Control method and device for vehicle, vehicle and storage medium

Abstract

The embodiment of the invention provides a control method and device for a vehicle, the vehicle and a storage medium. The control method comprises the steps that when the vehicle is started and the running state of the vehicle is static, the current steering mode of the vehicle and the steering angle of an axle are obtained; if the steering angle does not exceed the preset steering angle, the current driving mode of the vehicle, the steering relation between the axle and each electric control axle in the current steering mode and the maximum steering angle are obtained; the corresponding preset whole vehicle weight, the actual whole vehicle weight and the preset whole vehicle suspension height of the vehicle in the current driving mode are obtained; if the first ratio of the preset whole vehicle weight to the actual whole vehicle weight does not exceed the first value, the actual whole vehicle suspension height of the vehicle is obtained; determining an angle coefficient according to a second ratio and the first ratio between the preset whole vehicle suspension height and the actual whole vehicle suspension height; and the steering angles of the axle and each electric control axle are adjusted according to the angle coefficient, the steering relation and the maximum steering angle of the axle and each electric control axle.

Description

Technical Field

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

[0002] As the speed of automobile driving continues to increase, the requirements for automobile safety are getting higher and higher. Common vehicles such as wheeled cranes currently use electronic steering, which can effectively reduce the impact of vehicle speed on the steering characteristics of the vehicle caused by the fixed steering transmission ratio, and improve the vehicle's handling stability and active safety. However, existing wheeled cranes have the characteristics of heavy weight, multi-mode driving conditions, complex steering mechanisms, multi-axis multi-mode steering, etc. The construction sites are mostly mountainous and low wind speed areas, the construction conditions are complex, and steering wear and other faults are prone to occur. The existing steering technology only considers factors such as steering and vehicle speed, and does not take into account factors such as different driving conditions and suspension height errors of the vehicle, resulting in large deviations when the vehicle's steering control system controls the steering. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a control method, device, vehicle and storage medium for a vehicle, so as to solve the technical defect that the prior art does not take into account factors such as different driving conditions and suspension height errors of the vehicle, resulting in large deviations when the vehicle turns.

[0004] In order to achieve the above-mentioned object, the first aspect of the present application provides a control method for a vehicle, wherein the vehicle includes a chassis, the chassis includes a main running wheel and a slave running wheel, the main running wheel includes a vehicle axle, and the slave running wheel includes an electronically controlled axle, and the control method includes:

[0005] When the vehicle is started and the vehicle is in a stationary state, obtaining the current steering mode of the vehicle and the steering angle of the axle;

[0006] Determine whether the steering angle exceeds a preset steering angle;

[0007] When the steering angle does not exceed the preset steering angle, the current driving mode of the vehicle, the steering relationship between the axle and each electronically controlled axle in the current steering mode and the maximum steering angle are obtained;

[0008] Obtain the preset vehicle weight, actual vehicle weight and preset vehicle suspension height corresponding to the vehicle in the current driving mode;

[0009] Determining whether a first ratio between a preset vehicle weight and an actual vehicle weight exceeds a first value;

[0010] When the first ratio does not exceed the first value, obtaining an actual vehicle suspension height of the vehicle in the current driving mode;

[0011] Determining an angle coefficient according to a second ratio between a preset vehicle suspension height and an actual vehicle suspension height and a first ratio;

[0012] The steering angles of the vehicle axle and each electronically controlled axle are adjusted according to the angle coefficient, the steering relationship, and the maximum steering angles of the vehicle axle and each electronically controlled axle.

[0013] In an embodiment of the present application, determining the angle coefficient based on the second ratio and the first ratio between the preset vehicle suspension height and the actual vehicle suspension height includes: judging whether the second ratio between the preset vehicle suspension height and the actual vehicle suspension height exceeds the second value; when the second ratio exceeds the second value, determining the angle coefficient based on the first relationship between the first ratio and the second ratio; when the second ratio does not exceed the second value, determining the angle coefficient based on the second relationship between the first ratio and the second ratio.

[0014] In the embodiment of the present application, the first relational expression and the second relational expression are respectively shown as formula (1) and formula (2):

[0015]

[0016] Wherein, β is the angle coefficient, a1, a2, b1, b2 are constants, X1 is the first ratio, and X2 is the second ratio.

