All-wheel steering system control method and vehicle

Abstract

The invention relates to the technical field of vehicles, and discloses an all-wheel steering system control method and a vehicle. The all-wheel steering system control method is applied to the vehicle and comprises the steps that a steering mode instruction is received; acquiring a vehicle speed, a steering wheel angle and a steering wheel resistance value; according to the steering mode instruction, whether the vehicle speed and the steering wheel angle meet set conditions or not is judged; when the vehicle speed and the steering wheel angle reach set conditions, the steering mode instruction is executed, and the resistance value of the steering wheel is adjusted according to the vehicle speed or the steering wheel angle. Particularly, the safety risk caused by the driving state of the vehicle during steering mode switching is reduced, the hand feeling of the steering wheel is adjusted according to different steering modes, and the driving experience is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to an all-wheel steering system control method and a vehicle. Background Art

[0002] Four-wheel decoupled all-wheel steering aims to achieve comprehensive improvements in vehicle steering sensitivity and stability through independent steering of the four wheels. The all-wheel system consists of four independent wire-controlled steering mechanisms, a hand force simulator, an ECU, and a sensor assembly. Independent motors are used to control the steering angle of each wheel. Compared with traditional centralized control steering systems, it has a higher degree of controllability. In addition to conventional steering, it can also enable the vehicle to achieve a variety of steering modes, such as diagonal steering and on-the-spot steering. However, when selecting different steering modes, such as when turning on the spot while the vehicle is driving, there is a greater safety risk. Therefore, there is an urgent need for an all-wheel steering system control method that can better meet the needs of safety and driving experience. Summary of the Invention

[0003] The present invention aims to provide an all-wheel steering system control method and a vehicle to solve one or more technical problems existing in the prior art and at least provide a beneficial option or create conditions.

[0004] A method for controlling an all-wheel steering system according to a first embodiment of the present invention, applied to a vehicle, includes: receiving a steering mode instruction; Get vehicle speed, steering wheel angle and steering wheel resistance value; determining whether the vehicle speed and the steering wheel angle meet set conditions according to the steering mode instruction; When the vehicle speed and the steering wheel angle reach set conditions, the steering mode instruction is executed, and the steering wheel resistance value is adjusted according to the vehicle speed or the steering wheel angle.

[0005] This technical solution has at least the following beneficial effects: when the vehicle is turning, it receives the steering mode instruction required for steering. Different steering mode instructions have different requirements for the vehicle's own state. Therefore, according to the steering mode instruction performed by the vehicle, the vehicle speed and steering wheel angle are selected as indicators for judging whether the steering mode can be executed. First, it is judged whether the acquired vehicle speed and steering wheel angle meet the set conditions. When the vehicle speed and steering wheel angle meet the set conditions, the steering mode instruction is executed, thereby ensuring the safety of the vehicle when performing the steering action, and adjusting the steering wheel resistance value according to the steering mode instruction and the vehicle speed to change the feel of operating the steering wheel and improve the steering operation experience. This effectively improves the safety of the vehicle when selecting different steering modes for steering, especially reduces the safety risks caused by the vehicle's own driving state when switching steering modes, and adjusts the feel of the steering wheel corresponding to different steering modes to improve the driving experience.

[0006] According to some embodiments of the present invention, the steering mode instruction includes a normal steering mode, a diagonal steering mode, and a stationary steering mode, and receiving the steering mode instruction includes: Accepts one of the normal steering mode, the angle steering mode, or the spot steering mode.

[0007] According to some embodiments of the present invention, when the conventional steering mode is received, determining whether the vehicle speed and the steering wheel angle meet set conditions according to the steering mode instruction includes: determining whether the vehicle speed is greater than a first preset execution threshold; When the vehicle speed is greater than the first preset execution threshold, the vehicle speed and the steering wheel angle meet the set conditions.

[0008] According to some embodiments of the present invention, when the oblique steering mode is received, determining whether the vehicle speed and the steering wheel angle meet set conditions according to the steering mode instruction includes: determining whether the vehicle speed is less than a second preset execution threshold; Determining whether the steering wheel angle is less than a first preset angle threshold; When the vehicle speed is less than the second preset execution threshold and the steering wheel angle is less than the first preset turning angle threshold, the vehicle speed and the steering wheel angle meet the set conditions.

