Steering mode switching method and device, vehicle and storage medium

Abstract

The invention provides a steering mode switching method and device, a vehicle and a storage medium, the vehicle carries out independent control on each wheel based on an electronic mechanical braking system, the method is applied to the technical field of vehicles, and the method comprises the steps that whether an obtained expected steering mode of a user is the same as a current steering mode of the vehicle or not is judged; when the current steering mode is different from the expected steering mode, the current vehicle speed of the vehicle and the current wheel speed of each wheel are obtained, then whether the vehicle meets the steering switching condition or not is judged, and when the vehicle meets the steering switching condition, the steering mode is switched. And the vehicle is switched from the current steering mode to the expected steering mode through the obtained braking force of the multiple wheels of the vehicle. According to the method, when the vehicle meets the conversion switching condition, the vehicle is controlled to be switched from any steering mode to the expected mode required by the user, so that the steering operation burden of the user is effectively reduced, and the steering stability of the vehicle and the driving experience of the user are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a steering mode switching method, device, vehicle and storage medium in the field of vehicles. Background Art

[0002] With the rapid development of vehicle technology, users have higher and higher requirements for vehicle performance, application scenarios, and intelligent needs. During the driving process, users also have higher and higher requirements for the sensitivity of the vehicle's steering performance.

[0003] In the related art, in the process of switching the vehicle's steering mode, the user controls the steering of the vehicle by turning the steering wheel. Therefore, the user can switch the vehicle's various steering modes by turning the steering wheel according to the road scene and actual driving needs.

[0004] However, since the steering wheel has a large rotation angle when implementing the steering action, increasing the working space of the rack can easily cause steering errors. Therefore, it is particularly important to further improve the switching method of the vehicle's steering mode. Summary of the invention

[0005] The present application provides a steering mode switching method, device, vehicle and storage medium. The method can control the vehicle to switch from any steering mode to the desired mode required by the user when the conversion switching conditions are met, thereby effectively reducing the user's steering operation burden and improving the smoothness of the vehicle's steering and the user's driving experience.

[0006] In a first aspect, a steering mode switching method is provided, wherein the vehicle independently controls each wheel based on an electronic mechanical braking system, wherein the method comprises: obtaining a user's desired steering mode, and determining whether a current steering mode of the vehicle is the same as the desired steering mode; if the current steering mode and the desired steering mode are different, obtaining a current vehicle speed and a current wheel speed of each wheel, and determining whether the vehicle satisfies a steering switching condition based on the current vehicle speed and the current wheel speed of each wheel; and if the vehicle satisfies the steering switching condition, adjusting the braking force of multiple wheels of the vehicle based on the desired steering mode, so that the vehicle switches from the current steering mode to the desired steering mode.

[0007] Through the above technical solution, when the current steering mode of the vehicle is different from the user's desired steering mode, the vehicle can be controlled to switch from the current steering mode to the desired steering mode according to the vehicle's steering switching conditions, thereby meeting the user's steering needs.

[0008] In combination with the first aspect, in certain possible implementations, adjusting the braking force of multiple wheels of the vehicle based on the expected steering pattern includes: determining a target steering angle for each of the multiple wheels according to the expected steering pattern; determining the braking force of each wheel based on the target steering angle of each wheel, and adjusting the steering angle of the corresponding wheel according to the braking force of each wheel.

[0009] Through the above technical solution, the vehicle can be switched to a desired steering mode by adjusting the target steering angle of each wheel.

[0010] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when adjusting the steering angles of the multiple wheels, it also includes: obtaining the actual steering angle of each wheel; determining whether the absolute value of the difference between the actual steering angle of any wheel and the corresponding target steering angle is greater than a preset safety threshold; if the absolute value of the difference between the actual steering angle of any wheel and the corresponding target steering angle is greater than the preset safety threshold, stopping switching the vehicle from the current steering mode to the desired steering mode.

[0011] Through the above technical solution, the vehicle can be controlled to switch from the current steering mode to the start-stop state of the desired steering mode according to the difference between the actual steering angle of each wheel and the target steering angle, so as to meet the user's steering needs.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining the target steering angle of each of the multiple wheels according to the expected steering mode includes: obtaining the current vehicle speed, the current brake pedal opening, the current drive motor torque, the current steering wheel angle, the current wheel speed of each wheel and the current rear wheel angle of the vehicle; determining the target steering angle of the corresponding wheel based on the expected steering mode, the current vehicle speed, the current brake pedal opening, the current drive motor torque, the current steering wheel angle, the current wheel speed of each wheel and the current rear wheel angle.

