Vehicle braking system, vehicle chassis system, vehicle and vehicle braking method

Abstract

The invention relates to a vehicle braking system, a vehicle chassis system, a vehicle and a vehicle braking method.The vehicle braking system comprises a steering device used for achieving steering of wheels; the control device is used for controlling the steering device so that the steering device at least has a braking steering mode and a parking steering mode; wherein when the steering device is in the brake steering mode, the steering angle of at least one wheel exceeds the target steering angle of the wheel; when the steering device is in the parking steering mode, the steering angle of at least one wheel is a preset parking steering angle. The vehicle braking system, the vehicle chassis system, the vehicle and the vehicle braking method have the beneficial effects that the vehicle braking system, the vehicle chassis system, the vehicle and the vehicle braking method which can adapt to various states of the vehicle to obtain adaptive braking force are provided.

Description

Technical Field

[0001] The present application relates to the field of vehicle braking technology, and in particular to a vehicle braking system, a vehicle chassis system, a vehicle, and a vehicle braking method. Background Art

[0002] The existing vehicle braking system prevents the vehicle from moving by applying braking force to the wheels when the vehicle is parked.

[0003] In the related art, the parking brake is generally implemented through a parking brake, for example, the friction force generated by a brake disc and a brake pad is used to achieve the parking brake effect. However, the related art does not provide a solution when the parking brake is not activated or fails. Summary of the invention

[0004] The embodiment of the present application provides a vehicle braking system, which improves the parking braking effect to at least partially solve the above-mentioned technical problems.

[0005] In order to achieve the above object, according to a first aspect of the present application, a vehicle braking system is provided, comprising:

[0006] A steering device, used to achieve the steering of the wheels;

[0007] A control device, used for controlling the steering device so that the steering device has a parking steering mode;

[0008] Wherein, when the steering device is in the parking steering mode, the steering angle of at least one wheel is set to a preset parking steering angle.

[0009] Optionally, when the steering device is in the parking steering mode, the steering angle of a portion of the vehicle's wheels is set to a parking steering angle while another portion of the wheels maintain a straight-moving state.

[0010] Optionally, when the steering device is in the parking steering mode, the steering angle of one of the multiple wheels on the same side of the vehicle is set to the parking steering angle while the remaining wheels on the same side maintain a straight-moving state.

[0011] Optionally, when the steering device is in the parking steering mode, the steering angle of one of the two wheels corresponding to the opposite side of the vehicle is set to the parking steering angle while the other wheel maintains a straight-moving state.

[0012] Optionally, the parking steering angle is greater than a limit steering angle of the wheel in a driving state.

[0013] Optionally, the parking steering angle has a value range of 75° to 90° or -75° to -90°.

[0014] Optionally, the control device comprises:

[0015] A rotation detection module, used to detect the rotation speed of the wheel;

[0016] Wherein, the control device places the steering device in the parking steering mode when the wheel rotates in a non-driving state.

[0017] Optionally, the control device comprises:

[0018] A signal detection module is used to obtain the user's operation instructions;

[0019] Wherein, when the operation instruction is to execute parking steering, the control device places the steering device in the parking steering mode.

[0020] Optionally, the control device is further used to control the steering device so that the steering device has a braking steering mode;

[0021] Wherein, when the steering device is in the braking steering mode, the steering angle of at least one wheel exceeds the target steering angle of the wheel.

[0022] Optionally, the steering device comprises:

[0023] A front wheel steering module, used to control the wheels on the front side of the vehicle;

[0024] Wherein, when the steering device is in the braking steering mode, the front wheel steering module causes the steering angle of at least one wheel on the front side of the vehicle to exceed the target steering angle of the wheel.

[0025] Optionally, when the steering device is in the braking steering mode, the front-wheel steering module causes the steering angles of the two wheels on the front side of the vehicle to exceed the target steering angles of the wheels.

[0026] Optionally, when the steering device is in the braking steering mode, the front-wheel steering module enables the two wheels on the front side of the vehicle to have symmetrical steering.

[0027] Optionally, the steering device comprises:

[0028] A rear-wheel steering module, used to control the wheels at the rear of the vehicle;

[0029] Wherein, when the steering device is in the braking steering mode, the rear-wheel steering module causes the steering angle of at least one wheel on the rear side of the vehicle to exceed the target steering angle of the wheel.

[0030] Optionally, when the steering device is in the braking steering mode, the rear-wheel steering module causes the steering angles of the two wheels on the rear side of the vehicle to exceed the target steering angles of the wheels.

[0031] Optionally, when the steering device is in the braking steering mode, the rear-wheel steering module enables two wheels at the rear side of the vehicle to have symmetrical steering.

[0032] Optionally, the maximum value of the target steering angle is smaller than the parking steering angle.

[0033] Optionally, when the steering device is in a braking steering mode, all wheels of the vehicle are turned.

[0034] Optionally, the steering device enables the steering angle of the wheel to have a value range of -90° to 90°.

[0035] Optionally, the control device comprises:

[0036] A first angle detection module, used to detect a target steering angle of the wheel;

[0037] Wherein, when the target steering angle of the control device is 0 and the steering device is in a braking steering mode, the steering device causes two symmetrical wheels of the vehicle to have opposite steering angles.

[0038] Optionally, the control device comprises:

[0039] A first angle detection module, used to detect a target steering angle of the wheel;

[0040] Wherein, when the target steering angle of the control device is not 0 and the steering device is in a braking steering mode, the steering device causes two wheels of the vehicle that are symmetrical on the left and right to have different steering angles.

[0041] Optionally, the control device comprises:

[0042] A vehicle speed detection module, used to detect the vehicle speed;

[0043] Wherein, the control device causes the steering device to exit the braking steering mode when the vehicle speed is equal to 0.

[0044] Optionally, the control device comprises:

[0045] A second angle detection module, used to detect the steering angle of the wheel;

[0046] An acceleration detection module, used to detect the acceleration of the vehicle;

[0047] Wherein, when the steering device is in the braking steering mode, the control device enables the steering device to adjust the steering angle of the wheel according to the acceleration of the vehicle.

[0048] Optionally, the control device comprises:

[0049] A second angle detection module, used to detect the steering angle of the wheel;

[0050] A swing angle detection module, used to detect the yaw angular velocity of the vehicle;

[0051] Wherein, when the steering device is in the braking steering mode, the control device enables the steering device to adjust the steering angle of the wheel according to the yaw angular velocity of the vehicle.

[0052] Optionally, the vehicle braking system further comprises:

[0053] A brake device, used for outputting braking force to achieve wheel braking;

[0054] Wherein, when the steering device is in the braking steering mode, the braking device makes the braking force applied to the two wheels on the rear side greater than the braking force applied to the two wheels on the front side.

[0055] According to a second aspect of the present application, a vehicle chassis system is provided, comprising: the above-mentioned vehicle braking system and wheels.

[0056] According to a third aspect of the present application, a vehicle is also provided, comprising the vehicle braking system or vehicle chassis system as described above.

[0057] According to a fourth aspect of the present application, a vehicle braking method is also provided, comprising:

[0058] According to the running condition of the vehicle, the steering angle of the wheel is set to a preset parking steering angle.

[0059] Optionally, the step of making the steering angle of the wheels a preset parking steering angle according to the running condition of the vehicle comprises:

[0060] The steering angle of some wheels of the vehicle is set to the parking steering angle while the other wheels are kept in a straight-moving state.