[0017] In an embodiment of the present application, adjusting the steering angle of the axle and each electronically controlled axle according to the angle coefficient, the steering relationship, and the maximum steering angle of the axle and each electronically controlled axle includes: adjusting the steering angle of the axle and each electronically controlled axle according to the product of the angle coefficient and the maximum steering angle of the axle and each electronically controlled axle and the steering relationship.

[0018] In an embodiment of the present application, the control method further includes: when the steering angle exceeds a preset steering angle, determining that the vehicle cannot execute the current steering mode and issuing an alarm.

[0019] In an embodiment of the present application, the control method further includes: when the first ratio exceeds the first value, determining that the vehicle is overloaded and issuing an alarm.

[0020] A second aspect of the present application provides a control device for a vehicle, comprising:

[0021] a memory configured to store instructions;

[0022] The controller is configured to call the instructions from the memory and implement the above-mentioned control method for the vehicle when executing the instructions.

[0023] A third aspect of the present application provides a vehicle, comprising:

[0024] Chassis, the chassis includes main running wheels and secondary running wheels, the main running wheels include vehicle axles, and the secondary running wheels include electronically controlled axles;

[0025] The above-mentioned control device for a vehicle.

[0026] In an embodiment of the present application, an angle sensor is installed on the axle, which is used to collect the steering angle of the axle, and a suspension detection device is installed on the chassis, which is used to collect the actual vehicle suspension height.

[0027] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a controller, configure the controller to execute the above-mentioned control method for a vehicle.

[0028] The above technical solution obtains the current steering mode of the vehicle and the steering angle of the axle when the vehicle is started and the vehicle is in a stationary state; determines whether the steering angle exceeds the preset steering angle; obtains the current driving mode of the vehicle, the steering relationship between the axle and each electronically controlled axle in the current steering mode and the maximum steering angle when the steering angle does not exceed the preset steering angle; obtains the preset vehicle weight, actual vehicle weight and preset vehicle suspension height corresponding to the vehicle in the current driving mode; determines whether the first ratio between the preset vehicle weight and the actual vehicle weight exceeds the first value; obtains the actual vehicle suspension height of the vehicle in the current driving mode when the first ratio does not exceed the first value; determines the angle coefficient according to the second ratio and the first ratio between the preset vehicle suspension height and the actual vehicle suspension height; and adjusts the steering angle of the axle and each electronically controlled axle according to the angle coefficient, the steering relationship, and the maximum steering angle of the axle and each electronically controlled axle. This method realizes precise control of steering based on the driving mode, vehicle weight and vehicle suspension position, and effectively improves the safety of vehicle driving.

[0029] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0031] Figure 1 A schematic diagram of a process flow of a control method for a vehicle according to an embodiment of the present application is schematically shown;

[0032] Figure 2 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0034] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0035] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0036] Figure 1 The flowchart of a control method for a vehicle according to an embodiment of the present application is schematically shown. Figure 1 As shown, an embodiment of the present application provides a control method for a vehicle, the vehicle may include a chassis, the chassis includes a main running wheel and a slave running wheel, the main running wheel includes a vehicle axle, and the slave running wheel includes an electronically controlled axle, and the control method may include the following steps:

[0037] Step 101 : when the vehicle is started and the vehicle is in a stationary state, the current steering mode of the vehicle and the steering angle of the axle are obtained.

[0038] In the embodiments of the present application, it should be noted that the vehicle may include but is not limited to automobiles, construction machinery and operating machinery, etc. In the present technical solution, taking the vehicle as a wheeled crane as an example, the wheeled crane is a boom-rotating crane that uses a tire-type chassis to travel, and the wheeled crane is mainly divided into three types: automobile cranes, tire-type cranes and truck-mounted cranes. Among them, the wheeled crane may include a tire-type chassis, and the tire-type chassis may include main running wheels and slave running wheels, the main running wheels include a vehicle axle, and the slave running wheels include an electronically controlled axle. Specifically, after the wheeled crane is powered on and started, if it is detected that the operating state of the wheeled crane is stationary, the controller obtains the current steering mode of the wheeled crane and the steering angle of the vehicle axle. Among them, an angle sensor may be installed at the vehicle axle, and the controller can obtain the steering angle of the vehicle axle by obtaining data collected by the angle sensor. The steering modes of the wheeled crane can include six steering modes: highway driving steering mode, minimum turning radius steering mode, anti-swing steering mode, crab steering mode, rear axle independent steering mode and rear axle non-steering mode. Each steering mode is configured with a corresponding switch, and the controller can obtain the current steering mode of the wheeled crane by obtaining the start and stop of the switch.

