A vehicle and a steering control method for a vehicle

Abstract

The application provides a vehicle and a steering control method of the vehicle, which comprises: a vehicle controller receiving a steering signal and issuing 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 to control the steering of a steering wheel, wherein the preset condition indicates that a motor brake is fully opened. The steering control method of the vehicle of the application controls the steering of the steering wheel only when it is determined that the motor brake is fully opened when the vehicle is steering in place. The unnecessary wear of the motor brake is avoided, and the service life of the motor brake is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of drive controller of four-wheel drive four-motor electric vehicle, and particularly relates to a vehicle and a steering control method of the vehicle. BACKGROUND

[0002] At present, the walking power system of four-wheel edge drive electric arm vehicle usually adopts four asynchronous motors or synchronous motors with brake band brakes, and the brake is realized by locking the motor shaft through the brake band brake of the motor. When driving, the brake band brake is opened by the motor drive controller, and the motor is controlled in speed mode. When parking, the motor drive controller controls the motor to reduce to 0 speed (the rotor or output shaft of the motor is in a stationary state), and the brake band is closed after parking to stop the vehicle. When turning in place, the steering hydraulic push rod will push the steering wheel to turn, which will cause the steering wheel to shake. SUMMARY

[0003] The present application mainly provides a vehicle and a steering control method of the vehicle, which can avoid the shaking of the steering wheel.

[0004] To solve the above technical problems, the first technical solution adopted by the present application is to provide a steering control method of a vehicle, comprising:

[0005] The vehicle controller receives a steering signal and issues a steering instruction based on the received steering signal;

[0006] 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 represents that the brake band brake is completely opened.

[0007] In an embodiment, the preset condition includes a brake band state signal or a time delay signal.

[0008] In an embodiment, the steering instruction is issued based on the received steering signal, comprising:

[0009] The steering direction is determined based on the steering signal, and the steering assist parameter matched with the steering direction is generated based on the steering direction;

[0010] The steering instruction is issued based on the steering signal and the steering assist parameter.

[0011] In an embodiment, in response to the steering direction being left, the steering assist parameter includes that the left front wheel retreats at a preset speed and the right front wheel advances at a preset speed.

[0012] In response to the steering direction being right, the steering assist parameter includes that the right front wheel retreats at a preset speed and the left front wheel advances at a preset speed.

[0013] In an embodiment, the preset speed is determined based on the wheel diameter of the vehicle and the reduction ratio of the reduction machine.

[0014] To solve the above technical problems, the first technical solution adopted by the present application is to provide a steering control method of a vehicle, comprising:

[0015] The motor controller detects a preset condition.

[0016] In response to the preset condition, the steering of the steering wheel is controlled based on the steering instruction.

[0017] In an embodiment, the preset condition includes a brake drag state signal or a time delay signal.

[0018] In an embodiment, before the steering of the steering wheel is controlled based on the steering instruction, it includes:

[0019] The motor controller detects the rotation direction of the motor, and obtains the steering instruction based on the rotation direction.

[0020] In an embodiment, the steering of the steering wheel is controlled based on the steering instruction, including:

[0021] A steering assist parameter matching the steering direction is generated based on the steering direction represented by the steering instruction;

[0022] The steering of the steering wheel is controlled based on the steering assist parameter and the steering instruction.

[0023] In an embodiment, the steering assist parameter includes that the corresponding steering wheel moves along the force direction of the tire at a preset speed.

[0024] To solve the above technical problems, the first technical solution adopted by the present application is to provide a vehicle, which is used to implement the steering control method of any one of the above.

[0025] The beneficial effects of the present application are that, unlike the prior art, the steering control method of the vehicle provided by the present application includes: the vehicle controller receives the 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 represents that the motor brake drag is completely opened. The steering control method of the vehicle of the present application controls the steering of the steering wheel only when it is determined that the motor brake drag is completely opened when the vehicle is steering in place. This avoids unnecessary wear of the brake drag and prolongs its service life. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0027] Figure 1 Flowchart of a first embodiment of the steering control method of the vehicle of the present application;

[0028] Figure 2 Structure diagram of the vehicle of the present application;

[0029] Figure 3 Structure diagram of the vehicle of the present application;

[0030] Figure 4 Flowchart of a second embodiment of the steering control method of the vehicle of the present application;

[0031] Figure 5a Diagram of the vehicle of the present application when turning left;

[0032] Figure 5b Diagram of the vehicle of the present application when turning right;

[0033] Figure 6 Flowchart of a third embodiment of the steering control method of the vehicle of the present application. DETAILED DESCRIPTION

[0034] The scheme of the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0035] In the following description, specific details are set forth in order to provide a thorough understanding of the present application. However, persons having ordinary skill in the art will realize that the application can be practiced without the specific details.

