Steering control method, controller, steering control system and vehicle

Abstract

The invention relates to the technical field of steering control, and discloses a steering control method, a controller, a steering control system and a vehicle, an axle position detection device is used for determining whether a front axle and / or a rear axle of the vehicle are / is in a centering state, and according to a current steering mode and a target steering mode of the vehicle and the axle position detection device, the steering control method is controlled. And switching the current axle position mode of the vehicle into the target axle position mode. According to the method and the device, the centering accuracy of the front axle and the rear axle of the vehicle in the steering mode switching process can be improved; the steering switching valve terminal comprises the safety locking control valve, the four-wheel steering control valve and the crab steering control valve, the control state of the steering switching valve terminal is adjusted according to the target steering mode so that the current steering mode can be switched into the target steering mode, and the safety, stability and reliability of the steering control system can be improved.

Description

Technical Field

[0001] This application relates to the field of steering control technology, and in particular to a steering control method, controller, steering control system and vehicle. Background Technology

[0002] A vehicle is a wheeled or tracked mobile piece of equipment driven or towed by a power unit, used to transport personnel, goods, or complete specific tasks. Vehicles (e.g., engineering vehicles) improve their working efficiency in confined spaces, complex environments, and obstacle avoidance situations by switching between three steering modes: front-wheel steering, four-wheel steering, and crab steering. This also solves problems such as excessive turning radius and inability to quickly escape obstacles during operation. Currently, when switching between the three steering modes, users typically need to visually determine whether the front and / or rear axle tires are in the neutral position. Furthermore, existing systems only achieve steering mode switching by controlling the on / off logic of the four-wheel steering valve and the crab steering valve. In the process of developing this application, the inventors discovered that the prior art has at least the following problems: The centering accuracy under the visual judgment method is low, which can easily lead to adverse phenomena such as vehicle deviation and severe tire wear after mode switching; the steering mode switching is achieved by controlling the four-wheel steering valve and the crab steering valve alone, which makes it difficult to ensure the safety, stability and reliability of the steering control system in complex usage environments such as vehicle getting out of trouble. Summary of the Invention

[0003] This application provides a steering control method, controller, steering control system, and vehicle to improve the alignment accuracy of the front and rear axles during steering mode switching, as well as the safety, stability, and reliability of the steering control system.

[0004] The embodiments of this application provide the following technical solutions: In a first aspect, embodiments of this application provide a steering control method, the steering control method comprising: Based on the vehicle's current steering mode, target steering mode, and bridge position detection device, switch the vehicle's current bridge position mode to the target bridge position mode. Adjust the control state of the steering switching valve island according to the target steering mode to switch the current steering mode to the target steering mode; The target steering mode includes front-wheel steering mode, four-wheel steering mode or crab steering mode. The axle position detection device is used to determine whether the front axle and / or rear axle of the vehicle are in a centered state. The steering switching valve island includes a safety lock-up control valve, a four-wheel steering control valve and a crab steering control valve.

[0005] In some embodiments, the steering control method is applied to a steering control system, which includes a display instrument and the axle alignment detection device includes a front axle alignment detection device and a rear axle alignment detection device. Based on the vehicle's current steering mode, target steering mode, and bridge position detection device, the vehicle's current bridge position mode is switched to the target bridge position mode, including: When the current steering mode is front-wheel steering mode and the target steering mode is four-wheel steering mode or crab steering mode, the front axle centering detection device determines whether the vehicle's front axle is in a centered state. When the front axle is not in a centered state, the steering information is displayed on the instrument panel so that the user can operate the vehicle according to the steering information until the front axle enters the centered state. When the front axle is in a centered state, it is determined that the current axle position mode has been switched to the target axle position mode. When the current steering mode is four-wheel steering or crab steering, and the target steering mode is front-wheel steering, the rear axle is determined to be in a centered state based on the rear axle centering detection device. When the rear axle is not in a centered state, steering information is displayed on the instrument panel so that the user can operate the vehicle according to the steering information until the rear axle is in a centered state. When the rear axle is in a centered state, it is determined that the current axle position mode has been switched to the target axle position mode.

[0006] In some embodiments, switching the vehicle's current bridge position mode to the target bridge position mode based on the vehicle's current steering mode, the target steering mode, and the bridge position detection device includes: When the current steering mode is four-wheel steering mode and the target steering mode is crab steering mode, or when the current steering mode is crab steering mode and the target steering mode is four-wheel steering mode, the rear axle is determined to be in a centered state based on the rear axle centering detection device. When the rear axle is not aligned, the steering information is displayed on the instrument panel so that the user can operate the vehicle according to the steering information until the rear axle is aligned. When the rear axle is in the centering state, the front axle is determined to be in the centering state based on the front axle centering detection device. When the front axle is not in the centering state, the vehicle's current axle position mode is switched to the axle position mode corresponding to the front wheel steering mode; the front axle centering detection device determines whether the front axle is in the centering state; when the front axle is not in the centering state, the steering information is displayed on the display instrument so that the user can operate the vehicle according to the steering information until the front axle enters the centering state. When the front axle is in the centering state, it is determined that the current bridge position mode has been switched to the target bridge position mode.

[0007] In some embodiments, the steering control method is applied to a steering control system, which includes an operation panel; Before adjusting the vehicle's current bridge position to the target bridge position, the method also includes: After the steering control system is activated, the current steering mode is determined; According to the current steering mode, the safety lock control valve, four-wheel steering control valve and crab steering control valve enter the corresponding working state, which includes the energized state or the de-energized state. Receive steering mode switching commands input by the user through the operation panel, wherein the steering mode switching commands include the target steering mode; Based on the current steering mode, the safety lock control valve, four-wheel steering control valve, and crab steering control valve are controlled to enter their corresponding working states, including: When the current steering mode is four-wheel steering mode, the four-wheel steering control valve is energized and the crab steering control valve and safety lock-up control valve are de-energized. When the current steering mode is crab steering mode, the crab steering control valve is energized and the four-wheel steering control valve and safety lock control valve are de-energized. When the current steering mode is front-wheel steering mode, the four-wheel steering control valve, the crab steering control valve, and the safety lock-up control valve are de-energized.

