Vehicle steering control method and device, vehicle, storage medium and program product

Abstract

The invention relates to the technical field of vehicles, in particular to a vehicle steering control method and device, a vehicle, a storage medium and a program product. Determining a target wheel of the vehicle according to the steering demand; and controlling vehicle steering by taking the target wheel as a rotation center. Therefore, the problem that the rotation center cannot be flexibly selected for vehicle steering in related technologies is solved.

Description

Technical Field

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

[0002] Vehicle steering technology has gone through several stages with the development of the automobile industry. Early vehicles mainly relied on mechanical steering systems, which directly drove the steering mechanism through the steering wheel to change the direction of the wheels. However, with the advancement of technology, technologies such as electronic power steering and electric hydraulic power steering have gradually become popular. These technologies have significantly improved the steering accuracy and response speed, while also reducing the operating burden on the driver.

[0003] In certain specific application scenarios, such as narrow streets in cities, parking lots, and emergency avoidance, traditional steering technology cannot meet the needs of vehicles to flexibly turn in limited spaces. Therefore, the U-turn technology came into being. The U-turn technology allows the vehicle to complete a 180-degree turn in an almost stationary state, greatly improving the vehicle's maneuverability and flexibility.

[0004] However, most current U-turn technologies can only rotate around the vehicle's geometric center, which is not applicable in some cases, especially when avoiding obstacles or performing precise parking. Summary of the invention

[0005] The present application provides a vehicle steering control method, device, vehicle, storage medium and program product to solve the problem that the rotation center cannot be flexibly selected for vehicle steering in the related art.

[0006] The first aspect of the present application provides a vehicle steering control method, comprising the following steps: obtaining a steering demand of the vehicle; determining a target wheel of the vehicle according to the steering demand; and controlling the steering of the vehicle with the target wheel as the rotation center.

[0007] Optionally, controlling the steering of the vehicle with the target wheel as the rotation center includes: identifying the relative position relationship between the other wheels of the vehicle and the target wheel; determining the target rotation speed and target movement direction of the other wheels according to the relative position relationship; and controlling the movement of the other wheels based on the target rotation speed and target movement direction.

[0008] Optionally, the relative position relationship includes a first position relationship and a second position relationship, and determining the target rotation speed and target movement direction of the other wheels based on the relative position relationship includes: determining the rotation speed of the other wheels based on the first position relationship; determining the target movement direction of the other wheels based on the second position relationship.

[0009] Optionally, the first position relationship includes the diagonal position and non-diagonal position of the target wheel, and the target speeds of other wheels are determined based on the relative position relationship, including: if it is a diagonal position, the speed of the corresponding wheel is the first speed; if it is a non-diagonal position, the speed of the corresponding wheel is the second speed.

[0010] Optionally, before determining the target movement directions of the other wheels according to the second positional relationship, the method further includes: identifying a gear direction of the vehicle; and determining the target movement directions of the other wheels according to the gear direction and the second positional relationship.

[0011] Optionally, the second position relationship includes the ipsilateral position and non-ipsilateral position of the target wheel, and the target movement direction of the other wheels is determined according to the gear direction and the second position relationship, including: if it is the ipsilateral position, the target movement direction of the corresponding wheel is opposite to the gear direction; if it is the non-ipsilateral position, the target movement direction of the corresponding wheel is the same as the gear direction.

[0012] The second aspect of the present application provides a vehicle steering control device, including: an acquisition module for acquiring the steering demand of the vehicle; a determination module for determining the target wheel of the vehicle according to the steering demand; and a control module for controlling the steering of the vehicle with the target wheel as the rotation center.

[0013] Optionally, the control module is further used to: identify the relative position relationship between other wheels of the vehicle and the target wheel; determine the target speed and target movement direction of the other wheels based on the relative position relationship; and control the movement of the other wheels based on the target speed and target movement direction.

[0014] Optionally, the relative position relationship includes a first position relationship and a second position relationship, and the control module is further used to: determine the target rotation speed of the other wheels according to the first position relationship; and determine the target movement direction of the other wheels according to the second position relationship.

[0015] Optionally, the first position relationship includes a diagonal position and a non-diagonal position of the target wheel, and the control module is further used to: if it is a diagonal position, the rotational speed of the corresponding wheel is a first rotational speed; if it is a non-diagonal position, the wheel direction speed of the corresponding wheel is a second rotational speed.