[0039] Step 102, determining whether the steering angle exceeds a preset steering angle.

[0040] In the embodiment of the present application, it should be noted that the preset steering angle can be set according to actual needs combined with experience values. For example, the preset steering angle can be set to a relatively large angle, so that the steering angle of the axle is prevented from being too large and causing a vehicle safety accident. Specifically, the controller can obtain the steering angle of the axle through an angle sensor installed on the axle, and then further analyze the steering angle to determine whether the steering angle of the axle exceeds the preset steering angle.

[0041] Step 103, when the steering angle does not exceed the preset steering angle, the current driving mode of the vehicle, the steering relationship between the axle and each electronically controlled axle in the current steering mode, and the maximum steering angle are obtained.

[0042] In the embodiment of the present application, it should be noted that the controller analyzes the steering angle to determine whether the steering angle of the axle exceeds the preset steering angle. If the steering angle does not exceed the preset steering angle, the controller needs to further obtain the current driving mode of the vehicle, the steering relationship between the axle and each electronically controlled axle in the current steering mode, and the maximum steering angle. Taking a wheeled crane as an example, the driving mode of the wheeled crane can include four modes, namely, a high-speed driving mode, a town driving mode, an off-road driving mode, and a heavy-load driving mode. Specifically, each driving mode is configured with a corresponding switch, and the controller can obtain the current driving mode of the wheeled crane by obtaining the start and stop of the switch. In the technical solution, for each steering mode, the vehicle is configured with the steering relationship and the maximum steering angle of the axle and each electronically controlled axle in each steering mode. The steering relationship between the axle and each electronically controlled axle in each steering mode can refer to the correlation between the steering angle of the axle and the steering angle of each electronically controlled axle in any steering mode. When the axle is at any degree, each electronically controlled axle will automatically rotate to the corresponding degree according to the configured steering relationship. At the same time, in each steering mode, the axle and each electronically controlled axle will be configured with a maximum steering angle in each steering mode, and the maximum steering angle can be set according to the specifications and models of the vehicle.

[0043] In an embodiment of the present application, the control method further includes: when the steering angle exceeds a preset steering angle, determining that the vehicle is unable to execute the current steering mode and issuing an alarm.

[0044] In this embodiment, it should be noted that the controller analyzes the steering angle to determine whether the steering angle of the axle exceeds the preset steering angle. If the steering angle exceeds the preset steering angle, the controller can determine that the steering angle of the axle is too large and exceeds the set safety angle. At this time, the vehicle cannot execute the current steering mode and an alarm is issued.

[0045] Step 104, obtaining the preset vehicle weight, actual vehicle weight and preset vehicle suspension height corresponding to the vehicle in the current driving mode.

[0046] In the embodiment of the present application, it should be noted that the vehicle weight may refer to the sum of the weight of the vehicle body and the load weight. In order to ensure the safe driving of the vehicle in each driving mode, the vehicle is configured with a corresponding preset vehicle weight, driving speed and vehicle suspension height for each driving mode. Among them, the preset vehicle weight is a weight threshold, which indicates the maximum vehicle weight of the vehicle in each driving mode. The vehicle shall not exceed the maximum vehicle weight, otherwise it will be dangerous. The vehicle suspension height refers to the height of the chassis from the ground. The vehicle suspension height can well ensure the driving safety of the vehicle. In this technical solution, a suspension detection device can be installed at the highest point of each tire included in the chassis to detect the height of the chassis from the ground at the highest point of each tire, and then the average is taken to obtain the vehicle suspension height. Specifically, after the controller obtains the current driving mode of the vehicle, the steering relationship between the axle and each electronically controlled axle in the current steering mode and the maximum steering angle, the preset vehicle weight and preset vehicle suspension height corresponding to the vehicle in the current driving mode can be further obtained. At the same time, the controller can further obtain the actual vehicle weight of the vehicle in the current driving mode.