[0013] Through the above technical solution, the target steering angle of each wheel of the vehicle can be accurately obtained according to various signals of the vehicle, thereby improving driving safety performance.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the braking force of each wheel is determined based on the target steering angle of each wheel, and the steering angle of the corresponding wheel is adjusted according to the braking force of each wheel, including: determining the target yaw angle of the vehicle according to the target steering angle of each wheel; calculating the braking force of each wheel according to the target yaw angle and the actual yaw angle of the vehicle, and controlling the corresponding wheel according to the braking force of each wheel.

[0015] Through the above technical solution, the braking force of each wheel is obtained by acquiring the target yaw angle of the vehicle, so that each wheel can be controlled accordingly according to the braking force of each wheel to meet the user's steering needs.

[0016] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after determining whether the vehicle meets the steering switching conditions based on the current wheel speed of each wheel and the current vehicle speed, it also includes: if the vehicle does not meet the steering switching conditions, a steering mode switching failure reminder is generated.

[0017] Through the above technical solution, when the vehicle does not meet the steering switching conditions, the user can be reminded of the steering mode switching failure through corresponding prompt instructions, so that the user can control the vehicle steering when the vehicle meets the steering switching conditions later.

[0018] In combination with the first aspect and the above-mentioned implementations, in some possible implementations, the desired steering mode includes at least one of a front-wheel steering mode, a rear-wheel steering mode, a four-wheel steering mode, a diagonal movement mode, a lateral movement mode and an in-place steering mode.

[0019] Through the above technical solution, the user's steering needs can be met by switching between multiple steering modes.

[0020] In a second aspect, a steering mode switching device is provided, wherein the vehicle independently controls each wheel based on an electronic mechanical braking system, wherein the device comprises:

[0021] an acquisition module, used to acquire a user's desired steering mode and determine whether the current steering mode of the vehicle is the same as the desired steering mode;

[0022] a judgment module, configured to obtain the current vehicle speed and the current wheel speed of each wheel of the vehicle if the current steering mode is different from the expected steering mode, and judge whether the vehicle satisfies a steering switching condition according to the current vehicle speed and the current wheel speed of each wheel; and

[0023] A switching module is used to adjust the braking force of multiple wheels of the vehicle based on the expected steering mode if the vehicle meets the steering switching condition, so that the vehicle switches from the current steering mode to the expected steering mode.

[0024] In conjunction with the second aspect, in some possible implementations, the switching module includes:

[0025] a determination unit, configured to determine a target steering angle of each of the plurality of wheels according to the desired steering mode;

[0026] An adjustment unit is used to determine the braking force of each wheel based on the target steering angle of each wheel, and adjust the steering angle of the corresponding wheel according to the braking force of each wheel.

[0027] In combination with the second aspect and the foregoing implementation manner, in some possible implementation manners, the adjustment unit further includes:

[0028] A first acquisition subunit, used for acquiring an actual steering angle of each wheel;

[0029] A judging subunit, used to judge whether the absolute value of the difference between the actual steering angle of any wheel and the corresponding target steering angle is greater than a preset safety threshold;

[0030] The switching subunit is used to stop switching the vehicle from the current steering mode to the desired steering mode if the absolute value of the difference between the actual steering angle of any wheel and the corresponding target steering angle is greater than the preset safety threshold.

[0031] In combination with the second aspect and the foregoing implementation manner, in some possible implementation manners, the determining unit includes:

[0032] A second acquisition subunit is used to acquire the current vehicle speed, the current brake pedal opening, the current drive motor torque, the current steering wheel angle, the current wheel speed of each wheel and the current rear wheel angle of the vehicle;

[0033] The first determination subunit is used to determine the target steering angle of the corresponding wheel based on the desired steering mode, the current vehicle speed, the current brake pedal opening, the current drive motor torque, the current steering wheel angle, the current wheel speed of each wheel and the current rear wheel angle.