[0016] Optionally, it also includes: an identification module, used to identify the gear direction of the vehicle before determining the target movement direction of the other wheels according to the second position relationship; and determine the target movement direction of the other wheels according to the gear direction and the second position relationship.

[0017] Optionally, the second position relationship includes the ipsilateral position and non-ipsilateral position of the target wheel, and the identification module is further used to: if it is the ipsilateral position, the target movement direction of the corresponding wheel is opposite to the gear direction; if it is the non-ipsilateral position, the target movement direction of the corresponding wheel is the same as the gear direction.

[0018] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to perform a vehicle steering control method as described in the above embodiment.

[0019] The fourth aspect of the present application provides a computer-readable storage medium on which a computer program or instructions are stored. The computer program or instructions are executed by a processor to perform a vehicle steering control method as described in the above embodiment.

[0020] The fifth aspect of the present application provides a computer program product, including a computer program or instructions. When the computer program or instructions are executed, the vehicle steering control method as described in the above embodiment is implemented.

[0021] Therefore, this application has at least the following beneficial effects:

[0022] The embodiment of the present application can determine the target wheel of the vehicle according to the steering requirements of the vehicle, and control the steering of the vehicle with the target wheel as the rotation center, which can achieve more flexible control of the vehicle steering, especially accurate positioning and steering in a small space, and improve the adaptability of the vehicle in complex environments. Therefore, the technical problem that the rotation center cannot be flexibly selected for vehicle steering in the related art is solved.

[0023] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0025] Figure 1 A flow chart of a vehicle steering control method provided according to an embodiment of the present application;

[0026] Figure 2 A schematic diagram of a vehicle steering control device provided according to an embodiment of the present application;

[0027] Figure 3 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0029] The following describes the vehicle steering control method, device, vehicle, storage medium and program product of the embodiments of the present application with reference to the accompanying drawings. In view of the problem that most of the current on-the-spot U-turn technologies mentioned in the background technology center can only rotate around the geometric center of the vehicle, which is not applicable in some cases, especially when it is necessary to avoid obstacles or perform precise parking, the present application provides a vehicle steering control method, in which the target wheel of the vehicle can be determined according to the steering requirements of the vehicle, and the vehicle steering can be controlled with the target wheel as the rotation center, which can achieve more flexible control of the vehicle steering, especially accurate positioning and steering in a small space, and improve the adaptability of the vehicle in complex environments. As a result, the problem of the inability to flexibly select the rotation center for vehicle steering in the related technology is solved.

[0030] Specifically, Figure 1 A flow chart of a vehicle steering control method provided in an embodiment of the present application.

[0031] like Figure 1 As shown, the vehicle steering control method comprises the following steps:

[0032] In step S101 , the steering demand of the vehicle is obtained.

[0033] Among them, the steering demand can be determined based on the driver's selection or the vehicle can automatically determine it according to the current surrounding environment. For example, the driver can determine the steering demand based on the current surrounding environment, or the vehicle can automatically determine it according to the current surrounding environment. The surrounding environment includes obstacles, driving paths, etc.

[0034] In addition, it should be noted that the embodiments of the present application are mainly aimed at independently driven vehicles equipped with four motors and have the feature of independent control of single wheel speed.

[0035] For example, if the vehicle wants to park sideways on the right side and the front of the vehicle has already entered the side parking space, the steering requirement can be selected with the left front wheel as the rotation center, so that the vehicle rotates counterclockwise around the left front wheel center into the side parking space.

[0036] In step S102, a target wheel of the vehicle is determined according to a steering requirement.

[0037] The target wheel may be any wheel of the vehicle.

[0038] It can be understood that the embodiments of the present application can determine the target wheel of the vehicle according to the steering requirement to facilitate subsequent vehicle steering. For example, if the steering requirement is to turn left to the front and the driver chooses the left front wheel as the rotation center, the target wheel of the vehicle can be determined to be the left front wheel.

[0039] In step S103, the vehicle steering is controlled with the target wheel as the rotation center.

[0040] It can be understood that the embodiments of the present application can control the vehicle steering with the target wheel as the rotation center, determine the rotation center according to the steering requirements, realize vehicle steering, and achieve more flexible vehicle control, especially precise positioning and steering in a small space, thereby improving the vehicle's adaptability in complex environments.

