Vehicle and steering control method thereof

Abstract

The invention provides a vehicle and a steering control method thereof, and the method comprises the steps: a vehicle control unit receives a steering signal, and issues a steering instruction based on the received steering signal; and in response to a preset condition, a motor controller is controlled based on the steering instruction, so that the motor controller controls steering of a steering wheel, and the preset condition represents that a motor band-type brake is completely opened. According to the steering control method of the vehicle, when the vehicle is in pivot steering, steering of the steering wheel is controlled only when it is determined that the motor band-type brake is completely opened. Unnecessary abrasion of the band-type brake is avoided, and the service life of the band-type brake is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of drive control of four-wheel drive and four-motor electric vehicles, and particularly to a vehicle and a steering control method for the vehicle. Background Art

[0002] At present, the walking power system of four-wheel side drive electric vehicles often uses 4 asynchronous motors or synchronous motors with brake calipers, and braking is achieved by locking the motor shaft with the motor brake calipers. When driving, the motor driver controls the brake calipers to open and controls the motor to run in speed mode; when parking, the motor driver controls the motor to decelerate to 0 speed (referring to the rotor or output shaft of the motor being in a stationary state), and after stopping stably, the brake calipers are closed to park the vehicle. When turning in place, the steering hydraulic push rod will push the steering wheel to turn, resulting in steering wheel jitter. Summary of the Invention

[0003] The present invention mainly provides a vehicle and a steering control method for the vehicle, which can avoid steering wheel jitter.

[0004] To solve the above technical problems, the first technical solution adopted by the present invention is: to provide a steering control method for a vehicle, including: The vehicle controller receives a steering signal and issues a steering command based on the received steering signal; In response to a preset condition, the motor controller is controlled based on the steering command, so that the motor controller controls the steering of the steering wheel, and the preset condition indicates that the motor brake calipers are fully opened.

[0005] In one embodiment, the preset condition includes: a brake state signal or a delay signal.

[0006] In one embodiment, issuing a steering command based on the received steering signal includes: Determining a steering direction based on the steering signal, and generating a steering assist parameter matching the steering direction based on the steering direction; Issuing a steering command based on the steering signal and the steering assist parameter.

[0007] In one embodiment, in response to the steering direction being leftward, the steering assist parameter includes: the left front wheel retreats at a preset speed, and the right front wheel advances at a preset speed; In response to the steering direction being rightward, the steering assist parameter includes: the right front wheel retreats at a preset speed, and the left front wheel advances at a preset speed.

[0008] In one embodiment, the preset speed is determined based on the wheel diameter of the vehicle and the reduction ratio of the reduction gear.

[0009] To solve the above technical problems, the first technical solution adopted by the present invention is: to provide a steering control method for a vehicle, including: The motor controller detects preset conditions; In response to the preset conditions, the steering of the steering wheel is controlled based on the steering instruction.

[0010] In one embodiment, the preset conditions include: a brake state signal or a delay signal.

[0011] In one embodiment, before controlling the steering of the steering wheel based on the steering instruction, it includes: The motor controller detects the rotation direction of the motor and obtains the steering instruction based on the rotation direction.

[0012] In one embodiment, controlling the steering of the steering wheel based on the steering instruction includes: Generating a steering assist parameter that matches the steering direction based on the steering direction represented by the steering instruction; Controlling the steering of the steering wheel based on the steering assist parameter and the steering instruction.

[0013] In one embodiment, the steering assist parameter includes: the corresponding steering wheel moves along the force direction of the tire at a preset speed.

[0014] To solve the above technical problems, the first technical solution adopted by the present invention is: providing a vehicle, and the vehicle is used to implement the steering control method of any one of the above.

[0015] The beneficial effect of the present invention is: different from the prior art, the steering control method of the vehicle provided by the present invention includes: the vehicle controller receives a steering signal and issues a steering instruction based on the received steering signal; in response to a preset condition, the motor controller is controlled based on the steering instruction so that the motor controller controls the steering of the steering wheel, and the preset condition indicates that the motor brake is fully opened. The steering control method of the vehicle in this application controls the steering of the steering wheel only when it is determined that the motor brake is fully opened during in-situ steering of the vehicle. This avoids unnecessary wear of the brake and extends its service life. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0017] Figure 1 It is a schematic flowchart of the first embodiment of the steering control method of the vehicle of the present invention; Figure 2 It is a schematic structural diagram of the vehicle of the present invention; Figure 3 It is a schematic structural diagram of the wheel of the present invention; Figure 4 Schematic flowchart of the second embodiment of the steering control method for the vehicle of the present invention; Figure 5a Schematic diagram when the vehicle of the present invention turns left; Figure 5b Schematic diagram when the vehicle of the present invention turns right; Figure 6 Schematic flowchart of the third embodiment of the steering control method for the vehicle of the present invention. Detailed implementation manners

[0018] The solutions of the embodiments of the present application will be described in detail below with reference to the accompanying drawings of the specification.

