Vehicle steering method, device and equipment

Abstract

The invention discloses a vehicle steering method, device and equipment, and relates to the technical field of vehicles. The vehicle steering method comprises the following steps: acquiring an initial angle, an initial position and a target angle of a wheel of each axle in a plurality of axles of a vehicle; according to the initial angle, the target angle and the initial position, the number of initial steering centers, the position of the initial steering centers, the number of target steering centers and the position of the target steering centers are determined; for the wheel of the jth axle in the multiple axles, according to the initial steering center number, the initial steering center position, the target steering center number and the target steering center position, the angle of the wheel of the jth axle at each moment in the steering process from the initial angle to the target angle is determined; and according to the angle at each moment, controlling the wheel steering of the jth axle so as to switch the initial steering mode into the target steering mode. According to the scheme, the stability of the vehicle in the steering process can be improved.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and in particular, relates to a vehicle steering method, device and equipment. Background Art

[0002] Multi-axis steering technology is widely used in heavy-duty vehicles. It can effectively improve the handling stability of heavy-duty vehicles and reduce tire wear.

[0003] The multi-axis steering schemes in the relevant technology mainly include front-axle steering and all-axle steering. Among them, front-axle steering is to achieve the steering of the whole vehicle by controlling the steering angle of the front axle wheels, and the steering angle of the rear axle wheels cannot be adjusted; full-axle steering means to achieve the steering of the whole vehicle by controlling the steering angle of all axle wheels, which can achieve better turning radius and maneuverability.

[0004] During the switching of multi-axle steering schemes, multi-axle vehicles are prone to uncoordinated steering of the wheels on each axle, which affects the stability of the vehicle during the steering process. Summary of the invention

[0005] Embodiments of the present application provide a vehicle steering method, device, equipment, medium, product and vehicle, which can improve the stability of the vehicle during the steering process.

[0006] In a first aspect, an embodiment of the present application provides a vehicle steering method, comprising:

[0007] Obtaining an initial angle, an initial position, and a target angle of a wheel of each axle of a plurality of axles of a vehicle;

[0008] According to the initial angle and the initial position, determine the initial steering center number, the initial steering center position and the initial steering mode;

[0009] According to the target angle and the initial position, the number of target turning centers, the position of the target turning centers and the target turning mode are determined;

[0010] For a wheel of a j-th axle among the multiple axles, determine the angle of the wheel of the j-th axle at each moment during the steering process from the initial angle to the target angle according to the initial steering center number, the initial steering center position, the target steering center number and the target steering center position, wherein j is a positive integer;

[0011] According to the angle at each moment, the wheel steering of the j-th axle is controlled to switch the initial steering mode to the target steering mode.

[0012] In a second aspect, an embodiment of the present application provides a vehicle steering device, comprising:

[0013] An acquisition module, used to acquire an initial angle, an initial position and a target angle of a wheel of each axle of a plurality of axles of a vehicle;

[0014] The first determination module is configured to determine the number of initial steering centers, the positions of the initial steering centers, and the initial steering mode according to the initial angle and the initial position;

[0015] The second determination module is configured to determine the number of target steering centers, the positions of the target steering centers, and the target steering mode according to the target angle and the initial position;

[0016] The third determination module is configured to determine the angle at each moment during the steering process of the wheels of the j-th axle among a plurality of axles from the initial angle to the target angle according to the number of initial steering centers, the positions of the initial steering centers, the number of target steering centers, and the positions of the target steering centers, where j is a positive integer;

[0017] The control module is configured to control the steering of the wheels of the j-th axle according to the angle at each moment to switch the initial steering mode to the target steering mode.

[0018] In a third aspect, an embodiment of the present application provides an electronic device, where the electronic device includes: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the steps of the vehicle steering method provided by the embodiment of the present application are implemented.

[0019] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where computer program instructions are stored on the computer-readable storage medium, and when the computer program instructions are executed by a processor, the steps of the vehicle steering method provided by the embodiment of the present application are implemented.

[0020] In a fifth aspect, an embodiment of the present application provides a computer program product, where the computer program product includes computer program instructions, and when the computer program instructions are executed by a processor, the steps of the vehicle steering method provided by the embodiment of the present application are implemented.

[0021] In a sixth aspect, an embodiment of the present application provides a vehicle, including at least one of the following:

[0022] The vehicle steering device provided by the embodiment of the present application;

[0023] The electronic device provided by the embodiment of the present application;

[0024] The computer-readable storage medium provided by the embodiment of the present application.

