration map is used to indicate the corresponding relationship between the input parameters and the target value of the speed difference between the inner and outer wheels.

[0175] For example, when the input parameter is the steering wheel angle, the second calibration map is used to indicate the target speed difference between the inner and outer wheels corresponding to different steering wheel angles. Based on the second calibration map, the target speed difference between the inner and outer wheels can be determined according to the steering wheel angle.

[0176] For another example, when the input parameters are the steering wheel angle and the current vehicle speed, the second calibration map is used to indicate the target value of the speed difference between the inner and outer wheels corresponding to different steering wheel angles at different current vehicle speeds. Based on the second calibration map, the target value of the speed difference between the inner and outer wheels can be determined according to the steering wheel angle.

[0177] For another example, when the input parameters are the steering wheel angle, the current vehicle speed, and the steering wheel angular velocity, the second calibration map includes multiple steering wheel speed difference relationships at different current vehicle speeds; wherein the steering wheel speed difference relationship is the speed difference target value of the inner and outer wheels corresponding to different steering wheel angles at different steering wheel angular velocities. Based on the second calibration map, the speed difference target value of the inner and outer wheels can be determined according to the current vehicle speed, the steering wheel angle, and the steering wheel angular velocity.

[0178] It can be understood that, through the second calibration map, the corresponding target value of the speed difference between the inner and outer wheels can be determined according to one or more of the input parameters.

[0179] Step 602: Send the target value of the speed difference between the inner and outer wheels to the power steering execution unit in the vehicle to achieve the steering of the vehicle.

[0180] The target value of the speed difference between the inner and outer wheels is used to adjust the speed difference between the inner and outer wheels to the target value of the speed difference between the inner and outer wheels.

[0181] Exemplarily, after HWA determines the target speed difference between the inner and outer wheels, it sends the target speed difference between the inner and outer wheels to the power steering actuator unit so that the power steering actuator unit adjusts the speed difference between the inner and outer wheels based on the target speed difference between the inner and outer wheels.

[0182] As an example, adjusting the speed difference between the inner and outer wheels to a target speed difference value between the inner and outer wheels may be achieved in the following manner.

[0183] The power steering actuator applies a braking torque to the inner wheel and / or applies a driving torque to the outer wheel to adjust the speed difference between the inner and outer wheels to a target speed difference value between the inner and outer wheels.

[0184] Specifically, the power steering execution unit may include drive brake motors respectively configured on the four wheels. Applying a braking torque to the drive brake motor corresponding to the inner wheel can reduce the speed of the inner wheel, and applying a driving torque to the drive brake motor corresponding to the outer wheel can increase the speed of the outer wheel.

[0185] It can be understood that in order to make the speed difference between the inner and outer wheels reach the speed difference target value of the inner and outer wheels, the inner wheel can be slowed down, or the outer wheel can be accelerated, or the inner wheel can be slowed down and the outer wheel can be accelerated at the same time. Therefore, the speed difference between the inner and outer wheels can be changed by applying a braking torque to the inner wheel, or applying a driving torque to the outer wheel, or applying a braking torque to the inner wheel and a driving torque to the outer wheel at the same time through the power steering actuator.

[0186] Figure 7 Schematic diagram of a flow chart for exemplarily determining a target value of the speed difference between the inner and outer wheels, as shown in FIG. Figure 7 As shown, the vehicle speed signal corresponds to the current vehicle speed, the steering wheel angle corresponds to the steering wheel angle, the steering wheel angular velocity corresponds to the steering wheel rotation angular velocity, and the front wheel angle corresponds to the front wheel angle. Figure 7 In the embodiment, the hand feeling simulator corresponds to the steering hand feeling simulation unit HWA, the speed difference request between the inner and outer wheels may include a speed difference target value between the inner and outer wheels, and the single-wheel drive device corresponds to the power steering execution unit.

[0187] In the above example, the steering feel simulation unit determines the target speed difference value of the inner and outer wheels according to multiple parameters, and sends the target speed difference value of the inner and outer wheels to the power steering execution unit, so as to control the speed difference of the inner and outer wheels to the target speed difference value of the inner and outer wheels, and can control the speed of the inner and outer wheels according to the steering wheel angle and other parameters, so as to realize vehicle steering. Among them, the corresponding relationship between the steering wheel angle and other parameters and the target speed difference value of the inner and outer wheels can be calibrated according to the actual situation. It can realize multiple steering mode control of vehicle steering and improve the flexibility of vehicle steering.

[0188] Figure 8 Schematic diagram of vehicle steering for exemplary multi-steering modes Figure 1 .like Figure 8 As shown in the figure, the horizontal axis is the steering wheel angle and the vertical axis is the front wheel angle. When the steering wheel angle is less than ω1, the steering wheel angle and the front wheel angle satisfy the variable steering ratio curve. When the steering wheel angle is greater than or equal to ω1, the change of the steering wheel angle does not cause the change of the front wheel angle. The second stage at this time means that the vehicle is turned by changing the rear wheel angle or changing the speed difference between the inner and outer wheels.

