Vehicle steering method, controller, device, medium, program product and vehicle

Abstract

The invention relates to a vehicle steering method, a controller, equipment, a medium, a program product and a vehicle, the method is applied to the vehicle, the vehicle comprises at least two connected carriages, and the method comprises the step that when the vehicle is steered, the wheel driving torque of the vehicle is adjusted based on the yaw velocity of the carriages. The invention aims to improve the steering control stability of the multi-section articulated vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of steering control, in particular to a vehicle steering method, controller, device, medium, program product and vehicle. BACKGROUND

[0002] At present, a multi-section articulated vehicle is a vehicle connected by a plurality of vehicle bodies through an articulated device. Such a vehicle has high flexibility and passability, and is widely used in articulated buses, articulated trucks and the like, which can significantly improve the passenger capacity and transportation efficiency. In the related art, the steering of the multi-section articulated vehicle generally depends on the observation and operation of the driver, resulting in poor steering control stability of the multi-section articulated vehicle. SUMMARY

[0003] The embodiments of the present application provide a vehicle steering method, controller, device, medium, program product and vehicle, which improves the steering control stability of the multi-section articulated vehicle to at least partially solve the above technical problems.

[0004] In order to achieve the above-mentioned purpose, according to a first aspect of the present application, a vehicle steering method is provided, applied to a vehicle, the vehicle comprising at least two connected carriages, the method comprising:

[0005] During the steering of the vehicle, the wheel driving torque of the vehicle is adjusted based on the yaw angular velocity of the carriages.

[0006] According to a second aspect of the present application, a controller is provided, which is used to execute any of the above vehicle steering methods.

[0007] According to a third aspect of the present application, an electronic device is further provided, comprising a processor connected with a memory, the memory storing a computer program, and the processor is used to run the computer program in the memory to execute any of the above vehicle steering methods.

[0008] According to a fourth aspect of the present application, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement any of the above vehicle steering methods.

[0009] According to a fifth aspect of the present application, a computer program product is provided, which comprises a computer program, and the computer program is executed by a processor to implement any of the above vehicle steering methods.

[0010] According to a sixth aspect of the present application, a vehicle is provided, which executes any of the above vehicle steering methods, or comprises the above controller or electronic device.

[0011] To sum up, by the technical solution, when the vehicle including at least two carriages is steering, the wheel driving torque of the vehicle is adjusted based on the yaw angular velocity of the carriages of the vehicle, the problems such as vehicle roll and pitch can be considered, so that the vehicle can smoothly and efficiently complete steering, and the steering control stability of the multi-section articulated vehicle is improved.

[0012] Other features and advantages of the present application will be described in detail in the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the following embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0014] In order to more completely understand the present application and its beneficial effects, the following will be described in conjunction with the drawings, wherein the same reference numerals in the following description represent the same parts.

[0015] Figure 1 is a flowchart of an embodiment of the vehicle steering method provided in the embodiments of the present application;

[0016] Figure 2 is a structural diagram of a multi-section articulated vehicle provided in the embodiments of the present application;

[0017] Figure 3 is a diagonal steering control diagram provided in the embodiments of the present application;

[0018] Figure 4 is a specific flowchart of a vehicle steering method provided in the embodiments of the present application;

[0019] Figure 5 is a structural diagram of a vehicle steering device provided in the embodiments of the present application;

[0020] Figure 6 is a structural diagram of an electronic device provided in the embodiments of the present application. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0022] Based on the problems mentioned in the foregoing background art, the steering of the multi-articulated vehicle in the related art generally relies on the observation and operation of the driver, resulting in poor steering control stability of the multi-articulated vehicle.

[0023] In some related art, the electric multi-articulated vehicle train can predict the future dynamic change of the tractor through the change of the steering wheel angle, control the rear trailer to follow the movement form of the tractor, and ensure the overallity of the vehicle train driving, but this steering scheme is only applicable to the multi-articulated vehicle train with powered tractor, the applicable scene is relatively single, the model itself does not consider the roll and pitch of the vehicle, requires the vehicle to drive at a constant speed, and does not consider the noise influence when calculating the torque balance, has high requirements for the sensor accuracy, and the calculation amount of the intermediate variables in each part of the formula is large.

[0024] In another related art, a vehicle state calculation formula based on a vehicle model is used to calculate the additional yaw moment of the front and rear compartments by taking the tire utilization rate as the optimization target, but the influence of the roll, pitch, center of mass offset of the vehicle and the road slope is not considered, which will cause errors in use. In addition, the model requires parameters such as road adhesion coefficient, tire cornering stiffness, and compartment rotational inertia, which are difficult to directly measure, and directly uses the obtained sensor data during vehicle movement for calculation, which has large calculation amount and does not consider the reliability and noise of the data.

[0025] In yet another related art, for a conventional four-wheel single-compartment vehicle, a series of threshold values are set to distinguish different states of the vehicle driving state, and corresponding control methods are implemented for each state, which has small calculation amount and is less affected by the cumulative error of the sensor in the control process. But this method is suitable for two-axle four-wheel passenger cars and cannot be simply applied to multi-articulated vehicles.

[0026] To solve the above problems, the embodiments of the present application provide a vehicle steering method, a controller, a device, a medium, a program product and a vehicle. In the embodiments of the present application, when a vehicle including at least two compartments is steering, the yaw angular velocity of the vehicle compartment is used to adjust the wheel driving torque of the vehicle, which can consider the roll, pitch and other problems of the vehicle, so that the vehicle can complete the steering smoothly and efficiently, and the steering control stability of the multi-articulated vehicle is improved.

[0027] Specifically, the vehicle steering method in the present application can be applied to an electronic device, which can also be a vehicle or arranged on a vehicle. The electronic device can be a controller. Subsequently, the execution subject of the vehicle steering method is taken as an example to illustrate each embodiment in detail.

[0028] The present application provides a vehicle steering method, please refer to Figure 1The vehicle turning method provided in the embodiments of the present application is applied to a vehicle, which comprises at least two connected carriages, and comprises the following step S10, which is described in detail below.

[0029] S10, during the turning of the vehicle, adjusting wheel driving torque of the vehicle based on the yaw angular velocity of the carriage.

[0030] In the embodiments, the vehicle has at least two carriages, the at least two carriages are connected to each other, and the relative angle between the connected carriages can be changed. After the carriages are connected, one carriage can drive the other carriage to move, but the angle between the carriages can be changed relatively, so that the vehicle is more flexible. Generally, the carriages are connected through a hinged disc or other connection modes. In the embodiments, the vehicle is a multi-section articulated vehicle, and the vehicle comprises at least two articulated carriages.

[0031] During the turning of the vehicle, the yaw angular velocity of the carriage of the vehicle is detected. The yaw angular velocity is the angular velocity of the vehicle rotating around a vertical axis during the turning, which can reflect the dynamic state of the vehicle during the turning. By detecting the yaw angular velocity of the carriage and adjusting the wheel driving torque according to the parameter, the turning process of the vehicle can be controlled accurately, so that the turning stability and flexibility of the vehicle are improved. For example, when the yaw angular velocity is large, it means that the vehicle turns sharply. At this time, by adjusting the driving torque appropriately, the vehicle can be prevented from turning excessively or insufficiently, so that the turning of the vehicle is more stable and controllable.

[0032] In the technical scheme disclosed in the embodiments, during the turning of the vehicle comprising at least two carriages, the wheel driving torque of the vehicle is adjusted based on the yaw angular velocity of the carriage of the vehicle. The turning control stability of the multi-section articulated vehicle can be improved by considering the problems such as vehicle roll and pitch, so that the vehicle can turn stably and efficiently.

[0033] In an embodiment, the adjusting of the wheel driving torque of the vehicle based on the yaw angular velocity of the carriage comprises:

[0034] Adjusting the wheel driving torque of a target carriage in the at least two carriages based on the yaw angular velocity of the target carriage.

[0035] In the embodiments, during the turning of the vehicle, the yaw angular velocity of a target carriage in the vehicle can be detected, the target carriage can be a certain carriage in the vehicle, the wheel driving torque of the target carriage is redistributed according to the yaw angular velocity of the target carriage, so that the target carriage can turn stably during the turning, and the turning performance of the vehicle is improved.

[0036] In an embodiment, the adjusting the wheel driving torque of the target car based on the yaw rate of the target car comprises:

[0037] adjusting the wheel driving torque of the first side wheel and / or the second side wheel on the target car based on the yaw rate of the target car, so as to change the driving torque ratio of the first side wheel and the second side wheel on the target car.

[0038] In the embodiment, the wheel driving torque of the first side wheel and / or the second side wheel on the target car can be adjusted based on the yaw rate of the target car, so as to adjust the wheel driving torque of one side or both sides on the target car, and change the driving torque ratio of the first side wheel and the second side wheel on the target car, so as to realize stable steering and high steering performance of the target car during steering by re-distributing the driving torque ratio of both sides of the target car.