[0008] In some embodiments, the control state includes a first state, a second state, or a third state; Adjusting the control state of the steering switching valve island according to the target steering mode to switch the current steering mode to the target steering mode includes: The control steering switching valve island enters the first state and remains in the first state for a first time period, so that the safety lock-up control valve enters the unlocked state; The steering switching valve island is controlled to enter the second state and remain in the second state for a second time period, so as to switch the current steering mode to the target steering mode. The control steering switching valve island enters the third state and remains in the third state for a third time period, so that the safety lock-up control valve enters the lock-up state; While the third state is maintained for the fourth time period, the current steering mode is stored. In some embodiments, when the current steering mode is four-wheel steering mode and the target steering mode is crab steering mode: the first state is that the four-wheel steering control valve, the crab steering control valve and the safety lock control valve are energized; the second state is that the four-wheel steering control valve is de-energized and the crab steering control valve and the safety lock control valve are energized; the third state is that the crab steering control valve is energized and the four-wheel steering control valve and the safety lock control valve are de-energized. When the current steering mode is four-wheel steering and the target steering mode is front-wheel steering: the first state is that the crab steering control valve is de-energized, and the four-wheel steering control valve and the safety lock control valve are energized; the second state is that the four-wheel steering control valve and the crab steering control valve are de-energized, and the safety lock control valve is energized; the third state is that the four-wheel steering control valve, the crab steering control valve, and the safety lock control valve are de-energized. When the current steering mode is crab steering mode and the target steering mode is four-wheel steering mode: the first state is that the four-wheel steering control valve, crab steering control valve and safety lock control valve are energized; the second state is that the crab steering control valve is de-energized and the four-wheel steering control valve and safety lock control valve are energized; the third state is that the four-wheel steering control valve is energized and the crab steering control valve and safety lock control valve are de-energized. In some embodiments, when the current steering mode is crab steering mode and the target steering mode is front wheel steering mode: the first state is that the four-wheel steering control valve is de-energized and the crab steering control valve and the safety lock control valve are energized; the second state is that the four-wheel steering control valve and the crab steering control valve are de-energized and the safety lock control valve is energized; the third state is that the four-wheel steering control valve, the crab steering control valve and the safety lock control valve are de-energized. When the current steering mode is front-wheel steering and the target steering mode is four-wheel steering: the first state is that the four-wheel steering control valve and the crab steering control valve are de-energized, and the safety lock control valve is energized; the second state is that the crab steering control valve is de-energized, and the four-wheel steering control valve and the safety lock control valve are energized; the third state is that the four-wheel steering control valve is energized, and the crab steering control valve and the safety lock control valve are de-energized. When the current steering mode is front-wheel steering mode and the target steering mode is crab steering mode: the first state is that the four-wheel steering control valve and the crab steering control valve are de-energized, and the safety lock control valve is energized; the second state is that the four-wheel steering control valve is de-energized, and the crab steering control valve and the safety lock control valve are energized; the third state is that the crab steering control valve is energized, and the four-wheel steering control valve and the safety lock control valve are de-energized.

[0009] Secondly, embodiments of this application provide a controller, the controller comprising: At least one processor; and A memory that is communicatively connected to at least one processor; wherein, The memory stores instructions that can be executed by at least one processor, which enables the at least one processor to perform the steering control method as described in the first aspect.

[0010] Thirdly, embodiments of this application provide a steering control system, the steering control system comprising: Such as the controller in the second aspect; A bridge position detection device, connected to a controller, is used to determine whether the front axle and / or rear axle of a vehicle are in an aligned state, so as to switch the vehicle's current bridge position mode to the target bridge position mode. The steering switching valve island, connected to the controller, is used to adjust the working status of the safety lock-up control valve, the four-wheel steering control valve, and the crab steering control valve to switch the current steering mode to the target steering mode.

[0011] Fourthly, embodiments of this application provide a vehicle, the vehicle comprising: Such as the steering control system in the third aspect.

[0012] Fifthly, embodiments of this application provide a computer-readable storage medium storing processor-executable computer program instructions, which, when executed by the processor, implement the steps of the steering control method as described in the first aspect.

[0013] The beneficial effects of the embodiments of this application are as follows: Unlike the prior art, the embodiments of this application provide a steering control method, which includes: switching the current steering mode of the vehicle to the target steering mode according to the current steering mode of the vehicle, the target steering mode, and the axle position detection device; adjusting the control state of the steering switching valve island according to the target steering mode to switch the current steering mode to the target steering mode; wherein, the target steering mode includes a front wheel steering mode, a four-wheel steering mode, or a crab steering mode, the axle position detection device is used to determine whether the front axle and / or the rear axle of the vehicle are in a centered state, and the steering switching valve island includes a safety lock-up control valve, a four-wheel steering control valve, and a crab steering control valve.

[0014] The axle position detection device is used to determine whether the front and / or rear axles of the vehicle are in a centered state. Based on the vehicle's current steering mode, target steering mode, and the axle position detection device, the current axle position mode of the vehicle is switched to the target axle position mode. This application can improve the centering accuracy of the front and rear axles of the vehicle during the steering mode switching process. The steering switching valve island, including a safety lock-up control valve, a four-wheel steering control valve, and a crab steering control valve, adjusts the control state of the steering switching valve island according to the target steering mode to switch the current steering mode to the target steering mode. This application can improve the safety, stability, and reliability of the steering control system. Attached Figure Description

[0015] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0016] Figure 1 This is a schematic diagram of the structure of a steering control system provided in an embodiment of this application; Figure 2 This is a detailed structural schematic diagram of a steering control system provided in an embodiment of this application; Figure 3 This is a schematic flowchart of a steering control method provided in an embodiment of this application; Figure 4 This is a schematic diagram of the wheel steering of the front and rear axles under different steering modes provided in the embodiments of this application; Figure 5 yes Figure 3 A schematic diagram of the first detailed process of step S301; Figure 6 yes Figure 3 A schematic diagram of the second detailed process in step S301; Figure 7 yes Figure 3 A schematic diagram of the third detailed process in step S301; Figure 8 This is a schematic diagram of the structure of a steering control device provided in an embodiment of this application; Figure 9 This is a schematic diagram of the structure of a controller provided in an embodiment of this application; Figure 10 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0017] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as "connected to" another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this specification are for illustrative purposes only.

[0018] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0019] The technical solution of this application is described in detail below with reference to the accompanying drawings: Vehicles are wheeled or tracked mobile equipment driven or towed by a power unit, used to transport personnel and goods or complete specific tasks. With the rapid development of vehicle steering technology, users have increasingly higher requirements for vehicle steering performance, application scenarios, automatic mode switching, and intelligence levels. Vehicles (e.g., engineering vehicles) improve their working efficiency in confined spaces, complex environments, and obstacle avoidance situations by switching between three steering modes: front-wheel steering, four-wheel steering, and crab steering. This solves problems such as excessive turning radius and inability to quickly escape obstacles during operation. Engineering vehicles, in particular, are vehicles used in construction and other operational scenarios to undertake specific tasks or auxiliary functions such as transportation.

[0020] Currently, when switching between the three steering modes mentioned above, users typically need to visually determine whether the tires on the front and / or rear axles are in the center position. However, this method results in low accuracy in aligning the front and rear axles, which can easily lead to problems such as vehicle drifting and severe tire wear after mode switching.

[0021] Furthermore, the existing system only controls the switching of steering modes by controlling the on / off logic of the four-wheel steering valve and the crab steering valve. In complex operating environments such as vehicle extrication, the safety, stability, and reliability of the steering control system can be affected by factors such as abnormal hydraulic system pressure, pipeline damage, valve jamming, or operational errors.

[0022] Based on this, this application proposes a steering control method that, by combining a bridge position detection device, switches the vehicle's current bridge position mode to the target bridge position mode, thereby improving the alignment accuracy of the front and rear axles during the steering mode switching process. Furthermore, by controlling the safety lock control valve, the four-wheel steering control valve, and the crab steering control valve, it reduces safety risks caused by factors such as abnormal hydraulic system pressure, pipeline damage, valve body jamming, or operational errors, thereby improving the safety, stability, and reliability of the steering control system.

[0023] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a steering control system provided in an embodiment of this application; like Figure 1As shown, the steering control system 100 includes a controller 101, a bridge position detection device 102, and a steering switching valve island 103. The controller 101 is communicatively connected to the bridge position detection device 102 and the steering switching valve island 103, for example, via a Controller Area Network (CAN) bus.