[0025] In an embodiment of the present application, by obtaining the initial angle, initial position, and target angle of the wheels of each axle among multiple axles of a vehicle; determining the number of initial steering centers, the positions of the initial steering centers, and the initial steering mode according to the initial angle and the initial position; determining the number of target steering centers, the positions of the target steering centers, and the target steering mode according to the target angle and the initial position; for the wheels of the j-th axle among the multiple axles, determining the angle at each moment during the steering process of the wheels of the j-th axle from the initial angle to the target angle according to the number of initial steering centers, the positions of the initial steering centers, the number of target steering centers, and the positions of the target steering centers, where j is a positive integer; controlling the steering of the wheels of the j-th axle according to the angle at each moment to switch the initial steering mode to the target steering mode. In this way, during the process of switching the steering mode, the steering angles of each wheel change approximately linearly, enabling the angle controller to output stably. Moreover, during the process of switching the steering mode, the steering center moves linearly, which can improve the stability of the vehicle and is applicable to the switching of the steering mode of the vehicle under various working conditions, enhancing the flexibility of the steering mode switching of the multi-axle steering vehicle and the driving smoothness during the steering process. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0027] Figure 1 is a schematic flowchart of the vehicle steering method provided by the embodiment of the present application;

[0028] Figure 2 is a schematic diagram of the process of determining the number of steering centers provided by the embodiment of the present application;

[0029] Figure 3 is a schematic diagram of the steering mode provided by the embodiment of the present application;

[0030] Figure 4 is a schematic diagram of the steering mode switching provided by the embodiment of the present application;

[0031] Figure 5 is a schematic diagram of the process of controlling the vehicle steering provided by the embodiment of the present application;

[0032] Figure 6 is a schematic diagram of the angle change of each wheel provided by the embodiment of the present application;

[0033] Figure 7 is a schematic structural diagram of the vehicle steering device provided by the embodiment of the present application;

[0034] Figure 8It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0035] The features of various aspects of the present application and exemplary embodiments will be described in detail below. To make the objectives, technical solutions, and advantages of the present application clearer and more understandable, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0036] It should be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, elements defined by the statement "comprising..." do not exclude the presence of additional identical elements in the process, method, article or device comprising the said elements.

[0037] The vehicle steering method, device, equipment, medium, product and vehicle provided by the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings, specific embodiments and their application scenarios.

[0038] Figure 1 It is a schematic flow diagram of the vehicle steering method provided by the embodiment of the present application. As Figure 1 shown, the vehicle steering method may include:

[0039] Step 101: Obtain the initial angles, initial positions and target angles of the wheels of each axle among multiple axles of the vehicle;

[0040] In some possible implementations of the embodiments of the present application, the number of axles of the vehicle may be odd or even. When the number of axles of the vehicle is even, the number of axles on the front side is equal to the number of axles on the rear side. When the number of axles is odd, the number of axles on the front side is usually one more than the number of axles on the rear side.

[0041] Step 102: Determine the number of initial steering centers, the positions of the initial steering centers and the initial steering mode according to the initial angles and initial positions;

[0042] Step 103: Determine the number of target steering centers, the positions of the target steering centers, and the target steering mode according to the target angle and the initial position.

[0043] In some possible implementations of the embodiments of the present application, the intersection point of the axes of the wheels of each axle is the steering center.

[0044] In some possible implementations of the embodiments of the present application, when determining the number of steering centers, the positions of the steering centers, and the steering mode according to the angle and the position in Step 102 and Step 103, it is possible to compare whether the difference between the wheel angles of any two axles among multiple axles is less than the angle threshold. When the difference between the wheel angles of any two axles among multiple axles is less than the angle threshold, it is determined that the steering mode is a double-axle steering mode and the number of steering centers is 0; when there are two axles among multiple axles whose difference in wheel angles is not less than the angle threshold, calculate the intersection point of the axes of the wheels of the kth axle and the (N - k + 1)th axle and calculate the intersection point of the axes of the wheels of the (k + 1)th axle and the (N - k)th axle, and compare whether the distance between the two intersection points is less than the distance threshold. When the distance between the two intersection points is less than the distance threshold, it is determined that the steering mode is a double-axle steering mode or a figure-eight steering mode and the number of steering centers is 1; when the distance between the two intersection points is not less than the distance threshold, it is determined that the steering mode is a diagonal steering mode and the number of steering centers is 2.

[0045] Figure 2 It is a schematic diagram of the process of determining the number of steering centers provided by the embodiments of the present application. The process of determining the number of steering centers includes the following steps:

[0046] Step 201: Compare whether the difference between the wheel angles of any two axles among multiple axles is less than the angle threshold. If so, execute Step 202; if not, execute Step 203.

[0047] Step 202: The number of steering centers is 0.

[0048] Step 203: Calculate the intersection point of the axes of the wheels of the kth axle and the (N - k + 1)th axle and calculate the intersection point of the axes of the wheels of the (k + 1)th axle and the (N - k)th axle.

[0049] Step 204: Compare whether the distance between the two intersection points is less than the distance threshold. If so, execute Step 205; if not, execute Step 206.

[0050] Step 205: The number of steering centers is 1.

[0051] Step 205: The number of steering centers is 2.