[0061] Optionally, the step of making the steering angle of the wheels a preset parking steering angle according to the running condition of the vehicle comprises:

[0062] The steering angle of one of the plurality of wheels on the same side of the vehicle is set to a parking steering angle, and the remaining wheels on the same side are kept in a straight-moving state.

[0063] Optionally, the step of making the steering angle of the wheels a preset parking steering angle according to the running condition of the vehicle comprises:

[0064] The steering angle of one of the two wheels corresponding to the opposite side of the vehicle is set to the parking steering angle while the other wheel maintains a straight-moving state.

[0065] Optionally, the parking steering angle is greater than a limit steering angle of the wheel in a driving state.

[0066] Optionally, the parking steering angle has a value range of 75° to 90° or -75° to -90°.

[0067] Optionally, the vehicle braking method further includes:

[0068] Check the operation of the vehicle.

[0069] Optionally, the detecting the running condition of the vehicle includes:

[0070] Detect the vehicle's speed.

[0071] Optionally, the step of making the steering angle of the wheels a preset parking steering angle according to the running condition of the vehicle comprises:

[0072] When the vehicle speed is equal to 0, the steering angle of the wheel is set to a preset parking steering angle.

[0073] Optionally, the step of making the steering angle of the wheels a preset parking steering angle according to the running condition of the vehicle comprises:

[0074] When the vehicle speed is not 0 and the wheels are in a non-driving state, the steering angle of the wheels is set to a preset parking steering angle.

[0075] Optionally, the vehicle braking method further includes:

[0076] According to the user's operating instructions, the steering angle of the wheel is set to a preset parking steering angle.

[0077] Optionally, the vehicle braking method further includes:

[0078] According to the running condition of the vehicle, the steering angle of the wheel is made to exceed the target steering angle of the wheel.

[0079] Optionally,

[0080] The vehicle braking method further comprises:

[0081] Check the operation of the vehicle.

[0082] Optionally, the detecting the running condition of the vehicle includes:

[0083] Detects the target steering angle of the wheels.

[0084] Optionally, the step of making the steering angle of the wheel exceed the target steering angle of the wheel or making the steering angle of the wheel be a preset parking steering angle according to the running condition of the vehicle comprises:

[0085] When the target steering angle is 0, the corresponding wheels on the left and right sides of the vehicle have opposite steering angles;

[0086] When the target steering angle is not 0, the wheels corresponding to the left and right sides of the vehicle have different steering angles.

[0087] Optionally, the detecting the running condition of the vehicle includes:

[0088] Detect the vehicle's speed.

[0089] Optionally, the step of making the steering angle of the wheel exceed the target steering angle of the wheel or making the steering angle of the wheel be a preset parking steering angle according to the running condition of the vehicle comprises:

[0090] When the vehicle speed is greater than 0, the steering angle of the wheel is made to exceed the target steering angle of the wheel.

[0091] Optionally, the detecting the running condition of the vehicle includes:

[0092] Detecting the target steering angle of the wheels;

[0093] Detect the vehicle's yaw rate or acceleration.

[0094] Optionally, the step of making the steering angle of the wheel exceed the target steering angle of the wheel or making the steering angle of the wheel be a preset parking steering angle according to the running condition of the vehicle comprises:

[0095] When the yaw angular velocity or acceleration of the vehicle meets a preset condition, the steering angle of the wheel is set to 0 or the target steering angle.

[0096] According to a fifth aspect of the present application, a non-temporary computer-readable storage medium is also provided, on which a computer program is stored, and when the computer program is executed by a processor, the vehicle control method as described above is implemented.

[0097] According to a sixth aspect of the present application, a computer program product is also provided, comprising a computer program, wherein when the computer program is executed by a processor, the vehicle control method as described above is implemented.

[0098] According to a seventh aspect of the present application, an electronic device is further provided, the electronic device comprising:

[0099] a memory storing a computer program;

[0100] A processor is used to execute the computer program in the memory to implement the above-mentioned vehicle control method.

[0101] The beneficial effects of the present application are: providing a vehicle braking system, a vehicle chassis system, a vehicle and a vehicle braking method for improving the parking braking effect by controlling the steering angle of the wheels during parking.

[0102] More specifically, some embodiments of the present application may produce the following specific beneficial effects:

[0103] When the steering device is in the parking steering mode, the steering angle of at least one wheel is set to a preset parking steering angle, and the wheel is suppressed from rolling when working at the parking steering angle, thereby achieving vehicle braking when the parking brake is not activated or the parking brake fails, thereby improving the braking effect.

[0104] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0105] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0106] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0107] Figure 1 is a functional block diagram of a vehicle braking system provided in an exemplary embodiment of the present application;

[0108] Figure 2 is a top view of a vehicle provided in an exemplary embodiment of the present application;

[0109] Figure 3 is a schematic diagram of a vehicle in a normal straight-line driving state provided in an exemplary embodiment of the present application;

[0110] Figure 4 is a schematic diagram of a vehicle in a normal braking state provided in an exemplary embodiment of the present application;

[0111] Figure 5 is a schematic diagram of a first auxiliary braking state of a vehicle provided in an exemplary embodiment of the present application;

[0112] Figure 6 is a schematic diagram of a second auxiliary braking state of a vehicle provided in an exemplary embodiment of the present application;

[0113] Figure 7is a schematic diagram of a third auxiliary braking state of a vehicle provided in an exemplary embodiment of the present application;

[0114] Figure 8 is a schematic diagram of a fourth auxiliary braking state of a vehicle provided in an exemplary embodiment of the present application;

[0115] Fig. 9 is a schematic diagram of a fifth auxiliary braking state of a vehicle provided in an exemplary embodiment of the present application;

[0116] Fig.10 is a schematic diagram of a sixth auxiliary braking state of a vehicle provided in an exemplary embodiment of the present application;

[0117] Fig.11 is a schematic diagram of a seventh auxiliary braking state of a vehicle provided in an exemplary embodiment of the present application;

[0118] Fig.12 is a schematic diagram of an eighth auxiliary braking state of a vehicle provided in an exemplary embodiment of the present application;

[0119] Fig.13 is a schematic diagram of the overall structure of a vehicle provided in an exemplary embodiment of the present application;

[0120] Fig.14 is a flow chart of the main steps of the vehicle braking method provided in an exemplary embodiment of the present application;

[0121] Fig.15 is another main step flow chart of the vehicle braking method provided in an exemplary embodiment of the present application;

[0122] Fig.16 It is a functional block diagram of an electronic device provided in an exemplary embodiment of the present application.

[0123] Description of reference numerals:

[0124] 100. Vehicle braking system;

[0125] 110. Steering device;

[0126] 111. Front wheel steering module; 112. Rear wheel steering module;

[0127] 120. Control device;

[0128] 121, first angle detection module; 122, vehicle speed detection module; 123, rotation detection module; 124, signal detection module; 125, second angle detection module; 126, acceleration detection module; 127, swing angle detection module; 128, roll detection module;

[0129] 130, driving device; 140, braking device; 150, active suspension device;

[0130] 10. Vehicles;

[0131] 201, front wheel; 202, rear wheel. DETAILED DESCRIPTION

[0132] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0133] According to the first aspect of the present application, referring to Figure 1 The present application provides a vehicle braking system 100 , including: a steering device 110 and a control device 120 .

[0134] The steering device 110 is used to realize the steering of the wheels; the control device 120 is used to control the steering device 110 so that the steering device 110 has at least a braking steering mode and a parking steering mode; when the steering device 110 is in the braking steering mode, the steering angle of at least one wheel exceeds the target steering angle of the wheel; when the steering device 110 is in the parking steering mode, the steering angle of at least one wheel is a preset parking steering angle.