[0024] The steering switching valve island 103 includes a safety lock-up control valve, a four-wheel steering control valve, and a crab steering control valve. All three valves are connected to the vehicle's hydraulic system. The safety lock-up control valve is a control valve that locks or releases the hydraulic oil circuit. The four-wheel steering control valve is the control valve corresponding to the four-wheel steering mode, achieving four-wheel steering by switching the hydraulic oil circuit distribution ratio. The crab steering control valve is the control valve corresponding to the crab steering mode, achieving crab steering by adjusting the direction and flow of the hydraulic oil circuit. The hydraulic oil circuit refers to the pipelines and channels in the hydraulic system that deliver hydraulic oil.

[0025] The specific types of the safety lock control valve, four-wheel steering control valve, and crab steering control valve can be set by those skilled in the art according to the application scenario and vehicle type, and are not limited herein. For example, the safety lock control valve, four-wheel steering control valve, and crab steering control valve are all electro-hydraulic valves.

[0026] The controller 101 is used to execute the steering control method in any of the following embodiments.

[0027] Axle positioning detection device 102, connected to controller 101, is used to determine whether the front axle and / or rear axle of the vehicle are in a centered state, so as to switch the vehicle's current axle positioning mode to a target axle positioning mode. The front axle of the vehicle is the steering axle located at the front of the vehicle, and the rear axle is the steering axle located at the rear of the vehicle. A centered state means that the steering wheels (wheels) of the vehicle's steering axles (such as the front or rear axle) are in a reference geometric position for straight-line travel.

[0028] Steering switching valve island 103 is connected to controller 101 and is used to adjust the working status of safety lock control valve, four-wheel steering control valve and crab steering control valve to switch the current steering mode to the target steering mode.

[0029] Please see Figure 2 , Figure 2 This is a detailed structural schematic diagram of a steering control system provided in an embodiment of this application; like Figure 2 As shown, the steering control system 100 includes: a controller 101, an axle position detection device 102, a steering switching valve island 103, an operation panel 104, and a display instrument 105. The axle position detection device 102 includes a front axle alignment detection device 121 and a rear axle alignment detection device 122.

[0030] The operation panel 104, connected to the controller 101, is used to acquire steering mode switching commands input by the user and send the steering mode switching commands to the controller 101, so that the controller 101 executes the steering control method in any of the following embodiments. The operation panel 104 includes, but is not limited to, input devices such as button panels and touchscreens.

[0031] The display instrument 105, connected to the controller 101, is used to display steering information sent by the controller 101 to guide the user in operating the vehicle, thereby aligning the front and / or rear axles of the vehicle. The display instrument includes, but is not limited to, display elements such as an LCD screen, analog gauges, and light-emitting diode (LED) indicator lights.

[0032] The front axle alignment detection device 121 is connected to the controller 101 and is used to detect the front axle of the vehicle to obtain the front axle alignment signal and send the front axle alignment signal to the controller 101. The front axle alignment signal is an electrical signal that characterizes the current state of the front axle, which includes, but is not limited to, the alignment state.

[0033] The rear axle alignment detection device 122, connected to the controller 101, is used to detect the rear axle of the vehicle to obtain a rear axle alignment signal and send the rear axle alignment signal to the controller 101. The rear axle alignment signal is an electrical signal characterizing the current state of the rear axle. The current state of the rear axle includes, but is not limited to, the alignment state.

[0034] The front axle alignment detection device 121 and the rear axle alignment detection device 122 include, but are not limited to, limit switches, Hall effect switches, and other detection devices. For example, when the front axle alignment detection device 121 and the rear axle alignment detection device 122 are limit switches or Hall effect switches, when the steering mechanism corresponding to a certain vehicle steering axle moves to the geometric midpoint position, the corresponding detection device (front axle alignment detection device or rear axle alignment detection device) is triggered. The switching signal output by the detection device at this time (i.e., front axle alignment signal or rear axle alignment signal) indicates that the vehicle steering axle is in an aligned state; when the steering mechanism corresponding to the vehicle steering axle has not moved to the geometric midpoint position, the switching signal output by the detection device at this time indicates that the vehicle steering axle is not in an aligned state.

[0035] For example, a high-level switch signal indicates that the corresponding vehicle steering axle is in the centering state; a low-level switch signal indicates that the corresponding vehicle steering axle is not in the centering state. The steering mechanism includes steering knuckles, steering tie rods, or steering hydraulic cylinders, etc.

[0036] The front axle alignment detection device 121 and the rear axle alignment detection device 122 can also use other detection methods to determine whether the front axle and / or the rear axle are in alignment, and this application does not limit this.

[0037] In some embodiments, the controller 101 and the operation panel 104 are installed on the driver's cab control panel of the vehicle, the front axle alignment detection device 121 is installed at the centerline of the front axle of the vehicle, the rear axle alignment detection device 122 is installed at the centerline of the rear axle of the vehicle, and the steering switching valve island 103 is installed on the chassis of the vehicle.

[0038] Please see Figure 3 , Figure 3 This is a schematic flowchart of a steering control method provided in an embodiment of this application; This steering control method is applied to steering control systems, for example: Figure 1 or Figure 2 The steering control system shown is specifically implemented by one or at least two processors of the steering control system controller.

[0039] like Figure 3 As shown, the steering control method includes: Step S301: Based on the vehicle's current steering mode, target steering mode, and bridge position detection device, switch the vehicle's current bridge position mode to the target bridge position mode. The current steering mode is the steering mode currently used by the vehicle, i.e., the steering control method used before the mode switch. The current steering mode includes front-wheel steering, four-wheel steering, or crab steering. The target steering mode is the steering mode the vehicle needs to switch to. The target steering mode also includes front-wheel steering, four-wheel steering, or crab steering.

[0040] Front-wheel steering is a steering mode in which only the front axle wheels deflect to achieve steering, while the rear axle wheels maintain a straight-line posture. Four-wheel steering is a steering mode in which both the front and rear axle wheels participate in steering simultaneously, with the rear wheels steering in the same direction as the front wheels. Crab steering is a steering mode in which both the front and rear axle wheels deflect in the same direction, causing the vehicle to move laterally as a whole.

[0041] The current axle position mode is the actual position of the front and / or rear axles under the current steering mode. The target axle position mode is the axle position mode corresponding to the target steering mode, which indicates the position of the front and / or rear axles. The target axle position mode includes the axle position mode corresponding to the front wheel steering mode, the axle position mode corresponding to the four-wheel steering mode, or the axle position mode corresponding to the crab steering mode.

[0042] In the axle position mode corresponding to the front wheel steering mode, the rear axle is in a centered state; in the axle position mode corresponding to the four-wheel steering mode or the axle position mode corresponding to the crab steering mode, both the front and rear axles are in a centered state.

[0043] Specifically, it determines whether the vehicle's current steering mode is the same as the target steering mode. If the current steering mode is the same as the target steering mode, the current steering mode remains unchanged, and steps S301 and S302 do not need to be executed; if the current steering mode is different from the target steering mode, the vehicle's current bridge position mode is switched to the target bridge position mode based on the front axle alignment signal and / or rear axle alignment signal detected by the bridge position detection device.

[0044] Please see Figure 4 , Figure 4 This is a schematic diagram of the wheel steering of the front and rear axles under different steering modes provided in the embodiments of this application; Figure 4 Part 'a' in the diagram represents a schematic of the wheel steering between the front and rear axles in four-wheel steering mode. Figure 4 Part b in the diagram represents a schematic of the wheel steering between the front and rear axles in crab steering mode. Figure 4 Part c in the diagram represents a schematic of the wheel steering between the front and rear axles in front-wheel steering mode.