[0036] The term "and / or" in the present document is only used to describe the relationship of associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, the character " / " in the present document generally represents an "or" relationship between the front and rear associated objects. In addition, "multiple" in the present document means two or more than two.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0038] Before the embodiments of the present application are further described in detail, the terms and phrases involved in the embodiments of the present application are explained, which are applicable to the following explanations.

[0039] At present, the walking power system of the four-wheel edge driving electric arm vehicle usually adopts asynchronous motor or synchronous motor with brake band brake, and the brake is locked by the brake band brake of the motor shaft. During driving, the brake band brake is opened by the motor driver to control the motor to run in speed mode; when parking, the motor driver controls the motor to slow down to 0 speed, and then the brake band brake is closed to park.

[0040] Specifically, referring to Figure 2 , Figure 2 is a structural schematic diagram of the vehicle of the present application, which can realize the steering control method of the vehicle of the present application. The vehicle of the present application is a four-wheel edge driving electric arm vehicle. In combination with Figure 3 , the four-wheel edge driving electric arm vehicle includes four wheels, wherein the left front wheel 21 and the right front wheel 22 are steering wheels. Each wheel includes a tire 211, a speed reducer 212, a motor 213 and a brake band brake 214. The speed reducer 212 is directly connected with the tire 211 to provide appropriate power for the rotation of the tire, and 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 with the speed reducer 212, the output shaft of the motor is butted with the input shaft of the speed reducer, and the power generated by the operation of the motor is transmitted and converted by the speed reducer to drive the rotation of the tire. The brake band brake 214 is installed on the motor shaft, generally located on the side of the motor close to the speed 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.

[0041] When the vehicle is driving, the motor driver energizes the brake band brake 214 to open it, and the motor shaft can rotate freely. The motor 213 is energized to operate, and the power is transmitted to the speed reducer 212, which reduces the rotation speed and increases the torque according to the set speed reduction ratio, and then transmits the power to the tire 211 to drive the rotation of the tire and realize the driving of the vehicle. When stopping, the motor driver controls the motor 213 to stop supplying power, and at the same time, the brake band brake is de-energized. The brake band brake tightly holds the motor shaft under the action of the spring force, preventing the rotation of the motor shaft, and thus stopping the rotation of the tire to realize the braking of the vehicle.

[0042] The motor driver generally needs 120 ms to control the brake band brake to open, and when the steering valve is controlled to open for steering while the brake band brake is not completely opened, the hydraulic push rod will push the steering wheel (which is generally the left front wheel and the right front wheel of the vehicle) to rotate. Because of the large speed reduction ratio of the speed reducer, the motor shaft will rotate, which will wear the brake band brake, reduce its service life, and also cause the steering wheel to vibrate.

[0043] In order to improve the performance and reliability of the four-wheel edge driving electric arm vehicle, the brake and steering control mechanism needs to be improved. On the one hand, unnecessary wear of the brake is avoided, and the service life is prolonged. On the other hand, the control strategy is optimized, the problem of steering wheel shaking during original steering is solved, the smoothness and stability of operation are improved, and the overall operation efficiency of the vehicle is improved.

[0044] Therefore, the application provides a vehicle steering control method, which comprises the following steps: a vehicle controller 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 to control the steering of a steering wheel, wherein the preset condition indicates that the motor brake is fully opened. The vehicle steering control method of the application controls the steering of the steering wheel by using the motor controller while ensuring that the motor brake is fully opened. Thus, the problem of steering wheel shaking during original steering of the vehicle is solved.

[0045] In order to enable those skilled in the art to better understand the technical solutions of the application, the application will be further described in detail below with reference to the drawings and specific embodiments.