[0041] In an embodiment of the present application, the steering of the vehicle is controlled with the target wheel as the rotation center, including: identifying the relative position relationship between the other wheels of the vehicle and the target wheel; determining the target speed and target movement direction of the other wheels according to the relative position relationship; and controlling the movement of the other wheels based on the target speed and target movement direction.

[0042] It can be understood that the embodiments of the present application can determine the target speed and target movement direction based on the relative position relationship between the other wheels and the target wheel, and then control the movement of the other wheels based on the target speed and target movement direction, so as to more accurately control the behavior of each wheel, thereby improving steering efficiency and accuracy, reducing errors that may occur during the steering process, and reducing the rotational offset generated during the steering process.

[0043] It should be noted that the speed of the target wheel serving as the rotation center is zero. The implementation method can select single-wheel drive motor torque control, or single-wheel hydraulic lock control, single-wheel EMB (Electro-Mechanical Brake) lock control or single-wheel EPB (Electric Parking Brake) lock control according to the specific situation. For example, if the rotation center is the front wheel, single-wheel drive motor torque control, or single-wheel hydraulic lock control, or single-wheel EMB lock control can be selected; for the rear wheel, single-wheel drive motor torque control, or single-wheel hydraulic lock control, single-wheel EMB lock control or single-wheel EPB lock control can be selected.

[0044] In an embodiment of the present application, the relative position relationship includes a first position relationship and a second position relationship, and the target rotational speed and target movement direction of the other wheels are determined based on the relative position relationship, including: determining the rotational speed of the other wheels based on the first position relationship; determining the target movement direction of the other wheels based on the second position relationship.

[0045] It can be understood that the relative position relationship in the embodiment of the present application includes a first position relationship and a second position relationship, and the target rotation speed of the other wheels is determined according to the first position relationship, and the target movement direction of the other wheels is determined according to the second position relationship.

[0046] In an embodiment of the present application, the first position relationship includes the diagonal position and non-diagonal position of the target wheel, and the target speeds of other wheels are determined based on the relative position relationship, including: if it is a diagonal position, the speed of the corresponding wheel is a preset speed; if it is a non-diagonal position, the speed of the corresponding wheel is the target speed.

[0047] Among them, the first speed can be set according to the specific situation, for example, to 0, and the second speed can be obtained by looking up the table of the current driver's accelerator pedal opening, or by the driver's central control display design.

[0048] It can be understood that the first position of the embodiment of the present application includes the diagonal position and non-diagonal position of the target wheel. If it is a diagonal relationship, the rotational speed of the corresponding wheel is the first rotational speed. If it is a non-diagonal relationship, the rotational speed of the corresponding wheel is the second rotational speed.

[0049] For example, taking the left front wheel as the rotation center and the target speed of 1000rpm / min, the right rear wheel and the left front wheel are in a diagonal relationship, the speed is 0, and the right front wheel and the left rear wheel are in a non-diagonal relationship with the left front wheel, then the speed is 1000rpm / min.

[0050] It should be noted that the wheel diagonal to the target wheel can also be controlled by a small driving torque, which is achieved through calibration, with a torque range of 0 to 100 Nm, and the direction of the driving torque is the same as the gear direction.

[0051] In an embodiment of the present application, before determining the target movement direction of other wheels according to the second position relationship, it also includes: identifying the gear direction of the vehicle; and determining the target movement direction of other wheels according to the gear direction and the second position relationship.

[0052] Among them, the gear is divided into forward gear and reverse gear, the gear direction of the forward gear is positive, and the gear direction of the reverse gear is negative.

[0053] It can be understood that the embodiment of the present application identifies the gear direction of the vehicle before determining the target movement direction of other wheels according to the second position relationship, and determines the target movement direction of other wheels according to the gear direction and the second position relationship, as follows.

[0054] In an embodiment of the present application, the second position relationship includes the ipsilateral position and non-ipsilateral position of the target wheel, and the target movement direction of the other wheels is determined according to the gear direction and the second position relationship, including: if it is the ipsilateral position, the target movement direction of the corresponding wheel is opposite to the gear direction; if it is the non-ipsilateral position, the target movement direction of the corresponding wheel is the same as the gear direction.

[0055] It can be understood that the second position relationship of the embodiment of the present application includes the same-side position and non-same-side position of the target wheel. If it is the same-side position, the target movement direction of the corresponding wheel is opposite to the gear direction. If it is the non-same-side position, the target movement direction of the corresponding wheel is the same as the gear direction.