[0039] In an embodiment, the adjusting the wheel driving torque of the target car based on the yaw rate of the target car comprises:

[0040] when the yaw rate of the target car is greater than or equal to the first preset yaw rate corresponding to the target car, the wheel driving torque of the first side wheel is reduced and / or the wheel driving torque of the second side wheel is increased, so as to reduce the driving torque ratio.

[0041] In the embodiment, when the vehicle is steering, it is detected whether the yaw rate of the target car is greater than or equal to the first preset yaw rate, that is, whether the difference between the yaw rate of the target car and the target yaw rate corresponding to the target car reaches the first limit. When it is detected that the yaw rate of the target car is greater than or equal to the first preset yaw rate, it indicates that the difference between the yaw rate of the target car and the target yaw rate corresponding to the target car reaches the first limit, and at this time, the yaw rate of the target car is too large. The wheel driving torque of the first side wheel can be reduced and / or the wheel driving torque of the second side wheel can be increased, so as to reduce the driving torque ratio of the first side wheel and the second side wheel on the target car, avoid the adverse effect of excessive steering on the stability of the vehicle, and improve the steering stability.

[0042] In an embodiment, the adjusting the wheel driving torque of the target car based on the yaw rate of the target car comprises:

[0043] In the case that the yaw angular velocity of the target vehicle compartment is less than or equal to the second preset yaw angular velocity corresponding to the target vehicle compartment, the wheel driving torque of the first side wheel is increased and / or the wheel driving torque of the second side wheel is decreased, so as to increase the driving torque ratio of the first side wheel to the second side wheel.

[0044] In the embodiment, when the vehicle is steering, it is detected whether the yaw angular velocity of the target vehicle compartment is less than or equal to the second preset yaw angular velocity, that is, whether the difference between the yaw angular velocity of the target vehicle compartment and the target yaw angular velocity corresponding to the target vehicle compartment reaches the second limit. In the case that the yaw angular velocity of the target vehicle compartment is less than or equal to the second preset yaw angular velocity corresponding to the target vehicle compartment, it indicates that the difference between the yaw angular velocity of the target vehicle compartment and the target yaw angular velocity corresponding to the target vehicle compartment reaches the second limit, at this time, the yaw angular velocity of the target vehicle compartment is too small, and the wheel driving torque of the first side wheel needs to be increased and / or the wheel driving torque of the second side wheel needs to be decreased, so as to increase the driving torque ratio of the first side wheel to the second side wheel on the target vehicle compartment, so as to promote the steering of the vehicle and ensure the steering performance.

[0045] In some embodiments, the first preset yaw angular velocity and / or the second preset yaw angular velocity corresponding to the target vehicle compartment is set according to the specifications (length, width, height, power, etc.) of the vehicle, the control mode (standard, economic, etc.), the speed, the acceleration, the load, the road conditions, etc. The first preset yaw angular velocity and / or the second preset yaw angular velocity corresponding to the target vehicle compartment may be different when different vehicle compartments are taken as the target vehicle compartment. It should be noted that the first preset yaw angular velocity corresponding to the target vehicle compartment is generally greater than the second preset yaw angular velocity corresponding to the target vehicle compartment. The first preset yaw angular velocity is an upper limit value, and greater than or equal to the first preset yaw angular velocity means that it is about to enter an unsafe mode (in the aggressive operation mode, it means that there is a risk of excessive steering or tilting, and in the conservative operation mode, it means that the passengers feel uncomfortable, etc.), and the second preset yaw angular velocity is a lower limit value, and less than or equal to the second preset yaw angular velocity means that it is about to be in a state of insufficient steering.

[0046] In an embodiment, in the case that the target vehicle compartment is the front vehicle compartment of the vehicle, the first side is the outer side of the vehicle, and the second side is the inner side of the vehicle.

[0047] In the embodiment, the target vehicle compartment can include the front vehicle compartment of the vehicle, the front vehicle compartment is the front vehicle compartment in the vehicle, and the rear vehicle compartment is the rear vehicle compartment in the vehicle. In the embodiment, the front vehicle compartment can be connected with the rear vehicle compartment, and the relative angle thereof is changeable. In some embodiments, the vehicle belongs to a double-joint articulated vehicle in a multi-joint articulated vehicle, that is, the vehicle includes two vehicle compartments connected with each other and having changeable relative angles, the front vehicle compartment refers to the first vehicle compartment in the vehicle, and the rear vehicle compartment refers to the last vehicle compartment in the vehicle.

[0048] In the embodiment, if the target compartment is the front compartment, the first side is the outer side of the vehicle, and the second side is the inner side of the vehicle. It can be understood that the outer side of the vehicle is the side of the vehicle away from the steering center, and the inner side of the vehicle is the side of the vehicle close to the steering center.

[0049] In the embodiment, when the vehicle is in the steering mode, the yaw angular velocity of the front compartment can be continuously monitored, and when the corresponding condition is met, the driving torque ratio of the outer side and the inner wheel of the front compartment is adjusted according to the yaw angular velocity of the front compartment, so as to achieve the purpose of redistributing the driving torque ratio of the two sides of the front compartment, so that the front compartment can be stably and efficiently steered.

[0050] In the embodiment, when the yaw angular velocity of the front compartment is greater than or equal to the first preset yaw angular velocity of the front compartment, that is, the difference between the yaw angular velocity of the front compartment and the target yaw angular velocity of the front compartment reaches the first limit, the wheel driving torque of the outer side wheel of the front compartment can be gradually reduced and / or the wheel driving torque of the inner side wheel of the front compartment can be gradually increased, so that the driving torque ratio of the outer side wheel and the inner side wheel of the front compartment is gradually reduced, that is, the driving torque ratio of the outer side wheel of the front compartment is reduced, so as to avoid the adverse effect of excessive steering on the stability of the vehicle; when the yaw angular velocity of the front compartment is less than or equal to the second preset yaw angular velocity of the front compartment, that is, the difference between the yaw angular velocity of the front compartment and the target yaw angular velocity of the front compartment reaches the second limit, the wheel driving torque of the outer side wheel of the front compartment can be gradually increased and / or the wheel driving torque of the inner side wheel of the front compartment can be gradually reduced, so that the driving torque ratio of the outer side wheel and the inner side wheel of the front compartment is gradually increased, that is, the driving torque ratio of the outer side wheel of the front compartment is increased, so as to avoid insufficient steering and ensure steering performance.

[0051] In an embodiment, when the target compartment is the rear compartment of the vehicle, the first side is the inner side of the vehicle, and the second side is the outer side of the vehicle.

[0052] In the embodiment, if the target compartment is the rear compartment, the first side is the inner side of the vehicle, and the second side is the outer side of the vehicle.

[0053] In the embodiment, the target compartment can include the rear compartment of the vehicle, and when the vehicle is in the steering mode, the yaw angular velocity of the rear compartment can be continuously monitored, and when the corresponding condition is met, the driving torque ratio of the inner side and the outer side wheel of the rear compartment is adjusted according to the yaw angular velocity of the rear compartment, so as to achieve the purpose of redistributing the driving torque ratio of the two sides of the rear compartment, so that the rear compartment can be stably and efficiently steered.

[0054] In the embodiment, when the yaw angular velocity of the rear compartment is greater than or equal to the first preset yaw angular velocity of the rear compartment, that is, the difference between the yaw angular velocity of the rear compartment and the target yaw angular velocity of the rear compartment reaches the first limit, the wheel driving torque of the inner side wheel of the rear compartment can be gradually reduced and / or the wheel driving torque of the outer side wheel of the rear compartment can be gradually increased, so that the driving torque ratio of the inner side wheel to the outer side wheel on the rear compartment is gradually reduced, that is, the driving torque ratio of the inner side wheel of the rear compartment is reduced, to avoid the adverse effect of excessive steering on the stability of the vehicle; when the yaw angular velocity of the rear compartment is less than or equal to the second preset yaw angular velocity of the rear compartment, that is, the difference between the yaw angular velocity of the rear compartment and the target yaw angular velocity of the rear compartment reaches the second limit, the wheel driving torque of the inner side wheel of the rear compartment can be gradually increased and / or the wheel driving torque of the outer side wheel of the rear compartment can be gradually reduced, so that the driving torque ratio of the inner side wheel to the outer side wheel on the rear compartment is gradually increased, that is, the driving torque ratio of the inner side wheel of the rear compartment is increased, to avoid insufficient steering and ensure the steering performance.

[0055] In an embodiment, when the vehicle includes at least three compartments, the target compartment is the first compartment of the vehicle, the first side is the outer side of the vehicle, and the second side is the inner side of the vehicle.

[0056] In some embodiments, the vehicle includes two compartments, which are respectively the front compartment and the rear compartment, such as a double-joint articulated vehicle, and then both of the two compartments can be the target compartment to perform the above adjustment of the wheel driving torque based on the yaw angular velocity, so as to improve the steering performance and stability of the double-compartment vehicle.

[0057] In the embodiment, the vehicle includes at least three compartments, which is not a double-compartment vehicle. Then, the first compartment of the vehicle, that is, the first compartment in the forward direction of the vehicle, can be selected as the target compartment, and the other compartments except the first compartment are not the target compartment, so as to avoid the snake shape of the vehicle and further improve the steering effect of the vehicle.