[0019] In the following description, specific details such as specific system architectures, interfaces, and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the present application.

[0020] As used herein, the term "and / or" merely describes an association relationship between associated objects and indicates that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after. In addition, "plurality" herein means two or more than two.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0022] Before further elaborating on the embodiments of the present application, the nouns and terms involved in the embodiments of the present application are described. The nouns and terms involved in the embodiments of the present application are applicable to the following explanations.

[0023] Currently, the walking power system of four-wheel-side drive electric articulated vehicles often uses asynchronous motors or synchronous motors with holding brakes, and braking is achieved by locking the motor shaft with the motor holding brake. When driving, the motor driver controls the holding brake to open and controls the motor to operate in speed mode; when parking, the motor driver controls the motor to decelerate to 0 speed and closes the holding brake to park the vehicle after it stops stably.

[0024] Specifically, refer to Figure 2 , Figure 2 which is a schematic structural diagram of the vehicle of the present invention, and this vehicle can implement the steering control method of the vehicle of the present application. The vehicle of the present application is a four-wheel-side drive electric articulated vehicle. Combining Figure 3The four-wheel side-drive electric arm vehicle includes four wheels, of which the left front wheel 21 and the right front wheel 22 are steering wheels. Each wheel includes a tire 211, a reducer 212, a motor 213 and a brake 214. Among them, the reducer 212 is directly connected to the tire 211 to provide suitable power for the tire rotation. It is generally located on the inner side of the tire to reduce the rotation speed and increase the torque. The motor 213 is directly connected to the reducer 212, and the motor output shaft is connected to the reducer input shaft. The power generated by the operation of the motor is transmitted and converted by the reducer to drive the tire to rotate. The brake 214 is installed on the motor shaft, usually located on the side of the motor close to the reducer, and can brake or release the motor shaft to control the rotation of the motor shaft. It should be noted that the motors on the four wheels of the present application are all controlled in vector speed mode.

[0025] When the vehicle is running, the motor driver energizes the holding brake 214 to open it, and the motor shaft can rotate freely. The motor 213 is powered on and runs, and transmits power to the reducer 212. The reducer reduces the speed and increases the torque according to the set reduction ratio, and then transmits it to the tire 211, driving the tire to rotate to achieve vehicle driving. When it is necessary to stop, the motor driver controls the motor 213 to stop powering, and at the same time, the holding brake is powered off. The holding brake holds the motor shaft under the action of spring force, etc., to prevent the motor shaft from rotating, thereby stopping the tire from rotating and achieving vehicle braking.

[0026] It usually takes 120ms for the motor driver to control the holding brake to open. When turning in place, if the holding brake is not fully opened, the steering valve is controlled to open for steering. At this time, because the holding brake is not fully opened, the hydraulic push rod will push the steering wheel (the steering wheels are generally the left and right front wheels of the vehicle) to rotate. Due to the large reduction ratio of the reducer, the motor shaft will rotate, wear the holding brake, reduce its service life, and cause the steering wheel to shake.

[0027] In order to improve the performance and reliability of the four-wheel side-drive electric boom truck, it is necessary to improve the braking and steering control mechanisms. On the one hand, it is necessary to avoid unnecessary wear of the brake and extend its service life; on the other hand, it is necessary to optimize the control strategy to solve the problem of steering wheel shaking when turning in place, improve the stability and smoothness of the operation, and improve the overall operating efficiency of the vehicle.

[0028] In view of this, the present application provides a vehicle steering control method, the method comprising: a vehicle controller receives a steering signal, and issues a steering command based on the received steering signal; in response to a preset condition, a motor controller is controlled based on the steering command, so that the motor controller controls the steering of the steering wheel, and the preset condition indicates that the motor brake is fully opened. The vehicle steering control method of the present application uses the motor controller to control the steering of the steering wheel while ensuring that the motor brake is fully opened. In this way, the steering wheel shaking problem caused by the vehicle turning in place is solved.