[0047] Step 105, determining whether a first ratio between a preset vehicle weight and an actual vehicle weight exceeds a first value.

[0048] In the embodiment of the present application, it should be noted that after the controller obtains the preset vehicle weight and the actual vehicle weight of the vehicle in the current driving mode, the controller can further determine whether a first ratio between the preset vehicle weight and the actual vehicle weight exceeds a first value. For example, taking the preset vehicle weight as Gi and the actual vehicle weight as Gx as an example, the controller needs to further determine whether X1=Gi / Gx exceeds the first value.

[0049] Step 106, when the first ratio does not exceed the first value, obtaining the actual vehicle suspension height of the vehicle in the current driving mode.

[0050] In the embodiment of the present application, it should be noted that if the controller determines that the first ratio of the preset vehicle weight to the actual vehicle weight does not exceed the first value, the controller needs to further obtain the actual vehicle suspension height of the vehicle in the current driving mode. Specifically, the controller can obtain the actual vehicle suspension height of the vehicle in the current driving mode by obtaining data collected by the suspension detection device installed on the chassis.

[0051] In an embodiment of the present application, the control method further includes: when the first ratio exceeds the first value, determining that the vehicle is overloaded and issuing an alarm.

[0052] In this embodiment, it should be noted that if the controller determines that the first ratio of the preset vehicle weight to the actual vehicle weight exceeds the first value, the controller can determine that the vehicle is overloaded and issue an alarm.

[0053] Step 107, determining an angle coefficient according to a second ratio and a first ratio between a preset vehicle suspension height and an actual vehicle suspension height.

[0054] In the embodiment of the present application, it should be noted that after the controller obtains the actual vehicle suspension height of the vehicle in the current driving mode through the suspension detection device, it can further obtain a second ratio between the preset vehicle suspension height and the actual vehicle suspension height, and then further calculate the angle coefficient through the first ratio and the second ratio.

[0055] In an embodiment of the present application, determining the angle coefficient based on the second ratio and the first ratio between the preset vehicle suspension height and the actual vehicle suspension height includes: judging whether the second ratio between the preset vehicle suspension height and the actual vehicle suspension height exceeds the second value; when the second ratio exceeds the second value, determining the angle coefficient based on the first relationship between the first ratio and the second ratio; when the second ratio does not exceed the second value, determining the angle coefficient based on the second relationship between the first ratio and the second ratio.

[0056] In this embodiment, it should be noted that after the controller obtains the second ratio between the preset vehicle suspension height and the actual vehicle suspension height, the controller needs to further determine whether the second ratio between the preset vehicle suspension height and the actual vehicle suspension height exceeds the second value. For example, taking the preset vehicle suspension height as Hi and the actual vehicle suspension height as Hx as an example, the controller needs to further determine whether the second ratio X2=Hi / Hx exceeds the second value. If the second ratio exceeds the second value, the controller can determine the angle coefficient according to the first relationship between the first ratio and the second ratio. If the second ratio does not exceed the second value, the controller can determine the angle coefficient according to the second relationship between the first ratio and the second ratio.

[0057] In the embodiment of the present application, the first relational expression and the second relational expression are respectively shown as formula (1) and formula (2):

[0058]

[0059] Wherein, β is the angle coefficient, a1, a2, b1, b2 are constants, X1 is the first ratio, and X2 is the second ratio.

[0060] In this embodiment, it should be noted that if the second ratio exceeds the second value, the controller can calculate the angle coefficient according to the first relationship of the above formula (1); if the second ratio does not exceed the second value, the controller can calculate the angle coefficient according to the second relationship of the above formula (2).

[0061] Step 108, adjusting the steering angle of the vehicle axle and each electronically controlled axle according to the angle coefficient, the steering relationship, and the maximum steering angle of the vehicle axle and each electronically controlled axle.