[0046] Reference Figure 1 , Figure 1 The first embodiment of the vehicle steering control method of the application is shown in the flowchart, which specifically comprises the following steps:

[0047] Step S11: The vehicle controller receives a steering signal and issues a steering instruction based on the received steering signal.

[0048] For a traditional mechanical connection steering system, when the driver turns the steering wheel, a steering signal is generated. The turning angle and direction of the steering wheel and other information are transmitted to the steering sensor through the steering column. For an electronic power steering system, the steering sensor can directly sense the turning action of the steering wheel and convert the mechanical signal into an electrical signal. Further, the vehicle controller will comprehensively consider the vehicle speed, yaw rate and other information (obtained through a vehicle speed sensor, a yaw rate sensor, etc.), and perform a series of complex algorithm operations to finally determine an accurate steering instruction. For example, when the vehicle is driving at low speed, the steering instruction may require a larger turning angle change of the steering wheel; when driving at high speed, the steering instruction will limit the turning angle change of the steering wheel to ensure the stability of the vehicle.

[0049] The vehicle controller transmits the steering instruction to the motor controller through the vehicle's vehicle-mounted network (such as a CAN bus). After receiving the steering instruction, the motor controller analyzes the instruction and identifies the key information such as the direction of steering (left or right) and the desired angle.

[0050] Step S12: in response to the preset condition, the motor controller is controlled based on the steering instruction, so that the motor controller controls the steering of the steering wheel, the preset condition characterizing that the motor brake is fully opened.

[0051] In an embodiment, the preset condition includes the brake state signal or the delay signal. Specifically, in an embodiment of the present application, after the steering instruction is issued, the state of the brake is detected based on the steering instruction to control the motor controller, the brake state signal is generated when the brake is fully opened, the motor controller reports the brake state signal to the vehicle controller, and the vehicle controller controls the motor controller based on the steering instruction in response to the brake state signal, so that the motor controller controls the steering of the steering wheel.

[0052] In another embodiment of the present application, a delay time is set, the timing is performed after the steering instruction is issued, the delay signal is generated when the timing time reaches the delay time, and the vehicle controller controls the motor controller based on the steering instruction in response to the delay signal, so that the motor controller controls the steering of the steering wheel.

[0053] It is worth noting that for some vehicles such as front-wheel steering vehicles, only the brake of the steering wheel needs to be fully opened for steering control, the rear wheel only translates with the vehicle body and does not involve steering deflection, and the wheel axis direction is consistent with the driving direction. Therefore, only the brake of the steering wheel needs to be fully opened. For all-wheel steering vehicles, all four wheels are steering wheels, and the brakes of the four wheels need to be fully opened for steering. Of course, the vehicle model can also be considered, and when steering in place or steering in place on a slope, the brakes of all wheels are fully opened to obtain the brake state signal or the delay signal.

[0054] In a specific embodiment, the delay time is greater than the delay time required for the brake to be fully opened. It is found through experiments that the motor driver generally needs 120 ms to control the brake to be opened, and the delay time is set to be greater than 120 ms in the embodiment. In a specific embodiment, the delay time is set to 200 ms.

[0055] Specifically, in combination with Figure 2, the motor controller controls the operation of the motor 213 according to the parsed steering instruction. For an electric power steering system, the motor controller adjusts the current size and direction of the motor 213. When left steering is required, the motor controller makes the motor 213 operate in a specific direction to generate a boost torque, which pushes the steering wheel to deflect left through a transmission mechanism (such as a rack and pinion mechanism). In this process, the motor controller also monitors the working state of the motor 213 (such as the rotation speed, current, etc.) in real time and continuously adjusts the output of the motor to accurately achieve the steering angle required by the steering instruction. If the vehicle is equipped with a steer-by-wire system, the motor controller directly controls the steering execution mechanism of the steering wheel to more accurately implement the steering instruction and make the steering wheel rotate at a predetermined angle and direction, thereby completing the steering action of the vehicle.

[0056] It is worth noting that the steering signal in this embodiment is generated when the vehicle is steering in place.

[0057] In an embodiment, assuming that the reduction ratio of the speed reducer is 150, the steering wheel rotates 1 / 10 of a turn, and 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 and reduce the service life of the brake.