[0135] It can be understood that the braking steering mode is the driving state of the vehicle 10 in which the wheel steering behavior participates in the braking during emergency braking; the parking steering mode is the parking state of the vehicle 10 in which the wheel steering behavior participates in the braking. The target steering angle is the wheel angle for realizing the steering of the vehicle 10 in the driving state, which can be obtained by equivalent calculation of the rotation angle of the steering wheel of the vehicle 10; the parking steering angle is the wheel angle to be executed for auxiliary braking to realize the parking state of the vehicle 10. The control device 120 includes a controller and a plurality of detection modules for detecting the state of the vehicle 10, wherein the controller can be a vehicle 10 controller or an independent controller.

[0136] It should be noted that in the present application, making the steering angle of at least one wheel exceed the target steering angle of the wheel should not be limited to the numerical value of the steering angle of the wheel being greater than the numerical value of the target steering angle of the wheel. It can be that the absolute value of the steering angle of the wheel is greater than the absolute value of the target steering angle, or it can be that the steering angle of the wheel is different from the target steering angle. In all the above cases, auxiliary braking force can be obtained through wheel steering.

[0137] Through the above technical solution, the steering device 110 is controlled by the control device 120 so that the steering device 110 has at least a braking steering mode and a parking steering mode, and the wheels have different steering angles when the steering device 110 is in the braking steering mode and the parking steering mode, so that it can adapt to various states of the vehicle 10 to obtain an adaptive braking force.

[0138] Furthermore, when the steering device is in the parking steering mode, the steering angle of at least one wheel is set to a preset parking steering angle, and the wheel is suppressed from rolling by working at the parking steering angle, thereby achieving whole vehicle braking when the parking brake is not activated or fails, thereby improving the braking effect.

[0139] In some embodiments, reference Figure 1 The steering device 110 includes: a front wheel steering module 111.

[0140] The front wheel steering module 111 is used to control the wheels on the front side of the vehicle 10. When the steering device 110 is in the braking steering mode, the front wheel steering module 111 makes the steering angle of at least one wheel on the front side of the vehicle 10 exceed the target steering angle of the wheel.

[0141] Specifically, the front wheel steering module 111 can independently steer the wheels on the front side of each vehicle 10 (hereinafter referred to as "front wheels 201"). For example, each front wheel 201 is respectively provided with a steering mechanism driven by a motor. The steering mechanism adopts the existing technology and will not be described in detail. In addition, the steering of each front wheel 201 can be locked at any angle. The locking method can be that the motor controller provides a periodic fixed position instruction to lock the steering, or it can be locked by mechanical devices such as electromagnetic locks and gear transmissions.

[0142] It can be understood that when the steering device 110 is in the braking steering mode, the steering angle of one of the front wheels 201 can exceed the target steering angle of the wheel, or the steering angles of both front wheels 201 can exceed the target steering angle of the wheel.

[0143] With such a solution, when the steering device 110 is in the braking steering mode, by controlling the steering angle of the front wheel 201 to exceed the target steering angle of the wheel, additional friction force (i.e., auxiliary braking force) is generated to achieve auxiliary braking, shorten the braking distance, and provide faster response speed and safer braking distance.

[0144] In some embodiments, when the steering device 110 is in the braking steering mode, the front wheel steering module 111 makes the steering angles of the two front wheels of the vehicle 10 exceed the target steering angles of the wheels.

[0145] For example, Figure 4FIG. 1 shows a schematic diagram of a vehicle 10 driving in a straight line and in a normal braking state. It can be seen that each front wheel 201 is at a target steering angle, that is, the initial angle for the vehicle 10 to maintain a straight line. Figures 7 to 10 , the steering angles of the front wheels 201 all exceed the target steering angle, that is, the front wheels 201 all deviate from the initial angle.

[0146] By adopting such a solution, the stability of the vehicle 10 in the braking steering mode can be improved by controlling the steering angles of the two wheels on the front side of the vehicle 10 to exceed the target steering angles of the wheels.

[0147] In some embodiments, when the steering device 110 is in the brake steering mode, the front wheel steering module 111 enables the two front wheels of the vehicle 10 to have symmetrical steering.

[0148] For example, refer to Figures 7 to 10 After symmetrical turning, the two front wheels 201 are in an inward-to-outward-toe shape or an outward-toe shape.

[0149] By adopting such a symmetrical steering method, the additional friction forces of the two wheels on the front side of the vehicle 10 can offset each other in the lateral direction of the vehicle 10, further improving the stability of the vehicle 10 in the braking steering mode.

[0150] In some embodiments, reference Figure 1 The steering device 110 includes: a rear wheel steering module 112.

[0151] The rear wheel steering module 112 is used to control the wheels at the rear side of the vehicle 10. When the steering device 110 is in the braking steering mode, the rear wheel steering module 112 makes the steering angle of at least one wheel at the rear side of the vehicle 10 exceed the target steering angle of the wheel.

[0152] Specifically, the rear wheel steering module 112 can independently steer the rear wheels of each vehicle 10 (hereinafter referred to as "rear wheels 202"). For example, a steering mechanism driven by a motor is configured for each rear wheel 202. The steering mechanism adopts the existing technology and will not be described in detail. In addition, the steering of each rear wheel 202 can be locked at any angle. The locking method can be that the motor controller provides a periodic fixed position instruction to lock the steering, or it can be locked by a mechanical device such as an electromagnetic lock or a gear transmission.

[0153] It can be understood that when the steering device 110 is in the braking steering mode, the steering angle of one of the rear wheels 202 can exceed the target steering angle of the wheel, or the steering angles of both rear wheels 202 can exceed the target steering angle of the wheel.

[0154] With such a solution, when the steering device 110 is in the braking steering mode, by controlling the steering angle of the rear wheel 202 to exceed the target steering angle of the wheel, additional friction force (i.e., auxiliary braking force) is generated to achieve auxiliary braking, shorten the braking distance, and provide faster response speed and safer braking distance.

[0155] In some embodiments, when the steering device 110 is in the brake steering mode, the rear-wheel steering module 112 makes the steering angles of the two wheels at the rear side of the vehicle 10 exceed the target steering angles of the wheels.

[0156] For example, Figure 2 and Figure 3 The state diagram of the vehicle 10 traveling in a straight line is shown. Figure 4 FIG. 1 shows a schematic diagram of a vehicle 10 driving in a straight line and in a normal braking state. It can be seen that each rear wheel 202 is at a target steering angle, that is, the initial angle for the vehicle 10 to maintain a straight line. Figures 5 to 10 , the steering angles of the rear wheels 202 all exceed the target steering angle, that is, the rear wheels 202 all deviate from the initial angle.

[0157] By adopting such a solution, the stability of the vehicle 10 in the braking steering mode can be improved by controlling the steering angles of the two wheels on the rear side of the vehicle 10 to exceed the target steering angles of the wheels.

[0158] In some embodiments, when the steering device 110 is in the brake steering mode, the rear wheel steering module 112 enables the two rear wheels of the vehicle 10 to have symmetrical steering.

[0159] For example, refer to Figures 5 to 10 After symmetrical turning, the two rear wheels 202 are in an inward-to-outward-toe shape or an outward-toe shape.

[0160] By adopting such a symmetrical steering method, the additional friction forces of the two wheels at the rear side of the vehicle 10 can offset each other in the lateral direction of the vehicle 10, further improving the stability of the vehicle 10 in the braking steering mode.