[0052] In some possible implementations of the embodiments of the present application, the dual-axis steering mode in the embodiments of the present application includes two types. One is a dual-axis mode where there is no steering center and the angles of the multi-axis wheels are strictly parallel. The other is a mode where there is a steering center and the steering center is not strictly on the median plane of the vehicle. The figure-eight steering mode in the embodiments of the present application includes three types. The first is the front figure-eight steering mode, that is, the front axle wheels steer and the rear axle wheels remain in the straight-ahead state. The second is the rear figure-eight steering mode, that is, the rear axle wheels steer and the front axle wheels remain in the straight-ahead state. The third is the full figure-eight steering mode, that is, both the front and rear axle wheels steer and the steering center is located on the median plane of the vehicle.

[0053] Various steering modes are as Figure 3 shown, Figure 3 which is a schematic diagram of the steering mode provided by the embodiments of the present application. In Figure 3 , taking a four-axle vehicle as an example for illustration, δ1, δ2, δ3, and δ4 are the wheel angles of the first axle, the second axle, the third axle, and the fourth axle respectively, and R is the turning radius.

[0054] Step 104: For the wheels of the j-th axle among multiple axles, determine the angle at each moment during the steering process of the wheels of the j-th axle from the initial angle to the target angle according to the number of initial steering centers, the position of the initial steering center, the number of target steering centers, and the position of the target steering center, where j is a positive integer;

[0055] In some possible implementations of the embodiments of the present application, step 104 may include: when both the number of initial steering centers and the number of target steering centers are 0, determine the angle of the wheels of the j-th axle at each moment according to the initial angle, the target angle, and the angular velocity of the wheels of the j-th axle.

[0056] In some possible implementations of the embodiments of the present application, to determine the angle of the wheels of the j-th axle at each moment according to the initial angle, the target angle, and the angular velocity of the wheels of the j-th axle may include: for the first moment, calculate the sign value of the first difference between the target angle and the initial angle of the wheels of the j-th axle; calculate the second difference between the first moment and the moment corresponding to the initial angle; calculate the product of the sign value, the second difference, and the angular velocity to obtain the first product value; calculate the sum of the first product value and the initial angle to obtain the angle of the wheels of the j-th axle at the first moment.

[0057] Specifically, when both the number of initial steering centers and the number of target steering centers are 0, the angle of the wheels of the j-th axle at each moment can be determined according to the following formula (1).

[0058]

[0059] Among them, in formula (1), is the angle of the wheel of the j-th axle at time T i At this moment, is the initial angle of the wheel of the j-th axle, is the target angle of the wheel of the j-th axle, ω is the angular velocity, and T s is the time corresponding to the initial angle, and sgn is the sign function.

[0060] In some possible implementations of the embodiments of the present application, step 104 may include: when the number of initial steering centers and the number of target steering centers are not both 0, determining the change angle of the wheel of each axle according to the initial angle and the target angle of the wheel of each axle; determining a reference wheel according to the change angle; determining the angle of the reference wheel at each moment according to the initial angle, the target angle and the angular velocity of the reference wheel; determining the position of the steering center corresponding to the reference wheel at each moment according to the angle at each moment; determining the angle of the wheel of the j-th axle at each moment according to the position of the steering center and the initial position of the wheel of the j-th axle.

[0061] In some possible implementations of the embodiments of the present application, the absolute value of the difference between the target angle and the initial angle may be used as the change angle.

[0062] In some possible implementations of the embodiments of the present application, determining a reference wheel according to the change angle may include: when the number of initial steering centers and the number of target steering centers are both less than 2, determining the reference wheel among multiple axles according to the change angles of the wheels of multiple axles; when the number of initial steering centers or the number of target steering centers is 2, determining the reference wheel among the k-th axle and the (N-k+1)-th axle according to the change angles of the wheels of the k-th axle and the (N-k+1)-th axle, where N is the number of axles and k is less than N / 2.

[0063] In some possible implementations of the embodiments of the present application, when the number of initial steering centers and the number of target steering centers are both less than 2, the wheel corresponding to the maximum change angle may be determined as the reference wheel. Exemplarily, assuming that the wheel of the j-th axle among multiple axles is determined as the reference wheel, the angle of this wheel at each moment can be calculated according to the above formula (1).

[0064] Determine the straight line where the steering center is located according to the number and position of the initial steering centers and the number and position of the target steering centers, and represent it by the point (x o , y o ).

[0065] When the number of initial steering centers is 0 and the number of target steering centers is 1, let Among them, is the position of the target steering center.

[0066] When the number of initial steering centers is 1 and the number of target steering centers is 0, let wherein, is the position of the initial steering center.

[0067] When the number of initial steering centers is 1 and the number of target steering centers is 1, let

[0068] When it is determined that the reference wheel is the wheel of the j-th axle among multiple axles, the steering center position of the reference wheel (the wheel of the j-th axle) at time T can be calculated according to the following formula (2): i At time T:

[0069]

[0070] wherein, in formula (2), and are respectively the x-axis and y-axis components of the steering center position of the reference wheel (the wheel of the j-th axle) at time T, x i and y j and y j are respectively the x-axis and y-axis components of the initial position of the reference wheel, is the angle of the reference wheel at time T i At time T.