[0045] Before step S301, the method further includes steps S1-S3: Step S1: After the steering control system is activated, determine the current steering mode; Specifically, after the steering control system is activated, the controller reads the stored steering mode and uses that steering mode as the current steering mode.

[0046] In some embodiments, the vehicle includes a key switch located in the driver's compartment, which controls the on / off state of the vehicle's power supply. When the user operates the key switch to power on the vehicle, the steering control system is activated.

[0047] Step S2: Control the safety lock control valve, four-wheel steering control valve and crab steering control valve to enter the corresponding working state according to the current steering mode; The operating state includes either an energized state or a de-energized state. An energized state means the solenoid coil of the control valve is energized, causing the control valve to be driven and in an open or activated state. A de-energized state means the solenoid coil of the control valve is de-energized, and the control valve is not driven and remains in a closed or held state.

[0048] Specifically, when the vehicle's hydraulic system is activated, the controller controls the steering switching valve island to execute the valve energization control logic corresponding to the current steering mode, causing the safety lock control valve, four-wheel steering control valve, and crab steering control valve to enter their respective working states.

[0049] When the current steering mode is four-wheel steering mode, step S2 includes: controlling the four-wheel steering control valve to enter the energized state and the crab steering control valve and safety lock control valve to enter the de-energized state.

[0050] When the current steering mode is crab steering mode, step S2 includes: controlling the crab steering control valve to enter the energized state and the four-wheel steering control valve and the safety lock control valve to enter the de-energized state.

[0051] When the current steering mode is front-wheel steering mode, step S2 includes: controlling the four-wheel steering control valve, the crab steering control valve and the safety lock control valve to enter the de-energized state.

[0052] Step S3: Receive the steering mode switching command input by the user through the operation panel.

[0053] The steering mode switching command is used to instruct the steering control system to switch the vehicle's current steering mode to the target steering mode. The steering mode switching command includes the target steering mode.

[0054] Specifically, the controller receives steering mode switching commands input by the user through the operation panel and determines the target steering mode.

[0055] Please see Figure 5 , Figure 5 yes Figure 3 A schematic diagram of the first detailed process of step S301; When the current steering mode is front-wheel steering and the target steering mode is four-wheel steering or crab steering, the detailed process of step S301 is as follows: Figure 5 As shown, step S301 includes steps S311-S313: Step S311: Determine whether the front axle is in the centering state; The front axle alignment detection device determines whether the vehicle's front axle is aligned. For example, the front axle alignment detection device sends a front axle alignment signal to the controller, which then determines whether the front axle is aligned based on this signal. When the front axle alignment signal is high, the controller determines that the front axle is aligned; when the front axle alignment signal is low, the controller determines that the front axle is not aligned.

[0056] If it is determined that the front axle is not in the centering state, proceed to step S312; if it is determined that the front axle is in the centering state, proceed to step S313.

[0057] Step S312: Display steering information via the instrument panel; Steering information refers to prompts that assist the user (i.e., the driver) in aligning the front axle and / or the rear axle. The specific type of steering information can be set by those skilled in the art according to the actual application scenario. For example, steering information includes system status information such as the current axle position mode, the current steering mode, and the target steering mode, as well as parameter information such as the real-time steering angle value, target steering angle value, and steering angle deviation of the front axle and / or the rear axle.

[0058] When the front axle is not aligned, steering information is displayed on the instrument panel to guide the user in maneuvering the vehicle until the front axle is aligned. Specifically, when the front axle is not aligned, the controller sends steering information to the instrument panel, which displays this information to guide the user in maneuvering the vehicle to align the front axle. During user maneuvering, the front axle alignment detection device continuously monitors the front axle for alignment signals and sends them to the controller. The controller determines whether the front axle is aligned based on these signals. If the front axle is still not aligned, it continues to send steering information to the instrument panel to guide further vehicle maneuvering. This process repeats until the front axle is aligned.

[0059] In some embodiments, the steering control system includes a steering mechanism. The steering mechanism includes, but is not limited to, a steering gear and a power steering system located within the vehicle's driver's cab. The user adjusts the front axle to a centered position by operating the steering mechanism.

[0060] Step S313: Determine that the current bridge mode has been switched to the target bridge mode.

[0061] When the front axle is in the centering state, it is determined that the current bridge position mode has been switched to the target bridge position mode.

[0062] Please see Figure 6 , Figure 6 yes Figure 3 A schematic diagram of the second detailed process in step S301; When the current steering mode is four-wheel steering or crab steering, and the target steering mode is front-wheel steering, the detailed process of step S301 is as follows: Figure 6 As shown, step S301 includes steps S314-S316: Step S314: Determine whether the rear axle is in the centering state; The rear axle alignment detection device determines whether the vehicle's rear axle is aligned. For example, the rear axle alignment detection device sends a rear axle alignment signal to the controller, which then determines whether the rear axle is aligned based on this signal. When the rear axle alignment signal is high, the controller determines that the rear axle is aligned; when the rear axle alignment signal is low, the controller determines that the rear axle is not aligned.

[0063] If it is determined that the rear axle is not in the aligned state, proceed to step S315; if it is determined that the rear axle is in the aligned state, proceed to step S316.

[0064] Step S315: Display steering information via the instrument panel; When the rear axle is not aligned, steering information is displayed on the instrument panel to guide the user in maneuvering the vehicle until the rear axle is aligned. Specifically, when the rear axle is not aligned, the controller sends steering information to the instrument panel, which displays this information to guide the user in maneuvering the vehicle to align the rear axle. During user maneuvering, the rear axle alignment detection device continuously monitors the rear axle, sending alignment signals to the controller. The controller determines whether the rear axle is aligned based on these signals. If the rear axle is still not aligned, it continues to send steering information to the instrument panel to guide further vehicle maneuvering. This process repeats until the rear axle is aligned.

[0065] In some embodiments, the user adjusts the rear axle to a centered position by operating the steering mechanism.

[0066] Step S316: Determine that the current bridge mode has been switched to the target bridge mode.

[0067] When the rear axle is in the centering state, it is determined that the current bridge position mode has been switched to the target bridge position mode.

[0068] Please see Figure 7 , Figure 7 yes Figure 3 A schematic diagram of the third detailed process in step S301; When the current steering mode is four-wheel steering and the target steering mode is crab steering, or when the current steering mode is crab steering and the target steering mode is four-wheel steering, the detailed process of step S301 is as follows: Figure 5 As shown, step S301 includes steps S1-S7: Step S1: Determine if the rear axle is in the centering state; The rear axle alignment is determined by a rear axle alignment detection device. For example, the rear axle alignment detection device sends a rear axle alignment signal to the controller, which then determines whether the rear axle is aligned based on this signal. When the rear axle alignment signal is high, the controller determines that the rear axle is aligned; when the rear axle alignment signal is low, the controller determines that the rear axle is not aligned.

[0069] If it is determined that the rear axle is not in the aligned state, proceed to step S2; if it is determined that the rear axle is in the aligned state, proceed to step S3.

[0070] Step S2: Display steering information via the instrument panel; When the rear axle is not aligned, steering information is displayed on the instrument panel so that the user can operate the vehicle according to the steering information until the rear axle is aligned. This step is similar to the specific implementation of step S315, and will not be described again here.

[0071] Step S3: Determine if the front axle is in the centering state; When the rear axle is in the alignment state, the front axle alignment detection device determines whether the front axle is in the alignment state. This step is similar to the specific implementation of step S311, and will not be described again here.