[0056] For example, with the left front wheel as the rotation center, the current gear is the forward gear, the left rear wheel and the left front wheel are on the same side, then the movement direction of the left rear wheel is negative, and the right front wheel and the right rear wheel are not on the same side as the left front wheel, then the movement direction is positive.

[0057] The vehicle steering control method of the present application is described below through a specific embodiment, wherein any wheel is used as the rotation center for rotation, and the rotation center offset is very small, which is suitable for parking and driving in a narrow space, and includes the following steps:

[0058] Step 1: The driver selects the vehicle rotation center according to the current vehicle environment, specifically: the left front wheel, right front wheel, left rear wheel, and right rear wheel rotation center.

[0059] The driver selects the vehicle rotation center through the central control display screen or the vehicle automatically selects the rotation center according to the current vehicle environment, including obstacles around the vehicle, target driving path, etc., specifically: left front wheel, right front wheel, left rear wheel, right rear wheel rotation center. For example, if the vehicle wants to park sideways on the right side and the front of the vehicle has already entered the side parking space, the left front wheel can be selected as the rotation center, so that the vehicle rotates counterclockwise along the left front wheel center to enter the side parking space.

[0060] Step 2: The driver engages in forward gear or reverse gear operation, and the central controller sets the target vehicle speed according to the driver's accelerator pedal opening.

[0061] The target vehicle speed is equal to the target rotation speed of the wheels, and the target vehicle speed can be determined through the driver's central control display screen design or by looking up the table through the driver's throttle opening.

[0062] Step 3: Combine the driver's gear operation, rotation center selection and target vehicle speed to design the vehicle's four-wheel control target as follows.

[0063] 1. When the rotation center is the left front wheel and the gear is the forward gear: the left front wheel is under zero speed control, which is implemented by single-wheel drive motor torque control, single-wheel hydraulic lock control, or single-wheel EMB lock control; the right front wheel is under zero torque control, or a small forward drive torque control ((the drive torque is achieved through calibration, with a torque range of 0 to 100 Nm)); the left rear wheel is under speed control, which is implemented by drive motor torque control, and the target speed is the negative target speed (negative target speed direction: the wheel rotates toward the rear of the vehicle, and the negative target speed is equal to the target speed); the right rear wheel is under speed control, which is implemented by drive motor torque control, and the target speed is the positive target speed.

[0064] 2. When the rotation center is the left front wheel and the gear is in reverse: the left front wheel is subject to zero speed control, which may be implemented by single-wheel drive motor torque control, single-wheel hydraulic lock control, or single-wheel EMB lock control; the right front wheel is subject to zero torque control, or a small backward drive torque control; the left rear wheel is subject to speed control, which may be implemented by drive motor torque control, and the target speed is the positive target vehicle speed; the right rear wheel is subject to speed control, which may be implemented by drive motor torque control, and the target speed is the negative target vehicle speed.

[0065] 3. When the rotation center is the right front wheel and the gear is in the forward gear: the right front wheel is subject to zero speed control, which may be implemented by single-wheel drive motor torque control, single-wheel hydraulic lock control, or single-wheel EMB lock control; the left front wheel is subject to zero torque control, or a small forward drive torque control; the left rear wheel is subject to speed control, which is implemented by drive motor torque control, and the target speed is the positive target vehicle speed; the right rear wheel is subject to speed control, which is implemented by drive motor torque control, and the target speed is the negative target vehicle speed.

[0066] 4. When the rotation center is the right front wheel and the gear is in reverse: the right front wheel is subject to zero speed control, which may be implemented by single-wheel drive motor torque control, single-wheel hydraulic lock control, or single-wheel EMB lock control; the left front wheel is subject to zero torque control, or a small rear drive torque control; the left rear wheel is subject to speed control, which is implemented by drive motor torque control, and the target speed is the negative target vehicle speed; the right rear wheel is subject to speed control, which is implemented by drive motor torque control, and the target speed is the positive target vehicle speed.

[0067] 5. When the rotation center is the left rear wheel and the gear is the forward gear: the left rear wheel is subject to zero speed control, which may be implemented by single-wheel drive motor torque control, single-wheel hydraulic lock control, single-wheel EMB lock control, or single-wheel EPB lock control; the right rear wheel is subject to zero torque control, or a small forward drive torque control; the left front wheel is subject to speed control, which is implemented by drive motor torque control, and the target speed is the negative target vehicle speed; the right front wheel is subject to speed control, which is implemented by drive motor torque control, and the target speed is the positive target vehicle speed.