[0034] In combination with the second aspect and the foregoing implementation manner, in some possible implementation manners, the adjustment unit includes:

[0035] a second determining subunit, configured to determine a target yaw angle of the vehicle according to a target steering angle of each wheel;

[0036] The control subunit is used to calculate the braking force of each wheel according to the target yaw angle and the actual yaw angle of the vehicle, and control the corresponding wheel according to the braking force of each wheel.

[0037] In combination with the second aspect and the above implementation manner, in some possible implementation manners, after determining whether the vehicle satisfies the steering switching condition according to the current wheel speed of each wheel and the current vehicle speed, the determination module further includes:

[0038] A generating unit is used to generate a steering mode switching failure reminder if the vehicle does not meet the steering switching condition.

[0039] In combination with the second aspect and the above-mentioned implementations, in some possible implementations, the desired steering mode includes at least one of a front-wheel steering mode, a rear-wheel steering mode, a four-wheel steering mode, a diagonal movement mode, a lateral movement mode and an in-place steering mode.

[0040] In a third aspect, a vehicle is provided, 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 implement the steering mode switching method as described in any one of claims 1 to 7.

[0041] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A flow chart of a steering mode switching method provided in an embodiment of the present application;

[0043] Figure 2 A schematic diagram of a specific structure of vehicle steering provided by an embodiment of the present application;

[0044] Figure 3 A schematic diagram of a method for calculating a target yaw angle of a vehicle according to an embodiment of the present application;

[0045] Figure 4 A block diagram of a steering mode switching device provided in an embodiment of the present application;

[0046] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0048] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0049] In the related art, when controlling the vehicle to steer, the user controls the steering wheel to turn to control the vehicle to steer. However, since the steering wheel has a large rotation angle when implementing the steering action, the working space of the rack is increased, which is easy to cause steering errors, which is not conducive to the user's driving experience. The steering mode switching method of the embodiment of the present application independently controls multiple wheels based on the electronic mechanical braking system, determines the user's steering mode after collecting the environmental parameters and / or road parameters of the vehicle's driving, and thus controls the vehicle to switch according to the user's desired steering mode to meet the user's steering needs. The following will be combined with Figure 1 The steering mode switching method is explained in detail.

[0050] Figure 1 It is a schematic flow chart of a steering mode switching method provided in an embodiment of the present application.

[0051] Before introducing the steering mode switching method according to the embodiment of the present application, the vehicle structure involved in the steering mode switching method according to the embodiment of the present application is briefly introduced.

[0052] like Figure 2 As shown, the vehicle system structure includes: a domain controller, 4 wheels and 2 power supply systems, namely the left front wheel controller MCU_FL, the right front wheel controller MCU_FR, the left rear wheel controller MCU_RL, the right rear wheel controller MCU_RR, power supply 1 and power supply 2.

[0053] Among them, MCU_FL is connected to MCU_FR, MCU_RL is connected to MCU_RR, power supply 1 is connected to MCU_FL, MCU_RL and the domain controller respectively, and provides power to MCU_FL, MCU_RL and the domain controller; power supply 2 is connected to MCU_FR, MCU_RR and the domain controller respectively, and provides power to MCU_FR, MCU_RR and the domain controller, among which power supply 1 and power supply 2 can provide power to the entire vehicle system redundantly to ensure the normal execution of the vehicle steering mode.

[0054] It should be noted that the chassis structure of the vehicle in the embodiment of the present application mainly includes four EMB (Electromechanical Brake System) actuators, which can independently control the four wheels; EMB is an actuator driven by a caliper motor installed on the caliper of the brake mechanism, and is a device that directly brakes the vehicle with the brake mechanism without the need for a medium such as brake fluid; EMB replaces the traditional hydraulic brake and is used for main braking, and its scope of use has been expanded. Therefore, the domain controller of the embodiment of the present application can control the steering of the four wheels separately, that is, MCU_FL can control the steering of the left front wheel, MCU_FR can control the steering of the right front wheel, MCU_RL can control the steering of the left rear wheel, and MCU_RR can control the steering of the right rear wheel, so as to realize that each wheel of the vehicle is switched from any steering mode to the desired mode required by the user, thereby meeting the user's steering needs.

[0055] For example, Figure 1 As shown, the vehicle independently controls each wheel based on an electronic mechanical braking system, and the method includes the following steps:

[0056] In step S101 , the user's desired steering mode is obtained, and it is determined whether the current steering mode of the vehicle is the same as the desired steering mode.