[0072] If it is determined that the front axle is not in the centering state, proceed to step S4; if it is determined that the front axle is in the centering state, proceed to step S7.

[0073] Step S4: Switch the vehicle's current bridge position mode to the bridge position mode corresponding to the front wheel steering mode; When the front axle is not in a centered state, switch the vehicle's current axle position mode to the axle position mode corresponding to the front wheel steering mode.

[0074] For example: When the current steering mode is crab steering mode and the target steering mode is four-wheel steering mode, execute steps S314-S316 to switch the current axle position mode to the axle position mode corresponding to the front wheel steering mode. Or, when the current steering mode is four-wheel steering mode and the target steering mode is crab steering mode, execute steps S314-S316 to switch the current axle position mode to the axle position mode corresponding to the front wheel steering mode.

[0075] Step S5: Determine if the front axle is in the centering state; The front axle alignment detection device determines whether the front axle is in alignment. This step is similar to the specific implementation of step S311, and will not be described again here.

[0076] If it is determined that the front axle is not in the centering state, proceed to step S6; if it is determined that the front axle is in the centering state, proceed to step S7.

[0077] Step S6: Display steering information via the instrument panel; When the front axle is not aligned, steering information is displayed on the instrument panel so that the user can operate the vehicle according to the steering information until the front axle is aligned. This step is similar to the specific implementation of step S312, and will not be described again here.

[0078] Step S7: Confirm that the current bridge mode has been switched to the target bridge mode.

[0079] When the front axle is in the centering state, it is determined that the current bridge position mode has been switched to the target bridge position mode.

[0080] Compared to existing solutions that visually determine whether the front and / or rear axle tires are in the center position, it is difficult to ensure the accuracy of the front and rear wheels being in the center position when switching steering modes. This can easily lead to asynchronous steering angles of the front and rear wheels when switching to four-wheel steering mode or crab steering mode, resulting in problems such as vehicle deviation and severe tire wear. This application guides the user to perform centering operations through the display instrument and uses front axle centering detection devices and rear axle centering detection devices to determine whether the front and rear axles are in the centering state, thereby improving the centering accuracy and ensuring that both the front and rear axles are in the centering state. This solves the problem of asynchronous steering angles of the front and rear wheels and achieves synchronization of the steering angles of the front and rear wheels in terms of magnitude and direction (same or opposite).

[0081] Step S302: Adjust the control state of the steering switching valve island according to the target steering mode to switch the current steering mode to the target steering mode.

[0082] The control state refers to the state of the steering switching valve island during the switching between different steering modes. The control state includes a first state, a second state, or a third state. The first state is the state of the steering switching valve island when the safety lock-up control valve is unlocked. The second state is the state of the steering switching valve island when the current steering mode switches to the target steering mode. The third state is the state of the steering switching valve island when the safety lock-up control valve is locked.

[0083] Specifically, the controller adjusts the control state of the steering switching valve island based on the current steering mode and the target steering mode, so as to switch the current steering mode to the target steering mode.

[0084] Step S302 includes steps S321-S324: Step S321: Control the steering switching valve island to enter the first state and maintain the first state for a first time period so that the safety lock-up control valve enters the unlocked state; The unlocked state refers to the state where the safety lock control valve releases its hydraulic lock, allowing the vehicle to switch steering modes. The first time period is the duration required for the safety lock control valve to switch from the locked state to the unlocked state after the steering switching valve island enters the first state. The duration of the first time period can vary depending on the combination of the current steering mode and the target steering mode.

[0085] The duration of the first time period can be set by those skilled in the art based on the actual application scenario and the specific types of the current steering mode and the target steering mode, and is not limited here. For example, the first time period is 50 milliseconds.

[0086] Specifically, the controller controls the steering switching valve island to enter the corresponding first state based on the current steering mode and the target steering mode, and maintains the steering switching valve island in this state for a first time period, thereby enabling the safety lock-up control valve to enter the unlocked state.

[0087] Step S322: Control the steering switching valve island to enter the second state and maintain the second state for a second time period, so as to switch the current steering mode to the target steering mode; The second time period refers to the duration required for the vehicle to switch from the current steering mode to the target steering mode after the steering switching valve island enters the second state. The duration of the second time period can vary depending on the different combinations of the current steering mode and the target steering mode.

[0088] The duration of the second time period can be set by those skilled in the art based on the actual application scenario and the specific types of the current steering mode and the target steering mode, and is not limited here. For example, the second time period is 200 milliseconds.

[0089] Specifically, after the first state is maintained for a first time period, the controller controls the steering switching valve island to enter the corresponding second state according to the current steering mode and the target steering mode, and maintains the steering switching valve island in this state for the second time period, thereby completing the switching from the current steering mode to the target steering mode.

[0090] Step S323: Control the steering switching valve island to enter the third state and maintain the third state for a third time period so that the safety lock-up control valve enters the lock-up state; The locked state refers to the state where the safety lock-up control valve is locked, prohibiting steering mode switching. The third time period is the duration required for the safety lock-up control valve to switch from the unlocked state to the locked state after the steering switching valve island enters the third state. The duration of the third time period can vary depending on the combination of the current steering mode and the target steering mode.

[0091] The duration of the third time period can be set by those skilled in the art based on the actual application scenario and the specific types of the current steering mode and the target steering mode, and is not limited here. For example, the third time period is 50 milliseconds.

[0092] Specifically, after the second state is maintained for a second time period, the controller controls the steering switching valve island to enter the corresponding third state according to the current steering mode and the target steering mode, and maintains the steering switching valve island in this state for the third time period, thereby causing the safety lock-up control valve to enter the lock-up state.

[0093] Step S324: After holding the third state for a fourth time period, store the current steering mode.

[0094] The fourth time period is the duration required after the steering switching valve island enters the third state to confirm that the vehicle has successfully switched from the current steering mode to the target steering mode and that the safety lock control valve has switched from the unlocked state to the locked state. The fourth time period is longer than the third time period. The duration of the fourth time period can vary depending on the combination of the current steering mode and the target steering mode.

[0095] The duration of the fourth time period can be set by those skilled in the art based on the actual application scenario and the specific types of the current steering mode and the target steering mode, and is not limited here. For example, the fourth time period is 100 milliseconds.

[0096] Specifically, after the third state is maintained for a fourth time period, the vehicle has completed the switch from the current steering mode to the target steering mode, and the safety lock control valve has switched from the unlocked state to the locked state, and the controller stores the current steering mode.

[0097] When the current steering mode is four-wheel steering mode and the target steering mode is crab steering mode: the first state is that the four-wheel steering control valve, the crab steering control valve and the safety lock control valve are energized; the second state is that the four-wheel steering control valve is de-energized and the crab steering control valve and the safety lock control valve are energized; the third state is that the crab steering control valve is energized and the four-wheel steering control valve and the safety lock control valve are de-energized.

[0098] When the current steering mode is four-wheel steering mode and the target steering mode is front-wheel steering mode: the first state is that the crab steering control valve is de-energized, and the four-wheel steering control valve and the safety lock control valve are energized; the second state is that the four-wheel steering control valve and the crab steering control valve are de-energized, and the safety lock control valve is energized; the third state is that the four-wheel steering control valve, the crab steering control valve and the safety lock control valve are de-energized.