[0029] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0030] See Figure 1 , Figure 1 which is a schematic flowchart of the first embodiment of the steering control method for the vehicle of the present invention, specifically including: Step S11: The vehicle controller receives a steering signal and issues a steering command based on the received steering signal.

[0031] For a traditional mechanically connected steering system, when the driver turns the steering wheel, a steering signal is generated. Information such as the rotation angle and direction of the steering wheel is transmitted to the steering sensor through the steering column. For an electric power steering system, the steering sensor can directly sense the rotation action of the steering wheel and convert the mechanical signal into an electrical signal. Further, the vehicle controller will comprehensively consider information such as the vehicle's driving speed and yaw rate (obtained through a vehicle speed sensor, yaw rate sensor, etc.), and through a series of complex algorithm operations, finally determine an accurate steering command. For example, when the vehicle is driving at a low speed, the steering command may require a large angular change of the steering wheel; when driving at a high speed, the steering command will limit the angular change of the steering wheel to ensure the driving stability of the vehicle.

[0032] The vehicle controller transmits the steering command to the motor controller through the vehicle's in-vehicle network (such as the CAN bus). After receiving the steering command, the motor controller will parse the command to identify key information such as the direction of steering (left or right) and the desired angle to be reached.

[0033] Step S12: In response to a preset condition, control the motor controller based on the steering command so that the motor controller controls the steering of the steering wheel, and the preset condition indicates that the motor brake is fully opened.

[0034] In one embodiment, the preset condition includes: a brake state signal or a delay signal. Specifically, in an embodiment of the present application, after issuing the steering command, the motor controller is controlled based on the steering command to detect the state of the brake. When the brake is fully opened, a brake state signal is generated, and the motor controller reports the brake state signal to the vehicle controller. The vehicle controller responds to the brake state signal and controls the motor controller based on the steering command so that the motor controller controls the steering of the steering wheel.

[0035] In another embodiment of the present application, a delay time is set. After issuing the steering command, timing is started. When the timing time reaches the delay time, a delay signal is generated. The vehicle controller responds to the delay signal and controls the motor controller based on the steering command so that the motor controller controls the steering of the steering wheel.

[0036] It should be noted that for some vehicles, such as front-wheel steering vehicles, when performing steering control, only the brake of the steering wheel needs to be fully opened to perform steering. The rear wheels only move horizontally with the body and do not involve steering deflection, and the direction of their wheel axes is the same as the driving direction. Therefore, only the brake of the steering wheel needs to be ensured to be fully opened. For all-wheel steering vehicles, all four wheels are steering wheels, and when steering, it is necessary to ensure that the brakes of all four wheels are fully opened. Of course, regardless of the vehicle type, when steering in place or steering in place on a slope, ensuring that the brakes of all wheels are fully opened can obtain the brake state signal or the delay signal.

[0037] In a specific embodiment, the delay time is greater than the delay time required for the brake of the brake to be fully opened. Through experiments, it is found that it generally takes 120 ms for the motor driver to control the brake of the brake to open. In this embodiment, the delay time is set to be greater than 120 ms. In a specific embodiment, the delay time is set to 200 ms.

[0038] Specifically, in combination with Figure 2 , the motor controller controls the operation of the motor 213 according to the parsed steering command. For the electric power steering system, the motor controller adjusts the magnitude and direction of the current of the motor 213. When turning left is required, the motor controller makes the motor 213 operate in a specific direction to generate an assist torque, and pushes the steering wheel to deflect left through a transmission mechanism (such as a rack and pinion mechanism). During this process, the motor controller also monitors the working state of the motor 213 (such as speed, current, etc.) in real time and continuously adjusts the output of the motor to accurately achieve the steering angle required by the steering command. If the vehicle is equipped with a steer-by-wire system, the motor controller directly controls the steering actuator of the steering wheel to more accurately achieve the steering command, so that the steering wheel rotates according to the predetermined angle and direction, thereby completing the steering action of the vehicle.

[0039] It should be noted that the steering signal in this embodiment is generated when the vehicle steers in place.

[0040] In an embodiment, assuming that the reduction ratio of the reducer is 150, when the steering wheel rotates 1 / 10 of a turn, the motor shaft will rotate 150 / 10 = 15 turns. If the brake is not opened, it will cause the motor shaft to wear the brake of the brake and reduce the service life of the brake of the brake.