[0058] In the embodiment, when the yaw rate of the first vehicle compartment is greater than or equal to the first preset yaw rate of the first vehicle compartment, that is, the difference between the yaw rate of the first vehicle compartment and the target yaw rate of the first vehicle compartment reaches the first limit, the wheel driving torque of the outer wheel of the first vehicle compartment can be gradually reduced and / or the wheel driving torque of the inner wheel of the first vehicle compartment can be gradually increased, so that the driving torque ratio of the outer wheel to the inner wheel of the first vehicle compartment is gradually reduced, that is, the driving torque ratio of the outer wheel of the first vehicle compartment is reduced, so as to avoid the adverse effect of excessive steering on the stability of the vehicle; when the yaw rate of the first vehicle compartment is less than or equal to the second preset yaw rate of the first vehicle compartment, that is, the difference between the yaw rate of the first vehicle compartment and the target yaw rate of the first vehicle compartment reaches the second limit, the wheel driving torque of the outer wheel of the first vehicle compartment can be gradually increased and / or the wheel driving torque of the inner wheel of the first vehicle compartment can be gradually reduced, so that the driving torque ratio of the outer wheel to the inner wheel of the first vehicle compartment is gradually increased, that is, the driving torque ratio of the outer wheel of the first vehicle compartment is increased, so as to avoid insufficient steering and ensure the steering performance.

[0059] Based on any of the above embodiments, in an embodiment, the method further comprises:

[0060] When the vehicle is steering, adjusting the wheel driving torque of the vehicle based on the relative angle between the front vehicle compartment and the rear vehicle compartment.

[0061] In the embodiment, when the vehicle is steering in the diagonal driving steering mode, the relative angle between the front vehicle compartment and the rear vehicle compartment can also be detected, the relative angle can represent the relative angle between the front vehicle compartment and the rear vehicle compartment, and the wheel driving torque of the vehicle can be adjusted according to the relative angle, so as to improve the stability and performance of the vehicle steering.

[0062] In an embodiment, the relative angle between the front vehicle compartment and the rear vehicle compartment is determined based on the hinge disc angle between the front vehicle compartment and the rear vehicle compartment.

[0063] In the embodiment, the front vehicle compartment and the rear vehicle compartment can be connected through a hinge disc, the hinge disc angle can represent the relative angle between the front vehicle compartment and the rear vehicle compartment, and the hinge disc angle between the front vehicle compartment and the rear vehicle compartment can be set as the relative angle between the front vehicle compartment and the rear vehicle compartment, so that the relative angle between the front vehicle compartment and the rear vehicle compartment can be more conveniently obtained.

[0064] Based on any of the above embodiments, in an embodiment, the wheel driving torque of the vehicle is adjusted based on the relative angle between the front vehicle compartment and the rear vehicle compartment, comprising:

[0065] Based on the relative angle, the wheel driving torque of the front vehicle compartment is adjusted, so that the driving torque ratio of the outer wheel of the front vehicle compartment to the inner wheel of the front vehicle compartment is changed.

[0066] In the embodiment, the wheel driving torque of the front compartment can be adjusted based on the relative angle to change the driving torque ratio of the outside wheel of the front compartment to the inside wheel of the front compartment, so as to ensure the steering performance and steering stability of the vehicle.

[0067] According to any one of the above embodiments, in an embodiment, the adjusting the wheel driving torque of the front compartment based on the relative angle to change the driving torque ratio of the outside wheel of the front compartment to the inside wheel of the front compartment comprises:

[0068] When the relative angle is greater than or equal to the first preset angle, the wheel driving torque of the outside wheel of the front compartment is reduced and / or the wheel driving torque of the inside wheel of the front compartment is increased, so as to reduce the driving torque ratio of the outside wheel of the front compartment to the inside wheel of the front compartment.

[0069] In the embodiment, when the condition that the relative angle is greater than or equal to the first preset angle is met, that is, when the relative angle reaches the first limit, it indicates that the front compartment and the rear compartment are excessively bent, which will adversely affect the stability of the vehicle. At this time, the wheel driving torque of the outside wheel of the front compartment can be reduced and / or the wheel driving torque of the inside wheel of the front compartment can be increased, so as to reduce the driving torque ratio of the outside wheel of the front compartment to the inside wheel of the front compartment, that is, to reduce the proportion of the driving torque of the outside wheel of the front compartment, thereby ensuring the steering stability of the vehicle.

[0070] According to any one of the above embodiments, in an embodiment, the adjusting the wheel driving torque of the front compartment based on the relative angle to change the driving torque ratio of the outside wheel of the front compartment to the inside wheel of the front compartment comprises:

[0071] When the relative angle is less than or equal to the second preset angle, the wheel driving torque of the outside wheel of the front compartment is increased and / or the wheel driving torque of the inside wheel of the front compartment is reduced, so as to increase the driving torque ratio of the outside wheel of the front compartment to the inside wheel of the front compartment.

[0072] In the embodiment, when the condition that the relative angle is greater than or equal to the first preset angle is met, that is, when the relative angle reaches the second limit, it indicates that the front compartment and the rear compartment are insufficiently bent, which will cause the vehicle to turn insufficiently. At this time, the wheel driving torque of the outside wheel of the front compartment can be increased and / or the wheel driving torque of the inside wheel of the front compartment can be reduced, so as to increase the driving torque ratio of the outside wheel of the front compartment to the inside wheel of the front compartment, that is, to increase the proportion of the driving torque of the outside wheel of the front compartment, thereby ensuring the steering performance of the vehicle.

[0073] Based on any of the above embodiments, in an embodiment, the wheel driving torque of the vehicle is adjusted based on the relative angle between the front compartment and the rear compartment of the vehicle, including:

[0074] The wheel driving torque of the rear compartment is adjusted based on the relative angle, so as to change the driving torque ratio of the inboard wheel of the rear compartment to the outboard wheel of the rear compartment.

[0075] In this embodiment, the wheel driving torque of the rear compartment can be adjusted based on the relative angle, so as to change the driving torque ratio of the inboard wheel of the rear compartment to the outboard wheel of the rear compartment, thereby ensuring the steering performance and stability of the vehicle.

[0076] Based on any of the above embodiments, in an embodiment, the wheel driving torque of the rear compartment is adjusted based on the relative angle, so as to change the driving torque ratio of the inboard wheel of the rear compartment to the outboard wheel of the rear compartment, including:

[0077] In the case where the relative angle is greater than or equal to a first preset angle, the wheel driving torque of the inboard wheel of the rear compartment is reduced and / or the wheel driving torque of the outboard wheel of the rear compartment is increased, so as to reduce the driving torque ratio of the inboard wheel of the rear compartment to the outboard wheel of the rear compartment.

[0078] In this embodiment, when the case where the relative angle is greater than or equal to the first preset angle is met, that is, when it is monitored that the relative angle reaches the first limit, it indicates that the front compartment and the rear compartment are excessively bent, which will adversely affect the stability of the vehicle. At this time, the wheel driving torque of the inboard wheel of the rear compartment can be reduced and / or the wheel driving torque of the outboard wheel of the rear compartment can be increased, so as to reduce the driving torque ratio of the inboard wheel of the rear compartment to the outboard wheel of the rear compartment, that is, to reduce the proportion of the driving torque of the inboard wheel of the rear compartment, thereby ensuring the steering stability of the vehicle.

[0079] Based on any of the above embodiments, in an embodiment, the wheel driving torque of the rear compartment is adjusted based on the relative angle, so as to change the driving torque ratio of the inboard wheel of the rear compartment to the outboard wheel of the rear compartment, including:

[0080] In the case where the relative angle is less than or equal to a second preset angle, the wheel driving torque of the inboard wheel of the rear compartment is increased and / or the wheel driving torque of the outboard wheel of the rear compartment is reduced, so as to increase the driving torque ratio of the inboard wheel of the rear compartment to the outboard wheel of the rear compartment.

[0081] In the embodiment, when the relative angle is greater than or equal to the first preset angle, that is, when the relative angle reaches the second limit, it indicates that the front compartment and the rear compartment are insufficiently bent, which can cause the vehicle to turn insufficiently. At this time, the wheel driving torque of the inner side wheel of the rear compartment can be increased and / or the wheel driving torque of the outer side wheel of the rear compartment can be reduced, so that the driving torque ratio of the inner side wheel of the rear compartment to the inner side wheel of the rear compartment is increased, that is, the driving torque ratio of the inner side wheel of the rear compartment is increased, thereby ensuring the turning performance of the vehicle.

[0082] Based on any of the above embodiments, in an embodiment, the wheel driving torque of the vehicle is adjusted based on the relative angle between the front compartment and the rear compartment of the vehicle, including:

[0083] Based on the relative angle, the wheel driving torque of the front compartment and / or the wheel driving torque of the rear compartment is adjusted to change the driving torque ratio of the front compartment to the rear compartment.