[0071] In some possible implementations of the embodiments of the present application, a Cartesian plane rectangular coordinate system is established with the center of the vehicle body central axis as the coordinate origin, the vehicle body front-rear direction central axis as the x-axis, and the vehicle body left-right direction central axis as the y-axis. The front of the vehicle body is the positive direction of the x-axis, and the left of the vehicle body is the positive direction of the y-axis. Then the wheel position of the j-th axle is P j (x j , y j ). It is stipulated that the steering angle is positive when the wheel turns left and negative when the wheel turns right.

[0072] In some possible implementations of the embodiments of the present application, according to the steering center position and the initial position of the wheel of the j-th axle, determining the angle of the wheel of the j-th axle at each moment may include: for the second moment, calculating the third difference between the x-axis component of the steering center position of the reference wheel at the second moment and the x-axis component of the initial position of the wheel of the j-th axle; calculating the fourth difference between the y-axis component of the initial position of the wheel of the j-th axle and the y-axis component of the steering center position of the reference wheel at the second moment; calculating the ratio of the third difference to the fourth difference; calculating the arctangent value of the ratio to obtain the angle of the wheel of the j-th axle at the second moment.

[0073] Specifically, the angles of each wheel at time T can be calculated according to the following formula (3):i Angle at a moment:

[0074]

[0075] Wherein, in formula (3), is the angle of the wheel of the k-th axle at time T i moment, x k and y k are respectively the components of the initial position of the wheel of the k-th axle on the x-axis and y-axis, and are respectively the components of the position of the steering center of the reference wheel on the x-axis and y-axis at time T i , and atan is the arctangent function.

[0076] In some possible implementations of the embodiments of the present application, when the number of initial steering centers or the number of target steering centers is 2, the reference wheels of the k-th axle and the (N - k + 1)-th axle are determined according to the change angles of the wheels of the k-th axle and the (N - k + 1)-th axle, wherein N is the number of axles and k is less than N / 2.

[0077] In some possible implementations of the embodiments of the present application, when the number of initial steering centers or the number of target steering centers is 2, determining the reference wheels of the k-th axle and the (N - k + 1)-th axle according to the change angles of the wheels of the k-th axle and the (N - k + 1)-th axle may include: when the number of initial steering centers or the number of target steering centers is 2, the wheel with the largest change angle among the wheels of the k-th axle and the (N - k + 1)-th axle is determined as the reference wheel of the k-th axle and the (N - k + 1)-th axle.

[0078] In some possible implementations of the embodiments of the present application, when N is odd, for the wheels of the (N + 1) / 2-th axle, its own wheel can be used as the reference wheel, that is, the angle at each moment can be directly calculated according to the above formula (1); it can also be combined with the wheels of any axle in the rear axle, and the reference wheel in the combination is determined by the above method, and then the angle of the wheels of the (N + 1) / 2-th axle at each moment is calculated based on the reference wheel.

[0079] Exemplarily, assuming N is 4, the reference wheels of the 1st axle and the 4th axle are determined according to the change angles of the wheels of the 1st axle and the 4th axle; the reference wheels of the 2nd axle and the 3rd axle are determined according to the change angles of the wheels of the 2nd axle and the 3rd axle. After the reference wheels are determined, the angles of the wheels of each axle at each moment can be calculated with reference to the above process.

[0080] Exemplarily, assume N is 5. Determine the reference wheels in the first axle and the fifth axle according to the change angles of the wheels of the first axle and the fifth axle; determine the reference wheels in the second axle and the fourth axle according to the change angles of the wheels of the second axle and the fourth axle; for the wheels of the third axle, directly calculate their angles at each moment according to the above formula (1). After determining the reference wheels, the angles of the wheels of each axle at each moment can be calculated with reference to the above process.

[0081] Step 105: Control the wheels of the j-th axle to turn according to the angles at each moment, so as to switch the initial steering mode to the target steering mode.

[0082] In some possible implementations of the embodiments of the present application, when calculating the angles of the wheels of each axle at each moment according to the above process and controlling the wheels of the j-th axle to turn according to the angles at each moment, the initial steering mode can be switched to the target steering mode through the dual-axle mode. That is to say, in the process of switching the initial steering mode to the target steering mode, the initial steering mode is first switched to the dual-axle mode, and then the dual-axle mode is switched to the target steering mode.

[0083] The switching of each steering mode is as Figure 4 shown, Figure 4 which is a schematic diagram of the steering mode switching provided by the embodiments of the present application.