[0068] 6. When the rotation center is the left rear wheel and the gear is in reverse: the left rear wheel is subject to zero speed control, which may be implemented by single-wheel drive motor torque control, single-wheel hydraulic lock control, single-wheel EMB lock control, or single-wheel EPB lock control; the right rear wheel is subject to zero torque control, or a small backward drive torque control; the left front wheel is subject to speed control, which is implemented by drive motor torque control, and the target speed is the positive target vehicle speed; the right front wheel is subject to speed control, which is implemented by drive motor torque control, and the target speed is the negative target vehicle speed.

[0069] 7. When the rotation center is the right rear wheel and the gear is the forward gear: the right rear wheel is subject to zero speed control, which may be implemented by single-wheel drive motor torque control, single-wheel hydraulic lock control, single-wheel EMB lock control, or single-wheel EPB lock control; the left rear wheel is subject to zero torque control, or a small forward drive torque control; the left front wheel is subject to speed control, which is implemented by drive motor torque control, and the target speed is the positive target vehicle speed; the right front wheel is subject to speed control, which is implemented by drive motor torque control, and the target speed is the negative target vehicle speed.

[0070] 8. When the turning center is the right rear wheel and the gear is in reverse gear: the right rear wheel is subject to zero speed control, which may be implemented by single-wheel drive motor torque control, single-wheel hydraulic lock control, single-wheel EMB lock control, or single-wheel EPB lock control; the left rear wheel is subject to zero torque control, or a small backward drive torque control; the left front wheel is subject to speed control, which is implemented by drive motor torque control, and the target speed is the negative target vehicle speed; the right front wheel is subject to speed control, which is implemented by drive motor torque control, and the target speed is the positive target vehicle speed.

[0071] Step 4: When the driver wants to stop the vehicle from steering, he can do so by pressing the brake pedal deeply or shifting to P or N gear. At this time, the four-wheel control torque is reset to zero.

[0072] According to the vehicle steering control method proposed in the embodiment of the present application, the target wheel of the vehicle can be determined according to the steering requirements of the vehicle, and the vehicle steering can be controlled with the target wheel as the rotation center. This can achieve more flexible control of the vehicle steering, especially precise positioning and steering in a small space, thereby improving the vehicle's adaptability in complex environments.

[0073] Next, the vehicle steering control device proposed according to the embodiment of the present application is described with reference to the accompanying drawings.

[0074] Figure 2 It is a block diagram of a vehicle steering control device according to an embodiment of the present application.

[0075] like Figure 2 As shown, the vehicle steering control device 10 includes: an acquisition module 100 , a determination module 200 and a control module 300 .

[0076] Among them, the acquisition module 100 is used to obtain the steering demand of the vehicle; the determination module 200 is used to determine the target wheel of the vehicle according to the steering demand; and the control module 300 is used to control the steering of the vehicle with the target wheel as the rotation center.

[0077] In an embodiment of the present application, the control module 300 is further used to: identify the relative position relationship between the other wheels of the vehicle and the target wheel; determine the target rotation speed and target movement direction of the other wheels based on the relative position relationship; and control the movement of the other wheels based on the target steering speed and target movement direction.

[0078] In the embodiment of the present application, the relative position relationship includes a first position relationship and a second position relationship, and the control module 300 is further used to: determine the target rotation speed of the other wheels according to the first position relationship; determine the target movement direction of the other wheels according to the second position relationship.

[0079] In an embodiment of the present application, the first position relationship includes a diagonal position and a non-diagonal position of the target wheel, and the control module 300 is further used to: if it is a diagonal position, the rotational speed of the corresponding wheel is a first rotational speed; if it is a non-diagonal position, the rotational speed of the corresponding wheel is a second rotational speed.

[0080] In the embodiment of the present application, the device 10 of the embodiment of the present application further includes: an identification module.

[0081] Among them, the identification module is used to identify the gear direction of the vehicle before determining the target movement direction of other wheels according to the second position relationship; and determine the target movement direction of other wheels according to the gear direction and the second position relationship.

[0082] In an embodiment of the present application, the second position relationship includes the ipsilateral position and non-ipsilateral position of the target wheel, and the identification module is further used to: if it is the ipsilateral position, the target movement direction of the corresponding wheel is opposite to the gear direction; if it is the non-ipsilateral position, the target movement direction of the corresponding wheel is the same as the gear direction.