[0084] In the embodiment, the wheel driving torque of the front compartment and / or the wheel driving torque of the rear compartment can be adjusted based on the relative angle to change the driving torque ratio of the front compartment to the rear compartment. Unlike the above embodiments, the driving torque ratio between the compartments adjusted in the embodiment ensures the turning performance and stability of the vehicle as a whole.

[0085] Based on any of the above embodiments, in an embodiment, the wheel driving torque of the front compartment and / or the wheel driving torque of the rear compartment is adjusted based on the relative angle to change the driving torque ratio of the front compartment to the rear compartment, including:

[0086] When the relative angle is greater than or equal to the first preset angle, the wheel driving torque of the front compartment is increased and / or the wheel driving torque of the second compartment is reduced to increase the driving torque ratio of the front compartment to the rear compartment.

[0087] In the embodiment, when the relative angle is greater than or equal to the first preset angle, that is, when the relative angle reaches the first limit, it indicates that the front compartment and the rear compartment are excessively bent, which can adversely affect the stability of the vehicle. At this time, the wheel driving torque of the front compartment is increased and / or the wheel driving torque of the rear compartment is reduced to increase the driving torque ratio of the front compartment to the rear compartment, that is, to reduce the driving torque ratio of the rear compartment, thereby ensuring the turning stability of the vehicle.

[0088] Based on any of the above embodiments, in an embodiment, the wheel driving torque of the front compartment and / or the wheel driving torque of the rear compartment is adjusted based on the relative angle to change the driving torque ratio of the front compartment to the rear compartment, including:

[0089] In a case where the relative angle is less than or equal to a second preset angle, the wheel driving torque of the front compartment is reduced and / or the wheel driving torque of the rear compartment is increased, so as to reduce the driving torque ratio of the front compartment to the rear compartment.

[0090] In the embodiment, in a case where the relative angle is greater than or equal to the first preset angle, i.e., the relative angle reaches the second limit, it indicates that the front compartment and the rear compartment are not bent enough, which may cause the vehicle to turn insufficiently. At this time, the wheel driving torque of the front compartment is reduced and / or the wheel driving torque of the rear compartment is increased, so as to reduce the driving torque ratio of the front compartment to the rear compartment, i.e., the driving torque ratio of the rear compartment is increased, thereby ensuring the turning performance of the vehicle.

[0091] It can be understood that, in general, the first preset angle is greater than the second preset angle.

[0092] Based on any one of the above embodiments, in an embodiment, the method further comprises:

[0093] In a case where the front compartment of the vehicle is straightened and the relative angle between the front compartment and the rear compartment of the vehicle belongs to a bending limit range, the difference between the wheel driving torques of the two sides of the front compartment is controlled to be lower than a preset difference, and the wheel driving torque of the inner side of the rear compartment is less than the wheel driving torque of the outer side of the rear compartment.

[0094] In the embodiment, after the vehicle turns, the front compartment and the rear compartment are straightened in turn. In a case where the front compartment is straightened and the relative angle between the front compartment and the rear compartment of the vehicle belongs to a bending limit range, the rear compartment of the vehicle is not straightened. The relative angle has positive and negative values, and the bending limit range has two non-intersecting sets respectively, the end values of the two sets can be opposite numbers of each other, for example, θ < -1° or 1° < θ, the relative angle between the front compartment and the rear compartment of the vehicle belongs to the bending limit range, i.e., the absolute value of the relative angle is greater than a preset angle corresponding to the bending limit range, and the preset angle can be the absolute value of the end value of the bending limit range. When the front compartment is straightened, the difference between the wheel driving torques of the two sides of the front compartment needs to be controlled to be lower than a preset difference, but the rear compartment is not straightened and is still turning. At this time, the rear compartment can be equivalent to a front compartment or a whole vehicle, and the wheel driving torque of the inner side of the rear compartment is controlled to be less than the wheel driving torque of the outer side of the rear compartment, so as to straighten the rear compartment.

[0095] In the embodiment, the difference between the wheel motor driving torques of the wheels on the two sides of the front compartment is lower than the preset difference torque, although the wheel motors on the two sides of the front compartment can generate differential torque to meet the yaw angular velocity, so as to maintain a certain amount of differential speed according to the body posture, but the driving torques thereof are basically 5:5. The rear compartment is redistributed to the state that the outer driving motor of the rear compartment is the main driving motor, so that the wheel driving torque of the inner wheel of the rear compartment is less than the wheel driving torque of the outer wheel of the rear compartment, and the torque ratio of the outer wheel motor of the rear axle is greater than the initial torque ratio of the rear axle (>0.5), so as to achieve the purpose of accelerating the rear axle.

[0096] Based on any of the above embodiments, in an embodiment, the method further comprises:

[0097] In the case that the front compartment of the vehicle is straightening and the relative angle belongs to the bending limit range, the wheel driving torque of the rear compartment is adjusted based on the relative angle between the front compartment and the rear compartment of the vehicle.

[0098] In the embodiment, in the case that the front compartment of the vehicle is straightening and the relative angle belongs to the bending limit range, the rear compartment is not actually in the straightening state, but the relative angle between the front compartment and the rear compartment can still be detected, and the wheel driving torque of the rear compartment is adjusted according to the relative angle, so as to improve the stability and performance of the vehicle during turning.

[0099] In an embodiment, the adjusting of the wheel driving torque of the rear compartment based on the relative angle between the front compartment and the rear compartment of the vehicle comprises:

[0100] The wheel driving torque of the inner wheel and / or the outer wheel of the rear compartment is adjusted based on the relative angle, so as to change the driving torque ratio of the outer wheel of the rear compartment to the inner wheel of the rear compartment.

[0101] In the embodiment, the wheel driving torque of the inner wheel and / or the outer wheel of the rear compartment is adjusted according to the relative angle between the front compartment and the rear compartment, so as to change the driving torque ratio of the outer wheel of the rear compartment to the inner wheel of the rear compartment, so as to accurately control the straightening of the rear compartment and ensure the stability and performance of the rear compartment before straightening.

[0102] Based on any of the above embodiments, in an embodiment, the adjusting of the wheel driving torque of the inner wheel and / or the outer wheel of the rear compartment based on the relative angle, so as to change the driving torque ratio of the outer wheel of the rear compartment to the inner wheel of the rear compartment, comprises:

[0103] In the case that the relative angle is less than or equal to the first straightening angle threshold, the wheel driving torque of the outer wheel of the rear compartment is reduced and / or the wheel driving torque of the inner wheel of the rear compartment is increased, so as to reduce the driving torque ratio of the outer wheel of the rear compartment to the inner wheel of the rear compartment.

[0104] In the embodiment, when the relative angle meets the condition of being less than or equal to the first return angle threshold, it indicates that the relative angle is too small, which means that the return compensation is excessive at this time. Therefore, the wheel driving torque of the rear compartment outside wheel can be reduced and / or the wheel driving torque of the rear compartment inside wheel can be increased, so as to reduce the driving torque ratio of the rear compartment outside wheel and the rear compartment inside wheel, thereby avoiding the articulated disc angle being too small caused by the return compensation, and the rear compartment snake caused by the articulated disc angle being too small.

[0105] Based on any of the above embodiments, in an embodiment, based on the relative angle, the wheel driving torque of the rear compartment inside wheel and / or outside wheel is adjusted to change the driving torque ratio of the rear compartment outside wheel and the rear compartment inside wheel, comprising:

[0106] When the relative angle is greater than or equal to the second return angle threshold, the wheel driving torque of the rear compartment outside wheel is increased and / or the wheel driving torque of the rear compartment inside wheel is reduced, so as to increase the driving torque ratio of the rear compartment outside wheel and the rear compartment inside wheel.

[0107] In the embodiment, when the relative angle meets the condition of being greater than or equal to the second return angle threshold, it indicates that the relative angle is too small, which means that the return compensation is excessive at this time. Therefore, the wheel driving torque of the rear compartment outside wheel can be increased and / or the wheel driving torque of the rear compartment inside wheel can be reduced, so as to increase the driving torque ratio of the rear compartment outside wheel and the rear compartment inside wheel, thereby enhancing the return effect and ensuring the steering performance.

[0108] It can be understood that, generally, the first return angle threshold is less than the second return angle threshold.

[0109] In the embodiment, the method further comprises:

[0110] When the front compartment of the vehicle is returned and the relative angle does not belong to the bending limit range, the difference between the driving torques of the wheels on both sides of the front compartment and the rear compartment is controlled to be lower than a preset difference.

[0111] In the embodiment, when the front compartment of the vehicle is returned and the relative angle does not belong to the bending limit range for a preset time length, that is, the absolute value of the relative angle is less than or equal to the preset angle corresponding to the bending limit range for a preset time length, it can be determined that the rear compartment has also been returned after the front compartment is returned. At this time, the difference between the driving torques of the wheels on both sides of the front compartment and the rear compartment can be controlled to be lower than a preset difference, and there is no speed difference between the wheels on both sides. At this time, the vehicle can be stably driven forward.