[0189] It should be noted that Figure 8 ω2 can be used as the second threshold in the embodiment of the present application. The second stage, i.e., the fusion control stage of the steering wheel, should include a stage when the steering wheel angle is greater than the second threshold, but the steering wheel angle is less than the maximum steering wheel angle. Moreover, in the stage when the steering wheel angle is greater than the second threshold, it is determined according to the parameters whether to achieve steering by adjusting the speed difference between the inner and outer wheels, and the front wheel angle remains at the front wheel angle limit value in this stage.

[0190] It should also be noted that the relationship between the first vehicle speed and the second vehicle speed mentioned in this embodiment is not limited, and the specific values ​​of the first vehicle speed and the second vehicle speed can be determined by calibration based on experiments. The first vehicle speed is used to ensure that when the current vehicle speed is less than the first vehicle speed, the vehicle can be turned safely by changing the rear wheel angle; the second vehicle speed is used to ensure that when the current vehicle speed is less than the second vehicle speed, the vehicle can be turned safely by changing the speed difference between the inner and outer wheels.

[0191] The vehicle steering method provided in the embodiment of the present application determines which steering mode the vehicle is currently entering based on the relationship between the steering wheel angle and the threshold. When the steering wheel angle is less than or equal to the first threshold, the front wheel angle is controlled to achieve steering; when the steering wheel angle is greater than the first threshold and less than or equal to the second threshold, steering can be achieved by controlling the rear wheel steering or controlling the speed difference between the inner and outer wheels; when the steering wheel angle is greater than the second threshold, steering can be achieved by controlling the speed difference between the inner and outer wheels. It is possible to determine whether to enter one of the multiple steering modes based on the steering wheel angle of the vehicle, and to achieve vehicle steering based on the control method of the steering mode. The flexibility of the steering wheel in controlling the vehicle's steering is improved, thereby improving the flexibility of vehicle steering.

[0192] Based on the above embodiments, the vehicle switches the steering mode when the steering wheel angle is around the first threshold. In order to achieve smoother steering, the front wheel steering and the rear wheel steering can be combined within a specific range of the steering wheel angle, or the front wheel steering and the inner and outer wheel speed difference can be specially combined. This embodiment explains how to integrate different steering modes to achieve vehicle steering.

[0193] In one possible implementation, if it is determined that the steering wheel angle is less than or equal to the first threshold, the steering mode is determined to be controlling the front wheel angle and the rear wheel angle, or the steering mode is determined to be controlling the front wheel angle and the speed difference between the inner and outer wheels.

[0194] In one example, if it is determined that the steering wheel angle is less than or equal to a third threshold, then the steering mode is determined to be controlling the front wheel angle, wherein the third threshold is less than the first threshold.

[0195] Exemplarily, a third threshold of the steering wheel angle is introduced, and the third threshold should be less than the first threshold. It can be understood that when the user turns the steering wheel so that the steering wheel angle is between 0 and the third threshold, the steering mode is to control the front wheel angle for steering.

[0196] It should be noted that the steering mode is a specific implementation step of controlling the front wheel angle for steering, which can be found in the description of step 201 to step 202 and will not be expanded here.

[0197] In another example, if it is determined that the steering wheel angle is greater than the third threshold and less than or equal to the first threshold, the steering mode is determined to control the front wheel angle and the rear wheel angle, or the steering mode is determined to control the front wheel angle and the speed difference between the inner and outer wheels.

[0198] As the user continues to turn the steering wheel so that the steering wheel angle is between the third threshold and the first threshold, the vehicle can be turned by controlling the front wheel angle and the rear wheel angle together, or by controlling the front wheel angle and the speed difference between the inner and outer wheels.

[0199] Furthermore, if it is determined that the steering wheel angle is greater than the third threshold and less than or equal to the first threshold, when there is a rear-wheel steering execution unit in the auxiliary steering subsystem, in response to the current speed of the vehicle being less than the first speed, the steering mode is determined to control both the front wheel angle and the rear wheel angle to change so as to achieve steering of the vehicle.

[0200] Exemplarily, when it is determined that the steering wheel angle is within the range from the third threshold to the first threshold, if the auxiliary steering subsystem is configured with RWS, it is determined whether the current vehicle speed is less than the first vehicle speed.

[0201] If it is determined that the current vehicle speed is less than the first vehicle speed, then the current steering mode is determined to control both the front wheel steering angle and the rear wheel steering angle to change, thereby achieving the steering of the vehicle.