[0161] As an alternative, refer to Figure 5 and Figure 6 When the steering device 110 is in the brake steering mode, only the two wheels at the rear side of the vehicle 10 can be symmetrically steered to provide auxiliary braking force.

[0162] In some embodiments, when the steering device 110 is in the brake steering mode, the wheels of the vehicle 10 are all steered. That is, the two front wheels and the two rear wheels are steered at the same time to provide auxiliary braking force.

[0163] Exemplarily, the two wheels at the front and the two wheels at the rear form the following steering combinations:

[0164] Reference Figure 6 The two front wheels 201 turn outward (i.e., in the top view, the left front wheel 201 turns counterclockwise and the right front wheel 201 turns clockwise), forming an outward-facing "X" shape; the two rear wheels 202 turn outward (i.e., in the top view, the left rear wheel 202 turns counterclockwise and the right rear wheel 202 turns clockwise), forming an outward-facing "X" shape.

[0165] Reference Figure 7 The two front wheels 201 turn inward (i.e., in the direction of looking down, the left front wheel 201 turns clockwise, and the right front wheel 201 turns counterclockwise), forming an inner eight-shaped shape; the two rear wheels 202 turn outward (i.e., in the direction of looking down, the left rear wheel 202 turns counterclockwise, and the right rear wheel 202 turns clockwise), forming an outer eight-shaped shape.

[0166] Reference Figure 6 The two front wheels 201 turn inward (i.e., in the top view, the left front wheel 201 turns clockwise, and the right front wheel 201 turns counterclockwise), forming an inner eight-shaped shape; the two rear wheels 202 turn inward (i.e., in the top view, the left rear wheel 202 turns clockwise, and the right rear wheel 202 turns counterclockwise), forming an inner eight-shaped shape.

[0167] Reference Figure 6 The two front wheels 201 turn outward (i.e., in the top view, the left front wheel 201 turns counterclockwise and the right front wheel 201 turns clockwise), forming an outward-facing "X" shape; the two rear wheels 202 turn inward (i.e., in the top view, the left rear wheel 202 turns clockwise and the right rear wheel 202 turns counterclockwise), forming an inner-facing "X" shape.

[0168] In some embodiments, the vehicle braking system 100 further includes a driving device 130. The driving device 130 is used to drive the wheels to rotate to provide the vehicle 10 with forward power.

[0169] Specifically, the drive device 130 may be a wheel hub drive device 130, which is fixedly connected to the wheel rim to form a rotor structure of the wheel hub motor and rotates with the wheel. It may be braked in conjunction with the brake device 140 as needed to improve the braking performance of the vehicle 10.

[0170] In some embodiments, the maximum value of the target steering angle is less than the parking steering angle.

[0171] Since the steering device 110 is in the parking steering mode, the vehicle 10 is approximately statically braked (the wheels may be in a certain rolling or parked state). By adopting a larger parking steering angle, the angle between the wheel axis and the front and rear direction of the vehicle 10 is reduced, and the rolling of the wheel is suppressed, thereby achieving vehicle braking when the parking brake is not activated or fails.

[0172] In some embodiments, the parking steering angle is greater than the limit steering angle of the wheel in the driving state. It can be understood that the limit steering angle is the wheel steering angle that can be controlled by the steering wheel of the vehicle 10. In this way, the parking effect can be further improved.

[0173] In some embodiments, reference Fig.12 When the steering device 110 is in the parking steering mode, the steering angle of a part of the wheels of the vehicle 10 is the parking steering angle while the other part of the wheels maintains a straight-moving state.

[0174] It is understandable that after a part of the wheels of the vehicle 10 are turned to the parking steering angle, the steering is locked, while the other part of the wheels keep the straight-ahead state and the steering is locked.

[0175] By adopting such a solution, the wheels have at least a movement tendency in the straight-ahead direction and a movement tendency after parking and turning, and the two movement tendencies restrict each other, thereby achieving a parking effect.

[0176] In some embodiments, reference Fig.12 When the steering device 110 is in the parking steering mode, the steering angle of one of the multiple wheels on the same side of the vehicle 10 is set to the parking steering angle while the remaining wheels on the same side maintain a straight-moving state.

[0177] For example, refer to Fig.12 , the left front wheel 201 keeps going straight, and the steering angle of the left rear wheel 202 is the parking steering angle.

[0178] With this solution, different wheels on the same side of the vehicle 10 have two different wheel angles: parking steering angle and straight-ahead state. This allows the wheels on the same side to have two different movement trends, so that the wheels on both sides of the vehicle 10 can achieve parking effects.

[0179] In some embodiments, when the steering device 110 is in the parking steering mode, the steering angle of one of the two wheels corresponding to the opposite side of the vehicle 10 is the parking steering angle while the other wheel maintains a straight-moving state.

[0180] For example, refer to Fig.12 , the left front wheel 201 and the right rear wheel 202 keep moving straight, and the steering angles of the right front wheel 201 and the left rear wheel 202 are both parking steering angles.

[0181] By adopting such a solution, the vehicle 10 can maintain the parking effect in both the straight-ahead direction and the left-right direction, while avoiding the vehicle slipping in the straight-ahead direction and the left-right direction.

[0182] In some embodiments, the parking steering angle has a value range of 75° to 90° or -75° to -90°. With such a parking steering angle, a better parking effect is achieved.

[0183] It can be understood that the positive angle is when the wheel is turned inward, and the negative angle is when the wheel is turned outward. The wheel can be turned outward or inward to the parking steering angle to achieve parking.

[0184] As an alternative, refer to Fig.12 , the right front wheel 201 and the left rear wheel 202 are both turned inward to the parking steering angle, and the parking steering angle is 90°.

[0185] In one example of the present application, referring to Fig.12 , the left front wheel 201 and the right rear wheel 202 keep going straight, and the right front wheel 201 and the left rear wheel 202 both turn inward by 90°.

[0186] In another example of the present application, the right front wheel 201 and the left rear wheel 202 may maintain a straight-moving state, and the left front wheel 201 and the right rear wheel 202 may both turn inward by 90°.

[0187] In some embodiments, the steering device 110 enables the wheel to have a steering angle ranging from -90° to 90°. With such a steering angle, the wheel has a larger steering adjustment range, thereby being able to meet the steering adjustment requirements in different states.

[0188] It can be understood that, with the wheel angle that allows the vehicle 10 to maintain a straight-line driving state as the initial angle, the steering device 110 allows the wheel to turn inward or outward at a maximum angle of 90°.

[0189] As a preferred solution, the steering device 110 enables the wheels to have a steering angle ranging from -45° to 90°.

[0190] Such a steering angle can meet the requirements of the braking steering mode and the parking steering mode while ensuring the reliability of the steering device 110.

[0191] In some embodiments, reference Figure 1 , the control device 120 includes: a first angle detection module 121.

[0192] The first angle detection module 121 is used to detect the target steering angle of the wheel; when the target steering angle of the control device 120 is 0 and the steering device 110 is in the braking steering mode, the steering device 110 makes the two symmetrical wheels of the vehicle 10 have opposite steering angles.

[0193] Specifically, the first angle detection module 121 detects the target steering angle of the wheel through a sensor, which can be obtained by detecting the steering wheel angle or the length of the power cylinder.

[0194] It can be understood that a target steering angle of 0 means that the vehicle 10 is in a straight-ahead state, and a reverse steering angle means that the two symmetrical wheels of the vehicle 10 rotate in opposite directions. Figure 5 , the left rear wheel 202 rotates clockwise, while the right rear wheel 202 rotates counterclockwise.