[0009] According to some embodiments of the present invention, the all-wheel steering system control method further includes: determining whether the vehicle speed is greater than a first preset failure threshold; Determining whether the duration of the rear wheel of the vehicle reaching the limit position is greater than a preset duration threshold; When the vehicle speed is greater than the first preset failure threshold, or the duration of the rear wheels of the vehicle reaching the limit position is greater than a preset duration threshold, control is switched to the normal steering mode.

[0010] According to some embodiments of the present invention, when the stationary steering mode is received, determining whether the vehicle speed and the steering wheel angle meet set conditions according to the steering mode instruction includes: determining whether the vehicle speed is zero; Determining whether the steering wheel angle is less than a second preset angle threshold; When the vehicle speed is zero and the steering wheel angle is less than the second preset angle threshold, the vehicle speed and the steering wheel angle meet the set conditions.

[0011] According to some embodiments of the present invention, the all-wheel steering system control method further includes: determining whether the vehicle speed is greater than a second preset failure threshold; Determining whether the steering wheel angle is greater than a third preset angle threshold; When the vehicle speed is greater than the second preset failure threshold, or the steering wheel angle is greater than a third preset angle threshold, control is switched to the normal steering mode.

[0012] According to some embodiments of the present invention, the all-wheel steering system control method further includes: Calculating the ratio of the steering wheel angle to the wheel angle to obtain a transmission ratio; As the vehicle speed increases, control increases the transmission ratio value.

[0013] According to some embodiments of the present invention, adjusting the steering wheel resistance value according to the steering mode instruction and the vehicle speed includes: determining whether the vehicle speed is less than a preset vehicle speed threshold or determining whether the steering wheel angle is less than a fourth preset angle threshold; When the vehicle speed is less than a preset vehicle speed threshold or the steering wheel angle is less than a fourth preset turning angle threshold, the steering wheel resistance value is controlled to increase as the vehicle speed increases.

[0014] According to a second aspect of an embodiment of the present invention, a vehicle includes a memory, a processor, and a program stored in the memory and executable on the processor. When the program is executed by the processor, the above-mentioned all-wheel steering system control method is implemented.

[0015] This technical solution has at least the following beneficial effects: in this vehicle, since the above-mentioned all-wheel steering system control method is used to select the vehicle's steering mode to achieve vehicle steering, the safety of the vehicle when selecting different steering modes for steering is effectively improved, especially reducing the safety risks caused by the vehicle's own driving state when switching steering modes, and adjusting the steering wheel feel according to different steering modes to improve the driving experience.

[0016] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly describes the drawings required for describing the embodiments. Obviously, the drawings described only illustrate some embodiments of the present invention, not all of them. Those skilled in the art can derive other design solutions and drawings based on these drawings without inventive effort.

[0018] Figure 1 It is a flow chart of the all-wheel steering system control method of the present invention.

[0019] Figure 2 This is a flow chart of the present invention for determining whether the vehicle speed and steering wheel angle meet the set conditions according to the steering mode instruction. DETAILED DESCRIPTION

[0020] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0021] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0022] In the description of the present invention, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0023] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0024] Reference Figure 1 According to the first embodiment of the present invention, an all-wheel steering system control method is applied to a vehicle, including but not limited to the following steps: Step S100, receiving the steering mode instruction. When the vehicle is turning, it needs to turn in a certain mode. The driver can select the specific steering mode through the physical button or the central control screen. In order to prevent accidental touch, when making a selection, it can be set to continuously press the physical button or press the central control screen for a period of time to confirm the selection of the steering mode.

[0025] Step S200, obtain the vehicle speed, steering wheel angle and steering wheel resistance value. The vehicle is equipped with a vehicle speed sensor, an angle sensor and a hand force simulator. The vehicle speed is obtained by detecting the vehicle speed sensor, the steering wheel angle is obtained by detecting the angle sensor, and the steering wheel resistance value is obtained by detecting the hand force simulator.

[0026] Step S300: Determine whether the vehicle speed and steering wheel angle meet the set conditions according to the steering mode instruction. Under different steering mode instructions, the vehicle has different steering state requirements. Therefore, according to different steering mode instructions, determine whether the vehicle's current vehicle speed and steering wheel angle meet the set conditions. When the vehicle speed and steering wheel angle meet the set conditions, the system proceeds to step S400, executing the steering mode command and adjusting the steering wheel resistance value based on the vehicle speed or steering wheel angle. When executing different steering mode commands, the hand force simulator is adjusted based on the selected steering mode, resulting in different steering wheel resistance values ​​during rotation to meet the needs of different steering modes.