[0062] In the embodiment of the present application, it should be noted that after the controller calculates the angle coefficient according to the first relationship or the second relationship, it can further adjust the steering angle of the axle and each electronically controlled axle according to the angle coefficient, the steering relationship, and the maximum steering angle of the axle and each electronically controlled axle.

[0063] In an embodiment of the present application, adjusting the steering angle of the axle and each electronically controlled axle according to the angle coefficient, the steering relationship, and the maximum steering angle of the axle and each electronically controlled axle includes: adjusting the steering angle of the axle and each electronically controlled axle according to the product of the angle coefficient and the maximum steering angle of the axle and each electronically controlled axle and the steering relationship.

[0064] In this embodiment, it should be noted that after the controller calculates the angle coefficient according to the first relationship or the second relationship, the controller can further adjust the steering angle of the axle and each electronically controlled axle according to the angle coefficient, the steering relationship, and the maximum steering angle of the axle and each electronically controlled axle. Specifically, the controller can adjust the steering angle of the axle and each electronically controlled axle according to the product of the angle coefficient and the maximum steering angle of the axle and each electronically controlled axle, and then adjust the steering angle of the axle and each electronically controlled axle in combination with the steering relationship. For example, taking the maximum steering angle Ai1 as an example, the adjusted steering angle Ai2=Ai1*β.

[0065] The above technical solution obtains the current steering mode of the vehicle and the steering angle of the axle when the vehicle is started and the vehicle is in a stationary state; determines whether the steering angle exceeds the preset steering angle; obtains the current driving mode of the vehicle, the steering relationship between the axle and each electronically controlled axle in the current steering mode and the maximum steering angle when the steering angle does not exceed the preset steering angle; obtains the preset vehicle weight, actual vehicle weight and preset vehicle suspension height corresponding to the vehicle in the current driving mode; determines whether the first ratio between the preset vehicle weight and the actual vehicle weight exceeds the first value; obtains the actual vehicle suspension height of the vehicle in the current driving mode when the first ratio does not exceed the first value; determines the angle coefficient according to the second ratio and the first ratio between the preset vehicle suspension height and the actual vehicle suspension height; and adjusts the steering angle of the axle and each electronically controlled axle according to the angle coefficient, the steering relationship, and the maximum steering angle of the axle and each electronically controlled axle. This method realizes precise control of steering based on the driving mode, vehicle weight and vehicle suspension position, and effectively improves the safety of vehicle driving.

[0066] The present application provides a control device for a vehicle, comprising:

[0067] a memory configured to store instructions;

[0068] The controller is configured to call the instructions from the memory and implement the above-mentioned control method for the vehicle when executing the instructions.

[0069] The present application provides a vehicle, comprising:

[0070] Chassis, the chassis includes main running wheels and secondary running wheels, the main running wheels include vehicle axles, and the secondary running wheels include electronically controlled axles;

[0071] The above-mentioned control device for a vehicle.

[0072] In an embodiment of the present application, an angle sensor is installed on the axle, which is used to collect the steering angle of the axle, and a suspension detection device is installed on the chassis, which is used to collect the actual vehicle suspension height.

[0073] An embodiment of the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a controller, configures the controller to execute the above-mentioned control method for a vehicle.

[0074] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 2As shown. The computer device includes a controller A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. Among them, the controller A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store control method data for the vehicle. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the controller A01, a control method for a vehicle is implemented.

[0075] Those skilled in the art will understand that Figure 2 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0076] An embodiment of the present application provides a device, which includes a controller, a memory, and a program stored in the memory and executable on the controller. When the controller executes the program, the following steps are implemented: when the vehicle is started and the vehicle is in a stationary state, the current steering mode of the vehicle and the steering angle of the axle are obtained; whether the steering angle exceeds a preset steering angle; when the steering angle does not exceed the preset steering angle, the current driving mode of the vehicle, the steering relationship between the axle and each electronically controlled axle in the current steering mode and the maximum steering angle are obtained; the preset vehicle weight, actual vehicle weight and preset vehicle suspension height corresponding to the vehicle in the current driving mode are obtained; whether a first ratio between the preset vehicle weight and the actual vehicle weight exceeds a first value; when the first ratio does not exceed the first value, the actual vehicle suspension height of the vehicle in the current driving mode is obtained; the angle coefficient is determined according to a second ratio between the preset vehicle suspension height and the actual vehicle suspension height and the first ratio; the steering angle of the axle and each electronically controlled axle is adjusted according to the angle coefficient, the steering relationship, and the maximum steering angle of the axle and each electronically controlled axle.

