Steering mode switching method and device, vehicle and storage medium

Abstract

The application provides a steering mode switching method and device, a vehicle and a storage medium. The vehicle is independently controlled by an electronic mechanical braking system for each wheel. The method is applied to the technical field of the vehicle. The method comprises the following steps: determining whether the expected steering mode of a user obtained and the current steering mode of the vehicle are the same. When the current steering mode and the expected steering mode are different, the current vehicle speed and the current wheel speed of each wheel are obtained. Then, it is determined whether the vehicle meets the steering switching condition. When the vehicle meets the steering switching condition, the vehicle is switched from the current steering mode to the expected steering mode by the braking force of the obtained multiple wheels of the vehicle. The method can make the vehicle switch from any steering mode to the expected mode required by the user when the switching condition is met, thereby effectively reducing the steering operation burden of the user, improving the stability of the vehicle steering and the driving experience of the user.

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 vehicle field. Background Art

[0002] With the rapid development of vehicle technology, users have increasingly higher requirements for vehicle performance, application scenarios, and intelligent needs. During driving, users also have increasingly higher requirements for the sensitivity of vehicle 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 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 the vehicle's current steering mode is the same as the desired steering mode; if the current steering mode and the desired steering mode are different, obtaining the vehicle's current speed and the current wheel speed of each wheel, and determining whether the vehicle meets a steering switching condition based on the current vehicle speed and the current wheel speed of each wheel; and if the vehicle meets 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 vehicle's current steering mode 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 some possible implementations, adjusting the braking force of multiple wheels of the vehicle based on the expected steering pattern includes: determining the target steering angle of 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 the 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; judging 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 based on 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, current brake pedal opening, current drive motor torque, current steering wheel angle, current wheel speed and current rear wheel angle of the vehicle; and 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 electromechanical braking system, wherein the device comprises:

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

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

[0023] A switching module is configured 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.

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

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

[0026] An adjustment unit is configured 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 above implementation manner, in some possible implementation manners, the adjustment unit further includes:

[0028] A first acquiring subunit, configured to acquire an actual steering angle of each wheel;

[0029] A judgment subunit, configured 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 configured 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 implementations, in some possible implementations, the determining unit includes:

[0032] a second acquisition subunit, configured 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 above implementations, in some possible implementations, the adjustment unit includes:

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

[0036] The control subunit is configured 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 implementations, in some possible implementations, after determining whether the vehicle satisfies the steering switching condition based on the current wheel speed of each wheel and the current vehicle speed, the determination module further includes:

[0038] A generating unit is configured 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 implementation, 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 flowchart of a steering mode switching method provided in an embodiment of the present application;

[0043] Figure 2 A schematic diagram of the specific structure of vehicle steering provided in one 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 following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this 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 this application, "multiple" means two or more than two.

[0048] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, 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 steering of a vehicle, the user controls the steering of the vehicle by turning the steering wheel. 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. After collecting the environmental parameters and / or road parameters of the vehicle's driving, the user's steering mode is determined, thereby controlling 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 This 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 them, 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. The EMB is an actuator driven by a caliper motor and installed on the caliper of the brake mechanism. It is a device that directly brakes the vehicle with the brake mechanism without the need for a medium such as brake fluid. The EMB replaces the traditional hydraulic brake and is used for main braking, which expands its scope of use. Therefore, the domain controller in 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 that each wheel of the vehicle can switch 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 electromechanical 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 vehicle's current steering mode 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, a diagonal 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's 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 that can enable the vehicle to switch steering. At this time, it is determined that the vehicle meets the steering switching conditions, and the vehicle can perform steering mode switching.

[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 the vehicle speed and the wheel speed are both ≤3kph. Therefore, when the current vehicle speed and the current wheel speed of each wheel are both ≤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 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 forces of the multiple wheels of the vehicle are 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 based on 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, the target steering angle of each of the multiple wheels is first 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 to adjust the steering angle to a steering angle parameter that meets the wheel steering conditions, and the vehicle is switched from the current steering mode to the user's desired steering mode based on 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 mode, it is necessary to further obtain the target steering angle of each wheel of the vehicle based on the desired steering mode. 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 mode.