[0099] When the current steering mode is crab steering mode and the target steering mode is four-wheel steering mode: the first state is that the four-wheel steering control valve, crab steering control valve and safety lock control valve are energized; the second state is that the crab steering control valve is de-energized and the four-wheel steering control valve and safety lock control valve are energized; the third state is that the four-wheel steering control valve is energized and the crab steering control valve and safety lock control valve are de-energized.

[0100] When the current steering mode is crab steering mode and the target steering mode is front wheel steering mode: the first state is that the four-wheel steering control valve is de-energized, and the crab steering control valve and the safety lock control valve are energized; the second state is that the four-wheel steering control valve and the crab steering control valve are de-energized, and the safety lock control valve is energized; the third state is that the four-wheel steering control valve, the crab steering control valve and the safety lock control valve are de-energized.

[0101] When the current steering mode is front-wheel steering and the target steering mode is four-wheel steering: the first state is that the four-wheel steering control valve and the crab steering control valve are de-energized, and the safety lock control valve is energized; the second state is that the crab steering control valve is de-energized, and the four-wheel steering control valve and the safety lock control valve are energized; the third state is that the four-wheel steering control valve is energized, and the crab steering control valve and the safety lock control valve are de-energized.

[0102] When the current steering mode is front-wheel steering mode and the target steering mode is crab steering mode: the first state is that the four-wheel steering control valve and the crab steering control valve are de-energized, and the safety lock control valve is energized; the second state is that the four-wheel steering control valve is de-energized, and the crab steering control valve and the safety lock control valve are energized; the third state is that the crab steering control valve is energized, and the four-wheel steering control valve and the safety lock control valve are de-energized.

[0103] By controlling the steering switching valve island to sequentially enter the first, second, and third states, and maintaining the corresponding states during the first, second, and third time periods respectively, the safety lock control valve is first unlocked and then locked after the vehicle completes the switch from the current steering mode to the target steering mode. This application enables the following during steering mode switching: on the one hand, by unlocking the safety lock control valve, the energizing logic of the four-wheel steering control valve and the crab steering control valve is controlled, and the state of the steering switching valve island is maintained during the corresponding time periods, ensuring the integrity of the steering mode switching; on the other hand, by locking the safety lock control valve, the safety risks caused by abnormal hydraulic system pressure, pipeline damage, valve jamming, or operational errors are reduced, thereby improving the safety, stability, and reliability of the steering system.

[0104] In this embodiment of the application, a steering control method is provided, which includes: switching the vehicle's current steering mode to the target steering mode based on the vehicle's current steering mode, the target steering mode, and the axle position detection device; adjusting the control state of the steering switching valve island according to the target steering mode to switch the current steering mode to the target steering mode; wherein, the target steering mode includes a front-wheel steering mode, a four-wheel steering mode, or a crab steering mode, the axle position detection device is used to determine whether the vehicle's front axle and / or rear axle are in a centered state, and the steering switching valve island includes a safety lock-up control valve, a four-wheel steering control valve, and a crab steering control valve.

[0105] The axle position detection device is used to determine whether the front and / or rear axles of the vehicle are in a centered state. Based on the vehicle's current steering mode, target steering mode, and the axle position detection device, the current axle position mode of the vehicle is switched to the target axle position mode. This application can improve the centering accuracy of the front and rear axles of the vehicle during the steering mode switching process. The steering switching valve island, including a safety lock-up control valve, a four-wheel steering control valve, and a crab steering control valve, adjusts the control state of the steering switching valve island according to the target steering mode to switch the current steering mode to the target steering mode. This application can improve the safety, stability, and reliability of the steering control system.

[0106] Please see Figure 8 , Figure 8 This is a schematic diagram of the structure of a steering control device provided in an embodiment of this application; like Figure 8 As shown, the steering control device 800 includes: The bridge position mode switching unit 801 is used to switch the vehicle's current bridge position mode to the target bridge position mode based on the vehicle's current steering mode, the target steering mode, and the bridge position detection device.

[0107] The steering switching valve island adjustment unit 802 is used to adjust the control state of the steering switching valve island according to the target steering mode, so as to switch the current steering mode to the target steering mode.

[0108] The target steering mode includes front-wheel steering mode, four-wheel steering mode or crab steering mode. The axle position detection device is used to determine whether the front axle and / or rear axle of the vehicle are in a centered state. The steering switching valve island includes a safety lock-up control valve, a four-wheel steering control valve and a crab steering control valve.

[0109] In some embodiments of this application, the steering control method is applied to a steering control system, which includes a display instrument and a bridge position detection device, including a front axle alignment detection device and a rear axle alignment detection device. The bridge position mode switching unit 801 is specifically used to: when the current steering mode is front-wheel steering mode and the target steering mode is four-wheel steering mode or crab steering mode, determine whether the front axle of the vehicle is in a aligned state based on the front axle alignment detection device; when the front axle is not in a aligned state, display steering information through the display instrument so that the user can operate the vehicle according to the steering information until the front axle enters the aligned state; when the front axle is in a aligned state, determine that the current bridge position mode has been switched to the target bridge position mode.

[0110] In some embodiments of this application, the bridge position mode switching unit 801 is specifically used to: determine whether the rear axle of the vehicle is in a centered state based on the rear axle centering detection device when the current steering mode is a four-wheel steering mode or a crab steering mode and the target steering mode is a front-wheel steering mode; when the rear axle is not in a centered state, display steering information through the display instrument so that the user can operate the vehicle according to the steering information until the rear axle enters the centered state; when the rear axle is in a centered state, determine that the current bridge position mode has been switched to the target bridge position mode. In some embodiments of this application, the bridge position mode switching unit 801 is specifically used for: when the current steering mode is a four-wheel steering mode and the target steering mode is a crab steering mode, or when the current steering mode is a crab steering mode and the target steering mode is a four-wheel steering mode, determining whether the rear axle is in a centered state based on the rear axle centering detection device; when the rear axle is not in a centered state, displaying steering information through the display instrument so that the user can operate the vehicle according to the steering information until the rear axle enters the centered state; when the rear axle is in a centered state, determining whether the front axle is in a centered state based on the front axle centering detection device; when the front axle is not in a centered state, switching the vehicle's current bridge position mode to the bridge position mode corresponding to the front wheel steering mode; determining whether the front axle is in a centered state based on the front axle centering detection device; when the front axle is not in a centered state, displaying steering information through the display instrument so that the user can operate the vehicle according to the steering information until the front axle enters the centered state; and when the front axle is in a centered state, determining that the current bridge position mode has been switched to the target bridge position mode.

[0111] In some embodiments of this application, the steering control method is applied to a steering control system, which includes an operation panel. The steering control device 800 further includes a steering mode control unit, which is used to: determine the current steering mode after the steering control system is activated; control the safety lock control valve, four-wheel steering control valve, and crab steering control valve to enter corresponding operating states according to the current steering mode, wherein the operating states include an energized state or a de-energized state; and receive a steering mode switching command input by the user through the operation panel, wherein the steering mode switching command includes a target steering mode.

[0112] In some embodiments of this application, the steering mode control unit is specifically used to: when the current steering mode is four-wheel steering mode, control the four-wheel steering control valve to be energized and the crab steering control valve and safety lock control valve to be de-energized; when the current steering mode is crab steering mode, control the crab steering control valve to be energized and the four-wheel steering control valve and safety lock control valve to be de-energized; when the current steering mode is front-wheel steering mode, control the four-wheel steering control valve, crab steering control valve and safety lock control valve to be de-energized.