[0077] In one embodiment, determining the angle coefficient based on the second ratio and the first ratio between the preset vehicle suspension height and the actual vehicle suspension height includes: judging whether the second ratio between the preset vehicle suspension height and the actual vehicle suspension height exceeds the second value; when the second ratio exceeds the second value, determining the angle coefficient according to the first relationship between the first ratio and the second ratio; when the second ratio does not exceed the second value, determining the angle coefficient according to the second relationship between the first ratio and the second ratio.

[0078] In one embodiment, the first relational expression and the second relational expression are respectively shown as formula (1) and formula (2):

[0079]

[0080] Wherein, β is the angle coefficient, a1, a2, b1, b2 are constants, X1 is the first ratio, and X2 is the second ratio.

[0081] In one embodiment, adjusting the steering angle of the axle and each electronically controlled axle according to the angle coefficient, the steering relationship, and the maximum steering angle of the axle and each electronically controlled axle includes: adjusting the steering angle of the axle and each electronically controlled axle according to the product of the angle coefficient and the maximum steering angle of the axle and each electronically controlled axle and the steering relationship.

[0082] In one embodiment, the control method further includes: when the steering angle exceeds a preset steering angle, determining that the vehicle cannot execute the current steering mode and issuing an alarm.

[0083] In one embodiment, the control method further includes: when the first ratio exceeds the first value, determining that the vehicle is overloaded and issuing an alarm.

[0084] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program that is initialized with the following method steps: when the vehicle is started and the vehicle is in a stationary state, obtaining the vehicle's current steering mode and the steering angle of the axle; judging whether the steering angle exceeds a preset steering angle; if the steering angle does not exceed the preset steering angle, obtaining the vehicle's current driving mode, the steering relationship between the axle and each electronically controlled axle in the current steering mode, and the maximum steering angle; obtaining the preset vehicle weight, actual vehicle weight, and preset vehicle suspension height corresponding to the vehicle in the current driving mode; judging whether a first ratio between the preset vehicle weight and the actual vehicle weight exceeds a first value; if the first ratio does not exceed the first value, obtaining the actual vehicle suspension height of the vehicle in the current driving mode; determining an angle coefficient based on a second ratio between the preset vehicle suspension height and the actual vehicle suspension height and the first ratio; and adjusting the steering angle of the axle and each electronically controlled axle based on the angle coefficient, the steering relationship, and the maximum steering angle of the axle and each electronically controlled axle.

[0085] In one embodiment, determining the angle coefficient based on the second ratio and the first ratio between the preset vehicle suspension height and the actual vehicle suspension height includes: judging whether the second ratio between the preset vehicle suspension height and the actual vehicle suspension height exceeds the second value; when the second ratio exceeds the second value, determining the angle coefficient according to the first relationship between the first ratio and the second ratio; when the second ratio does not exceed the second value, determining the angle coefficient according to the second relationship between the first ratio and the second ratio.

[0086] In one embodiment, the first relational expression and the second relational expression are respectively shown as formula (1) and formula (2):

[0087]

[0088] Wherein, β is the angle coefficient, a1, a2, b1, b2 are constants, X1 is the first ratio, and X2 is the second ratio.

[0089] In one embodiment, adjusting the steering angle of the axle and each electronically controlled axle according to the angle coefficient, the steering relationship, and the maximum steering angle of the axle and each electronically controlled axle includes: adjusting the steering angle of the axle and each electronically controlled axle according to the product of the angle coefficient and the maximum steering angle of the axle and each electronically controlled axle and the steering relationship.

[0090] In one embodiment, the control method further includes: when the steering angle exceeds a preset steering angle, determining that the vehicle cannot execute the current steering mode and issuing an alarm.