[0057] Specifically, in an embodiment of the present application, when the vehicle is powered on, it first enters a braking mode, and after the vehicle is started, it collects environmental parameters and / or road parameters around the vehicle to detect the current steering mode of the vehicle in real time. After detecting the current steering mode of the vehicle, the user's expected steering mode for the vehicle is obtained, and the consistency between the vehicle's current steering mode and the user's expected steering mode for the vehicle is further determined. If the vehicle's current steering mode is consistent with the user's expected steering mode for the vehicle, the vehicle continues to travel in this steering mode; otherwise, the vehicle's current steering mode is switched to meet the user's steering needs.

[0058] The user's desired steering mode may include at least one of a front-wheel steering mode, a rear-wheel steering mode, a four-wheel steering mode, an oblique movement mode, a lateral movement mode, and an in-place steering mode.

[0059] In step S102, if the current steering mode is different from the expected steering mode, the current vehicle speed and the current wheel speed of each wheel are obtained, and it is determined whether the vehicle meets the steering switching condition based on the current vehicle speed and the current wheel speed of each wheel.

[0060] Specifically, in an embodiment of the present application, if the acquired current steering mode of the vehicle is different from the user's expected steering mode, the vehicle state parameters are further acquired, such as the vehicle's current speed and the current wheel speed of each wheel, and whether the vehicle meets the steering switching conditions is determined based on the acquired current speed of the vehicle and the current wheel speed of each wheel. For example, the acquired current speed of the vehicle and the current wheel speed of each wheel can be compared with the optimal threshold value for vehicle steering, that is, the current speed and the current wheel speed of each wheel are both within the optimal steering threshold range for vehicle steering switching. At this time, it is determined that the vehicle meets the steering switching conditions, and the vehicle can switch the steering mode.

[0061] It should be noted that the optimal threshold value of the vehicle steering can be calibrated by those skilled in the art according to the specific application of the vehicle steering to ensure the stability of the vehicle steering mode switching.

[0062] Specifically, after the embodiment of the present application obtains the current vehicle speed and the current wheel speed of each wheel, it compares them with the optimal threshold value for vehicle steering. For example, the optimal threshold value for vehicle steering is that both the vehicle speed and the wheel speed are ≤3kph. Therefore, when the current vehicle speed and the current wheel speed of each wheel are ≤3kph, that is, the current wheel speed of each wheel of the vehicle is ≤3kph and the current vehicle speed is ≤3kph, it means that the current wheel speed and the current vehicle speed are within the optimal steering threshold range, and it can be determined that the vehicle meets the steering switching conditions.

[0063] Optionally, in one embodiment of the present application, after determining whether the vehicle meets the steering switching conditions based on the current wheel speed of each wheel and the current vehicle speed, it also includes: if the vehicle does not meet the steering switching conditions, generating a steering mode switching failure reminder.

[0064] Specifically, if the embodiment of the present application determines that the vehicle does not meet the steering switching conditions based on the current vehicle speed and the current wheel speed of each wheel, a steering mode switching failure reminder can be generated to the user through the vehicle-mounted horn or buzzer. For example, a relevant reminder of "Beep beep beep, the current vehicle steering mode switch failed, please switch again later" is issued to the user to facilitate the user's subsequent steering switching actions.

[0065] In step S103, if the vehicle satisfies the steering switching condition, the braking force of multiple wheels of the vehicle is adjusted based on the desired steering mode, so that the vehicle switches from the current steering mode to the desired steering mode.

[0066] Optionally, in one embodiment of the present application, the braking force of multiple wheels of the vehicle is adjusted based on the desired steering pattern, including: determining a target steering angle for each of the multiple wheels according to the desired steering pattern; determining the braking force of each wheel based on the target steering angle of each wheel, and adjusting the steering angle of the corresponding wheel according to the braking force of each wheel.

[0067] Specifically, in an embodiment of the present application, after determining that the vehicle meets the steering switching conditions based on the current vehicle speed and the current wheel speed of each wheel, first, the target steering angle of each of the multiple wheels is determined based on the user's desired steering mode; secondly, based on the target steering angle of each of the multiple wheels, the braking force of each wheel is determined, and the steering angle of the corresponding wheel is adjusted according to the braking force of each wheel, so as to adjust the steering angle to a steering angle parameter that meets the wheel steering conditions, and switch the vehicle from the current steering mode to the user's desired steering mode according to the steering angle parameter.