[0112] Based on the above embodiment, in an embodiment, the method further comprises:

[0113] In a case where the vehicle corner of the vehicle is greater than or equal to a first corner threshold corresponding to a cornering limit, it is determined that the vehicle is turning.

[0114] In the embodiment, the vehicle corner can be a steering wheel corner, a front axle corner, etc., and the vehicle corner is used to represent the turning tendency of the vehicle. In a case where the driver turns the steering wheel or receives a control instruction, etc., the vehicle corner can change. The vehicle corner of the vehicle can be monitored in real time or at intervals of a preset period. In a case where the vehicle corner is greater than a first corner threshold corresponding to a cornering limit, it is indicated that the vehicle corner is too large, and it is considered that the turning is clear. It is determined that the vehicle is turning, and the turning control is enabled. The diagonal drive turning mode can be entered to strengthen the turning performance and reduce the turning radius.

[0115] Based on the above embodiment, in an embodiment, after determining that the vehicle is turning, the method further comprises:

[0116] In a case where the vehicle corner of the vehicle is less than or equal to a second corner threshold corresponding to an exiting limit, it is determined that the first vehicle compartment of the vehicle is returning to normal after turning.

[0117] In the embodiment, in a case where the vehicle corner is less than or equal to a second corner threshold corresponding to an exiting limit, it is considered that the driver or the instruction has completed the homing of the vehicle corner. It is determined that at least the first vehicle compartment of the vehicle is returning to normal, and it is identified that the vehicle is exiting.

[0118] Based on the above embodiment, in an embodiment, the method further comprises:

[0119] In a case where the front vehicle compartment of the vehicle is returning to normal, and the relative angle between the front vehicle compartment and the rear vehicle compartment of the vehicle does not belong to a folding limit range, it is determined that the rear vehicle compartment is returning to normal.

[0120] In the embodiment, the first vehicle compartment of the vehicle can be used as the front vehicle compartment compared with the vehicle compartment after it. After the first vehicle compartment is determined to return to normal through the vehicle corner, the corresponding rear vehicle compartment can be controlled to return to normal. In the early stage of the return to normal control, the relative angle between the front vehicle compartment and the rear vehicle compartment of the vehicle generally belongs to the folding limit range. The difference between the driving torques of the wheels on both sides of the front vehicle compartment is controlled to be lower than a preset difference value, and the driving torque of the inner wheel of the rear vehicle compartment is controlled to be less than the driving torque of the outer wheel of the rear vehicle compartment. In the returning to normal process, the driving torque ratio of the wheels on both sides of the rear vehicle compartment can also be adjusted based on the relative angle to improve the turning returning to normal effect.

[0121] By the return control, the relative angle between the front compartment and the rear compartment of the vehicle is out of the folding limit range, and in the case that the relative angle between the front compartment and the rear compartment of the vehicle is not in the folding limit range and reaches the preset time length, the return of the rear compartment is confirmed, at this time, the difference between the driving torques of the wheels on both sides of the front compartment and the rear compartment can be controlled to be lower than the preset difference, and the two compartments can normally travel forward.

[0122] In the case that the vehicle has at least three compartments, the rear compartment can also be the front compartment of the rear compartment thereof, and the return control is continued on the rear compartment after the return of the rear compartment as the front compartment.

[0123] In the embodiment, in the case that all the compartments of the vehicle are returned, it is determined that the vehicle completes the turning, and the vehicle can stably travel forward.

[0124] Based on any one of the above embodiments, in the embodiment, the adjustment of the driving torque of the wheel of the vehicle includes:

[0125] The driving torque of the wheel of at least two target wheels of the vehicle is adjusted.

[0126] In the embodiment, the adjustment of the driving torque of the wheel of the vehicle based on the yaw rate of the compartment of the vehicle includes the adjustment of the driving torque of the wheel of at least two target wheels of the vehicle.

[0127] Based on any one of the above embodiments, in the embodiment, at least two target wheels are located on different sides of the vehicle.

[0128] In the embodiment, the target wheels adjusted are respectively located on different sides of the vehicle, so that the turning of the vehicle is flexibly adjusted.

[0129] Based on any one of the above embodiments, in an embodiment, at least two target wheels are located on different shafts of the vehicle.

[0130] In the embodiment, at least two target wheels are located on different shafts of the vehicle and on different sides of the vehicle, and at least two target wheels are in a diagonal relationship, and the turning of the vehicle is facilitated by the diagonal turning control and adjustment.

[0131] Based on any one of the above embodiments, in an embodiment, the driving torque of the wheel of the target wheel is greater than the driving torque of the wheel of the coaxial wheel of the target wheel.

[0132] In the embodiment, the driving torque of the wheel of the target wheel is greater than the driving torque of the wheel of the coaxial wheel of the target wheel. That is, the target wheel is the wheel that mainly drives when the vehicle turns, and the turning effect can be further improved.

[0133] Based on any of the above embodiments, in an embodiment, the at least two target wheels are located in different carriages of the vehicle.

[0134] In the embodiment, the vehicle is a multi-carriage vehicle, and the at least two target wheels are located in different carriages of the vehicle, which not only helps the steering of a single carriage, but also helps the relative angle correction between carriages, and thus improves the overall correction effect of the vehicle.

[0135] Based on any of the above embodiments, in an embodiment, the target wheels include an outer wheel of a front carriage and an inner wheel of a rear carriage of the vehicle.

[0136] In the embodiment, the target wheels include an outer wheel of a front carriage and an inner wheel of a rear carriage of the vehicle. In this way, the outer wheel of the front carriage and the inner wheel of the rear carriage are mainly used as the steering driving and control wheels, so that the vehicle is more likely to rotate in the direction of the steering, and the steering control of the vehicle can be further improved.

[0137] In the embodiment, when the wheel driving torque of the vehicle is adjusted based on the yaw angular velocity of the carriage, the driving torque ratio of the target wheel on each carriage to the opposite wheel can also be adjusted based on the yaw angular velocity of each carriage.

[0138] Based on the above embodiment, in the embodiment, the vehicle includes at least three wheel motors. The wheel motor is a motor for providing driving and other actions to the wheel. Different wheel driving torques can be applied to the wheel through the wheel motor to change the motor corresponding to the wheel speed. The wheel motor can be a wheel-side motor, a hub motor, etc.

[0139] In the embodiment, the vehicle includes at least three wheel motors, and the vehicle steering method provided in the embodiment can be applied to a three-motor vehicle, a four-motor vehicle, and a five-motor vehicle. For a two-motor axle of the vehicle, differential control of the wheels on both sides of the axle can be realized through the two motors, and the driving torque ratio of the motors on the axle can be adjusted according to the above embodiment. For a single-motor axle of the vehicle, differential control of the wheels on both sides of the axle can be realized through a differential mechanism or other mechanical structure. Even if such a mechanical structure does not exist, it does not affect the realization of the steering control provided in the embodiment.

[0140] Taking a three-motor vehicle as an example, the vehicle is a double-carriage vehicle including a hinged front carriage and a rear carriage. The vehicle has three axles, which are referred to as a front axle, a middle axle, and a rear axle according to their longitudinal order along the vehicle body. The front axle and the middle axle belong to the front carriage and are connected through a frame and can be regarded as a unified rigid body. The rear axle belongs to the rear carriage. The front axle is a steering driven axle responsible for steering, and a wheel motor such as a wheel-side motor provides power for the front axle. The middle axle is a single-motor axle, and only one wheel motor provides power. The rear axle is a double-motor axle, and two wheel motors provide power for the wheels on both sides of the axle.

[0141] When the vehicle is turning, the target wheels of the vehicle are the outer side wheels of the front axle of the front compartment of the vehicle and the inner side wheels of the rear axle of the rear compartment of the vehicle. Since the differential control cannot be realized by the single motor of the middle axle, the control is not performed. Since the differential control can be realized by the double motors of the rear axle, the turning driving control is performed on the inner side wheels of the rear axle of the rear compartment of the vehicle, so that the driving torque of the inner side wheels of the rear axle is greater than the driving torque of the outer side wheels of the rear axle, which can also help the vehicle to turn.

[0142] When the vehicle is turning and returning, the driving torque of the inner side wheels of the rear axle of the rear compartment and / or the driving torque of the outer side wheels of the rear axle of the rear compartment can be adjusted by the double motors based on the yaw rate of the rear compartment and the hinge disc speed between the front compartment and the rear compartment, so that the driving torque ratio of the inner side wheels of the rear compartment to the outer side wheels of the rear compartment is changed, and the stability and performance of the vehicle turning are ensured. For the front compartment middle axle, the driving torque ratio of the inner side wheels to the outer side wheels can not be adjusted, but the driving torque of the front compartment middle axle and / or the driving torque of the rear axle of the rear compartment can be adjusted based on the hinge disc speed between the front compartment and the rear compartment, so that the driving torque ratio of the front compartment to the rear compartment is changed, and the stability and performance of the vehicle turning are ensured.