[0027] As can be seen from the above, when the vehicle is turning, it receives the steering mode instruction required for steering. Different steering mode instructions have different requirements for the vehicle's own state. Therefore, according to the steering mode instruction issued by the vehicle, the vehicle speed and steering wheel angle are selected as indicators for judging whether the steering mode can be executed. First, it is judged whether the obtained vehicle speed and steering wheel angle meet the set conditions. When the vehicle speed and steering wheel angle meet the set conditions, the steering mode instruction is executed, thereby ensuring the safety of the vehicle when performing the steering action, and adjusting the steering wheel resistance value according to the steering mode instruction and the vehicle speed to change the feel of operating the steering wheel and improve the steering operation experience. This effectively improves the safety of the vehicle when selecting different steering modes for steering, especially reduces the safety risks caused by the vehicle's own driving state when switching steering modes, and adjusts the feel of the steering wheel according to different steering modes to improve the driving experience.

[0028] The steering mode instructions include normal steering mode, oblique steering mode and in-place steering mode. In the normal steering mode, the steering of the front wheels and the steering of the rear wheels are in opposite directions; in the oblique steering mode, the steering of the front wheels and the steering of the rear wheels are in the same direction; in the in-place steering mode, the four wheels steer in opposite directions, that is, the left front wheel and the right rear wheel are in the same direction, and the right front wheel and the left rear wheel are in the same direction.

[0029] Therefore, according to the above-mentioned steering mode instruction, in step S100, receiving the steering mode instruction includes but is not limited to the following steps: Receive a kind of in conventional steering mode, oblique steering mode or in-place steering mode.At this moment, the driver selects to use a kind of in conventional steering mode, oblique steering mode or in-place steering mode to carry out the steering control of vehicle.

[0030] like Figure 2 As shown, when a conventional steering mode is received, in step S300, it is determined whether the vehicle speed and the steering wheel angle meet the set conditions according to the steering mode instruction, including but not limited to the following steps: Step S311, determine whether the vehicle speed is greater than the first preset execution threshold. The first preset execution threshold is a pre-set value. For example, the first preset execution threshold is 0. At this time, after the vehicle starts to speed up, it can choose to use the normal steering mode. At this time, there is no requirement for the state of the steering wheel angle.

[0031] When the vehicle speed is greater than the first preset execution threshold, the process proceeds to step S312, where the vehicle speed and the steering wheel angle meet the set conditions. Considering that the current vehicle speed reaches the preset first preset execution threshold, the vehicle can perform the normal steering mode for steering.

[0032] When receiving the oblique steering mode, in step S300, determining whether the vehicle speed and the steering wheel angle meet the set conditions according to the steering mode instruction includes but is not limited to the following steps: Step S321, determining whether the vehicle speed is less than a second preset execution threshold, where the second preset execution threshold is a pre-set value, for example, the first preset execution threshold is in the range of 20 kilometers per hour to 30 kilometers per hour.

[0033] Step S322, determine whether the steering wheel angle is less than a first preset angle threshold. The first preset angle threshold is a pre-set number, such as 0 degrees or 10 degrees. When the first preset angle threshold is 0 degrees, determine whether the steering wheel angle is in the original position.

[0034] If the vehicle speed is less than the second preset execution threshold and the steering wheel angle is less than the first preset turning angle threshold, the process proceeds to step S323, indicating that the vehicle speed and steering wheel angle meet the set conditions. When both the vehicle speed and steering wheel angle meet the required conditions, the vehicle satisfies the steering requirements for the diagonal driving mode.

[0035] When the vehicle is in a diagonal steering mode, in order to ensure the stability and safety of steering control in this mode, the all-wheel steering system control method also includes but is not limited to the following steps: Step S324, determining whether the vehicle speed is greater than a first preset failure threshold. The first preset failure threshold is a pre-set speed value. After this speed value, the vehicle can stably perform oblique steering. Therefore, it is necessary to monitor whether the vehicle speed is greater than this speed value.

[0036] Step S325, determine whether the duration of the vehicle's rear wheels reaching the extreme position is greater than a preset duration threshold. The preset duration threshold is a pre-set time value. It is necessary to monitor the duration of the vehicle's rear wheels reaching the extreme position within the time value range. If it exceeds the time value, the vehicle is in a state of extreme rear wheel steering for a long time and is prone to instability.