[0113] In some embodiments of this application, the control state includes a first state, a second state, or a third state. The steering switching valve island adjustment unit 802 is specifically used to: control the steering switching valve island to enter a first state and maintain the first state for a first time period, so that the safety lock-up control valve enters an unlocked state; control the steering switching valve island to enter a second state and maintain the second state for a second time period, so that the current steering mode is switched to the target steering mode; control the steering switching valve island to enter a third state and maintain the third state for a third time period, so that the safety lock-up control valve enters a locked state; and store the current steering mode while the third state is maintained for a fourth time period.

[0114] In some embodiments of this application, when the current steering mode is four-wheel steering mode and the target steering mode is crab steering mode: the first state is that the four-wheel steering control valve, the crab steering control valve and the safety lock control valve are energized; the second state is that the four-wheel steering control valve is de-energized and the crab steering control valve and the safety lock control valve are energized; the third state is that the crab steering control valve is energized and the four-wheel steering control valve and the safety lock control valve are de-energized. In some embodiments of this application, when the current steering mode is crab steering mode and the target steering mode is four-wheel steering mode: the first state is that the four-wheel steering control valve, the crab steering control valve and the safety lock control valve are energized; the second state is that the crab steering control valve is de-energized and the four-wheel steering control valve and the safety lock control valve are energized; the third state is that the four-wheel steering control valve is energized and the crab steering control valve and the safety lock control valve are de-energized.

[0115] In some embodiments of this application, when the current steering mode is crab steering mode and the target steering mode is front wheel steering mode: the first state is that the four-wheel steering control valve is de-energized and the crab steering control valve and the safety lock control valve are energized; the second state is that the four-wheel steering control valve and the crab steering control valve are de-energized and the safety lock control valve is energized; the third state is that the four-wheel steering control valve, the crab steering control valve and the safety lock control valve are de-energized.

[0116] In some embodiments of this application, when the current steering mode is front-wheel steering mode and the target steering mode is four-wheel steering mode: the first state is that the four-wheel steering control valve and the crab steering control valve are de-energized and the safety lock control valve is energized; the second state is that the crab steering control valve is de-energized and the four-wheel steering control valve and the safety lock control valve are energized; the third state is that the four-wheel steering control valve is energized and the crab steering control valve and the safety lock control valve are de-energized.

[0117] In some embodiments of this application, when the current steering mode is front-wheel steering mode and the target steering mode is crab steering mode: the first state is that the four-wheel steering control valve and the crab steering control valve are de-energized and the safety lock control valve is energized; the second state is that the four-wheel steering control valve is de-energized and the crab steering control valve and the safety lock control valve are energized; the third state is that the crab steering control valve is energized and the four-wheel steering control valve and the safety lock control valve are de-energized.

[0118] In the embodiments of this application, the steering control device can also be constructed from hardware devices. For example, the steering control device can be constructed from one or more chips, and the chips can work in coordination to complete the steering control method described in the above embodiments. Furthermore, the steering control device can also be constructed from various logic devices, such as general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), microcontrollers, ARM (Acorn RISC Machine) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination of these components.

[0119] The steering control device in this application embodiment can be a device, or a component, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. For example, mobile electronic devices can be mobile phones, tablets, laptops, PDAs, in-vehicle electronic devices, wearable devices, ultra-mobile personal computers (UMPCs), netbooks, or personal digital assistants (PDAs), etc., while non-mobile electronic devices can be servers, network-attached storage (NAS), personal computers (PCs), televisions (TVs), ATMs, or self-service machines, etc. This application embodiment does not impose specific limitations.

[0120] The steering control device in this application embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this application embodiment does not specifically limit it.

[0121] The steering control device provided in this application embodiment can achieve... Figure 3 To avoid repetition, the various processes involved will not be described in detail here.

[0122] It should be noted that the above-described steering control device can execute the steering control method provided in the embodiments of this application, and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in the steering control device embodiments can be found in the steering control method provided in the above embodiments.

[0123] Please see Figure 9 , Figure 9 This is a schematic diagram of the structure of a controller provided in an embodiment of this application; like Figure 9 As shown, the controller 101 includes one or more processors 1011 and a memory 1012. Wherein, Figure 9 Take the 1011 processor as an example.

[0124] The processor 1011 and the memory 1012 can be connected via a bus or other means. Figure 7 Taking the example of a connection between China and Israel via a bus.

[0125] The processor 1011 provides computing and control capabilities to control the controller 101 to perform corresponding tasks. For example, the controller 101 executes the steering control method in any of the above method embodiments. The steering control method includes: switching the vehicle's current steering mode to the target steering mode based on the vehicle's current steering mode, the target steering mode, and the axle position detection device; adjusting the control state of the steering switching valve island based on the target steering mode to switch the current steering mode to the target steering mode; wherein the target steering mode includes a front-wheel steering mode, a four-wheel steering mode, or a crab steering mode; the axle position detection device is used to determine whether the vehicle's front axle and / or rear axle are in a centered state; and the steering switching valve island includes a safety lock-up control valve, a four-wheel steering control valve, and a crab steering control valve.

[0126] The axle position detection device is used to determine whether the front and / or rear axles of the vehicle are in a centered state. Based on the vehicle's current steering mode, target steering mode, and the axle position detection device, the current axle position mode of the vehicle is switched to the target axle position mode. This application can improve the centering accuracy of the front and rear axles of the vehicle during the steering mode switching process. The steering switching valve island, including a safety lock-up control valve, a four-wheel steering control valve, and a crab steering control valve, adjusts the control state of the steering switching valve island according to the target steering mode to switch the current steering mode to the target steering mode. This application can improve the safety, stability, and reliability of the steering control system.

[0127] The processor 1011 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The aforementioned PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0128] Memory 1012, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the steering control method in the embodiments of this application. Processor 1011 can implement the steering control method in any of the above method embodiments by running the non-transitory software programs, instructions, and modules stored in memory 1012. Specifically, memory 1012 may include volatile memory (VM), such as random access memory (RAM); memory 1012 may also include non-volatile memory (NVM), such as read-only memory (ROM), flash memory, hard disk drive (HDD), solid-state drive (SSD), or other non-transitory solid-state storage devices; memory 1012 may also include combinations of the above types of memory.

[0129] Memory 1012 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 1012 may optionally include memory remotely located relative to processor 1011, and such remote memory may be connected to processor 1011 via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0130] One or more modules are stored in memory 1012. When executed by one or more processors 1011, they perform the steering control method in any of the above method embodiments, for example, the method described above. Figure 3 The steps shown can also be implemented. Figure 8 The functions of each module or unit.

[0131] Please see Figure 10 , Figure 10 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application; like Figure 10 As shown, vehicle 1000 includes steering control system 100.

[0132] In this embodiment, the vehicle 1000 may also include other components for realizing the device functions, which will not be described in detail here.

[0133] This application also provides a computer-readable storage medium, such as a memory including program code, which can be executed by a processor to perform the steering control method in the above embodiments. For example, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CDROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0134] This application also provides a computer program product comprising one or more lines of program code stored in a computer-readable storage medium. The processor of the autonomous vehicle reads the program code from the computer-readable storage medium and executes the program code to complete the method steps of the steering control method provided in the above embodiments.