[0058] The steering control method of the vehicle of the present application controls the steering of the steering wheel only when it is determined that the motor brake is completely opened when the vehicle is steering in place. This avoids unnecessary wear of the brake and prolongs its service life. It also solves the problem of steering wheel shaking during steering in place, improves the smoothness and stability of operation, and improves the overall operating efficiency of the vehicle.

[0059] When the vehicle is steering in place on a slope, only the steering action is performed, and the motor driver needs to first charge the motor to maintain 0 speed and open the brake to maintain the shape of the vehicle on the slope, otherwise the vehicle will slide down the slope. However, the pushing force of the steering push rod will cause slight rotation of the tire, which will be in force repulsion with the motor charging to maintain 0 speed. When the motor shaft is detected to rotate, the motor controller will output a torque current to pull the motor back to 0 speed, which will cause the steering wheel to shake during steering in place, which is not smooth enough.

[0060] The present application uses the above Figure 1In the illustrated manner, when the vehicle is turning at a standstill, the steering of the steering wheel is controlled only when the holding brake is fully opened, which can avoid unnecessary wear of the holding brake and prolong its service life, and can also solve the problem of steering wheel shaking during turning at a standstill, improve the smoothness and stability of operation, and improve the overall operation efficiency of the vehicle. However, when the vehicle is turning at a standstill on a slope, the steering control is only performed after ensuring that the holding brake is opened, which can avoid the shaking of the steering wheel, but the motor needs to be powered to maintain 0 speed and open the holding brake, and the steering push rod thrust will cause the tire to move slightly, which is repulsive to the force of the motor maintaining 0 speed, resulting in the shaking of the steering wheel during the turning of the four-wheel vehicle at a standstill, affecting the smoothness of the operation. Specifically, when turning left at a standstill, 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; and when turning right at a standstill, 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 also causes the steering wheel to shake.

[0061] Therefore, the present application also proposes Figure 4 The steering control method of the second embodiment is specifically as follows:

[0062] Step S41: The vehicle controller receives the steering signal.

[0063] This step is the same as the step of "the vehicle controller receiving the steering signal" in the above step S11, and will not be repeated here.

[0064] Step S42: determining the steering direction based on the steering signal, and generating a steering assist parameter matched with the steering direction based on the steering direction.

[0065] After the vehicle controller receives the steering signal, the steering direction is determined based on the steering signal. Specifically, the vehicle controller can determine the rotation direction based on the steering wheel or the steering wheel angle sensor. Further, a steering assist parameter matched with the steering direction is generated based on the steering direction.

[0066] Specifically, when the vehicle turns left at a standstill 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; and when turning right at a standstill, 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 also causes the steering wheel to shake. The present embodiment generates a steering assist parameter based on the steering direction to offset the above phenomenon, thereby avoiding the shaking of the steering wheel.

[0067] In a specific embodiment, in response to the steering direction being left, the steering assist parameter includes: the left front wheel retreating at a preset speed, and the right front wheel advancing at a preset speed. In response to the steering direction being right, the steering assist parameter includes: the right front wheel retreating at a preset speed, and the left front wheel advancing at a preset speed.

[0068] Step S43: issuing a steering instruction based on the steering signal and the steering assist parameter.

[0069] issuing a steering instruction based on the steering signal and the steering assist parameter.

[0070] Specifically, in combination with Figure 5a If the steering direction is left, i.e., the left front wheel 21 and the right front wheel 22 are both turned left, at this time the left front wheel 21 is pushed by the hydraulic push rod to walk backward, the force direction of the tire of the left front wheel 21 is x direction, the right front wheel 22 is pulled by the hydraulic push rod to walk forward, the force direction of the tire of the right front wheel 22 is y direction. At this time, the steering assist parameter is set so that the left front wheel 21 retreats at a preset speed and the right front wheel 22 advances at a preset speed. Thus, the wear of the tire can be reduced, the shaking of the steering wheel (the left front wheel 21 and the right front wheel 22) can be reduced, and the steering can be smoother.