[0070] Specifically, the embodiment of the present application can obtain the current vehicle speed through the vehicle radar speed meter, the current brake pedal opening through the pedal travel sensor, the current drive motor torque through the motor torque sensor, the current steering wheel angle through the steering wheel steering sensor, the current wheel speed of each wheel through the wheel speed sensor, and the current rear wheel angle of the vehicle through the rear wheel angle sensor, thereby determining the target steering angle of each of the multiple wheels based on the obtained 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 based on the target steering angle of each wheel; calculating the braking force of each wheel based on the target yaw angle and the actual yaw angle of the vehicle, and controlling the corresponding wheel based on the braking force of each wheel. Specifically, after obtaining the target steering angle of each wheel, the embodiment of the present application calculates the target yaw angle of the vehicle from the target steering angle of each wheel. At the same time, the braking force of each wheel is calculated based on 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 This is a 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 rate 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, the target steering angles corresponding to different steering modes are different. 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 threshold corresponding to the vehicle speed of different steering modes needs to be further defined. For example, in the front-wheel steering mode, the maximum vehicle speed V max ; In rear-wheel steering mode, the vehicle's current speed is 2kph≤V≤10kph; in four-wheel steering mode, the vehicle's current speed is 2kph≤V≤10kph; in oblique steering mode, the vehicle's current speed is 2kph≤V≤10kph; in lateral movement steering mode, the vehicle's current speed is 2kph≤V≤10kph; in in-place steering mode, the vehicle's current speed 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, 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 can be adjusted according to the desired steering mode to control the vehicle to switch from the rear-wheel steering mode to the diagonal steering mode, and after switching 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 the same as those described in the above embodiments and will not be 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, and 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 user's desired steering mode is the same as the vehicle's current steering mode. If 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 braking force of multiple wheels of the vehicle is obtained to switch the vehicle from the current steering mode to the desired steering mode. This solves the problem that when turning the steering wheel to control the vehicle to steer, the steering wheel has a large rotation angle when performing 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 switching conditions are met, thereby effectively reducing the user's steering operation burden and improving the smoothness 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 the 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 obtain the user's desired steering mode and determine whether the vehicle's current steering mode is the same as the desired steering mode;

[0085] a determination 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 desired steering mode, and determining whether the vehicle satisfies a steering switching condition based on the current vehicle speed and the current wheel speed of each wheel;

[0086] The switching module 300 is configured to adjust the braking forces of multiple wheels of the vehicle based on a desired steering mode if the vehicle satisfies a 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 pattern;

[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 obtaining subunit is used to obtain the actual steering angle of each wheel;

[0092] A judgment subunit, configured 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;

[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 adjusting unit includes:

[0098] a second determining 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 based on 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 satisfies the steering switching condition based on 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 user's desired steering mode is the same as the vehicle's current steering mode. If the current steering mode and the desired steering mode are different, the device obtains the vehicle's current speed and the current wheel speed of each wheel, and then determines whether the vehicle meets the steering switching conditions. When the vehicle meets the steering switching conditions, the device switches the vehicle from the current steering mode to the desired steering mode by using the braking forces of the vehicle's multiple wheels. This solves the problem that when the vehicle is controlled to steer by turning the steering wheel, the steering wheel has a large rotation angle when performing 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 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.

[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 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 by the embodiment of the present application.

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

[0108] In this embodiment, the device can be divided into functional modules based on the above-described method examples. For example, each functional module can be mapped to a specific functional module, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division. In actual implementation, other division methods may be used.

[0109] In the case of dividing each functional module into corresponding functional modules, the device may further 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 and 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 used in a car, the processing module can be used to control and manage the car's movements, while the storage module can be used to support the car's execution of program codes, etc.

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

[0113] In addition, the device provided in the embodiments of the present application can specifically be a chip, component or module, and the chip may include a connected processor and 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, which stores computer program code. When the computer program code runs 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 further provides a computer program product. When the computer program product is run on a computer, it enables the computer 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 are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods 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 distributed and completed by 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 this 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 merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, 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 content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection 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 the vehicle's current steering mode 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 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 forces of the plurality of wheels of the vehicle based on the desired steering mode so that the vehicle switches from a current steering mode to the desired steering mode; The adjusting the braking force of a plurality of wheels of the vehicle based on the desired steering pattern comprises: determining a target steering angle for each of the plurality of wheels according to the desired steering pattern; 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, switching the vehicle from the current steering mode to the desired steering mode is stopped.

2. The method according to claim 1, characterized in that The adjusting the braking force of a plurality of wheels of the vehicle based on the desired steering pattern further comprises: 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 Determining a target steering angle for each of the plurality of wheels according to the desired steering mode includes: Obtaining the 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 of the vehicle; A target steering angle for a 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.

4. The method according to claim 2, characterized in that The 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 the 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.

5. The method according to claim 1, wherein 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.

6. The method according to any one of claims 1 to 5, 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-the-spot steering mode.

7. 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, configured to acquire a user's desired steering mode and determine whether the vehicle's current steering mode is the same as the desired steering mode; a determination module, configured to obtain a current vehicle speed and a current wheel speed of each wheel if the current steering mode is different from the expected steering mode, and determine whether the vehicle satisfies a steering switching condition based on the current vehicle speed and the current wheel speed of each wheel; and a switching module, configured to switch the vehicle from a current steering mode to a desired steering mode if the vehicle satisfies the steering switching condition; The adjusting the braking force of a plurality of wheels of the vehicle based on the desired steering pattern comprises: determining a target steering angle for each of the plurality of wheels according to the desired steering pattern; 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, switching the vehicle from the current steering mode to the desired steering mode is stopped.

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 steering mode switching method according to any one of claims 1 to 6.

9. 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 6 is implemented.

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