[0068] Optionally, in one embodiment of the present application, the target steering angle of each of the multiple wheels is determined according to the desired steering mode, including: obtaining the vehicle's current speed, current brake pedal opening, current drive motor torque, current steering wheel angle, current wheel speed of each wheel and current rear wheel angle; determining the target steering angle of the corresponding wheel based on the desired steering mode, current vehicle speed, current brake pedal opening, current drive motor torque, current steering wheel angle, current wheel speed of each wheel and current rear wheel angle.

[0069] Specifically, after the embodiment of the present application obtains the user's desired steering pattern, it is necessary to further obtain the target steering angle of each wheel of the vehicle based on the desired steering pattern. For example, the target steering angle of each of the multiple wheels can be determined by the current vehicle speed, the current brake pedal opening, the current drive motor torque, the current steering wheel angle, the current wheel speed of each wheel, the current rear wheel angle and the user's desired steering pattern.

[0070] Specifically, the embodiments of the present application can obtain the current vehicle speed through a vehicle radar speed meter, obtain the current brake pedal opening through a pedal travel sensor, obtain the current drive motor torque through a motor torque sensor, obtain the current steering wheel angle through a steering wheel steering sensor, obtain the current wheel speed of each wheel through a wheel speed sensor, and obtain the current rear wheel angle of the vehicle through a rear wheel angle sensor, thereby determining the target steering angle of each of the multiple wheels based on the acquired current vehicle speed, current brake pedal opening, current drive motor torque, current steering wheel angle, current wheel speed of each wheel, and current rear wheel angle in combination with the user's desired steering mode.

[0071] Optionally, in one embodiment of the present application, the braking force of each wheel is determined based on the target steering angle of each wheel, and the steering angle of the corresponding wheel is adjusted according to the braking force of each wheel, including: determining the target yaw angle of the vehicle according to the target steering angle of each wheel; calculating the braking force of each wheel according to the target yaw angle and the actual yaw angle of the vehicle, and controlling the corresponding wheel according to the braking force of each wheel. Specifically, after the embodiment of the present application obtains the target steering angle of each wheel, the target yaw angle of the vehicle is calculated from the target steering angle of each wheel. At the same time, the braking force of each wheel is calculated by the actual yaw angle of the vehicle and the target yaw angle of the vehicle, so as to adjust the steering angle of the corresponding wheel according to the braking force of each wheel, thereby completing the switching of the user's desired steering mode.

[0072] Specifically, Figure 3 Schematic diagram of target yaw calculation in an embodiment of the present application. The target yaw angle of the present application can be calculated based on a single track model, such as Figure 3 As shown, the embodiment of the present application obtains the desired yaw angle based on the Ackermann equation according to the current steering wheel angle, combines the vehicle speed, increases the yaw angular velocity limit according to the current motion state of the vehicle, and corrects the target yaw angle according to the user's operating state. After filtering, in order to increase the robustness of the system, the calculated value after filtering is compensated accordingly, and finally the target yaw angle corresponding to the user's desired steering mode is output.

[0073] It should be noted that, in the embodiment of the present application, different steering modes correspond to different target steering angles. For example, when the user's expected steering mode is the front-wheel steering mode, the target steering angle of the corresponding wheel is 0-40°; when the user's expected steering mode is the rear-wheel steering mode, the target steering angle of the corresponding wheel is 0-10°; when the user's expected steering mode is the four-wheel steering mode, the target steering angle of the corresponding wheel is 0-40°; when the user's expected steering mode is the oblique movement mode, the target steering angle of the corresponding wheel is 0-10°; when the user's expected steering mode is the lateral movement mode, the target steering angle of the corresponding wheel is 0-10°; when the user's expected steering mode is the in-place steering mode, the target steering angle of the corresponding wheel is 0-10°.

[0074] For example, when the user's expected steering mode in the embodiment of the present application is the front-wheel steering mode, if the target steering angle is 45°, the target steering angle is not in the range of 0-40°, indicating that the target steering angle does not meet the target steering angle range corresponding to the front-wheel steering mode; if the target steering angle is 25°, the target steering angle is in the range of 0-40°, indicating that the target steering angle meets the target steering angle range corresponding to the front-wheel steering mode, and the braking force of each wheel can be further determined according to the target steering angle to control the corresponding wheel according to the braking force of each wheel.