[0195] Exemplarily, when the target steering angle is 0 and the steering device 110 is in the braking steering mode, refer to Figure 5 and Figure 6 , only the two rear wheels can be steered to exceed the target steering angle to provide auxiliary braking force; or refer to Figures 7 to 10 , the two front wheels and the two rear wheels are turned to exceed the target steering angle to provide auxiliary braking force.

[0196] In some embodiments, when the target steering angle of the control device 120 is not 0 and the steering device 110 is in the braking steering mode, the steering device 110 causes the two left-right symmetrical wheels of the vehicle 10 to have different steering angles.

[0197] It can be understood that the target steering angle is not 0 which means that the vehicle 10 is in a turning state, and the different steering angles mean that the two symmetrical wheels of the vehicle 10 have different steering angles, providing auxiliary braking force while meeting the steering requirements of the vehicle 10.

[0198] Exemplarily, when the target steering angle is not 0 and the steering device 110 is in the braking steering mode, the control device 120 refers to Fig.11 , the vehicle 10 turns to the left, when the steering device 110 is not in the brake steering mode, the vehicle 10 turns at the Ackermann steering center M; when the steering device 110 is in the brake steering mode, the steering angle of the left rear wheel 202 is A°, and the steering angle of the right rear wheel 202 is A°+X°, thereby increasing the braking force. Wherein A° and X° are both negative angles (turning to the outside) or positive angles (turning to the inside).

[0199] In some embodiments, reference Figure 1The control device 120 includes a vehicle speed detection module 122. The vehicle speed detection module 122 is used to detect the vehicle speed of the vehicle 10. When the vehicle speed of the vehicle 10 is equal to 0, the control device 120 causes the steering device 110 to exit the braking steering mode.

[0200] Specifically, the vehicle speed detection module 122 detects the rotation speed of the vehicle 10 through a sensor, such as a vehicle speed sensor, an inertial measurement unit (IMU), etc. The specific detection scheme adopts the existing technology and will not be repeated in this application.

[0201] In some embodiments, reference Figure 1 The control device 120 includes: a rotation detection module 123.

[0202] The rotation detection module 123 is used to detect the rotation speed of the wheel. The control device 120 makes the steering device 110 be in the parking steering mode when the wheel rotates in a non-driving state.

[0203] Specifically, the rotation detection module 123 detects the rotation speed of the wheel through a sensor, such as a magnetoelectric wheel speed sensor and a Hall wheel speed sensor, etc. The specific detection scheme adopts the existing technology and will not be repeated in this application.

[0204] By adopting such a scheme, the rotation speed of the wheel is detected, and combined with the working state of the driving device 130, it is determined whether the wheel is rotating in a non-driving state, and when the wheel is rotating in a non-driving state, the steering device 110 is placed in the parking steering mode, thereby preventing the vehicle 10 from slipping when the parking brake is not activated or fails, thereby improving safety performance.

[0205] In some embodiments, reference Figure 1 , the control device 120 includes: a signal detection module 124.

[0206] The signal detection module 124 is used to obtain the user's operation instruction. When the operation instruction is to perform parking steering, the control device 120 puts the steering device 110 into the parking steering mode.

[0207] It can be understood that the operation instructions can be obtained by the user through voice control, pad input, physical button input, etc.

[0208] With such a solution, the parking steering mode is triggered by the user inputting an operation instruction, and the user can select the parking steering according to the actual road conditions to improve the parking brake effect.

[0209] In some embodiments, reference Figure 1 The control device 120 includes: a second angle detection module 125 and an acceleration detection module 126.

[0210] The second angle detection module 125 is used to detect the steering angle of the wheel; the acceleration detection module 126 is used to detect the acceleration of the vehicle 10; the control device 120 enables the steering device 110 to adjust the steering angle of the wheel according to the acceleration of the vehicle 10 when the steering device 110 is in the braking steering mode.

[0211] Specifically, the acceleration detection module 126 detects the acceleration of the vehicle 10 through a sensor, such as an accelerometer, a vehicle 10 dynamic sensor (Vehicle Dynamics Sensor), an inertial measurement unit (IMU), etc. The specific detection scheme adopts the existing technology and is not repeated in this application. The acceleration can be the longitudinal acceleration of the vehicle 10.

[0212] With this solution, by detecting the acceleration of the vehicle 10, it is determined whether the vehicle 10 is in a stable and controllable state, and by adjusting the steering angle of the wheels in real time, the posture of the vehicle 10 is dynamically adjusted. At the same time, the steering angle of the wheels is adjusted according to the acceleration of the vehicle 10, so that the steering angle of the wheels is adapted to the acceleration of the vehicle 10, thereby providing an auxiliary braking force adapted to the acceleration of the vehicle 10.

[0213] In some embodiments, reference Figure 1 The control device 120 also includes: a swing angle detection module 127.

[0214] The yaw angle detection module 127 is used to detect the yaw rate of the vehicle 10. When the steering device 110 is in the braking steering mode, the control device 120 enables the steering device 110 to adjust the steering angle of the wheels according to the yaw rate of the vehicle 10.

[0215] Specifically, the swing angle detection module 127 detects the acceleration of the vehicle 10 through sensors, such as a gyroscope, a vehicle 10 dynamic sensor (Vehicle Dynamics Sensor), an inertial measurement unit (IMU), etc. The specific detection scheme adopts the existing technology and will not be repeated in this application.

[0216] With this solution, by detecting the yaw rate of the vehicle 10, it is determined whether the vehicle 10 is in a stable and controllable state, and the posture of the vehicle 10 is dynamically adjusted by adjusting the steering angle of the wheels in real time. At the same time, the steering angle of the wheels is adjusted according to the yaw rate of the vehicle 10, so that the steering angle of the wheels is adapted to the yaw rate of the vehicle 10, thereby providing an auxiliary braking force adapted to the yaw rate of the vehicle 10.

[0217] In some embodiments, when the steering device 110 is in the braking steering mode, the control device 120 enables the steering device 110 to adjust the steering angle and the braking force of the wheels according to the acceleration of the vehicle 10 and the yaw rate of the vehicle 10 .

[0218] By adopting such a scheme, during the steering-assisted braking process of the vehicle 10 moving straight ahead, the wheel angle control is achieved through the closed-loop feedback of the steering angle. During the braking process, the yaw angular velocity and the acceleration of the vehicle 10 are monitored in real time to determine whether the vehicle 10 is in a stable and controllable state. The posture of the vehicle 10 is dynamically adjusted by adjusting the steering angle and the braking force of each wheel in real time.

[0219] In some embodiments, reference Figure 1 and Figure 2 The vehicle braking system 100 further includes a brake device 140. The brake device 140 is used to output a braking force to achieve wheel braking. The posture of the vehicle 10 is dynamically adjusted by adjusting the braking force of the wheel in real time.

[0220] Specifically, the brake device 140 may use a brake-by-wire system and be integrated inside the wheel hub unit.

[0221] In some embodiments, the brake device 140 makes the braking force applied to the two rear wheels greater than the braking force applied to the two front wheels when the steering device 110 is in the braking steering mode, so as to improve the stability of the vehicle 10 during braking.

[0222] In some embodiments, reference Figure 1 and Figure 2 The control device 120 also includes: a roll detection module 128.