[0037] If the vehicle speed exceeds a first preset failure threshold, or the duration of the vehicle's rear wheels reaching the limit position exceeds a preset duration threshold, the system proceeds to step S326, where control switches to normal steering mode. If the vehicle speed is too high or the rear wheels take too long to reach the limit position, continuing in the oblique steering mode can easily lead to vehicle instability. Therefore, the system switches directly to normal steering mode to improve driving safety.

[0038] According to some embodiments of the present invention, when receiving a stationary steering mode, in step S300, determining whether the vehicle speed and the steering wheel angle meet set conditions according to the steering mode instruction includes but is not limited to the following steps: Step S331, determining whether the vehicle speed is zero, and when performing the pivoting mode, determining whether the vehicle is stationary.

[0039] Step S332, determine whether the steering wheel angle is less than a second preset angle threshold. The second preset angle threshold is a pre-set number, such as 0 degrees or 10 degrees. When the first preset angle threshold is 0 degrees, determine whether the steering wheel angle is in the original position.

[0040] If the vehicle speed is zero and the steering wheel angle is less than the second predetermined turning angle threshold, the process proceeds to step S333, indicating that the vehicle speed and steering wheel angle meet the set conditions. When both the vehicle speed and steering wheel angle meet the required conditions, the vehicle satisfies the requirements for pivoting.

[0041] When the vehicle is in a stationary steering mode, in order to ensure the stability and safety of steering control in this mode, the all-wheel steering system control method also includes but is not limited to the following steps: Step S334, determining whether the vehicle speed is greater than a second preset failure threshold. The second preset failure threshold is a pre-set speed value. After this speed value, the vehicle can stably perform oblique steering. Therefore, it is necessary to monitor whether the vehicle speed is greater than this speed value.

[0042] Step S335, determine whether the steering wheel angle is greater than the third preset angle threshold. The preset angle threshold is a pre-set angle value. It is necessary to monitor whether the steering wheel angle is greater than the angle value. If it exceeds the angle value, the wheel rotation angle is too large and it is easy to become unstable.

[0043] If the vehicle speed exceeds the second preset failure threshold, or the steering wheel angle exceeds the third preset angle threshold, the system proceeds to step S336, where control switches to normal steering mode. If the vehicle speed is too high or the steering wheel angle is too large, continuing with the stationary steering mode can easily lead to vehicle instability. Therefore, the system switches directly to normal steering mode to improve driving safety.

[0044] Regardless of whether the vehicle is in the normal steering mode, the angled steering mode, or the spot steering mode, the all-wheel steering system control method further includes but is not limited to the following steps: Step S510: Calculate the ratio of the steering wheel angle to the wheel angle to obtain the transmission ratio.

[0045] In step S520, as the vehicle speed increases, the transmission ratio is increased. As the vehicle speed increases, the transmission ratio also increases. Therefore, when the wheels need to be turned by the same unit angle, the steering wheel needs to be turned a larger angle. This improves high-speed driving safety and helps prevent vehicle instability.

[0046] Furthermore, in step S520, when the vehicle is in the normal steering mode, the transmission ratio increases linearly with the increase of the vehicle speed; when the vehicle is in the oblique steering mode or the on-the-spot steering mode, as the vehicle speed increases, the growth rate of the transmission ratio first increases, then decreases, and finally tends to 0, thereby ensuring the stability of the vehicle in the special steering mode. For example, when the vehicle speed does not exceed 30 kilometers per hour, the transmission ratio maintains the same growth rate; when the vehicle speed is between 30 kilometers and 50 kilometers per hour, the growth rate of the transmission ratio becomes larger; when the vehicle speed is between 50 kilometers and 80 kilometers per hour, the growth rate of the transmission ratio decreases.

[0047] In different steering modes, the hand force simulator can be adjusted to make the steering wheel have different hand feelings, thereby improving the smoothness of operation. Specifically, in step S400, the steering wheel resistance value is adjusted according to the vehicle speed or the steering wheel angle, including but not limited to the following steps: Step S410, determine whether the vehicle speed is less than a preset speed threshold or whether the steering wheel angle is less than a fourth preset angle threshold, the preset speed threshold is a preset speed value, and the fourth preset angle threshold is a preset angle value. Determine whether the vehicle speed exceeds the speed value or whether the steering wheel angle exceeds the angle value, thereby controlling different adjustment strategies for the steering wheel resistance value.