[0041] For the vehicle steering control method of the present application, when the vehicle steers in place, the steering of the steering wheel is controlled only when it is determined that the brake of the motor brake is fully opened. This can avoid unnecessary wear of the brake of the brake and extend its service life; it can also solve the problem of steering wheel jitter when steering in place, improve the smoothness and smoothness of operation, and improve the overall operation efficiency of the vehicle.

[0042] When the vehicle makes a stationary turn on a slope, the whole vehicle only performs the steering action. The motor driver needs to first charge the motor to maintain zero speed and open the brake to maintain the shape of the whole vehicle on the slope. Otherwise, the whole vehicle will slide down the slope. However, the thrust of the steering push rod will cause slight rotation of the tire, which will be mutually exclusive with the force of the motor charging to maintain zero speed. When it is detected that the motor shaft rotates, the motor controller will output a torque current to pull the motor back to zero speed, which will cause the steering wheel to shake during the stationary steering process and is not smooth enough.

[0043] This application uses the method shown above Figure 1 When the vehicle makes a stationary turn, the steering of the steering wheel is controlled only when the brake is fully opened. This can avoid unnecessary wear of the brake and extend its service life. It can also solve the problem of steering wheel shaking during stationary steering, improve the smoothness and stability of operation, and enhance the overall operation efficiency of the vehicle. However, when the vehicle makes a stationary turn on a slope, only after ensuring that the brake is opened, the steering control is carried out. Although it can avoid steering wheel shaking, the motor needs to charge to maintain zero speed and open the brake. The thrust of the steering push rod will cause slight movement of the tire, which is mutually exclusive with the force of the motor maintaining zero speed, resulting in steering wheel shaking during the stationary turn of the four-wheel drive vehicle and affecting the smoothness of operation. Specifically, when turning left stationary, the left front wheel will be pushed backward by the hydraulic push rod, and the right front wheel will be pulled forward by the hydraulic push rod; when turning right stationary, the left front wheel will be pulled forward by the hydraulic push rod, and the right front wheel will be pushed backward by the hydraulic push rod, which will also cause steering wheel shaking.

[0044] In view of this, this application also proposes Figure 4 The steering control method of the second embodiment shown below. Specifically, this embodiment includes: Step S41: The vehicle controller receives a steering signal.

[0045] This step is the same as the step of "the vehicle controller receives a steering signal" in the above step S11 and will not be elaborated here.

[0046] Step S42: Determine the steering direction based on the steering signal, and generate a steering assist parameter that matches the steering direction based on the steering direction.

[0047] After the vehicle controller receives the steering signal, it determines the steering direction based on the steering signal. Specifically, the vehicle controller can determine the rotation direction based on the steering wheel or the angle sensor of the steering wheel. Further, a steering assist parameter that matches the steering direction is generated based on the steering direction.

[0048] Specifically, when the vehicle makes a left turn in place on a slope, the left front wheel is pushed backward by the hydraulic push rod, and the right front wheel is pulled forward by the hydraulic push rod; when turning right in place, the left front wheel is pulled forward by the hydraulic push rod, and the right front wheel is pushed backward by the hydraulic push rod, which will also cause the steering wheel to shake. Based on the steering direction, this embodiment generates a steering assist parameter to offset the above phenomenon, thereby avoiding the steering wheel shake.

[0049] In a specific embodiment, in response to the steering direction being leftward, the steering assist parameter includes: the left front wheel retreats at a preset speed, and the right front wheel advances at a preset speed. In response to the steering direction being rightward, the steering assist parameter includes: the right front wheel retreats at a preset speed, and the left front wheel advances at a preset speed.

[0050] Step S43: Issue a steering command based on the steering signal and the steering assist parameter.

[0051] Issue a steering command based on the steering signal and the steering assist parameter.

[0052] Specifically, combined with Figure 5a , if the steering direction is leftward, that is, both the left front wheel 21 and the right front wheel 22 turn left. At this time, the left front wheel 21 is pushed backward by the hydraulic push rod, and the force direction of the tire of the left front wheel 21 is the x direction. The right front wheel 22 is pulled forward by the hydraulic push rod, and the force direction of the tire of the right front wheel 22 is the y direction. At this time, set the steering assist parameter so that the left front wheel 21 retreats at a preset speed, and the right front wheel 22 advances at a preset speed. Thereby, the wear on the tire can be reduced, the shake of the steering wheel (the left front wheel 21 and the right front wheel 22) can be reduced, and the steering can be made smoother and silkier.