[0223] The roll detection module 128 is used to detect the roll angle of the vehicle 10. When the steering device 110 is in the brake steering mode, the control device 120 enables the steering device 110 to adjust the steering angle of the wheels according to the roll of the vehicle 10.

[0224] Specifically, the roll detection module 128 detects the acceleration of the vehicle 10 through sensors, such as an accelerometer, an inclinometer, a vehicle 10 dynamic sensor, etc. The specific detection scheme adopts the existing technology and will not be repeated in this application.

[0225] In some embodiments, reference Figure 1 and Figure 2 The vehicle braking system 100 further includes an active suspension device 150. The active suspension device 150 adjusts the height of the vehicle body in real time according to the working condition of the vehicle 10, and controls the pitch angle and roll angle of the vehicle 10.

[0226] In some embodiments, when the steering device 110 is in the braking steering mode, the control device 120 enables the steering device 110 to adjust the steering angle and braking force of the wheels according to the acceleration of the vehicle 10 , the yaw rate of the vehicle 10 , and the roll angle of the vehicle 10 .

[0227] By adopting such a scheme, during the steering-assisted braking process of the vehicle 10 when turning a curve, wheel angle control is achieved through closed-loop feedback of the steering angle. During the braking process, the yaw angular velocity, acceleration and roll angle of the vehicle 10 are monitored in real time to determine whether the vehicle 10 is in a stable and controllable state. The posture of the vehicle 10 is dynamically adjusted by adjusting the steering angle of each wheel, the braking force of each wheel and the height of the active suspension device 150 corresponding to each wheel in real time.

[0228] According to a second aspect of the present application, a chassis system of a vehicle 10 is provided, and the chassis system of the vehicle 10 includes the above-mentioned vehicle braking system 100. The chassis system of the vehicle 10 has all the beneficial effects of the above-mentioned vehicle braking system 100, and the present application will not repeat them here.

[0229] According to a third aspect of the present application, a vehicle 10 is provided, referring to Fig.13 The vehicle 10 includes the above-mentioned vehicle braking system 100 or the chassis system of the vehicle 10. The vehicle 10 has all the beneficial effects of the above-mentioned vehicle braking system 100 or the chassis system of the vehicle 10, which will not be repeated in this application.

[0230] The vehicle 10 may be a plug-in hybrid vehicle or a new energy vehicle, etc., which is not specifically limited in the present application.

[0231] According to a fourth aspect of the present application, a vehicle braking method is also provided, referring to Fig.14 , including the following specific steps:

[0232] S110: Detecting the running condition of the vehicle;

[0233] S120: According to the running condition of the vehicle, the steering angle of the wheels is set to a preset parking steering angle.

[0234] By adopting the above technical solution, the steering angle of the wheel is set to a preset parking steering angle according to the operating conditions of the vehicle, and the wheel is suppressed from rolling when working at the parking steering angle, thereby achieving whole vehicle braking when the parking brake is not activated or fails, thereby improving the braking effect.

[0235] In some embodiments, step S120 includes the following specific steps:

[0236] The steering angle of some wheels of the vehicle is set to the parking steering angle while the other wheels are kept in a straight-moving state.

[0237] By adopting such a solution, the wheels have at least a movement tendency in the straight-ahead direction and a movement tendency after parking and turning, and the two movement tendencies restrict each other, thereby achieving a parking effect.

[0238] In some embodiments, step S120 includes the following specific steps:

[0239] The steering angle of one of the plurality of wheels on the same side of the vehicle is set to a parking steering angle, and the remaining wheels on the same side are kept in a straight-moving state.

[0240] With this solution, different wheels on the same side of the vehicle have two different wheel angles: parking steering angle and straight-ahead state. This allows the wheels on the same side to have two different movement trends, so that the wheels on both sides of the vehicle can achieve parking effects.

[0241] In some embodiments, step S120 includes the following specific steps:

[0242] The steering angle of one of the two wheels corresponding to the opposite side of the vehicle is set to the parking steering angle while the other wheel maintains a straight-moving state.

[0243] By adopting such a solution, the vehicle can maintain the parking effect in both the straight direction and the left and right directions, while avoiding the vehicle slipping in the straight direction and the left and right directions.

[0244] In some embodiments, the parking steering angle is greater than a limit steering angle of the wheel in a driving state.

[0245] In some embodiments, the parking steering angle ranges from 75° to 90° or from -75° to -90°.

[0246] In some embodiments, step S110 includes the following specific steps:

[0247] Detect the vehicle's speed.

[0248] Step S120 includes the following specific steps:

[0249] When the vehicle speed is equal to 0, the steering angle of the wheel is set to a preset parking steering angle.

[0250] Reference Fig.12 When the speed of the vehicle 10 is equal to 0, that is, the vehicle 10 is in a parking state, the steering angle of the wheels is set to a preset parking steering angle, thereby improving the parking effect of the vehicle 10.

[0251] In some embodiments, step S120 includes the following specific steps:

[0252] When the vehicle speed is not 0 and the wheels are in a non-driving state, the steering angle of the wheels is set to a preset parking steering angle.

[0253] By adopting such a scheme, the rotation speed of the wheel is detected, and combined with the working state of the wheel driving device, it is determined whether the wheel is rotating in a non-driving state, and when the wheel is rotating in a non-driving state, the steering device is placed in the parking steering mode, thereby preventing the vehicle from rolling when the parking brake is not activated or the parking brake fails, thereby improving safety performance.

[0254] In some embodiments, the vehicle braking method further comprises the following steps:

[0255] According to the user's operating instructions, the steering angle of the wheel is set to a preset parking steering angle.

[0256] With such a solution, the parking steering mode is triggered by the user inputting an operation instruction, and the user can select the parking steering according to the actual road conditions to improve the parking brake effect.

[0257] In some embodiments, reference Fig.15 The vehicle braking method of the present application further includes the following steps:

[0258] S210: Detecting the running condition of the vehicle;

[0259] S220: According to the running condition of the vehicle, the steering angle of the wheel is made to exceed the target steering angle of the wheel.

[0260] Through the above technical solution, the wheels have different steering angles according to the running conditions of the vehicle 10, so that various states of the vehicle 10 can be adapted to obtain adaptive braking forces and improve the braking effect.

[0261] In some embodiments, the operating condition of the vehicle 10 includes one or more of a target steering angle, a vehicle speed, a yaw rate, an acceleration, and a roll angle.

[0262] In some embodiments, step S210 includes the following specific steps:

[0263] Detects the target steering angle of the wheels.

[0264] In some embodiments, step S220 includes the following specific steps:

[0265] S221a: When the target steering angle is 0, the corresponding wheels on the left and right sides of the vehicle 10 have opposite steering angles;

[0266] S221b: When the target steering angle is not 0, the wheels corresponding to the left and right sides of the vehicle 10 have different steering angles.

[0267] Understandable, refer to Figures 5 to 10 When the target steering angle is 0, that is, the vehicle 10 is in a straight-line driving state, the corresponding wheels on the left and right sides of the vehicle 10 have opposite steering angles, thereby providing auxiliary braking force.

[0268] Reference Fig.11 When the target steering angle is not 0, that is, the vehicle 10 is in a turning state, the corresponding wheels on the left and right sides of the vehicle 10 have opposite steering angles, thereby providing auxiliary braking force while meeting the steering requirements of the vehicle 10.

[0269] In some embodiments, step S210 includes the following specific steps:

[0270] Detect the vehicle's speed.

[0271] In some embodiments, step S220 includes the following specific steps:

[0272] When the vehicle speed is greater than 0, the steering angle of the wheel is made to exceed the target steering angle of the wheel.