[0091] In one embodiment, the control method further includes: when the first ratio exceeds the first value, determining that the vehicle is overloaded and issuing an alarm.

[0092] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0093] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a controller of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the controller of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0094] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0095] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0096] In a typical configuration, a computing device includes one or more controllers (CPU), input / output interfaces, network interfaces, and memory.

[0097] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0098] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0099] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0100] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A control method for a vehicle, characterized in that: The vehicle comprises a chassis, the chassis comprises a main running wheel and a secondary running wheel, the main running wheel comprises a vehicle axle, the secondary running wheel comprises an electronically controlled axle, and the control method comprises: When the vehicle is started and the running state of the vehicle is at rest, obtaining a current steering mode of the vehicle and a steering angle of the axle; Determining whether the steering angle exceeds a preset steering angle; When the steering angle does not exceed the preset steering angle, obtaining the current driving mode of the vehicle, the steering relationship between the vehicle axle and each electronically controlled axle under the current steering mode, and the maximum steering angle; Obtaining a preset vehicle weight, an actual vehicle weight, and a preset vehicle suspension height corresponding to the vehicle in the current driving mode; Determining whether a first ratio between the preset vehicle weight and the actual vehicle weight exceeds a first value; When the first ratio does not exceed the first value, obtaining an actual vehicle suspension height of the vehicle in the current driving mode; Determining an angle coefficient according to a second ratio between the preset vehicle suspension height and the actual vehicle suspension height and the first ratio; The steering angles of the vehicle axle and each of the electronically controlled axles are adjusted according to the angle coefficient, the steering relationship, and the maximum steering angles of the vehicle axle and each of the electronically controlled axles.

2. The control method for a vehicle according to claim 1, characterized in that: Determining the angle coefficient according to the first ratio and the second ratio between the preset vehicle suspension height and the actual vehicle suspension height comprises: Determining whether a second ratio between the preset vehicle suspension height and the actual vehicle suspension height exceeds a second value; In the case where the second ratio exceeds the second value, determining the angle coefficient according to a first relationship between the first ratio and the second ratio; When the second ratio does not exceed the second value, the angle coefficient is determined according to a second relationship between the first ratio and the second ratio.

3. The control method for a vehicle according to claim 2, characterized in that: The first relational expression and the second relational expression are respectively shown in formula (1) and formula (2): Wherein, β is the angle coefficient, a1, a2, b1, b2 are constants, X1 is the first ratio, and X2 is the second ratio.

4. The control method for a vehicle according to claim 1, characterized in that: The step of adjusting the steering angle of the vehicle axle and each of the electronically controlled axles according to the angle coefficient, the steering relationship, and the maximum steering angle of the vehicle axle and each of the electronically controlled axles comprises: The steering angles of the vehicle axle and each of the electronically controlled axles are adjusted according to the product of the angle coefficient and the maximum steering angles of the vehicle axle and each of the electronically controlled axles and the steering relationship.

5. The control method for a vehicle according to claim 1, characterized in that: The control method further comprises: When the steering angle exceeds the preset steering angle, it is determined that the vehicle cannot execute the current steering mode and an alarm is issued.

6. The control method for a vehicle according to claim 1, characterized in that: The control method further comprises: When the first ratio exceeds the first value, it is determined that the vehicle is overloaded and an alarm is issued.

7. A control device for a vehicle, characterized in that: include: a memory configured to store instructions; A controller is configured to call the instructions from the memory and implement the control method for a vehicle according to any one of claims 1 to 6 when executing the instructions.

8. A vehicle, characterized in that: include: A chassis, the chassis comprising a main running wheel and a secondary running wheel, the main running wheel comprising a vehicle axle, and the secondary running wheel comprising an electronically controlled axle; A control device for a vehicle according to claim 7.

9. The vehicle according to claim 8, characterized in that The axle is installed with an angle sensor, and the angle sensor is used to collect the steering angle of the axle. The chassis is installed with a suspension detection device, and the suspension detection device is used to collect the actual vehicle suspension height of the vehicle.

10. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by a controller, the controller is configured to execute the control method for a vehicle according to any one of claims 1 to 6.

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