[0202] If it is determined that the current vehicle speed is greater than or equal to the first vehicle speed, it is determined that the current steering mode is still to control the front wheel angle to change, so as to achieve the steering of the vehicle. Since the current vehicle speed is fast, it is not suitable to change the rear wheel angle. Therefore, if it is determined that the current vehicle speed is greater than or equal to the first vehicle speed, the vehicle steering is achieved only by controlling the front wheel angle.

[0203] It should be noted that the steering mode is a specific implementation step of controlling the front wheel angle for steering, and reference may be made to the description of steps 201 to 202. The steering mode is a specific implementation step of controlling the rear wheel angle for steering, and reference may be made to the description of steps 401 to 402, which will not be expanded here.

[0204] It should be further explained that when the steering mode is to control both the front wheel angle and the rear wheel angle to change to achieve steering, HWA can determine the front wheel angle target value according to the steering wheel angle, and send the front wheel angle target value to RWA, so that RWA adjusts the front wheel angle to the front wheel angle target value; and HWA can determine the rear wheel angle target value according to the steering wheel angle, current vehicle speed, steering wheel rotation angular velocity, and front wheel angle, and send the rear wheel angle target value to RWS, so that RWS adjusts the rear wheel angle to the rear wheel angle target value. In this way, both the front wheel angle and the rear wheel angle are controlled to change to make the vehicle steer.

[0205] Furthermore, if it is determined that the steering wheel angle is greater than the third threshold and less than or equal to the first threshold, then when the auxiliary steering subsystem does not have a rear-wheel steering execution unit and has a power steering execution unit, in response to the vehicle's current speed being less than the second speed, the steering mode is determined to control the front wheel angle and the speed difference between the inner and outer wheels to change so as to achieve steering of the vehicle.

[0206] Exemplarily, when it is determined that the steering wheel angle is within the range from the third threshold to the first threshold, if the auxiliary steering subsystem is not configured with RWS but is configured with a power steering execution unit, it is determined whether the current vehicle speed is less than the second vehicle speed.

[0207] If it is determined that the current vehicle speed is less than the second vehicle speed, the current steering mode is determined to control the front wheel steering angle and the speed difference between the inner and outer wheels to change, thereby achieving the steering of the vehicle.

[0208] If it is determined that the current vehicle speed is greater than or equal to the second vehicle speed, it is determined that the current steering mode is still to control the front wheel angle to change, so as to achieve the steering of the vehicle. Since the current vehicle speed is relatively fast, it is not suitable to change the speed difference between the inner and outer wheels. Therefore, if it is determined that the current vehicle speed is greater than or equal to the second vehicle speed, the vehicle steering is achieved only by controlling the front wheel angle.

[0209] It should be noted that the steering mode is a specific implementation step of controlling the front wheel angle for steering, and reference may be made to the description of steps 201 to 202. The steering mode is a specific implementation step of controlling the speed difference between the inner and outer wheels for steering, and reference may be made to the description of steps 601 to 602, which will not be expanded here.

[0210] It should be further explained that when the steering mode is to control the front wheel angle and the speed difference of the inner and outer wheels to change to achieve steering, the HWA can determine the front wheel angle target value according to the steering wheel angle, and send the front wheel angle target value to the RWA, so that the RWA adjusts the front wheel angle to the front wheel angle target value; and the HWA can determine the speed difference target value of the inner and outer wheels according to the steering wheel angle, the current vehicle speed, the steering wheel rotation angular velocity, and the front wheel angle, and send the speed difference target value of the inner and outer wheels to the power steering execution unit, so that the power steering execution unit adjusts the speed difference of the inner and outer wheels to the speed difference target value of the inner and outer wheels. In this way, the front wheel angle and the speed difference of the inner and outer wheels are both controlled to change to make the vehicle turn.

[0211] Fig. 9 Schematic diagram of vehicle steering for exemplary multi-steering modes Figure 2 .like Fig. 9As shown, the horizontal axis is the steering wheel angle, and the vertical axis is the front wheel angle. Among them, ω1' can be used as the third threshold value in the embodiment of the present application. According to the above examples, when the steering wheel angle is less than ω1', the steering mode is to control the change of the front wheel angle to achieve vehicle steering; when the steering wheel angle is within the range of ω1' to ω1, the steering mode is to control the change of the front wheel angle and the change of the rear wheel angle to achieve vehicle steering, or to control the change of the front wheel angle and the change of the speed difference of the inner and outer wheels to achieve vehicle steering, or to control the change of the front wheel angle to achieve vehicle steering; when the steering wheel angle is within the range of ω1 to ω2, the steering mode is to control the change of the rear wheel angle to achieve vehicle steering, or to control the change of the speed difference of the inner and outer wheels to achieve vehicle steering; when the steering wheel angle is within the range of ω2 to ω max When the steering mode is within the range, the steering mode is to control the speed difference between the inner and outer wheels to achieve vehicle steering.