[0048] When the vehicle speed is less than a preset speed threshold or the steering wheel angle is less than a fourth preset angle threshold, the process proceeds to step S420, where the steering wheel resistance value is controlled to increase as the vehicle speed increases. As the vehicle speed increases, the steering wheel resistance value is controlled to increase, thereby increasing the hand force required to turn the steering wheel and improving the steering experience.

[0049] When the normal steering mode is received and the vehicle speed is greater than the preset vehicle speed threshold, the process proceeds to step S431 and the steering wheel resistance value no longer increases.

[0050] When a diagonal steering mode is received and the steering wheel angle is greater than a fourth preset angle threshold, the process proceeds to step S432, where a steering wheel resistance value is determined based on the steering wheel angle and a preset steering wheel angle and hand force model. If the steering wheel angle does not exceed the fourth preset angle threshold, the rear wheels will rotate in accordance with the steering wheel. When the rear wheels reach their limit position, due to mechanical limits, a protection mechanism is triggered, switching the steering wheel resistance adjustment mode to diagonal steering. A steering wheel resistance value is derived based on a pre-established steering wheel angle and hand force model. The steering wheel resistance value increases to alert the driver to stop steering. During this mode switch, an interpolation algorithm is used to gradually adjust the target steering wheel resistance value to avoid abrupt changes in steering feel.

[0051] When the pivoting mode is activated and the steering wheel angle is greater than a fourth preset angle threshold, the system proceeds to step S433, where the steering wheel resistance value is increased in a stepwise manner as the steering wheel angle increases. When the rear wheels reach their limit position, the steering wheel resistance value adjustment mode is quickly switched to pivoting mode. The steering wheel resistance value is similarly calculated based on the pre-established steering wheel angle and hand force model, but now the steering wheel resistance value increases in a stepwise manner, increasing at a faster rate to prevent oversteering.

[0052] According to a second aspect of an embodiment of the present invention, a vehicle includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the program is executed by the processor, the above-mentioned all-wheel steering system control method is implemented. The vehicle may be a private car, such as a sedan, SUV, MPV, or pickup truck. The vehicle may also be an operating vehicle, such as a van, bus, small truck, or large trailer. The vehicle needs to have an electric motor that can output power or store mechanical energy as a generator. When the vehicle is a new energy vehicle, it may be a hybrid vehicle or a pure electric vehicle.

[0053] In this vehicle, since the above-mentioned all-wheel steering system control method is used to select the vehicle's steering mode to achieve vehicle steering, the safety of the vehicle when selecting different steering modes for steering is effectively improved, especially reducing the safety risks caused by the vehicle's own driving state when switching steering modes, and adjusting the steering wheel feel according to different steering modes to improve the driving experience.

[0054] An embodiment of the present invention further provides a vehicle control device, comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the all-wheel steering system control method of the above embodiment.

[0055] For example, the processor and memory in a vehicle control device can be connected via a bus. Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer executable programs. Furthermore, the memory can include high-speed random access memory and non-transitory memory, such as at least one disk memory, flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory can optionally include a memory remotely located relative to the control processor, and these remote memories can be connected to the control device via a network.

[0056] The non-transitory software program and instructions required to implement the control method of the above embodiment are stored in the memory, and when executed by the processor, the all-wheel steering system control method of the above embodiment is executed.

[0057] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0058] In addition, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to execute the above-mentioned all-wheel steering system control method.

[0059] It is worth noting that since the computer-readable storage medium of an embodiment of the present invention can execute the all-wheel steering system control method of any of the above-mentioned embodiments, the specific implementation methods and technical effects of the computer-readable storage medium of an embodiment of the present invention can refer to the specific implementation methods and technical effects of the all-wheel steering system control method of any of the above-mentioned embodiments.

[0060] In addition, an embodiment of the present invention also provides a computer program product, including a computer program or computer instructions, which are stored in a computer-readable storage medium. The processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium, and the processor executes the computer program or computer instructions, so that the computer device executes the above-mentioned all-wheel steering system control method.