[0053] Further, combined with Figure 5b , if the steering direction is rightward, that is, both the left front wheel 21 and the right front wheel 22 turn right. At this time, the left front wheel 21 is pulled forward by the hydraulic push rod, and the force direction of the tire of the left front wheel 21 is the m direction. The right front wheel 22 is pushed backward by the hydraulic push rod, and the force direction of the tire of the right front wheel 22 is the n direction. At this time, set the steering assist parameter so that the right front wheel 22 retreats at a preset speed, and the left front wheel 21 advances at a preset speed. Thereby, the wear on the tire can be reduced, the shake of the steering wheel (the left front wheel 21 and the right front wheel 22) can be reduced, and the steering can be made smoother and silkier.

[0054] In an embodiment of the present application, the preset speed is determined based on the wheel diameter of the vehicle and the reduction ratio of the reduction gear. In a specific embodiment, the preset speed can be set to 60 revolutions per minute. In other embodiments, it can also be set to 100 revolutions per minute.

[0055] Step S44: In response to a preset condition, control the motor controller based on a steering instruction, so that the motor controller controls the steering of the steering wheel. The preset condition indicates that the motor brake is fully opened.

[0056] This step is the same as step S12 shown above Figure 1 and will not be elaborated here.

[0057] For the steering control method of the vehicle in this application, when the brake is fully opened, control the steering of the steering wheel, so as to avoid the wear of the brake by the motor shaft and reduce the jitter of the steering wheel. And it can also use the steering assist parameter to weaken the wear of the tires during in-situ steering on a slope, further weaken the jitter of the steering wheel, and make the steering smoother and silkier.

[0058] In an embodiment, if it is determined according to the feedback of the angle sensor that the steering has reached the chassis position, set the motor speed to 0.

[0059] The steering control method of the vehicle in the above embodiment is controlled by the vehicle's vehicle controller. This application also provides a steering control method for a vehicle, and this method is controlled by the motor controller. Specifically, in combination with Figure 6 , it includes: Step S61: The motor controller detects a preset condition.

[0060] During in-situ steering, the motor controller detects a preset condition. In an embodiment, the preset condition includes: a brake state signal or a delay signal.

[0061] In an embodiment of this application, the motor controller detects the state of the brake, and generates a brake state signal when the brake is fully opened. In another embodiment of this application, set a delay time, start timing after the steering instruction is issued, and generate a delay signal when the timing time reaches this delay time.

[0062] Step S62: In response to the preset condition, control the steering of the steering wheel based on the steering instruction.

[0063] In response to the above brake state signal or delay signal, the motor controller controls the steering of the steering wheel based on the steering instruction. Specifically, before controlling the steering of the steering wheel based on the steering instruction, the motor controller needs to detect the rotation direction of the motor, and obtain the steering instruction based on the rotation direction. In an embodiment, in response to the preset condition, the motor maintains a zero speed for a preset time. During this preset time, the motor controller detects the rotation method of the motor, generates a steering instruction according to the detected rotation direction, and then controls the steering of the steering wheel based on this steering instruction. It can be understood that the steering instruction at this time includes the motor speed and direction. The preset time can be, for example, 300 ms - 600 ms, preferably 500 ms.

[0064] Further, when the motor controller controls the steering of the steering wheel based on the steering instruction, it generates a steering assist parameter that matches the steering direction based on the steering direction represented by the steering instruction; and controls the steering of the steering wheel based on the steering assist parameter and the steering instruction.

[0065] In one embodiment, the steering assist parameter includes: the corresponding steering wheel moves along the force direction of the tire at a preset speed.

[0066] Specifically, in combination with Figure 5a , if the steering direction is leftward, that is, both the left front wheel 21 and the right front wheel 22 turn left. At this time, the left front wheel 21 is pushed backward by the hydraulic push rod, and the force direction of the tire of the left front wheel 21 is the x direction. The right front wheel 22 is pulled forward by the hydraulic push rod, and the force direction of the tire of the right front wheel 22 is the y direction. At this time, the steering assist parameter is set so that the corresponding steering wheel moves along the force direction of the tire at a preset speed. For the left front wheel 21, the motor controller of the left front wheel 21 controls the left front wheel 21 to move along the x direction at a preset speed. For the right front wheel 22, the motor controller of the right front wheel 22 controls the right front wheel 22 to move along the y direction at a preset speed. Thereby, the wear of the tire can be reduced, the jitter of the steering wheels (the left front wheel 21 and the right front wheel 22) can be reduced, and the steering can be made smoother and silkier.