[0212] It should be further explained that when the steering wheel angle is within the range of ω1' to ω1, if the vehicle speed does not meet the corresponding vehicle speed condition, the steering mode is determined to control the front wheel angle to change so as to achieve vehicle steering; when the steering wheel angle is within the range of ω1 to ω max If the vehicle speed does not meet the corresponding speed condition within the range, the steering wheel angle is controlled by HWA to return to ω1, and the rear wheel angle and the speed difference between the inner and outer wheels are not changed at this time. This prevents dangerous situations caused by forced turning due to excessive speed.

[0213] The vehicle steering method provided in the embodiment of the present application introduces a third threshold value of the steering wheel angle. When the steering wheel angle is within the range from the third threshold value to the first threshold value, the vehicle steering can be achieved by changing the front wheel angle and the rear wheel angle at the same time, or by changing the front wheel angle and the speed difference between the inner and outer wheels at the same time. The switching between different steering modes can be made smoother, and the vehicle steering operation can be made smoother, thereby improving the smoothness of the vehicle steering and further improving the flexibility of the vehicle steering.

[0214] Based on any of the above embodiments, the user's steering is mainly achieved by turning the steering wheel, and the user's steering to achieve steering mode switching is also achieved by turning the steering wheel. Therefore, in order to better enable the user to perceive the current steering mode, feedback can be applied on the steering wheel. This embodiment specifically explains how to apply feedback on the steering wheel to prompt the user of the current steering mode.

[0215] Based on the vehicle steering method provided in any of the above embodiments, the method may further include:

[0216] If it is determined that the steering wheel angle is greater than the first threshold, a steering wheel damping value corresponding to the steering wheel angle is determined, and the damping of the vehicle's steering wheel is set to the determined steering wheel damping value; wherein the steering wheel damping value is positively correlated with the steering wheel angle.

[0217] For example, when the steering wheel angle is greater than a first threshold, the damping of the steering wheel may be set to different damping values ​​through HWA as the steering wheel angle changes, wherein the damping of the steering wheel increases as the steering wheel angle increases.

[0218] Specifically, in one example, if it is determined that the steering wheel angle is greater than a first threshold and less than a second threshold, the steering wheel damping value is determined to be a first damping, and the damping of the vehicle's steering wheel is set to the first damping, wherein the second threshold is greater than the first threshold.

[0219] Exemplarily, HWA can set a first-level soft limit when the steering wheel angle is a first threshold. When HWA determines that the steering wheel angle exceeds the first-level soft limit, HWA determines that the damping value of the steering wheel is the first damping, and sets the damping of the steering wheel to the determined first damping. Exemplarily, HWA also includes a steering wheel motor connected to the steering wheel, and HWA sends the value of the first damping to the steering wheel motor. The steering wheel motor generates a resistance torque opposite to the current user's steering wheel rotation direction according to the first damping, thereby setting the damping of the steering wheel to the first damping.

[0220] In another example, if it is determined that the steering wheel angle is greater than a second threshold, the steering wheel damping value is determined to be a second damping, and the damping of the vehicle's steering wheel is set to the second damping; wherein the second damping is greater than the first damping.

[0221] Exemplarily, HWA can set a second-level soft limit when the steering wheel angle is a second threshold. When HWA determines that the steering wheel angle exceeds the second-level soft limit, HWA determines that the damping value of the steering wheel is a second damping, which can be greater than the first damping, and sets the damping of the steering wheel to the determined second damping. Exemplarily, the steering wheel motor generates a resistance torque that is opposite to the current user's steering wheel rotation direction and has a larger torque value according to the second damping, thereby setting the damping of the steering wheel to a second damping that is greater than the first damping.

[0222] The vehicle steering method provided in the embodiment of the present application sets a soft limit through a steering feel simulation unit, and then applies different damping to the steering wheel at different steering wheel angles, so that the user can have tactile feedback when switching the steering mode through the steering wheel. On the one hand, the tactile feedback of the steering wheel can prompt the user to switch the steering mode, give the user feedback when the vehicle is steering, and improve the safety of steering; on the other hand, the steering wheel angle corresponding to different levels of limits can be flexibly changed through soft limits, and the steering wheel damping value corresponding to different levels of limits can also be flexibly changed, thereby improving the intelligence of the vehicle and further improving the flexibility of vehicle control steering.

[0223] In summary, the vehicle steering method provided by the embodiment of the present application decouples the mechanical connection between the steering wheel and the front wheel angle, and uses a steering feel simulation unit to change the front wheel angle according to the steering wheel angle control to achieve vehicle steering. It can flexibly change the corresponding relationship between the steering wheel and the front wheel angle, improve the flexibility of vehicle control steering, and thus improve the flexibility of vehicle steering. Furthermore, a threshold value of the steering wheel angle is set, and after exceeding the threshold value, multiple steering modes can be switched, and different steering modes correspond to different control methods for the vehicle's wheels. Further improve the flexibility of vehicle steering. Furthermore, the steering feel simulation unit sets different damping to the steering wheel, which can feedback to the user the steering mode corresponding to the current steering wheel angle, improve the intelligence of the vehicle, and indirectly improve the safety of the user when driving the vehicle to turn.