[0061] It is worth noting that since the computer program product of the embodiment of the present invention can execute the all-wheel steering system control method of any of the above-mentioned embodiments, the specific implementation methods and technical effects of the computer program product of the embodiment of the present invention can refer to the specific implementation methods and technical effects of the all-wheel steering system control method of any of the above-mentioned embodiments.

[0062] Those skilled in the art will appreciate that all or some of the steps and systems disclosed above can be implemented as software, firmware, hardware, or any suitable combination thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on computer-readable media, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is well known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVDs) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0063] The above specifically describes the preferred embodiments of the present invention, but the invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A method for controlling an all-wheel steering system, applied to a vehicle, characterized by: include: receiving a steering mode instruction; Get vehicle speed, steering wheel angle and steering wheel resistance value; determining whether the vehicle speed and the steering wheel angle meet set conditions according to the steering mode instruction; When the vehicle speed and the steering wheel angle reach set conditions, the steering mode instruction is executed, and the steering wheel resistance value is adjusted according to the vehicle speed or the steering wheel angle.

2. The all-wheel steering system control method according to claim 1, characterized in that: The steering mode instruction includes a normal steering mode, an oblique steering mode, and an in-place steering mode. The receiving of the steering mode instruction includes: Accepts one of the normal steering mode, the angle steering mode, or the spot steering mode.

3. The all-wheel steering system control method according to claim 2, characterized in that: When the conventional steering mode is received, determining whether the vehicle speed and the steering wheel angle meet set conditions according to the steering mode instruction includes: determining whether the vehicle speed is greater than a first preset execution threshold; When the vehicle speed is greater than the first preset execution threshold, the vehicle speed and the steering wheel angle meet the set conditions.

4. The all-wheel steering system control method according to claim 2, characterized in that: When the oblique steering mode is received, determining whether the vehicle speed and the steering wheel angle meet set conditions according to the steering mode instruction includes: determining whether the vehicle speed is less than a second preset execution threshold; Determining whether the steering wheel angle is less than a first preset angle threshold; When the vehicle speed is less than the second preset execution threshold and the steering wheel angle is less than the first preset turning angle threshold, the vehicle speed and the steering wheel angle meet the set conditions.

5. The all-wheel steering system control method according to claim 4, characterized in that: The all-wheel steering system control method further includes: determining whether the vehicle speed is greater than a first preset failure threshold; Determining whether the duration of the rear wheel of the vehicle reaching the limit position is greater than a preset duration threshold; When the vehicle speed is greater than the first preset failure threshold, or the duration of the rear wheels of the vehicle reaching the limit position is greater than a preset duration threshold, control is switched to the normal steering mode.

6. The all-wheel steering system control method according to claim 2, characterized in that: When the stationary steering mode is received, determining whether the vehicle speed and the steering wheel angle meet set conditions according to the steering mode instruction includes: determining whether the vehicle speed is zero; Determining whether the steering wheel angle is less than a second preset angle threshold; When the vehicle speed is zero and the steering wheel angle is less than the second preset angle threshold, the vehicle speed and the steering wheel angle meet the set conditions.

7. The all-wheel steering system control method according to claim 6, characterized in that: The all-wheel steering system control method further includes: determining whether the vehicle speed is greater than a second preset failure threshold; Determining whether the steering wheel angle is greater than a third preset angle threshold; When the vehicle speed is greater than the second preset failure threshold, or the steering wheel angle is greater than a third preset angle threshold, control is switched to the normal steering mode.

8. The all-wheel steering system control method according to claim 1, characterized in that: The all-wheel steering system control method further includes: Calculating the ratio of the steering wheel angle to the wheel angle to obtain a transmission ratio; As the vehicle speed increases, control increases the transmission ratio value.

9. The all-wheel steering system control method according to claim 1, characterized in that: The adjusting the steering wheel resistance value according to the steering mode instruction and the vehicle speed includes: determining whether the vehicle speed is less than a preset vehicle speed threshold or determining whether the steering wheel angle is less than a fourth preset angle threshold; When the vehicle speed is less than a preset vehicle speed threshold or the steering wheel angle is less than a fourth preset turning angle threshold, the steering wheel resistance value is controlled to increase as the vehicle speed increases.

10. A vehicle, characterized in that: The invention comprises a memory, a processor and a program stored in the memory and executable on the processor, wherein when the program is executed by the processor, an all-wheel steering system control method according to any one of claims 1 to 9 is implemented.

Images