[0075] Furthermore, in the embodiment of the present application, after the current steering mode is switched to the user's desired steering mode, the steering thresholds corresponding to the vehicle speeds of different steering modes need to be further defined. For example, in the front-wheel steering mode, the maximum vehicle speed V max ; In the rear-wheel steering mode, the current speed of the vehicle is 2kph≤V≤10kph; in the four-wheel steering mode, the current speed of the vehicle is 2kph≤V≤10kph; in the oblique steering mode, the current speed of the vehicle is 2kph≤V≤10kph; in the lateral movement steering mode, the current speed of the vehicle is 2kph≤V≤10kph; in the in-place steering mode, the current speed of the vehicle is 2kph≤V≤10kph.

[0076] For example, if the current steering mode of the vehicle is the rear-wheel steering mode, and the user's desired steering mode is the diagonal steering mode, at this time when the vehicle meets the steering switching conditions, that is, the current speed of the vehicle and the current wheel speed of each wheel are both ≤3kph, the braking force of multiple wheels of the vehicle adjusted according to the desired steering mode can control the vehicle to switch from the rear-wheel steering mode to the diagonal steering mode, and after the vehicle switches to the diagonal steering mode, the current speed of the vehicle is controlled to be within the range of 2kph≤V≤10kph.

[0077] It should be noted that in the embodiments of the present application, when controlling the vehicle to switch from any steering mode to the user's desired steering mode, the steering conditions and steering methods determined are as described in the above embodiments and are not described in detail here.

[0078] Optionally, in one embodiment of the present application, when adjusting the steering angles of multiple wheels, it also includes: obtaining the actual steering angle of each wheel; determining whether the absolute value of the difference between the actual steering angle of any wheel and the corresponding target steering angle is greater than a preset safety threshold; if the absolute value of the difference between the actual steering angle of any wheel and the corresponding target steering angle is greater than the preset safety threshold, stopping switching the vehicle from the current steering mode to the desired steering mode.

[0079] The preset safety threshold may be a safety threshold adopted by those skilled in the art according to actual use requirements, or may be a safety threshold obtained through multiple computer simulations, which is not specifically limited here.

[0080] Specifically, when adjusting the steering angles of multiple wheels, the embodiment of the present application first obtains the actual steering angle of each wheel in the current steering mode; secondly, obtains the difference between the actual steering angle of any wheel and the target steering angle of any wheel, and determines whether the absolute value of the difference between the actual steering angle of any wheel and the target steering angle of any wheel is greater than a preset safety threshold. If the absolute value of the difference between the actual steering angle of any wheel and the target steering angle of any wheel is greater than the preset safety threshold, it means that the vehicle cannot currently execute the steering mode switch, otherwise a traffic hazard will occur. Therefore, it is necessary to stop switching the vehicle from the current steering mode to the desired steering mode to ensure the user's driving safety.

[0081] In summary, the steering mode switching method of the present application determines whether the desired steering mode of the user obtained is the same as the current steering mode of the vehicle. When the current steering mode and the desired steering mode are different, the current vehicle speed and the current wheel speed of each wheel are obtained to determine whether the vehicle meets the steering switching conditions. When the vehicle meets the steering switching conditions, the vehicle is switched from the current steering mode to the desired steering mode by obtaining the braking forces of multiple wheels of the vehicle. Thus, the problem that when the vehicle is controlled to steer by turning the steering wheel, the steering wheel has a large rotation angle when implementing the steering action, which increases the working space of the rack and easily causes steering errors, which is not conducive to the user's driving experience. The embodiment of the present application enables the vehicle to control the vehicle to switch from any steering mode to the desired mode required by the user when the conversion switching conditions are met, thereby effectively reducing the user's steering operation burden and improving the stability of the vehicle steering and the user's driving experience.

[0082] Figure 4 It is a block diagram of a steering mode switching device provided in an embodiment of the present application.

[0083] For example, Figure 4 As shown, the vehicle independently controls each wheel based on an electronic mechanical braking system, wherein the device 10 may include: an acquisition module 100 , a judgment module 200 and a switching module 300 .