[0135] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware, or by a program or program code related to hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0136] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0137] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations as described above in different aspects of this application, which are not provided in detail for the sake of brevity; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A steering control method, characterized in that, The method includes: Based on the vehicle's current steering mode, target steering mode, and bridge position detection device, switch the vehicle's current bridge position mode to the target bridge position mode. Adjust the control state of the steering switching valve island according to the target steering mode to switch the current steering mode to the target steering mode; The target steering mode includes a front-wheel steering mode, a four-wheel steering mode, or a crab steering mode. The axle position detection device is used to determine whether the front axle and / or rear axle of the vehicle are in a centered state. The steering switching valve island includes a safety lock-up control valve, a four-wheel steering control valve, and a crab steering control valve.

2. The method according to claim 1, characterized in that, The method is applied to a steering control system, which includes a display instrument, and the axle position detection device includes a front axle alignment detection device and a rear axle alignment detection device. The step of switching the vehicle's current bridge position mode to the target bridge position mode based on the vehicle's current steering mode, the target steering mode, and the bridge position detection device includes: When the current steering mode is front-wheel steering mode and the target steering mode is four-wheel steering mode or crab steering mode, the front axle centering detection device determines whether the vehicle's front axle is in a centered state. When the front axle is not in a centered state, the display instrument shows steering information so that the user can operate the vehicle according to the steering information until the front axle enters a centered state. When the front axle is in a centered state, it is determined that the current axle position mode has been switched to the target axle position mode. When the current steering mode is four-wheel steering or crab steering, and the target steering mode is front-wheel steering, the rear axle is determined to be in a centered state based on the rear axle centering detection device. When the rear axle is not in a centered state, steering information is displayed on the display instrument so that the user can operate the vehicle according to the steering information until the rear axle is in a centered state. When the rear axle is in a centered state, it is determined that the current axle position mode has been switched to the target axle position mode.

3. The method according to claim 2, characterized in that, The step of switching the vehicle's current bridge position mode to the target bridge position mode based on the vehicle's current steering mode, the target steering mode, and the bridge position detection device includes: When the current steering mode is four-wheel steering mode and the target steering mode is crab steering mode, or when the current steering mode is crab steering mode and the target steering mode is four-wheel steering mode, the rear axle is determined to be in a centered state based on the rear axle centering detection device. When the rear axle is not in the centering state, the steering information is displayed on the display instrument so that the user can operate the vehicle according to the steering information until the rear axle is in the centering state. When the rear axle is in the centering state, the front axle is determined to be in the centering state based on the front axle centering detection device. When the front axle is not in the centering state, the vehicle's current axle position mode is switched to the axle position mode corresponding to the front wheel steering mode; the front axle centering detection device determines whether the front axle is in the centering state; when the front axle is not in the centering state, the steering information is displayed through the display instrument so that the user can operate the vehicle according to the steering information until the front axle enters the centering state. When the front axle is in the centering state, it is determined that the current bridge position mode has been switched to the target bridge position mode.

4. The method according to claim 1, characterized in that, The method is applied to a steering control system, which includes an operation panel; Before adjusting the vehicle's current bridge position to the target bridge position, the method further includes: After the steering control system is activated, the current steering mode is determined; According to the current steering mode, the safety lock control valve, the four-wheel steering control valve and the crab steering control valve are controlled to enter the corresponding working state, wherein the working state includes the energized state or the de-energized state; Receives a steering mode switching command input by the user through the operation panel, wherein the steering mode switching command includes a target steering mode; The step of controlling the safety lock control valve, the four-wheel steering control valve, and the crab steering control valve to enter the corresponding working state according to the current steering mode includes: When the current steering mode is four-wheel steering mode, the four-wheel steering control valve is energized and the crab steering control valve and the safety lock-up control valve are de-energized. When the current steering mode is crab steering mode, the crab steering control valve is energized and the four-wheel steering control valve and the safety lock control valve are de-energized. When the current steering mode is front-wheel steering mode, the four-wheel steering control valve, the crab steering control valve, and the safety lock-up control valve are de-energized.

5. The method according to any one of claims 1-4, characterized in that, The control state includes a first state, a second state, or a third state; The step of adjusting the control state of the steering switching valve island according to the target steering mode to switch the current steering mode to the target steering mode includes: The steering switching valve island is controlled to enter a first state and maintained in the first state for a first time period, so that the safety lock-up control valve enters the unlocked state. The steering switching valve island is controlled to enter a second state and maintain the second state for a second time period, so as to switch the current steering mode to the target steering mode. The steering switching valve island is controlled to enter a third state and the third state is maintained for a third time period, so that the safety lock-up control valve enters a lock-up state; After the third state is maintained for a fourth time period, the current steering mode is stored.

6. The method according to claim 5, characterized in that, When the current steering mode is four-wheel steering and the target steering mode is crab steering: the first state is that the four-wheel steering control valve, the crab steering control valve, and the safety lock control valve are energized; the second state is that the four-wheel steering control valve is de-energized, and the crab steering control valve and the safety lock control valve are energized; the third state is that the crab steering control valve is energized, and the four-wheel steering control valve and the safety lock control valve are de-energized. When the current steering mode is four-wheel steering and the target steering mode is front-wheel steering: the first state is that the crab steering control valve is de-energized, and the four-wheel steering control valve and the safety lock control valve are energized; the second state is that the four-wheel steering control valve and the crab steering control valve are de-energized, and the safety lock control valve is energized; the third state is that the four-wheel steering control valve, the crab steering control valve, and the safety lock control valve are de-energized. When the current steering mode is crab steering mode and the target steering mode is four-wheel steering mode: the first state is that the four-wheel steering control valve, crab steering control valve and safety lock control valve are energized; the second state is that the crab steering control valve is de-energized and the four-wheel steering control valve and safety lock control valve are energized; the third state is that the four-wheel steering control valve is energized and the crab steering control valve and safety lock control valve are de-energized.

7. The method according to claim 5, characterized in that, When the current steering mode is crab steering mode and the target steering mode is front wheel steering mode: the first state is that the four-wheel steering control valve is de-energized, and the crab steering control valve and the safety lock control valve are energized; the second state is that the four-wheel steering control valve and the crab steering control valve are de-energized, and the safety lock control valve is energized; the third state is that the four-wheel steering control valve, the crab steering control valve and the safety lock control valve are de-energized. When the current steering mode is front-wheel steering and the target steering mode is four-wheel steering: the first state is that the four-wheel steering control valve and the crab steering control valve are de-energized, and the safety lock control valve is energized; the second state is that the crab steering control valve is de-energized, and the four-wheel steering control valve and the safety lock control valve are energized; the third state is that the four-wheel steering control valve is energized, and the crab steering control valve and the safety lock control valve are de-energized. When the current steering mode is front-wheel steering mode and the target steering mode is crab steering mode: the first state is that the four-wheel steering control valve and the crab steering control valve are de-energized, and the safety lock control valve is energized; the second state is that the four-wheel steering control valve is de-energized, and the crab steering control valve and the safety lock control valve are energized; the third state is that the crab steering control valve is energized, and the four-wheel steering control valve and the safety lock control valve are de-energized.

8. A controller, characterized in that, include: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the steering control method as described in any one of claims 1-7.

9. A steering control system, characterized in that, include: The controller as described in claim 8; A bridge position detection device, connected to the controller, is used to determine whether the front axle and / or rear axle of the vehicle are in an aligned state, so as to switch the vehicle's current bridge position mode to the target bridge position mode. The steering switching valve island is connected to the controller and is used to adjust the working status of the safety lock control valve, the four-wheel steering control valve and the crab steering control valve to switch the current steering mode to the target steering mode.

10. A vehicle, characterized in that, include: The steering control system as described in claim 9.

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