[0071] Further, in combination with Figure 5b If the steering direction is right, i.e., the left front wheel 21 and the right front wheel 22 are both turned right, at this time the left front wheel 21 is pulled by the hydraulic push rod to walk forward, the force direction of the tire of the left front wheel 21 is m direction, the right front wheel 22 is pushed by the hydraulic push rod to walk backward, the force direction of the tire of the right front wheel 22 is n direction. At this time, the steering assist parameter is set so that the right front wheel 22 retreats at a preset speed and the left front wheel 21 advances at a preset speed. Thus, the wear of the tire can be reduced, the shaking of the steering wheel (the left front wheel 21 and the right front wheel 22) can be reduced, and the steering can be smoother.

[0072] 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 speed reducer. 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.

[0073] Step S44: in response to a preset condition, controlling the motor controller based on the steering instruction to control the steering of the steering wheel, the preset condition indicating that the motor brake is completely opened.

[0074] This step is the same as the step S12 shown in the above Figure 1 and will not be described here.

[0075] The steering control method of the vehicle of the present application controls the steering of the steering wheel when the brake is completely opened, thereby avoiding the wear of the motor shaft on the brake and reducing the shaking of the steering wheel. In addition, the steering assist parameter can be used to reduce the wear of the tire when the steering is performed on the slope, further reducing the shaking of the steering wheel, and making the steering smoother.

[0076] In an embodiment, if the steering has reached the machine box position according to the feedback of the angle sensor, the motor speed is set to 0.

[0077] The steering control method of the vehicle of the above embodiment is controlled by the vehicle controller. The present application also provides a steering control method of a vehicle, which is controlled by the motor controller. In particular, the steering control method of the vehicle comprises the steps of: Figure 6 , comprising:

[0078] Step S61: The motor controller detects a preset condition.

[0079] When the vehicle is steering in place, the motor controller detects a preset condition. In an embodiment, the preset condition comprises a brake-engaged state signal or a time-delay signal.

[0080] In an embodiment of the present application, the motor controller detects the state of the brake-engaged brake and generates a brake-engaged state signal when the brake-engaged brake is fully opened. In another embodiment of the present application, a time delay is set, and a time delay signal is generated when the timing reaches the time delay after the steering instruction is issued.

[0081] Step S62: In response to the preset condition, the steering of the steering wheel is controlled based on the steering instruction.

[0082] In response to the brake-engaged state signal or the time delay signal, the motor controller controls the steering of the steering wheel based on the steering instruction. Specifically, before the steering of the steering wheel is controlled based on the steering instruction, the motor controller needs to detect the rotation direction of the motor to obtain the steering instruction based on the rotation direction. In an embodiment, in response to the preset condition, the motor maintains 0 speed for a preset time, and during the preset time, the motor controller detects the rotation direction of the motor, generates a steering instruction according to the detected rotation direction, and then controls the steering of the steering wheel based on the 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, 300-600 ms, preferably 500 ms.

[0083] Further, when the motor controller controls the steering of the steering wheel based on the steering instruction, a steering assist parameter matching the steering direction represented by the steering instruction is generated based on the steering direction represented by the steering instruction; and the steering of the steering wheel is controlled based on the steering assist parameter and the steering instruction.

[0084] In an embodiment, the steering assist parameter comprises: moving the corresponding steering wheel at a preset speed along the force direction of the tire.

[0085] Specifically, in combination with Figure 5aIf the steering direction is left, i.e. the left front wheel 21 and the right front wheel 22 are both turned left, at this time the left front wheel 21 is pushed by the hydraulic push rod to walk backward, the force direction of the tire of the left front wheel 21 is x direction, the right front wheel 22 is pulled by the hydraulic push rod to walk forward, the force direction of the tire of the right front wheel 22 is y direction. At this time, the steering assist parameter is set so that the corresponding steering wheel moves at a preset speed along the force direction of the tire. For the left front wheel 21, the motor controller of the left front wheel 21 controls the left front wheel 21 to move at a preset speed along the x direction, for the right front wheel 22, the motor controller of the right front wheel 22 controls the right front wheel 22 to move at a preset speed along the y direction. Thus, the wear of the tire can be reduced, the shaking of the steering wheel (the left front wheel 21 and the right front wheel 22) can be reduced, and the steering can be smoother.