[0084] The acquisition module 100 is used to acquire the user's desired steering mode and determine whether the current steering mode of the vehicle is the same as the desired steering mode;

[0085] A judgment module 200, for obtaining the current vehicle speed and the current wheel speed of each wheel if the current steering mode is different from the expected steering mode, and judging whether the vehicle satisfies the steering switching condition according to the current vehicle speed and the current wheel speed of each wheel;

[0086] The switching module 300 is used to adjust the braking force of multiple wheels of the vehicle based on the desired steering mode if the vehicle meets the steering switching condition, so that the vehicle switches from the current steering mode to the desired steering mode.

[0087] Optionally, in one embodiment of the present application, the switching module 300 includes:

[0088] a determination unit, configured to determine a target steering angle for each of the plurality of wheels according to a desired steering mode;

[0089] The adjustment unit is used to determine the braking force of each wheel based on the target steering angle of each wheel, and adjust the steering angle of the corresponding wheel according to the braking force of each wheel.

[0090] Optionally, in one embodiment of the present application, the adjustment unit further includes:

[0091] A first acquisition subunit is used to acquire an actual steering angle of each wheel;

[0092] A judging subunit, used to judge whether the absolute value of the difference between the actual steering angle of any wheel and the corresponding target steering angle is greater than a preset safety threshold;

[0093] The switching subunit is used to stop switching the vehicle from the current steering mode to the desired steering mode if the absolute value of the difference between the actual steering angle of any wheel and the corresponding target steering angle is greater than a preset safety threshold.

[0094] Optionally, in one embodiment of the present application, the determining unit includes:

[0095] The second acquisition subunit is used to acquire the current vehicle speed, the current brake pedal opening, the current drive motor torque, the current steering wheel angle, the current wheel speed of each wheel and the current rear wheel angle of the vehicle;

[0096] The first determination subunit is used to determine the target steering angle of the corresponding wheel based on the desired steering mode, the current vehicle speed, the current brake pedal opening, the current drive motor torque, the current steering wheel angle, the current wheel speed of each wheel and the current rear wheel angle.

[0097] Optionally, in one embodiment of the present application, the adjustment unit includes:

[0098] a second determination subunit, configured to determine a target yaw angle of the vehicle according to a target steering angle of each wheel;

[0099] The control subunit is used to calculate the braking force of each wheel according to the target yaw angle and the actual yaw angle of the vehicle, and control the corresponding wheel according to the braking force of each wheel.

[0100] Optionally, in one embodiment of the present application, after determining whether the vehicle meets the steering switching condition according to the current wheel speed of each wheel and the current vehicle speed, the determination module 200 further includes:

[0101] A generating unit is used to generate a steering mode switching failure reminder if the vehicle does not meet the steering switching conditions.

[0102] Optionally, in one embodiment of the present application, the desired steering mode includes at least one of a front-wheel steering mode, a rear-wheel steering mode, a four-wheel steering mode, a diagonal movement mode, a lateral movement mode and an in-place steering mode.

[0103] In summary, the steering mode switching device of the present application determines whether the desired steering mode of the user obtained is the same as the current steering mode of the vehicle. When the current steering mode and the desired steering mode are different, the current vehicle speed and the current wheel speed of each wheel are obtained to determine whether the vehicle meets the steering switching conditions. When the vehicle meets the steering switching conditions, the vehicle is switched from the current steering mode to the desired steering mode by obtaining the braking forces of multiple wheels of the vehicle. Thus, the problem that when the vehicle is controlled to steer by turning the steering wheel, the steering wheel has a large rotation angle when implementing the steering action, which increases the working space of the rack and easily causes steering errors, which is not conducive to the user's driving experience. The embodiment of the present application enables the vehicle to control the vehicle to switch from any steering mode to the desired mode required by the user when the conversion switching conditions are met, thereby effectively reducing the user's steering operation burden and improving the stability of the vehicle steering and the user's driving experience.

[0104] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0105] It should be understood that the above-described method can be applied to Figure 5 In a vehicle of the structure shown.

[0106] In addition, an embodiment of the present application also protects a vehicle, which may include a memory 501 and a processor 502, wherein the memory 501 stores an executable program code, and the processor 502 is used to call and execute the executable program code to execute the steering mode switching method provided in the embodiment of the present application.

[0107] Furthermore, the vehicle also includes: a communication interface 503 for communication between the memory 501 and the processor 502 .