[0083] It should be noted that the above explanation of the embodiment of the vehicle steering control method is also applicable to the vehicle steering control device of this embodiment, and will not be repeated here.

[0084] According to the vehicle steering control device proposed in the embodiment of the present application, the target wheel of the vehicle can be determined according to the steering requirements of the vehicle, and the vehicle steering can be controlled with the target wheel as the rotation center. This can achieve more flexible control of the vehicle steering, especially precise positioning and steering in a small space, thereby improving the vehicle's adaptability in complex environments.

[0085] Figure 3 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0086] A memory 301 , a processor 302 , and a computer program stored in the memory 301 and executable on the processor 302 .

[0087] When the processor 302 executes the program, the vehicle steering control method provided in the above embodiment is implemented.

[0088] Furthermore, the vehicle also includes:

[0089] The communication interface 303 is used for communication between the memory 301 and the processor 302 .

[0090] The memory 301 is used to store computer programs that can be run on the processor 302 .

[0091] The memory 301 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0092] If the memory 301, the processor 302 and the communication interface 303 are implemented independently, the communication interface 303, the memory 301 and the processor 302 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0093] Optionally, in a specific implementation, if the memory 301, the processor 302 and the communication interface 303 are integrated on a chip, the memory 301, the processor 302 and the communication interface 303 can communicate with each other through an internal interface.

[0094] The processor 302 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0095] An embodiment of the present application also provides a computer-readable storage medium on which a computer program or instruction is stored. When the computer program or instruction is executed by a processor, the vehicle steering control method as described above is implemented.

[0096] An embodiment of the present application also provides a computer program product, including a computer program or instructions, which, when executed, implements the above vehicle steering control method.

[0097] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0098] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0099] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0100] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of multiple of the following technologies known in the art: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0101] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

Claims

1. A vehicle steering control method, characterized in that: The following steps are involved: Obtaining the vehicle's steering requirements; determining a target wheel of the vehicle according to the steering requirement; The vehicle is controlled to turn with the target wheel as the rotation center.

2. The vehicle steering control method according to claim 1, characterized in that: The method of controlling the vehicle steering with the target wheel as the rotation center comprises: Identifying the relative positional relationship between other wheels of the vehicle and the target wheel; Determining the target rotation speed and target movement direction of the other wheels according to the relative position relationship; The movement of the other wheels is controlled based on the target rotation speed and the target movement direction.

3. The vehicle steering control method according to claim 2, characterized in that: The relative position relationship includes a first position relationship and a second position relationship, and determining the target steering speed and the target movement direction of the other wheels according to the relative position relationship includes: determining a target rotation speed of the other wheels according to the first position relationship; The target movement direction of the other wheels is determined according to the second position relationship.

4. The vehicle steering control method according to claim 3, characterized in that: The first position relationship includes a diagonal position and a non-diagonal position of the target wheel, and determining the target steering speed of the other wheels according to the relative position relationship includes: If it is the diagonal position, the rotation speed of the corresponding wheel is the first rotation speed; If it is the non-diagonal position, the rotation speed of the corresponding wheel is the second rotation speed.

5. The vehicle steering control method according to claim 3, characterized in that: Before determining the target movement direction of the other wheels according to the second position relationship, the method further includes: identifying a gear direction of the vehicle; The target movement direction of the other wheels is determined according to the gear direction and the second position relationship.

6. The vehicle steering control method according to claim 5, characterized in that: The second position relationship includes the same-side position and the non-same-side position of the target wheel, and determining the target movement direction of the other wheels according to the gear direction and the second position relationship includes: If it is the same side position, the target movement direction of the corresponding wheel is opposite to the gear direction; If it is the non-same-side position, the target movement direction of the corresponding wheel is the same as the gear direction.

7. A vehicle steering control device, characterized in that: include: An acquisition module, used for acquiring the steering demand of the vehicle; A determination module, configured to determine a target wheel of the vehicle according to the steering requirement; A control module is used to control the steering of the vehicle with the target wheel as the rotation center.

8. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle steering control method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: The computer program or instruction is executed by a processor to implement the vehicle steering control method as described in any one of claims 1-6.

10. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed, the vehicle steering control method as described in any one of claims 1-6 is implemented.

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