[0086] Further, in combination with Figure 5b If the steering direction is right, i.e. the left front wheel 21 and the right front wheel 22 are both turned right, at this time the left front wheel 21 is pulled by the hydraulic push rod to walk forward, the force direction of the tire of the left front wheel 21 is m direction, the right front wheel 22 is pushed by the hydraulic push rod to walk backward, the force direction of the tire of the right front wheel 22 is n direction. At this time, the steering assist parameter is set so that the corresponding steering wheel moves at a preset speed along the force direction of the tire. For the left front wheel 21, the motor controller of the left front wheel 21 controls the left front wheel 21 to move at a preset speed along the m direction, for the right front wheel 22, the motor controller of the right front wheel 22 controls the right front wheel 22 to move at a preset speed along the n direction. Thus, the wear of the tire can be reduced, the shaking of the steering wheel (the left front wheel 21 and the right front wheel 22) can be reduced, and the steering can be smoother.

[0087] In an embodiment of the present application, the preset rotation speed is determined based on the wheel diameter of the vehicle and the reduction ratio of the speed reducer. In a specific embodiment, the preset rotation speed can be set to 60 revolutions per minute. In other embodiments, it can also be set to 100 revolutions per minute.

[0088] In an embodiment, when the motor rotation speed is detected to reach the limit and is 0, it is considered that the steering has reached the limit position, at this time the motor rotation speed is 0.

[0089] The steering control method of the vehicle of the present application controls the steering of the steering wheel when the brake is completely opened, thereby avoiding the abrasion of the motor shaft against the brake and reducing the shaking of the steering wheel. Moreover, the steering assist parameter can be used to reduce the wear of the tire when steering on the slope, further reducing the shaking of the steering wheel, and making the steering smoother and silkier.

[0090] The above merely illustrates the embodiments of the present application, and does not limit the patent protection scope of the present application, and any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A steering control method of a vehicle, characterized by, The vehicle controller receives a steering signal and issues a steering instruction based on the received steering signal; The motor controller detects a state of the brake, generates a brake state signal when the brake is fully opened, or generates a delay signal after the steering instruction is issued, the delay time being longer than the delay time required for the brake to be fully opened; In response to a preset condition, the motor controller controls the steering of the steering wheel based on the steering instruction, the preset condition indicating that the brake is fully opened, and the preset condition including the brake state signal or the delay signal; The vehicle controller receives a steering signal and issues a steering instruction based on the received steering signal; The vehicle controller determines a steering direction based on the steering signal and generates a steering assist parameter for the steering wheel that matches the steering direction; The vehicle controller issues a steering instruction based on the steering signal and the steering assist parameter.

2. The steering control method of claim 1, wherein In response to the steering direction being left, the steering assist parameter includes the left front wheel retreating at a preset speed and the right front wheel advancing at the preset speed; In response to the steering direction being right, the steering assist parameter includes the right front wheel retreating at the preset speed and the left front wheel advancing at the preset speed. The preset speed is determined based on the wheel diameter of the vehicle and the reduction ratio of the reduction machine.

3. The steering control method according to claim 2, characterized by, The motor controller detects a preset condition; 4. A steering control method of a vehicle, characterized by, In response to the preset condition, the motor controller controls the steering of the steering wheel based on the steering instruction; The preset condition includes a brake state signal or a delay signal, and the motor controller detects the preset condition by detecting a state of the brake, generating a brake state signal when the brake is fully opened, or generating a delay signal after the steering instruction is issued, the delay time being longer than the delay time required for the brake to be fully opened; The motor controller controls the steering of the steering wheel based on the steering instruction, which includes: The motor controller generates a steering assist parameter for the steering wheel that matches the steering direction represented by the steering instruction; The motor controller controls the steering of the steering wheel based on the steering assist parameter and the steering instruction. Before the motor controller controls the steering of the steering wheel based on the steering instruction, the motor controller detects a rotation direction of the motor and obtains the steering instruction based on the rotation direction.

6. The steering control method of claim 4, wherein 5. The steering control method according to claim 4, characterized by, The steering assist parameter includes the corresponding steering wheel moving at a preset speed along the force direction of the tire. The vehicle is configured to implement the steering control method of any one of claims 1-3 and / or the steering control method of any one of claims 4-6. ​ ​ 7. A vehicle characterized by comprising: ​

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