[0143] Taking a four-motor vehicle as an example, as shown in Figure 2 , the vehicle is a double-compartment vehicle including a hinged front compartment and a rear compartment. The vehicle has three axles, which are referred to as front axle, middle axle and rear axle in sequence along the longitudinal direction of the vehicle body. The front axle and the middle axle belong to the front compartment and are connected by a frame and can be regarded as a unified rigid body. The rear axle belongs to the rear compartment. The front axle is a turning driven axle and is responsible for turning. The wheel motors such as wheel motors provide power for the front axle. The middle axle and the rear axle are double-motor axles and have two wheel motors respectively to provide power for the wheels on both sides of the middle axle and the rear axle.

[0144] When the vehicle is turning, the target wheels of the vehicle are the outer side wheels of the front axle of the front compartment of the vehicle and the inner side wheels of the rear axle of the rear compartment of the vehicle. Since it is a four-motor vehicle, the differential control can be performed on the wheel motors on both sides of the middle axle and the rear axle. Therefore, the vehicle can adopt the diagonal driving turning mode to turn.

[0145] As shown in Figure 3 , in the diagonal turning control mode, the target wheel motors corresponding to the outer side wheels of the middle axle of the front compartment of the vehicle and the inner side wheels of the rear axle of the rear compartment of the vehicle are the main driving.

[0146] As shown in Figure 4 , the specific turning control process of the vehicle is as follows:

[0147] The steering wheel angle of the vehicle (or the front axle angle according to the selection of the vehicle sensor) is monitored as the target angle of the vehicle. When the target angle reaches the limit of the turn-in, it is considered that the steering is clear, and the diagonal drive steering mode is enabled. The front axle inside and outside wheel driving torques of the front axle are redistributed by the double motors of the middle axle to make the driving torque of the outside wheel of the front axle larger than that of the inside wheel, so that the driving torque ratio of the outside wheel to the inside wheel of the front axle is the initial steering ratio (>0.5) of the middle axle driving torque. The rear axle inside and outside wheel driving torques of the rear axle are redistributed by the double motors of the rear axle to make the driving torque of the inside motor of the rear axle larger than that of the outside motor, so that the driving torque ratio of the inside wheel to the outside wheel of the rear axle is the initial steering ratio (>0.5) of the rear axle driving torque.

[0148] When the vehicle is steering in the diagonal drive steering mode, the front and rear carriages are taken as the target carriages. Based on the yaw rate in the front carriage, the driving torques of the outside wheel and / or the inside wheel of the middle axle of the front carriage are adjusted to change the driving torque ratio of the outside wheel to the inside wheel of the front carriage, so as to ensure the stability and performance of the vehicle steering. Based on the yaw rate in the rear carriage, the driving torques of the outside wheel and / or the inside wheel of the rear axle of the rear carriage are adjusted to change the driving torque ratio of the outside wheel to the inside wheel of the rear carriage, so as to ensure the stability and performance of the vehicle steering.

[0149] When the vehicle is steering in the diagonal drive steering mode, the front and rear carriages are taken as the target carriages. Based on the yaw rate in the front carriage, the driving torques of the middle axle and / or the rear axle of the front carriage are adjusted based on the relative angle between the front carriage and the rear carriage of the vehicle to change at least one of the driving torque ratio of the outside wheel to the inside wheel of the front carriage, the driving torque ratio of the inside wheel to the outside wheel of the rear carriage, and the driving torque ratio of the front carriage to the rear carriage, so as to ensure the stability and performance of the vehicle steering.

[0150] When the steering wheel angle of the vehicle reaches the limit of the turn-out, it is confirmed that the front carriage of the vehicle is straightening.

[0151] When the front carriage of the vehicle is straightening, and the relative angle between the front carriage and the rear carriage of the vehicle belongs to the folding limit range, the driving torques of the wheels on both sides of the middle axle of the front carriage can be controlled to be equal, and the driving torque of the inside wheel of the rear axle of the rear carriage is controlled to be smaller than that of the outside wheel, so as to help the rear carriage to straighten.

[0152] When the rear carriage is straightening, the driving torques of the inside wheel and / or the outside wheel of the rear axle of the rear carriage can be adjusted based on the relative angle to change the driving torque ratio of the outside wheel to the inside wheel of the rear carriage, so as to ensure the stability and performance of the vehicle steering.

[0153] In the case that the front car body is returned to normal, and the relative angle between the front car body and the rear car body does not belong to the bending limit range for a preset time length, it is determined that the rear car body is returned to normal, at this time, all car bodies of the vehicle are returned to normal, the steering is completed, the driving torques of the wheels on both sides of the front car body middle shaft and the rear lateral shaft are equal, and the vehicle can stably move forward.

[0154] In the above embodiment, the angular drive steering control method is first proposed by utilizing the characteristics that the four motors of the middle shaft and the rear shaft of the distributed drive articulated passenger vehicle can independently control the driving torques of the four wheels of the middle shaft and the rear shaft. By subdividing the entry bending and the exit bending during steering, combining the front car body posture, the rear car body posture, the target steering angle and the relative angle, the specific control method in each state is proposed, a series of limit settings are set to realize the switching between different control states, so as to ensure the smoothness and efficiency of steering. The steering method does not depend on the vehicle model, can simply and efficiently control the steering of the distributed drive multi-section articulated vehicle, is simple to implement, sensitive to control, and less affected by noise.

[0155] It can be understood that the preset information such as the entry bending limit, the exit bending limit, the initial driving torque proportion, the limit corresponding to the yaw rate and the specific threshold parameters corresponding thereto can be reasonably set according to the specifications (length, width, height, power, etc.) of the vehicle, the control mode (standard, economic, etc.), the speed, the acceleration, the load, the road conditions and the like, so that the vehicle can stably and efficiently complete steering.

[0156] The embodiment also provides a controller for executing any of the vehicle steering methods as shown above.

[0157] The embodiment also provides a vehicle steering device, which can be integrated in a vehicle, for example, as shown in the Figure 5 The vehicle steering device can include:

[0158] The control module 1001 is configured to adjust the driving torque of the wheels of the vehicle based on the yaw rate of the car body during steering of the vehicle.

[0159] Optionally, the adjusting the driving torque of the wheels of the vehicle based on the yaw rate of the car body includes:

[0160] adjusting the driving torque of the wheels of the target car body based on the yaw rate of the target car body in the at least two car bodies.

[0161] Optionally, the control module 1001 is further configured to:

[0162] adjust wheel driving torque of the first side wheel and / or wheel driving torque of the second side wheel on the target compartment based on yaw angular velocity of the target compartment, so as to change driving torque ratio of the first side wheel and the second side wheel on the target compartment.

[0163] Optionally, the control module 1001 is further configured to:

[0164] in a case where the yaw angular velocity of the target compartment is greater than or equal to a first preset yaw angular velocity corresponding to the target compartment, decrease the wheel driving torque of the first side wheel and / or increase the wheel driving torque of the second side wheel, so as to decrease the driving torque ratio.

[0165] Optionally, the control module 1001 is further configured to:

[0166] in a case where the yaw angular velocity of the target compartment is less than or equal to a second preset yaw angular velocity corresponding to the target compartment, increase the wheel driving torque of the first side wheel and / or decrease the wheel driving torque of the second side wheel, so as to increase the driving torque ratio.

[0167] Optionally, in a case where the target compartment is a front compartment of the vehicle, the first side is an outer side of the vehicle, and the second side is an inner side of the vehicle.

[0168] Optionally, in a case where the target compartment is a rear compartment of the vehicle, the first side is an inner side of the vehicle, and the second side is an outer side of the vehicle.

[0169] Optionally, in a case where the vehicle includes at least three compartments, the target compartment is a first compartment of the vehicle, the first side is an outer side of the vehicle, and the second side is an inner side of the vehicle.

[0170] Optionally, the control module 1001 is further configured to:

[0171] in a case where the vehicle is turning, adjust wheel driving torque of the vehicle based on a relative angle between a front compartment and a rear compartment of the vehicle.

[0172] Optionally, the control module 1001 is further configured to:

[0173] adjust the wheel driving torque of the front compartment based on the relative angle, so as to change driving torque ratio of an outer side wheel of the front compartment and an inner side wheel of the front compartment.

[0174] Optionally, the control module 1001 is further configured to:

[0175] In a case where the relative angle is greater than or equal to a first preset angle, the wheel driving torque of the outboard wheel of the front cabin is reduced and / or the wheel driving torque of the inboard wheel of the front cabin is increased, so as to reduce the driving torque ratio of the outboard wheel of the front cabin to the inboard wheel of the front cabin.

[0176] Optionally, the control module 1001 is further configured to:

[0177] In a case where the relative angle is less than or equal to a second preset angle, the wheel driving torque of the outboard wheel of the front cabin is increased and / or the wheel driving torque of the inboard wheel of the front cabin is reduced, so as to increase the driving torque ratio of the outboard wheel of the front cabin to the inboard wheel of the front cabin.

[0178] Optionally, the control module 1001 is further configured to:

[0179] Based on the relative angle, the wheel driving torque of the rear cabin is adjusted, so as to change the driving torque ratio of the inboard wheel of the rear cabin to the outboard wheel of the rear cabin.