[0108] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0109] In the case of dividing each functional module according to each function, the device may also include an acquisition module, a judgment module, a switching module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0110] It should be understood that the device provided in this embodiment is used to execute the above-mentioned steering mode switching method, and thus can achieve the same effect as the above-mentioned implementation method.

[0111] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a car, the processing module may be used to control and manage the actions of the car. The storage module may be used to support the car to execute mutual program codes, etc.

[0112] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits disclosed in the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0113] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute the steering mode switching method provided in the above embodiments.

[0114] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a steering mode switching method provided in the above embodiment.

[0115] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a steering mode switching method provided in the above embodiment.

[0116] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0117] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0118] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, 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, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0119] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A steering mode switching method, characterized in that: The vehicle independently controls each wheel based on an electromechanical braking system, wherein the method comprises the following steps: Obtaining a user's desired steering mode, and determining whether a current steering mode of the vehicle is the same as the desired steering mode; If the current steering mode and the expected steering mode are different, obtaining the current vehicle speed and the current wheel speed of each wheel, and determining whether the vehicle meets the steering switching condition according to the current vehicle speed and the current wheel speed of each wheel; and If the vehicle satisfies the steering switching condition, the braking force of the multiple wheels of the vehicle is adjusted based on the desired steering mode, so that the vehicle switches from the current steering mode to the desired steering mode.

2. The method according to claim 1, characterized in that The step of adjusting the braking force of a plurality of wheels of the vehicle based on the desired steering mode comprises: determining a target steering angle for each of the plurality of wheels according to the desired steering mode; Based on the target steering angle of each wheel, the braking force of each wheel is determined, and the steering angle of the corresponding wheel is adjusted according to the braking force of each wheel.

3. The method according to claim 2, characterized in that When adjusting the steering angles of the multiple wheels, the method further includes: Obtaining the actual steering angle of each wheel; Determine whether the absolute value of the difference between the actual steering angle of any wheel and the corresponding target steering angle is greater than a preset safety threshold; If the absolute value of the difference between the actual steering angle of any wheel and the corresponding target steering angle is greater than the preset safety threshold, the switching of the vehicle from the current steering mode to the desired steering mode is stopped.

4. The method according to claim 2, characterized in that: The step of determining a target steering angle of each of the plurality of wheels according to the desired steering mode comprises: Obtaining the current vehicle speed, the current brake pedal opening, the current drive motor torque, the current steering wheel angle, the current wheel speed of each wheel, and the current rear wheel angle of the vehicle; The target steering angle of the corresponding wheel is determined based on the desired steering mode, the current vehicle speed, the current brake pedal opening, the current drive motor torque, the current steering wheel angle, the current wheel speed of each wheel and the current rear wheel angle.

5. The method according to claim 2, characterized in that: The step of determining the braking force of each wheel based on the target steering angle of each wheel, and adjusting the steering angle of the corresponding wheel according to the braking force of each wheel includes: Determining a target yaw angle of the vehicle according to a target steering angle of each wheel; The braking force of each wheel is calculated according to the target yaw angle and the actual yaw angle of the vehicle, and the corresponding wheel is controlled according to the braking force of each wheel.

6. The method according to claim 1, characterized in that After determining whether the vehicle satisfies the steering switching condition according to the current wheel speed of each wheel and the current vehicle speed, the method further includes: If the vehicle does not meet the steering switching condition, a steering mode switching failure reminder is generated.

7. The method according to any one of claims 1 to 6, characterized in that The desired steering mode includes at least one of a front-wheel steering mode, a rear-wheel steering mode, a four-wheel steering mode, a diagonal movement mode, a lateral movement mode, and an on-site steering mode.

8. A steering mode switching device, characterized in that: The vehicle independently controls each wheel based on an electromechanical braking system, wherein the device comprises: an acquisition module, used to acquire a user's desired steering mode and determine whether the current steering mode of the vehicle is the same as the desired steering mode; a judgment module, configured to obtain the current vehicle speed and the current wheel speed of each wheel of the vehicle if the current steering mode is different from the expected steering mode, and judge whether the vehicle satisfies a steering switching condition according to the current vehicle speed and the current wheel speed of each wheel; and A switching module is used to switch the vehicle from a current steering mode to the desired steering mode if the vehicle meets the steering switching condition.

9. 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 steering mode switching method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the steering mode switching method according to any one of claims 1 to 7 is implemented.

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