[0224] Fig.10 The structural schematic diagram of the vehicle steering device provided in this application is as follows: Fig.10 As shown, the vehicle steering device 100 provided in this embodiment includes:

[0225] The processing module 1001 is used to obtain a steering wheel angle and determine a steering mode according to the steering wheel angle; wherein the steering mode indicates a steering control method for the wheels of the vehicle.

[0226] The control module 1002 is used to control the vehicle to steer according to the determined steering mode.

[0227] In a possible implementation, the steering mode is determined according to the steering wheel angle, and the processing module 1001 is used to:

[0228] If it is determined that the steering wheel angle is less than or equal to the first threshold, the steering mode is determined to be controlling the front wheel angle, or the steering mode is determined to be controlling the front wheel angle and the rear wheel angle, or the steering mode is determined to be controlling the front wheel angle and the speed difference between the inner and outer wheels;

[0229] If it is determined that the steering wheel angle is greater than the first threshold, the steering mode is determined to be controlling the rear wheel angle or controlling the speed difference between the inner and outer wheels.

[0230] In a possible implementation, if it is determined that the steering wheel angle is greater than the first threshold, the steering mode is determined to be controlling the rear wheel angle, and the processing module 1001 is used to:

[0231] If it is determined that the steering wheel angle is greater than a first threshold and less than or equal to a second threshold, wherein the first threshold is less than the second threshold, then when there is a rear-wheel steering execution unit in the auxiliary steering subsystem, in response to the current speed of the vehicle being less than the first speed, the steering mode is determined to be to control the rear wheel angle to change so as to achieve steering of the vehicle.

[0232] In a possible implementation, if it is determined that the steering wheel angle is greater than the first threshold, the steering mode is determined to be controlling the speed difference between the inner and outer wheels, and the processing module 1001 is used to:

[0233] If it is determined that the steering wheel angle is greater than a first threshold value and less than or equal to a second threshold value, wherein the first threshold value is less than the second threshold value, then when the auxiliary steering subsystem does not have a rear wheel steering execution unit and has a power steering execution unit, in response to the current vehicle speed being less than the second vehicle speed, determining the steering mode to change the speed difference between the inner and outer wheels to achieve steering of the vehicle;

[0234] If it is determined that the steering wheel angle is greater than a second threshold, where the second threshold is greater than the first threshold, then when there is a power steering execution unit in the auxiliary steering subsystem, in response to the current speed of the vehicle being less than the second speed, the steering mode is determined to be to control the speed difference between the inner and outer wheels to change so as to achieve steering of the vehicle.

[0235] In a possible implementation, the control module 1002 is further configured to:

[0236] In response to a current vehicle speed being greater than or equal to a second vehicle speed, the steering wheel angle is adjusted to a first threshold.

[0237] In a possible implementation, the control module 1002 is further configured to:

[0238] If it is determined that the steering wheel angle is greater than a second threshold, wherein the second threshold is greater than the first threshold, then when the auxiliary steering subsystem does not have a power steering execution unit, the steering wheel angle is adjusted to the first threshold.

[0239] In a possible implementation, if it is determined that the steering wheel angle is less than or equal to the first threshold, the steering mode is determined to be controlling the front wheel angle, or the steering mode is determined to be controlling the front wheel angle and the rear wheel angle, or the steering mode is determined to be controlling the front wheel angle and the speed difference between the inner and outer wheels, and the processing module 1001 is used to:

[0240] If it is determined that the steering wheel angle is less than or equal to a third threshold, determining the steering mode is to control the front wheel angle, wherein the third threshold is less than the first threshold;

[0241] If it is determined that the steering wheel angle is greater than the third threshold and less than or equal to the first threshold, the steering mode is determined to control the front wheel angle and the rear wheel angle, or the steering mode is determined to control the front wheel angle and the speed difference between the inner and outer wheels.

[0242] In a possible implementation, if it is determined that the steering wheel angle is greater than the third threshold and less than or equal to the first threshold, the steering mode is determined to be controlling the front wheel angle and the rear wheel angle, and the processing module 1001 is used to:

[0243] If it is determined that the steering wheel angle is greater than the third threshold and less than or equal to the first threshold, then when there is a rear-wheel steering execution unit in the auxiliary steering subsystem, in response to the current vehicle speed being less than the first speed, the steering mode is determined to control both the front wheel angle and the rear wheel angle to change so as to achieve steering of the vehicle.