[0084] Figure 5 which is a schematic diagram of the process of controlling the vehicle to turn provided by the embodiments of the present application. The process of controlling the vehicle to turn includes the following steps:

[0085] Step 501: Obtain the initial angles, initial positions and target angles of the wheels of each axle in multiple axles of the vehicle;

[0086] Step 502: Calculate the number of initial steering centers, the positions of initial steering centers, the number of target steering centers and the positions of target steering centers;

[0087] Step 503: Determine whether the number of initial steering centers and the number of target steering centers are both 0. If so, execute Step 504; if not, execute Step 506;

[0088] Step 504: Calculate the angles of the wheels of each axle at each moment;

[0089] Step 505: Control the wheels of each axle to turn according to the angles of the wheels of each axle at each moment;

[0090] Step 506: Determine whether the number of initial steering centers and the number of target steering centers are both less than 2. If so, execute Step 507; if not, execute Step 509;

[0091] Step 507: Determine a reference wheel from the wheels of each axle according to the change angles of the wheels of each axle;

[0092] Step 508: Calculate the angle of the reference wheel at each moment, and execute Step 504;

[0093] Step 509: Determine the reference wheels in the k-th axle and the (N - k + 1)-th axle according to the change angles of the wheels of the k-th axle and the (N - k + 1)-th axle, and continue to execute Step 508.

[0094] In the embodiment of the present application, by obtaining the initial angles, initial positions, and target angles of the wheels of each axle among multiple axles of the vehicle; determining the number of initial steering centers, the positions of the initial steering centers, and the initial steering mode according to the initial angles and the initial positions; determining the number of target steering centers, the positions of the target steering centers, and the target steering mode according to the target angles and the initial positions; for the wheels of the j-th axle among the multiple axles, determining the angle at each moment during the steering process of the wheels of the j-th axle from the initial angle to the target angle according to the number of initial steering centers, the positions of the initial steering centers, the number of target steering centers, and the positions of the target steering centers, where j is a positive integer; controlling the steering of the wheels of the j-th axle according to the angle at each moment to switch the initial steering mode to the target steering mode. In this way, during the process of switching the steering mode, the steering angles of each wheel change approximately linearly, enabling the angle controller to output stably. And during the process of switching the steering mode, the steering center moves linearly, which can improve the stability of the vehicle and is applicable to the switching of the steering mode of the vehicle under various working conditions, improving the flexibility of the steering mode switching of the multi-axle steering vehicle and the driving smoothness during the steering process.

[0095] Exemplarily, the following takes a four-axle vehicle as an example for illustration.

[0096] Assume that the initial angle of the wheels of the first axle of the obtained four-axle vehicle is 30°, the initial angle of the wheels of the second axle is 25°, the initial angle of the wheels of the third axle is -20°, and the initial angle of the wheels of the fourth axle is -25°. The position P1(x1, y1) of the wheels of the first axle is (4600, 1158) mm, the position P2(x2, y2) of the wheels of the second axle is (3000, 1158) mm, the position P3(x3, y3) of the wheels of the third axle is (-4600, 1158) mm, and the position P4(x4, y4) of the wheels of the fourth axle is (-3000, 1158) mm. The target angle of the wheels of the first axle is -30°, the target angle of the wheels of the second axle is -20.6°, the target angle of the wheels of the third axle is 20.6°, and the target angle of the fourth-axis wheel is 30°. The steering angular velocity is 15° / s. The wheel steering duration is 4 seconds.

[0097] According to the above process, it is calculated that there is a steering center in the initial steering mode, and the position of this steering center is There is a steering center in the target steering mode, and the position of this steering center is

[0098] The change angle of the first-axis wheel is 60°, the change angle of the second-axis wheel is 45.6°, the change angle of the third-axis wheel is 40.6°, and the change angle of the fourth-axis wheel is 55°. Taking the first-axis wheel as the reference wheel, the angle of the first-axis wheel at time i is 30 - 15(i - s), where 0 ≤ i - s ≤ 4.

[0099] Since there is a steering center in both the initial steering mode and the target steering mode, according to the above process, the angles of each wheel at each moment can be calculated. Exemplarily, according to the above process, for i - s = 2, the angle of the fourth-axis wheel is 3.18°. The angle changes of each wheel are as Figure 6 shown Figure 6 which is a schematic diagram of the angle changes of each wheel provided by the embodiment of the present application.

[0100] The embodiment of the present application also provides a vehicle steering device, as Figure 7 shown. Figure 7 is a schematic structural diagram of the vehicle steering device provided by the embodiment of the present application. The vehicle steering device 700 may include:

[0101] An acquisition module 701, configured to acquire the initial angle, initial position, and target angle of the wheels of each axle among multiple axles of the vehicle;

[0102] A first determination module 702, configured to determine the number of initial steering centers, the initial steering center positions, and the initial steering mode according to the initial angle and the initial position;

[0103] A second determination module 703, configured to determine the number of target steering centers, the target steering center positions, and the target steering mode according to the target angle and the initial position;

[0104] A third determination module 704, configured to, for the wheels of the jth axle among multiple axles, determine the angle of the wheels of the jth axle at each moment during the steering process from the initial angle to the target angle according to the number of initial steering centers, the initial steering center positions, the number of target steering centers, and the target steering center positions, where j is a positive integer;

[0105] The control module 705 is configured to control the wheel steering of the j-th axle according to the angle at each moment, so as to switch the initial steering mode to the target steering mode.