[0067] Further, in combination with Figure 5b , if the steering direction is rightward, that is, both the left front wheel 21 and the right front wheel 22 turn right. At this time, the left front wheel 21 is pulled forward by the hydraulic push rod, and the force direction of the tire of the left front wheel 21 is the m direction. The right front wheel 22 is pushed backward by the hydraulic push rod, and the force direction of the tire of the right front wheel 22 is the n direction. At this time, the steering assist parameter is set so that the corresponding steering wheel moves along the force direction of the tire at a preset speed. For the left front wheel 21, the motor controller of the left front wheel 21 controls the left front wheel 21 to move along the m direction at a preset speed. For the right front wheel 22, the motor controller of the right front wheel 22 controls the right front wheel 22 to move along the n direction at a preset speed. Thereby, the wear of the tire can be reduced, the jitter of the steering wheels (the left front wheel 21 and the right front wheel 22) can be reduced, and the steering can be made smoother and silkier.

[0068] In one embodiment of the present application, the preset rotational speed is determined based on the wheel diameter of the vehicle and the reduction ratio of the reduction gear. In a specific embodiment, the preset rotational speed can be set to 60 revolutions per minute. In other embodiments, it can also be set to 100 revolutions per minute.

[0069] In one embodiment, when it is detected that the motor speed reaches the limit and is 0, it is considered that the steering has reached the limit position, and at this time the motor speed is 0.

[0070] For the steering control method of the vehicle in this application, when the holding brake is fully opened, the steering of the steering wheel is controlled to avoid the wear of the motor shaft on the holding brake and reduce the jitter of the steering wheel. Moreover, the steering assist parameter can be used to weaken the wear of the tires during in-situ steering on slopes, further reducing the jitter of the steering wheel and making the steering smoother and more silky.

[0071] The above are only the embodiments of the present invention, and do not limit the patent protection scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be included in the patent protection scope of the present invention by the same token.

Claims

1. A steering control method for a vehicle, characterized in that, including: The vehicle controller receives a steering signal and issues a steering command based on the received steering signal; In response to a preset condition, the motor controller is controlled based on the steering command so that the motor controller controls the steering of the steering wheel, and the preset condition indicates that the motor brake is fully opened.

2. The steering control method according to claim 1, wherein The preset condition includes: a brake state signal or a delay signal.

3. The steering control method according to claim 1, characterized in that Issuing a steering command based on the received steering signal includes: Determining a steering direction based on the steering signal, and generating a steering assist parameter matching the steering direction based on the steering direction; Issuing a steering command based on the steering signal and the steering assist parameter.

4. The steering control method according to claim 3, characterized in that In response to the steering direction being leftward, the steering assist parameter includes: the left front wheel retreats at a preset speed, and the right front wheel advances at the preset speed; In response to the steering direction being rightward, the steering assist parameter includes: the right front wheel retreats at the preset speed, and the left front wheel advances at the preset speed.

5. The steering control method according to claim 4, characterized in that The preset speed is determined based on the wheel diameter of the vehicle and the reduction ratio of the reduction gear.

6. A steering control method for a vehicle, characterized in that, including: The motor controller detects a preset condition; In response to the preset condition, the steering of the steering wheel is controlled based on the steering command.

7. The steering control method according to claim 6, wherein The preset condition includes: a brake state signal or a delay signal.

8. The steering control method according to claim 7, wherein Before controlling the steering of the steering wheel based on the steering command, it includes: The motor controller detects the rotation direction of the motor, and obtains the steering command based on the rotation direction.

9. The steering control method according to claim 8, characterized in that, Controlling the steering of the steering wheel based on the steering command includes: Generating a steering assist parameter matching the steering direction represented by the steering command; Controlling the steering of the steering wheel based on the steering assist parameter and the steering command.

10. The steering control method according to claim 9, characterized in that The steering assist parameter includes: the corresponding steering wheel moves along the force direction of the tire at a preset speed.

11. A vehicle, characterized in that, The vehicle is used to implement the steering control method according to any one of claims 1 to 5 and / or the steering control method according to any one of claims 6 to 10.

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