[0273] Understandable, refer to Figures 5 to 11 When the speed of the vehicle 10 is greater than 0, that is, the vehicle 10 is in a driving state, the steering angle of the wheel exceeds the target steering angle of the wheel, providing auxiliary braking force to improve the braking effect.

[0274] In some embodiments, step S210 includes the following specific steps:

[0275] S210a: Detecting a target steering angle of the wheel;

[0276] S210 b : Detecting the yaw rate or acceleration of the vehicle 10 .

[0277] In some embodiments, step S220 includes the following specific steps:

[0278] When the yaw rate or acceleration of the vehicle 10 meets a preset condition, the steering angle of the wheel is set to 0 or a target steering angle.

[0279] It can be understood that the preset condition is determined according to the design of the vehicle 10 and can be selected according to actual conditions.

[0280] By adopting such a solution, the steering angle of the wheel is adapted to the yaw angular velocity or acceleration of the vehicle 10 , so that the braking force provided by the wheel matches the posture of the vehicle 10 , thereby improving the braking effect while ensuring the stability of the vehicle 10 .

[0281] According to a fifth aspect of the present application, a non-transitory computer-readable storage medium is also provided, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned vehicle 10 control method is implemented. The non-transitory computer-readable storage medium has all the beneficial effects of the above-mentioned vehicle 10 control method, and the present application will not repeat them here.

[0282] According to the sixth aspect of the present application, a computer program product is also provided, including a computer program, and when the computer program is executed by a processor, the above-mentioned vehicle 10 control method is implemented. The computer program product has all the beneficial effects of the above-mentioned vehicle 10 control method, and the present application will not repeat them here.

[0283] According to the seventh aspect of the present application, an electronic device is also provided, the electronic device comprising: a memory and a processor. The memory stores a computer program; the processor is used to execute the computer program in the memory to implement the above-mentioned vehicle 10 control method. The electronic device has all the beneficial effects of the above-mentioned vehicle 10 control method, and the present application will not repeat them here.

[0284] See also Fig.16 , the electronic device 800 may include a processing device 801 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage device 808 to a random access memory (RAM) 803. Various programs and data required for the operation of the electronic device 800 are also stored in the random access memory (RAM) 803. The processing device 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0285] Typically, the following devices may be connected to the I / O interface 805: input devices 806 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 807 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 808 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 809. The communication device 809 may allow the electronic device 800 to communicate with other devices wirelessly or by wire to exchange data. Although Fig.16 The electronic device 800 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead. Fig.16 Each block shown in the figure may represent one device, or may represent multiple devices as required.

[0286] In particular, according to some embodiments of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, some embodiments of the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In some such embodiments, the computer program can be downloaded and installed from the network through the communication device 809, or installed from the storage device 808, or installed from the ROM 802. When the computer program is executed by the processing device 801, the above-mentioned functions defined in the method of some embodiments of the present application are executed.

[0287] It should be noted that the computer-readable medium of some embodiments of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above, which is not specifically limited in the present application. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0288] In some embodiments of the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device, or device. In some embodiments of the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in combination with an instruction execution system, device, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0289] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as Hyper Text Transfer Protocol (HTTP), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), an internet (e.g., the Internet), and an advanced developer's hands-on conference (adho), as well as any currently known or future developed network.

[0290] The computer-readable medium may be included in the electronic device or may exist independently without being installed in the electronic device. The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device makes the steering angle of the wheel be a preset parking steering angle according to the running condition of the vehicle.

[0291] Computer program code for performing operations of some embodiments of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages. ― Such as Java, Smalltalk, C++, and also conventional procedural programming languages: such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network (including a local area network (LAN) or a wide area network (WAN)), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0292] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a portion of a code, which contains one or more executable instructions for implementing a specified logical function.

[0293] It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures.

[0294] For example, two boxes shown in succession may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of boxes in the block diagram and / or flow chart, can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0295] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: Field Programmable Gate Array (FPGA), Application Specific Integrated Circuit (ASIC), Application Specific Standard Parts (ASSP), System on Chips (SOC), Complex Programmable Logic Device (CPLD), etc.

[0296] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0297] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0298] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0299] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A vehicle braking system, characterized in that: include: A steering device, used to achieve the steering of the wheels; A control device, used for controlling the steering device so that the steering device has a parking steering mode; Wherein, when the steering device is in the parking steering mode, the steering angle of at least one wheel is set to a preset parking steering angle.

2. The vehicle braking system according to claim 1, characterized in that: When the steering device is in the parking steering mode, the steering angle of a part of the wheels of the vehicle is set to the parking steering angle while the other part of the wheels maintain a straight-moving state.

3. The vehicle braking system according to claim 2, characterized in that: When the steering device is in the parking steering mode, the steering angle of one of the multiple wheels on the same side of the vehicle is set to the parking steering angle, and the remaining wheels on the same side maintain a straight-moving state.

4. The vehicle braking system according to claim 3, characterized in that: When the steering device is in the parking steering mode, the steering angle of one of the two wheels corresponding to the opposite side of the vehicle is set to the parking steering angle while the other wheel maintains a straight-moving state.

5. The vehicle braking system according to any one of claims 1 to 4, characterized in that: The parking steering angle is greater than a limiting steering angle of the wheels in a driving state.

6. The vehicle braking system according to claim 5, characterized in that: in, The parking steering angle has a value range of 75° to 90° or -75° to -90°.

7. The vehicle braking system according to any one of claims 1 to 4, characterized in that: The control device comprises: A rotation detection module, used to detect the rotation speed of the wheel; Wherein, the control device places the steering device in the parking steering mode when the wheel rotates in a non-driving state.

8. The vehicle braking system according to any one of claims 1 to 4, characterized in that: The control device comprises: A signal detection module is used to obtain the user's operation instructions; Wherein, when the operation instruction is to execute parking steering, the control device places the steering device in the parking steering mode.

9. The vehicle braking system according to claim 1, characterized in that: The control device is also used to control the steering device so that the steering device has a brake steering mode; Wherein, when the steering device is in the braking steering mode, the steering angle of at least one wheel exceeds the target steering angle of the wheel.

10. The vehicle braking system according to claim 9, characterized in that: The steering device comprises: A front wheel steering module, used to control the wheels on the front side of the vehicle; Wherein, when the steering device is in the braking steering mode, the front wheel steering module makes the steering angle of at least one wheel on the front side of the vehicle exceed the target steering angle of the wheel.

11. The vehicle braking system according to claim 10, characterized in that: in, When the steering device is in the braking steering mode, the front wheel steering module causes the steering angles of the two wheels on the front side of the vehicle to exceed the target steering angles of the wheels.

12. The vehicle braking system according to claim 11, characterized in that: in, When the steering device is in the brake steering mode, the front wheel steering module enables the two wheels on the front side of the vehicle to have symmetrical steering.

13. The vehicle braking system according to claim 9, characterized in that: The steering device comprises: A rear-wheel steering module, used to control the wheels at the rear of the vehicle; Wherein, when the steering device is in the braking steering mode, the rear-wheel steering module causes the steering angle of at least one wheel on the rear side of the vehicle to exceed the target steering angle of the wheel.

14. The vehicle braking system according to claim 13, characterized in that: in, When the steering device is in the braking steering mode, the rear-wheel steering module causes the steering angles of the two wheels at the rear of the vehicle to exceed the target steering angles of the wheels.