[0106] In the embodiment of the present application, by obtaining the initial angle, initial position and target angle of the wheels of each axle among multiple axles of the vehicle; determining the number of initial steering centers, initial steering center positions and initial steering modes according to the initial angle and initial position; determining the number of target steering centers, target steering center positions and target steering modes according to the target angle and initial position; for the wheels of the j-th axle among multiple axles, determining the angle at each moment during the steering process of the wheels of the j-th axle from the initial angle to the target angle according to the number of initial steering centers, initial position of the initial steering center, number of target steering centers and target steering center positions, where j is a positive integer; controlling the wheel steering of the j-th axle according to the angle at each moment, so as to switch the initial steering mode to the target steering mode. In this way, during the switching process of the steering mode, the steering angles of each wheel change approximately linearly, enabling the angle controller to output stably, and during the switching process of the steering mode, the steering center moves linearly, which can improve the stability of the vehicle and is applicable to the switching of the steering mode of the vehicle under various working conditions, improving the flexibility of the steering mode switching of the multi-axle steering vehicle and the driving smoothness during the steering process.

[0107] In some possible implementations of the embodiment of the present application, the third determination module 704 may specifically be configured to:

[0108] When both the number of initial steering centers and the number of target steering centers are 0, determine the angle of the wheels of the j-th axle at each moment according to the initial angle, target angle and angular velocity of the wheels of the j-th axle.

[0109] In some possible implementations of the embodiment of the present application, the third determination module 704 may specifically be configured to:

[0110] For the first moment, calculate the sign value of the first difference between the target angle and the initial angle of the wheels of the j-th axle;

[0111] Calculate the second difference between the first moment and the moment corresponding to the initial angle;

[0112] Calculate the product of the sign value, the second difference and the angular velocity to obtain the first product value;

[0113] Calculate the sum of the first product value and the initial angle to obtain the angle of the wheels of the j-th axle at the first moment.

[0114] In some possible implementations of the embodiment of the present application, the third determination module 704 may include:

[0115] A first determination sub-module, configured to, when both the number of initial steering centers and the number of target steering centers are not zero, determine the change angle of the wheels of each axle according to the initial angle and the target angle of the wheels of each axle;

[0116] A second determination sub-module, configured to determine a reference wheel according to the change angle;

[0117] A third determination sub-module, configured to determine the angle of the reference wheel at each moment according to the initial angle, the target angle and the angular speed of rotation of the reference wheel;

[0118] A fourth determination sub-module, configured to determine the steering center position corresponding to the reference wheel at each moment according to the angle at each moment;

[0119] A fifth determination sub-module, configured to determine the angle of the wheels of the j-th axle at each moment according to the steering center position and the initial position of the wheels of the j-th axle.

[0120] In some possible implementations of the embodiments of the present application, the second determination sub-module is specifically configured to:

[0121] When both the number of initial steering centers and the number of target steering centers are less than 2, determine the reference wheel among multiple axles according to the change angles of the wheels of multiple axles;

[0122] When the number of initial steering centers or the number of target steering centers is 2, determine the reference wheel among the k-th axle and the (N - k + 1)-th axle according to the change angles of the wheels of the k-th axle and the (N - k + 1)-th axle, where N is the number of axles and k is less than N / 2.

[0123] In some possible implementations of the embodiments of the present application, the second determination sub-module is specifically configured to:

[0124] When both the number of initial steering centers and the number of target steering centers are less than 2, determine the wheel corresponding to the maximum change angle as the reference wheel.

[0125] In some possible implementations of the embodiments of the present application, the second determination sub-module is specifically configured to:

[0126] When the number of initial steering centers or the number of target steering centers is 2, determine the wheel with the largest change angle among the wheels of the k-th axle and the (N - k + 1)-th axle as the reference wheel among the k-th axle and the (N - k + 1)-th axle.

[0127] In some possible implementations of the embodiments of the present application, the fifth determination sub-module is specifically configured to:

[0128] For the second moment, calculate a third difference between the x-axis component of the steering center position of the reference wheel at the second moment and the x-axis component of the initial position of the wheel of the j-th axle;

[0129] Calculate a fourth difference between the y-axis component of the initial position of the wheel of the j-th axle and the y-axis component of the steering center position of the reference wheel at the second moment;

[0130] Calculate the ratio of the third difference to the fourth difference;

[0131] Calculate the arctangent value of the ratio to obtain the angle of the wheel of the j-th axle at the second moment;

[0132] Wherein, the x-axis is the central axis of the vehicle body in the front-rear direction, the front of the vehicle body is the positive direction of the x-axis, the y-axis is the central axis of the vehicle body in the left-right direction, and the left side of the vehicle body is the positive direction of the y-axis.