[0180] Optionally, the control module 1001 is further configured to:

[0181] In a case where the relative angle is greater than or equal to a first preset angle, the wheel driving torque of the inboard wheel of the rear cabin is reduced and / or the wheel driving torque of the outboard wheel of the rear cabin is increased, so as to reduce the driving torque ratio of the inboard wheel of the rear cabin to the outboard wheel of the rear cabin.

[0182] Optionally, the control module 1001 is further configured to:

[0183] In a case where the relative angle is less than or equal to a second preset angle, the wheel driving torque of the inboard wheel of the rear cabin is increased and / or the wheel driving torque of the outboard wheel of the rear cabin is reduced, so as to increase the driving torque ratio of the inboard wheel of the rear cabin to the outboard wheel of the rear cabin.

[0184] Optionally, the control module 1001 is further configured to:

[0185] Based on the relative angle, the wheel driving torque of the front cabin and / or the wheel driving torque of the rear cabin is adjusted, so as to change the driving torque ratio of the front cabin to the rear cabin.

[0186] Optionally, the control module 1001 is further configured to:

[0187] In a case where the relative angle is greater than or equal to a first preset angle, the wheel driving torque of the front cabin is increased and / or the wheel driving torque of the rear cabin is reduced, so as to increase the driving torque ratio of the front cabin to the rear cabin.

[0188] Optionally, the control module 1001 is further configured to:

[0189] in a case where the relative angle is less than or equal to a second preset angle, reduce the wheel driving torque of the front compartment and / or increase the wheel driving torque of the rear compartment, so as to reduce the driving torque ratio of the front compartment to the rear compartment.

[0190] Optionally, the control module 1001 is further configured to:

[0191] in a case where the front compartment of the vehicle is turning back and the relative angle between the front compartment and the rear compartment of the vehicle belongs to the folding boundary range, control the difference between the driving torques of the wheels on both sides of the front compartment to be lower than a preset difference value, and the driving torque of the inner wheel of the rear compartment is less than the driving torque of the outer wheel of the rear compartment.

[0192] Optionally, the control module 1001 is further configured to:

[0193] in a case where the front compartment of the vehicle is turning back and the relative angle belongs to the folding boundary range, adjust the wheel driving torque of the rear compartment based on the relative angle between the front compartment and the rear compartment of the vehicle.

[0194] Optionally, the control module 1001 is further configured to:

[0195] adjust the wheel driving torque of the inner wheel and / or the outer wheel of the rear compartment based on the relative angle, so as to change the driving torque ratio of the outer wheel of the rear compartment to the inner wheel of the rear compartment.

[0196] Optionally, the control module 1001 is further configured to:

[0197] in a case where the relative angle is less than or equal to a first turning back angle threshold, reduce the wheel driving torque of the outer wheel of the rear compartment and / or increase the wheel driving torque of the inner wheel of the rear compartment, so as to reduce the driving torque ratio of the outer wheel of the rear compartment to the inner wheel of the rear compartment.

[0198] Optionally, the control module 1001 is further configured to:

[0199] in a case where the relative angle is greater than or equal to a second turning back angle threshold, increase the wheel driving torque of the outer wheel of the rear compartment and / or reduce the wheel driving torque of the inner wheel of the rear compartment, so as to increase the driving torque ratio of the outer wheel of the rear compartment to the inner wheel of the rear compartment.

[0200] Optionally, the control module 1001 is further configured to:

[0201] In a case that the front compartment of the vehicle is turning back and the relative angle does not belong to the folding limit range, the control module 1001 is further configured to control the difference between the driving torques of the wheels on both sides of the front compartment and the rear compartment to be lower than a preset difference.

[0202] Optionally, the relative angle between the front compartment and the rear compartment is determined based on a hinged disc angle between the front compartment and the rear compartment.

[0203] Optionally, the control module 1001 is further configured to:

[0204] adjust the driving torque of at least two target wheels of the vehicle.

[0205] Optionally, the at least two target wheels are located on different sides of the vehicle.

[0206] Optionally, the at least two target wheels are located on different shafts of the vehicle.

[0207] Optionally, when the vehicle is turning, the driving torque of the target wheel is greater than the driving torque of a wheel on the same shaft as the target wheel.

[0208] Optionally, the at least two target wheels are located on different compartments of the vehicle.

[0209] Optionally, the target wheels include an outer wheel of a front compartment and an inner wheel of a rear compartment of the vehicle.

[0210] Optionally, the control module 1001 is further configured to:

[0211] In a case that a vehicle turning angle of the vehicle is greater than or equal to a first turning angle threshold corresponding to an entry limit, it is determined that the vehicle is entering a turn, the vehicle turning angle including a steering wheel turning angle and / or a front shaft turning angle.

[0212] Optionally, the control module 1001 is further configured to:

[0213] In a case that the vehicle turning angle is less than or equal to a second turning angle threshold corresponding to an exit limit, it is determined that a first compartment of the vehicle is turning back after entering the turn.

[0214] Optionally, the control module 1001 is further configured to:

[0215] In a case that a front compartment of the vehicle is turning back and a relative angle between the front compartment and a rear compartment of the vehicle does not belong to a folding limit range, it is determined that the rear compartment is turning back.

[0216] Optionally, the vehicle includes at least three wheel motors.

[0217] Optionally, the at least two carriages are connected to each other, and the relative angle between the connected carriages can be changed.

[0218] During steering of the vehicle including the at least two carriages, the wheel driving torque of the vehicle is adjusted based on the yaw angular velocity of the vehicle carriage, so that the vehicle can smoothly and efficiently complete steering, and the steering control stability of the multi-section articulated vehicle is improved.

[0219] The specific implementation of each operation can refer to the foregoing embodiments, and will not be described here.

[0220] Correspondingly, the embodiment of the application further provides an electronic device, such as Figure 6 As shown in the figure, Figure 6 The electronic device 1100 further includes a processor 1101 having one or more processing cores, a memory 1102 having one or more computer readable storage media, and a computer program stored in the memory 1102 and executable on the processor. Wherein, the processor 1101 is electrically connected with the memory 1102. Those skilled in the art can understand that the structure of the electronic device shown in the figure does not constitute a limitation on the electronic device, and can include more or fewer components than the figure, or combine certain components, or different component arrangements.

[0221] The processor 1101 is the control center of the electronic device 1100, which connects various parts of the entire electronic device 1100 through various interfaces and lines, executes various functions of the electronic device 1100 and processes data by running or loading software programs and / or units stored in the memory 1102, and calling data stored in the memory 1102, thereby overall monitoring the electronic device 1100. The processor 1101 can be a processor (Central Processing Unit, CPU), a graphics processor (Graphics Processing Unit, GPU), a network processor (Network Processor, NP), etc., which can realize or execute the methods, steps and logic block diagrams disclosed in the embodiments of the application.

[0222] In the embodiments of the application, the processor 1101 in the electronic device 1100 will load the instructions corresponding to the processes of one or more application programs into the memory 1102, and run the application programs stored in the memory 1102 by the processor 1101, so as to realize various functions, for example:

[0223] During steering of the vehicle, the wheel driving torque of the vehicle is adjusted based on the yaw angular velocity of the vehicle carriage.

[0224] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0225] Optional, such as Figure 6 As shown, the electronic device 1100 also includes: a touch display screen 1103, a radio frequency circuit 1104, an audio circuit 1105, an input unit 1106, and a power supply 1107. The processor 1101 is electrically connected to the touch display screen 1103, the radio frequency circuit 1104, the audio circuit 1105, the input unit 1106, and the power supply 1107. Those skilled in the art will understand that... Figure 6 The electronic device structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0226] The touch display screen 1103 can be used to display a graphical user interface (GUI) and receive operation commands generated by the user interacting with the GUI. The touch display screen 1103 may include a display panel and a touch panel. The display panel can be used to display information input by the user or information provided to the user, as well as various graphical user interfaces of the electronic device. These graphical user interfaces can be composed of graphics, text, icons, video, and any combination thereof. Optionally, the display panel can be configured using a liquid crystal display (LCD), organic light-emitting diode (OLED), or other similar technologies. The touch panel can be used to collect touch operations performed by the user on or near it (such as operations performed by the user using a finger, stylus, or any suitable object or accessory on or near the touch panel), generate corresponding operation commands, and execute the corresponding program according to the operation commands. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. The touch detection device detects the user's touch location and the signal generated by the touch operation, transmitting the signal to the touch controller. The touch controller receives touch information from the touch detection device, converts it into touch point coordinates, and sends it to the processor 1101. It can also receive and execute commands from the processor 1101. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it transmits the information to the processor 1101 to determine the type of touch event. Subsequently, the processor 1101 provides corresponding visual output on the display panel based on the type of touch event. In this embodiment, the touch panel and the display panel can be integrated into the touch display screen 1103 to achieve input and output functions. However, in some embodiments, the touch panel and the touch display screen 1103 can be used as two independent components to achieve input and output functions. That is, the touch display screen 1103 can also be used as part of the input unit 1106 to achieve input functions.