15. The vehicle braking system according to claim 14, characterized in that: in, When the steering device is in the brake steering mode, the rear wheel steering module enables the two wheels at the rear side of the vehicle to have symmetrical steering.

16. The vehicle braking system according to any one of claims 9 to 15, characterized in that: The maximum value of the target steering angle is smaller than the parking steering angle.

17. The vehicle braking system according to any one of claims 9 to 15, characterized in that: When the steering device is in the braking steering mode, the wheels of the vehicle are all turned.

18. The vehicle braking system according to any one of claims 9 to 15, characterized in that: in, The steering device enables the wheel to have a steering angle whose value range includes -90° to 90°.

19. The vehicle braking system according to any one of claims 9 to 15, characterized in that: The control device comprises: A first angle detection module, used to detect a target steering angle of the wheel; Wherein, when the target steering angle of the control device is 0 and the steering device is in a braking steering mode, the steering device causes two wheels of the vehicle that are symmetrical on the left and right to have opposite steering angles.

20. The vehicle braking system according to any one of claims 9 to 15, characterized in that: The control device comprises: A first angle detection module, used to detect a target steering angle of the wheel; Wherein, when the target steering angle of the control device is not 0 and the steering device is in a braking steering mode, the steering device causes two wheels of the vehicle that are symmetrical on the left and right to have different steering angles.

21. The vehicle braking system according to any one of claims 9 to 15, characterized in that: The control device comprises: A vehicle speed detection module, used to detect the vehicle speed; Wherein, the control device causes the steering device to exit the braking steering mode when the vehicle speed is equal to 0.

22. The vehicle braking system according to any one of claims 9 to 15, characterized in that: The control device comprises: A second angle detection module, used to detect the steering angle of the wheel; An acceleration detection module, used to detect the acceleration of the vehicle; Wherein, when the steering device is in the braking steering mode, the control device enables the steering device to adjust the steering angle of the wheel according to the acceleration of the vehicle.

23. The vehicle braking system according to any one of claims 9 to 15, characterized in that: The control device comprises: A second angle detection module, used to detect the steering angle of the wheel; A swing angle detection module, used to detect the yaw angular velocity of the vehicle; Wherein, when the steering device is in the braking steering mode, the control device enables the steering device to adjust the steering angle of the wheel according to the yaw angular velocity of the vehicle.

24. The vehicle braking system according to any one of claims 9 to 15, characterized in that: The vehicle braking system further comprises: A brake device, used for outputting braking force to achieve wheel braking; Wherein, when the steering device is in the braking steering mode, the braking device makes the braking force applied to the two wheels on the rear side greater than the braking force applied to the two wheels on the front side.

25. A vehicle chassis system, characterized in that: include: A vehicle braking system and a wheel as claimed in any one of claims 1 to 24.

26. A vehicle, characterized in that: include: A vehicle braking system as claimed in any one of claims 1 to 24 or a vehicle chassis system as claimed in claim 25.

27. A vehicle braking method, characterized in that: include: According to the running condition of the vehicle, the steering angle of the wheel is set to a preset parking steering angle.

28. The vehicle braking method according to claim 27, characterized in that: According to the running condition of the vehicle, the steering angle of the wheel is set to a preset parking steering angle, comprising: The steering angle of one part of the vehicle's wheels is set to the parking steering angle while the other part of the wheels maintain a straight-moving state.

29. The vehicle braking method according to claim 27, characterized in that: According to the running condition of the vehicle, the steering angle of the wheel is set to a preset parking steering angle, comprising: The steering angle of one of the plurality of wheels on the same side of the vehicle is set to a parking steering angle, and the remaining wheels on the same side are kept in a straight-moving state.

30. The vehicle braking method according to claim 27, characterized in that: According to the running condition of the vehicle, the steering angle of the wheel is set to a preset parking steering angle, comprising: The steering angle of one of the two wheels corresponding to the opposite side of the vehicle is set to the parking steering angle while the other wheel maintains a straight-moving state.

31. The vehicle braking method according to any one of claims 27 to 30, characterized in that: The parking steering angle is greater than a limiting steering angle of the wheels in a driving state.

32. The vehicle braking method according to any one of claims 27 to 30, characterized in that: The parking steering angle has a value range of 75° to 90° or -75° to -90°.

33. The vehicle braking method according to any one of claims 27 to 30, characterized in that: The vehicle braking method further comprises: Check the operation of the vehicle.

34. The vehicle braking method according to claim 33, characterized in that: in, The detecting the running condition of the vehicle comprises: Detect the vehicle's speed.

35. The vehicle braking method according to claim 34, characterized in that: in, According to the running condition of the vehicle, the steering angle of the wheel is set to a preset parking steering angle, comprising: When the vehicle speed is equal to 0, the steering angle of the wheel is set to a preset parking steering angle.

36. The vehicle braking method according to claim 34, characterized in that: in, According to the running condition of the vehicle, the steering angle of the wheel is set to a preset parking steering angle, comprising: When the vehicle speed is not 0 and the wheels are in a non-driving state, the steering angle of the wheels is set to a preset parking steering angle.

37. The vehicle braking method according to claim 34, characterized in that: The vehicle braking method further comprises: According to the user's operating instructions, the steering angle of the wheel is set to a preset parking steering angle.

38. The vehicle braking method according to claim 27, characterized in that: The vehicle braking method further comprises: According to the running condition of the vehicle, the steering angle of the wheel is made to exceed the target steering angle of the wheel.

39. The vehicle braking method according to claim 38, characterized in that: The vehicle braking method further comprises: Check the operation of the vehicle.

40. The vehicle braking method according to claim 39, characterized in that: in, The detecting the running condition of the vehicle comprises: Detects the target steering angle of the wheels.

41. The vehicle braking method according to claim 40, It is characterized in that Wherein, making the steering angle of the wheel exceed the target steering angle of the wheel or making the steering angle of the wheel be a preset parking steering angle according to the running condition of the vehicle includes: When the target steering angle is 0, the corresponding wheels on the left and right sides of the vehicle have opposite steering angles; When the target steering angle is not 0, the wheels corresponding to the left and right sides of the vehicle have different steering angles.

42. The vehicle braking method according to claim 39, characterized in that: in, The detecting the running condition of the vehicle comprises: Detect the vehicle's speed.

43. The vehicle braking method according to claim 32, characterized in that: in, The step of making the steering angle of the wheel exceed the target steering angle of the wheel or making the steering angle of the wheel be a preset parking steering angle according to the running condition of the vehicle comprises: When the vehicle speed is greater than 0, the steering angle of the wheel is made to exceed the target steering angle of the wheel.

44. The vehicle braking method according to claim 39, It is characterized in that Wherein, the detecting the running condition of the vehicle includes: Detecting the target steering angle of the wheels; Detect the vehicle's yaw rate or acceleration.

45. The vehicle braking method according to claim 44, characterized in that: in, The step of making the steering angle of the wheel exceed the target steering angle of the wheel or making the steering angle of the wheel be a preset parking steering angle according to the running condition of the vehicle comprises: When the yaw angular velocity or acceleration of the vehicle meets a preset condition, the steering angle of the wheel is set to 0 or the target steering angle.

46. ​​A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle control method according to any one of claims 27 to 45 is implemented.

47. A computer program product, comprising a computer program, characterized in that: When the computer program is executed by a processor, the vehicle control method according to any one of claims 27 to 45 is implemented.

48. An electronic device, characterized in that: The electronic device comprises: a memory storing a computer program; A processor, configured to execute the computer program in the memory to implement the vehicle control method described in any one of claims 27 to 45.

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