[0244] In a possible implementation, if it is determined that the steering wheel angle is greater than the third threshold and less than or equal to the first threshold, the steering mode is determined to be controlling the front wheel angle and the speed difference between the inner and outer wheels, and the processing module 1001 is used to:

[0245] If it is determined that the steering wheel angle is greater than the third threshold and less than or equal to the first threshold, then when the auxiliary steering subsystem does not have a rear-wheel steering execution unit and has a power steering execution unit, in response to the vehicle's current speed being less than the second speed, the steering mode is determined to control the front wheel angle and the speed difference between the inner and outer wheels to change so as to achieve steering of the vehicle.

[0246] In a possible implementation, the vehicle is controlled to steer according to the determined steering mode, and the control module 1002 is used to:

[0247] When the steering mode is to control the front wheel angle, the front wheel angle target value is determined according to the steering wheel angle;

[0248] The front wheel steering angle target value is sent to the front wheel steering execution unit in the vehicle to realize the steering of the vehicle; wherein the front wheel steering angle target value is used to adjust the front wheel steering angle to the front wheel steering angle target value.

[0249] In a possible implementation, the vehicle is controlled to steer according to the determined steering mode, and the control module 1002 is used to:

[0250] When the steering mode is to control the rear wheel angle, the rear wheel angle target value is determined according to the steering wheel angle, the current vehicle speed, the steering wheel rotation angular velocity, and the front wheel angle;

[0251] The rear wheel steering angle target value is sent to a rear wheel steering execution unit in the vehicle to realize the steering of the vehicle; wherein the rear wheel steering angle target value is used to adjust the rear wheel steering angle to the rear wheel steering angle target value.

[0252] In a possible implementation, the vehicle is controlled to steer according to the determined steering mode, and the control module 1002 is used to:

[0253] When the steering mode is to control the speed difference between the inner and outer wheels, the speed difference target value between the inner and outer wheels is determined according to the steering wheel angle, the current vehicle speed, the steering wheel rotation angular velocity, and the front wheel angle;

[0254] The speed difference target value between the inner and outer wheels is sent to the power steering actuator in the vehicle to achieve the steering of the vehicle; wherein the speed difference target value between the inner and outer wheels is used to adjust the speed difference between the inner and outer wheels to the speed difference target value between the inner and outer wheels.

[0255] In a possible implementation, the speed difference between the inner and outer wheels is adjusted to a target speed difference between the inner and outer wheels, and the control module 1002 is used to:

[0256] The power steering actuator applies a braking torque to the inner wheel and / or applies a driving torque to the outer wheel to adjust the speed difference between the inner and outer wheels to a target speed difference value between the inner and outer wheels.

[0257] In a possible implementation, the control module 1002 is further configured to:

[0258] If it is determined that the steering wheel angle is greater than the first threshold, a steering wheel damping value corresponding to the steering wheel angle is determined, and the damping of the vehicle's steering wheel is set to the determined steering wheel damping value; wherein the steering wheel damping value is positively correlated with the steering wheel angle.

[0259] In a possible implementation, if it is determined that the steering wheel angle is greater than the first threshold, a steering wheel damping value corresponding to the steering wheel angle is determined, and the damping of the steering wheel of the vehicle is set to the determined steering wheel damping value, and the control module 1002 is used to:

[0260] If it is determined that the steering wheel angle is greater than the first threshold and less than the second threshold, the steering wheel damping value is determined to be the first damping, and the damping of the steering wheel of the vehicle is set to the first damping; wherein the second threshold is greater than the first threshold;

[0261] If it is determined that the steering wheel angle is greater than the second threshold, the steering wheel damping value is determined to be the second damping, and the damping of the steering wheel of the vehicle is set to the second damping; wherein the second damping is greater than the first damping.

[0262] The vehicle steering device provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be described in detail here.

[0263] Fig.11 This is a schematic diagram of the structure of the steering feel simulation unit provided in this application. Fig.11 As shown, the steering feel simulation unit 110 provided in this embodiment includes: at least one processor 1101 and a memory 1102. Optionally, the steering feel simulation unit 110 also includes a communication component 1103. The processor 1101, the memory 1102 and the communication component 1103 are connected via a bus 1104.

[0264] In a specific implementation process, at least one processor 1101 executes the computer-executable instructions stored in the memory 1102, so that at least one processor 1101 executes the above method.

[0265] The specific implementation process of the processor 1101 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0266] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0267] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0268] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0269] The present application also provides a vehicle steering system, Fig.12 This is a schematic diagram of the structure of the vehicle steering system provided in this application. Fig.12 As shown, the vehicle steering system 120 includes: a front wheel steering subsystem 1201 and an auxiliary steering subsystem 1202 .