[0133] Figure 8 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0134] The electronic device may include a processor 801 and a memory 802 storing computer program instructions.

[0135] Specifically, the above-mentioned processor 801 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0136] The memory 802 may include a mass storage for data or instructions. By way of example and not limitation, the memory 802 may include a Hard Disk Drive (HDD), a floppy disk drive, a flash memory, an optical disc, a magneto-optical disc, a magnetic tape, or a Universal Serial Bus (USB) drive or a combination of two or more of these. In a suitable case, the memory 802 may include a removable or non-removable (or fixed) medium. In a suitable case, the memory 802 may be internal or external to the electronic device. In some specific embodiments, the memory 802 is a non-volatile solid-state memory.

[0137] In some specific embodiments, the memory may include a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical, or other physical / tangible memory storage device. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the vehicle steering method according to the present application.

[0138] The processor 801 reads and executes the computer program instructions stored in the memory 802 to implement the steps of the vehicle steering method provided by the embodiments of the present application.

[0139] In one example, the electronic device may further include a communication interface 803 and a bus 810. Among them, as Figure 8 shown, the processor 801, the memory 802, and the communication interface 803 are connected through the bus 810 and complete communication with each other.

[0140] The communication interface 803 is mainly used to implement communication between various modules, devices, units, and / or devices in the embodiments of the present application.

[0141] The bus 810 includes hardware, software, or both, and couples components of the electronic device to each other. By way of example and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, the bus 810 may include one or more buses. Although embodiments of the present application describe and illustrate specific buses, the present application contemplates any suitable bus or interconnect.

[0142] The electronic device can perform the steps of the vehicle steering method provided by the embodiments of the present application, thereby achieving the corresponding technical effects of the vehicle steering method provided by the embodiments of the present application.

[0143] In addition, in combination with the vehicle steering method in the above embodiments, the embodiments of the present application also provide a computer-readable storage medium to implement. Computer program instructions are stored on the computer-readable storage medium; when the computer program instructions are executed by a processor, the steps of the vehicle steering method provided by the embodiments of the present application are implemented. Examples of the computer-readable storage medium include non-transitory computer-readable media, such as ROM, RAM, magnetic disks, or optical discs.

[0144] The embodiments of the present application provide a computer program product, which includes computer program instructions; when the computer program instructions are executed by a processor, the steps of the vehicle steering method provided by the embodiments of the present application are implemented, and the same technical effects can be achieved. To avoid repetition, it will not be described here again.

[0145] An embodiment of the present application provides a vehicle, including at least one of the following:

[0146] The vehicle steering device provided by the embodiment of the present application;

[0147] The electronic device provided by the embodiment of the present application;

[0148] The computer-readable storage medium provided by the embodiment of the present application.

[0149] It should be clear that the present application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, the detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order between steps after understanding the spirit of the present application.

[0150] The functional blocks shown in the above structure block diagrams can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium or transmitted via a data signal carried in a carrier wave on a transmission medium or a communication link. A "machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable read-only memory (EROM), floppy disks, compact disc read-only memory (CD-ROM), optical discs, hard disks, fiber optic media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, intranet, etc.

[0151] It should also be noted that in the exemplary embodiments mentioned in the present application, some methods or systems are described based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps can be executed in the order mentioned in the embodiments, can be different from the order in the embodiments, or several steps can be executed simultaneously.

[0152] Aspects of the present disclosure have been described above with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each block in the flowchart and / or block diagram, and the combinations of blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing apparatus enable the implementation of the functions / actions specified in one or more blocks of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It should also be understood that each block in the block diagram and / or flowchart, and the combinations of blocks in the block diagram and / or flowchart, can also be implemented by dedicated hardware that performs the specified functions or actions, or by a combination of dedicated hardware and computer instructions.

[0153] As described above, the foregoing is only a specific implementation manner of the present application. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein. It should be understood that the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and these modifications or substitutions should all be covered within the protection scope of the present application.

Claims

1. A vehicle steering method, characterized in that, The method includes: Obtaining the initial angle, initial position, and target angle of the wheels of each axle among multiple axles of a vehicle; Determining the number of initial steering centers, initial steering center positions, and initial steering modes according to the initial angle and the initial position; Determining the number of target steering centers, target steering center positions, and target steering modes according to the target angle and the initial position; For the wheels of the j-th axle among the multiple axles, determining the angle at each moment during the steering process of the wheels of the j-th axle from the initial angle to the target angle according to the number of initial steering centers, initial steering center positions, the number of target steering centers, and target steering center positions, where j is a positive integer; Controlling the steering of the wheels of the j-th axle according to the angle at each moment to switch the initial steering mode to the target steering mode.