[0270] The auxiliary steering subsystem 1202 includes at least one of the following execution units: a rear wheel steering execution unit, a power steering execution unit;

[0271] The front wheel steering subsystem 1201 includes the steering feel simulation unit 110 provided in the above embodiment, and a front wheel steering execution unit, wherein the steering feel simulation unit is connected to the front wheel steering execution unit, the rear wheel steering execution unit, and the power steering execution unit respectively.

[0272] It should be noted that Fig.12 The auxiliary steering subsystem in the exemplary vehicle steering system includes a rear wheel steering execution unit and a power steering execution unit. In practical applications, the auxiliary steering subsystem may also include only one of the rear wheel steering execution unit and the power steering execution unit.

[0273] The present application also provides a vehicle, which is equipped with the vehicle steering system provided in the aforementioned embodiment.

[0274] The present application also provides a computer program product, including a computer program, which implements the method provided by any of the above method embodiments when executed by a processor.

[0275] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the method provided by any of the above method embodiments is implemented.

[0276] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0277] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0278] The division of modules is only a logical function division. There may be other divisions in actual implementation, such as multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, which can be electrical, mechanical or other forms.

[0279] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0280] In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0281] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0282] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0283] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present application after considering the specification and practicing the application disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application, are not limited to the precise structures described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A vehicle steering method, characterized in that: The method comprises: Acquire a steering wheel angle, and determine a steering mode according to the steering wheel angle; wherein the steering mode indicates a steering control method for the wheels of the vehicle; The vehicle is controlled to steer according to the determined steering mode.

2. The method according to claim 1, characterized in that: Determining the steering mode according to the steering wheel angle includes: If it is determined that the steering wheel angle is less than or equal to the first threshold, then the steering mode is determined to be controlling the front wheel angle, or the steering mode is determined to be controlling the front wheel angle and the rear wheel angle, or the steering mode is determined to be controlling the front wheel angle and the speed difference between the inner and outer wheels; If it is determined that the steering wheel angle is greater than the first threshold, the steering mode is determined to be controlling the rear wheel angle or controlling the speed difference between the inner and outer wheels.

3. The method according to claim 2, characterized in that If it is determined that the steering wheel angle is greater than the first threshold, determining that the steering mode is to control the rear wheel angle includes: If it is determined that the steering wheel angle is greater than the first threshold and less than or equal to the second threshold, wherein the first threshold is less than the second threshold, then when there is a rear-wheel steering execution unit in the auxiliary steering subsystem, in response to the current speed of the vehicle being less than the first speed, the steering mode is determined to be to control the rear wheel angle to change so as to achieve steering of the vehicle.

4. The method according to claim 2, characterized in that: If it is determined that the steering wheel angle is greater than the first threshold, determining that the steering mode is to control the speed difference between the inner and outer wheels includes: If it is determined that the steering wheel angle is greater than the first threshold and less than or equal to the second threshold, wherein the first threshold is less than the second threshold, then when the auxiliary steering subsystem does not have a rear wheel steering execution unit and has a power steering execution unit, in response to the current vehicle speed being less than the second vehicle speed, determining that the steering mode is to control the speed difference between the inner and outer wheels to change so as to achieve steering of the vehicle; If it is determined that the steering wheel angle is greater than a second threshold, wherein the second threshold is greater than the first threshold, then when there is a power steering execution unit in the auxiliary steering subsystem, in response to the current speed of the vehicle being less than a second speed, the steering mode is determined to be to control the speed difference between the inner and outer wheels to change so as to achieve steering of the vehicle.

5. The method according to claim 4, characterized in that The method further comprises: In response to a current vehicle speed of the vehicle being greater than or equal to a second vehicle speed, the steering wheel angle is adjusted to the first threshold.

6. The method according to claim 4, characterized in that The method further comprises: If it is determined that the steering wheel angle is greater than a second threshold, wherein the second threshold is greater than the first threshold, then when the auxiliary steering subsystem does not have a power steering execution unit, the steering wheel angle is adjusted to the first threshold.

7. The method according to claim 2, characterized in that If it is determined that the steering wheel angle is less than or equal to the first threshold, then determining that the steering mode is to control the front wheel angle, or determining that the steering mode is to control the front wheel angle and the rear wheel angle, or determining that the steering mode is to control the front wheel angle and the speed difference between the inner and outer wheels, including: If it is determined that the steering wheel angle is less than or equal to a third threshold, determining that the steering mode is to control the front wheel angle, wherein the third threshold is less than the first threshold; If it is determined that the steering wheel angle is greater than the third threshold and less than or equal to the first threshold, the steering mode is determined to be controlling the front wheel angle and the rear wheel angle, or the steering mode is determined to be controlling the front wheel angle and the speed difference between the inner and outer wheels.