2. The method according to claim 1, wherein The step of, for the wheels of the j-th axle among the multiple axles, determining the angle at each moment during the steering process of the wheels of the j-th axle from the initial angle to the target angle according to the number of initial steering centers, initial steering center positions, the number of target steering centers, and target steering center positions includes: When both the number of initial steering centers and the number of target steering centers are 0, determining the angle of the wheels of the j-th axle at each moment according to the initial angle, target angle, and angular velocity of the wheels of the j-th axle.

3. The method according to claim 2, wherein The step of determining the angle of the wheels of the j-th axle at each moment according to the initial angle, target angle, and angular velocity of the wheels of the j-th axle includes: For the first moment, calculating the sign value of the first difference between the target angle and the initial angle of the wheels of the j-th axle; Calculating the second difference between the first moment and the moment corresponding to the initial angle; Calculating the product of the sign value, the second difference, and the angular velocity to obtain a first product value; Calculating the sum of the first product value and the initial angle to obtain the angle of the wheels of the j-th axle at the first moment.

4. The method according to claim 1, characterized in that, The step of, for the wheels of the j-th axle among the multiple axles, determining the angle at each moment during the steering process of the wheels of the j-th axle from the initial angle to the target angle according to the number of initial steering centers, initial steering center positions, the number of target steering centers, and target steering center positions includes: When the number of initial steering centers and the number of target steering centers are not both 0, determining the change angle of the wheels of each axle according to the initial angle and the target angle of the wheels of each axle; Determining a reference wheel according to the change angle; Determining the angle of the reference wheel at each moment according to the initial angle, target angle, and angular velocity of the reference wheel; Determining the steering center position corresponding to the reference wheel at each moment according to the angle at each moment; Determining the angle of the wheels of the j-th axle at each moment according to the steering center position and the initial position of the wheels of the j-th axle.

5. The method according to claim 4, wherein Determining a reference wheel according to the change angle includes: When both the number of initial steering centers and the number of target steering centers are less than 2, determining the reference wheel among the multiple axles according to the change angles of the wheels of the multiple axles; When the number of initial steering centers or the number of target steering centers is 2, determining the reference wheel among the k-th axle and the (N - k + 1)-th axle according to the change angles of the wheels of the k-th axle and the (N - k + 1)-th axle, where N is the number of axles and k is less than N / 2.

6. The method according to claim 5, characterized in that, When both the number of initial steering centers and the number of target steering centers are less than 2, determining the reference wheel among the multiple axles according to the change angles of the wheels of the multiple axles includes: When both the number of initial steering centers and the number of target steering centers are less than 2, determining the wheel corresponding to the maximum change angle as the reference wheel.

7. The method according to claim 5, wherein When the number of initial steering centers or the number of target steering centers is 2, determining the reference wheel among the k-th axle and the (N - k + 1)-th axle according to the change angles of the wheels of the k-th axle and the (N - k + 1)-th axle includes: When the number of initial steering centers or the number of target steering centers is 2, determining the wheel with the maximum change angle among the wheels of the k-th axle and the (N - k + 1)-th axle as the reference wheel among the k-th axle and the (N - k + 1)-th axle.

8. The method according to claim 4, characterized in that Determining the angle of the wheel of the j-th axle at each moment according to the steering center position and the initial position of the wheel of the j-th axle includes: For the second moment, calculating a third difference between the x-axis component of the steering center position of the reference wheel at the second moment and the x-axis component of the initial position of the wheel of the j-th axle; Calculating a fourth difference between the y-axis component of the initial position of the wheel of the j-th axle and the y-axis component of the steering center position of the reference wheel at the second moment; Calculating the ratio of the third difference to the fourth difference; Calculating the arctangent value of the ratio to obtain the angle of the wheel of the j-th axle at the second moment; Wherein, the x-axis is the central axis in the front-rear direction of the vehicle body, the front of the vehicle body is the positive direction of the x-axis, the y-axis is the central axis in the left-right direction of the vehicle body, and the left side of the vehicle body is the positive direction of the y-axis.

9. A vehicle steering device, characterized in that, The device includes: An acquisition module for acquiring the initial angle, initial position, and target angle of the wheels of each axle among the multiple axles of the vehicle; A first determination module for determining the number of initial steering centers, initial steering center positions, and initial steering modes according to the initial angle and the initial position; A second determination module for determining the number of target steering centers, target steering center positions, and target steering modes according to the target angle and the initial position; A third determination module, configured to determine the angle at each moment during the steering process of the wheel of the j-th axle among the multiple axles from the initial angle to the target angle according to the number of initial steering centers, the initial steering center positions, the number of target steering centers, and the target steering center positions, where j is a positive integer; A control module, configured to control the steering of the wheel of the j-th axle according to the angle at each moment, so as to switch the initial steering mode to the target steering mode.

10. An electronic device, characterized in that, The electronic device includes: a processor and a memory storing computer program instructions; The processor reads and executes the computer program instructions to implement the steps of the vehicle steering method according to any one of claims 1-8.

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