8. The method according to claim 7, characterized in that If it is determined that the steering wheel angle is greater than the third threshold value and less than or equal to the first threshold value, determining that the steering mode is to control the front wheel angle and the rear wheel angle includes: If it is determined that the steering wheel angle is greater than the third threshold and less than or equal to the first threshold, then when there is a rear-wheel steering execution unit in the auxiliary steering subsystem, in response to the current speed of the vehicle being less than the first speed, the steering mode is determined to control both the front wheel angle and the rear wheel angle to change so as to achieve steering of the vehicle.

9. The method according to claim 7, characterized in that: If it is determined that the steering wheel angle is greater than the third threshold value and less than or equal to the first threshold value, determining that the steering mode is to control the front wheel angle and the speed difference between the inner and outer wheels includes: If it is determined that the steering wheel angle is greater than the third threshold and less than or equal to the first threshold, then when the auxiliary steering subsystem does not have a rear-wheel steering execution unit and has a power steering execution unit, in response to the current vehicle speed being less than the second vehicle speed, the steering mode is determined to control the front wheel angle and the speed difference between the inner and outer wheels to change so as to achieve steering of the vehicle.

10. The method according to any one of claims 1 to 9, characterized in that Controlling the vehicle to steer according to the determined steering mode includes: When the steering mode is to control the front wheel angle, determining a front wheel angle target value according to the steering wheel angle; The front wheel steering angle target value is sent to the front wheel steering execution unit in the vehicle to realize the steering of the vehicle; wherein the front wheel steering angle target value is used to adjust the front wheel steering angle to the front wheel steering angle target value.

11. The method according to any one of claims 1 to 9, characterized in that Controlling the vehicle to steer according to the determined steering mode includes: When the steering mode is to control the rear wheel angle, determining a rear wheel angle target value according to the steering wheel angle, the current vehicle speed, the steering wheel rotation angular velocity, and the front wheel angle; The rear wheel steering angle target value is sent to the rear wheel steering execution unit in the vehicle to realize the steering of the vehicle; wherein the rear wheel steering angle target value is used to adjust the rear wheel steering angle to the rear wheel steering angle target value.

12. The method according to any one of claims 1 to 9, characterized in that Controlling the vehicle to steer according to the determined steering mode includes: When the steering mode is to control the speed difference between the inner and outer wheels, a target value of the speed difference between the inner and outer wheels is determined according to the steering wheel angle, the current vehicle speed, the steering wheel rotation angular velocity, and the front wheel angle; The speed difference target value between the inner and outer wheels is sent to the power steering execution unit in the vehicle to achieve the steering of the vehicle; wherein the speed difference target value between the inner and outer wheels is used to adjust the speed difference between the inner and outer wheels to the speed difference target value between the inner and outer wheels.

13. The method according to claim 12, characterized in that The step of adjusting the speed difference between the inner and outer wheels to the speed difference target value of the inner and outer wheels comprises: The power steering execution unit applies a braking torque to the inner wheel and / or applies a driving torque to the outer wheel to adjust the speed difference between the inner and outer wheels to the speed difference target value of the inner and outer wheels.

14. The method according to any one of claims 1 to 9, characterized in that The method further comprises: If it is determined that the steering wheel angle is greater than a first threshold, a steering wheel damping value corresponding to the steering wheel angle is determined, and the damping of the steering wheel of the vehicle is set to the determined steering wheel damping value; wherein the steering wheel damping value is positively correlated with the steering wheel angle.

15. The method according to claim 14, characterized in that If it is determined that the steering wheel angle is greater than a first threshold, determining a steering wheel damping value corresponding to the steering wheel angle, and setting the damping of the steering wheel of the vehicle to the determined steering wheel damping value, including: If it is determined that the steering wheel angle is greater than a first threshold and less than a second threshold, the steering wheel damping value is determined to be a first damping, and the damping of the steering wheel of the vehicle is set to the first damping; wherein the second threshold is greater than the first threshold; If it is determined that the steering wheel angle is greater than the second threshold, the steering wheel damping value is determined to be a second damping, and the damping of the steering wheel of the vehicle is set to the second damping; wherein the second damping is greater than the first damping.

16. A steering feel simulation unit, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 15.

17. A vehicle steering system, characterized in that: The vehicle steering system comprises: a front wheel steering subsystem and an auxiliary steering subsystem; the auxiliary steering subsystem comprises at least one of the following execution units: a rear wheel steering execution unit and a power steering execution unit; The front-wheel steering subsystem includes a steering feel simulation unit as described in claim 16, and a front-wheel steering execution unit, wherein the steering feel simulation unit is connected to the front-wheel steering execution unit, the rear-wheel steering execution unit, and the power steering execution unit, respectively.

18. A vehicle, characterized in that: The vehicle is provided with the vehicle steering system as claimed in claim 17.

19. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 15 when executed by a processor.

20. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 15 when being executed by a processor.

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