[0227] The radio frequency circuit 1104 can be used to transceive radio frequency signals to establish wireless communication with a network medical device or other electronic device, and transceive signals between the network medical device or other electronic device.

[0228] The audio circuit 1105 can be used to provide an audio interface between a user and the electronic device through a speaker and a microphone. The audio circuit 1105 can convert received audio data into an electrical signal and transmit the electrical signal to the speaker for conversion into an audible signal output by the speaker. On the other hand, the microphone can convert a sound signal collected into an electrical signal, which is received by the audio circuit 1105 and converted into audio data. The audio data is output to the processor 1101 for processing, and then transmitted to another electronic device via the radio frequency circuit 1104, or output to the memory 1102 for further processing. The audio circuit 1105 can also include an earphone jack to provide communication between an external earphone and the electronic device.

[0229] The input unit 1106 can be used to receive inputted digital, character information or user feature information (e.g., fingerprint, iris, face information, etc.), and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0230] The power supply 1107 is used to supply power to various components of the electronic device 1100. Optionally, the power supply 1107 can be logically connected to the processor 1101 through a power management device, so that the power management device can be used to manage charging, discharging, power consumption management and other functions. The power supply 1107 can also include one or more direct current or alternating current power sources, recharging devices, power failure detection circuits, power converters or inverters, power status indicators, and any other components.

[0231] Although Figure 6 The electronic device 1100 can also include a camera, a sensor, a wireless fidelity module, a Bluetooth module, etc., which are not shown in the embodiments and will not be described here.

[0232] In the above embodiments, the description of each embodiment focuses on different aspects, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0233] Those of ordinary skill in the art can understand that all or part of the steps in the methods of the above embodiments can be completed by instructions, or by instructions controlling related hardware, which can be stored in a computer readable storage medium and loaded and executed by a processor.

[0234] To this end, the embodiment of the present application provides a computer readable storage medium, wherein a plurality of computer programs are stored, the computer programs can be loaded by a processor to execute any vehicle steering method provided by the embodiment of the present application, and the computer programs can execute the steps of the vehicle steering method as follows:

[0235] During the vehicle steering, the wheel driving torque of the vehicle is adjusted based on the yaw angular velocity of the vehicle cabin.

[0236] The specific implementation of the above operations can refer to the foregoing embodiments, and details are not described herein.

[0237] The computer readable storage medium can include a read only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0238] Since the computer readable storage medium can implement the beneficial computer programs of any vehicle steering method provided by the embodiment of the present application, and can execute any vehicle steering method provided by the embodiment of the present application, the effects are the same as those of the foregoing embodiments, and details are not described herein.

[0239] To this end, the embodiment of the present application provides a computer program product, which includes a computer program, and the computer program is executed by a processor to implement any vehicle steering method.

[0240] The specific implementation of the above operations can refer to the foregoing embodiments, and details are not described herein.

[0241] Optionally, the embodiment of the present application also provides a vehicle, which includes any vehicle steering device, controller, electronic device, computer readable storage medium, computer program product, and method described above.

[0242] In the description of the present application, the terms “first” and “second” are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” can explicitly or implicitly include one or more features. In the description of the present application, the meaning of “a plurality of” is two or more, unless otherwise specifically limited.

[0243] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can refer to the related description of other embodiments.

[0244] The embodiments, implementation manners and related technical features of the present application can be combined or replaced with each other without conflict.

[0245] The above merely describes the preferred embodiments of the present application, and is not intended to limit the present application in any form. Any simple modification, equivalent change and modification made to the above embodiments without departing from the technical solution of the present application and in accordance with the technical essence of the present application shall still fall within the scope of the technical solution of the present application.

Claims

1. A vehicle steering method, characterized in that, Applied to a vehicle, the vehicle comprising at least two compartments, the method includes: When the vehicle is turning, the wheel drive torque of the vehicle is adjusted based on the yaw rate of the passenger compartment.

2. The method as described in claim 1, characterized in that, The adjustment of the vehicle's wheel drive torque based on the yaw rate of the carriage includes: Based on the yaw rate of the target car in at least two of the cars, the wheel drive torque of the target car is adjusted.

3. The method as described in claim 2, characterized in that, The step of adjusting the wheel drive torque of the target car based on the yaw rate of the target car in at least two cars includes: Based on the yaw rate of the target carriage, adjust the wheel drive torque of the first side wheel and / or the wheel drive torque of the second side wheel on the target carriage to change the ratio of the drive torque of the first side wheel to the second side wheel on the target carriage.

4. The method as described in claim 3, characterized in that, The step of adjusting the wheel drive torque of the first and / or second side wheels on the target car based on the yaw rate of the target car, so as to change the ratio of the drive torque of the first side wheel to the second side wheel on the target car, includes: When the yaw rate of the target carriage is greater than or equal to the first preset yaw rate corresponding to the target carriage, the wheel drive torque of the first side wheel is reduced and / or the wheel drive torque of the second side wheel is increased, so as to reduce the drive torque ratio.

5. The method as described in claim 4, characterized in that, The step of adjusting the wheel drive torque of the first and / or second side wheels on the target car based on the yaw rate of the car body, so as to change the ratio of the wheel drive torque of the first side wheels to the second side wheels on the target car body, includes: When the yaw rate of the target carriage is less than or equal to the second preset yaw rate corresponding to the target carriage, the wheel drive torque of the first side wheel is increased and / or the wheel drive torque of the second side wheel is decreased, so as to increase the drive torque ratio.

6. The method as described in claim 4 or 5, characterized in that, When the target compartment is the front compartment of the vehicle, the first side is the outer side of the vehicle, and the second side is the inner side of the vehicle.

7. The method as described in claim 4 or 5, characterized in that, When the target compartment is the rear compartment of the vehicle, the first side is the inner side of the vehicle, and the second side is the outer side of the vehicle.

8. The method as described in claim 4 or 5, characterized in that, In the case that the vehicle comprises at least three carriages, the target carriage is the first carriage of the vehicle, the first side is the outer side of the vehicle, and the second side is the inner side of the vehicle.

9. The method according to any one of claims 1 to 8, characterized in that, The method further includes: When the vehicle is turning, the wheel drive torque of the vehicle is adjusted based on the relative angle between the front and rear compartments of the vehicle.

10. The method as described in claim 9, characterized in that, Adjusting the wheel drive torque of the vehicle based on the relative angle between the front and rear cargo compartments includes: Based on the relative angle, the driving torque of the front cargo box wheels is adjusted to change the ratio of the driving torque of the outer wheels of the front cargo box to that of the inner wheels of the front cargo box.

11. The method as described in claim 10, characterized in that, The step of adjusting the wheel drive torque of the front cargo box based on the relative angle to change the ratio of the drive torque of the outer wheel to the inner wheel of the front cargo box includes: When the relative angle is greater than or equal to a first preset angle, the wheel drive torque of the outer wheel of the front compartment is reduced and / or the wheel drive torque of the inner wheel of the front compartment is increased, so as to reduce the ratio of the drive torque of the outer wheel of the front compartment to that of the inner wheel of the front compartment.

12. The method as described in claim 10, characterized in that, The step of adjusting the wheel drive torque of the front cargo box based on the relative angle to change the ratio of the drive torque of the outer wheel to the inner wheel of the front cargo box includes: When the relative angle is less than or equal to the second preset angle, the wheel drive torque of the outer wheel of the front compartment is increased and / or the wheel drive torque of the inner wheel of the front compartment is decreased, so as to increase the ratio of the drive torque of the outer wheel of the front compartment to the inner wheel of the front compartment.

13. The method as described in claim 9, characterized in that, Adjusting the wheel drive torque of the vehicle based on the relative angle between the front and rear cargo compartments includes: Based on the relative angle, the driving torque of the rear cargo box wheels is adjusted to change the ratio of the driving torque of the inner wheel to the outer wheel of the rear cargo box.

14. The method as described in claim 13, characterized in that, Adjusting the wheel drive torque of the rear cargo compartment based on the relative angle to change the ratio of the drive torque of the inner wheel to the outer wheel of the rear cargo compartment includes: When the relative angle is greater than or equal to a first preset angle, the wheel drive torque of the inner wheel of the rear compartment is reduced and / or the wheel drive torque of the outer wheel of the rear compartment is increased, so as to reduce the ratio of the drive torque of the inner wheel of the rear compartment to that of the outer wheel of the rear compartment.

15. The method as described in claim 13, characterized in that, Adjusting the wheel drive torque of the rear cargo compartment based on the relative angle to change the ratio of the drive torque of the inner wheel to the outer wheel of the rear cargo compartment includes: When the relative angle is less than or equal to the second preset angle, the wheel drive torque of the inner wheel of the rear compartment is increased and / or the wheel drive torque of the outer wheel of the rear compartment is decreased, so as to increase the ratio of the drive torque of the inner wheel of the rear compartment to the drive torque of the inner wheel of the rear compartment.

16. The method as described in claim 9, characterized in that, The adjustment of the vehicle's wheel drive torque based on the relative angle between the front and rear cargo compartments includes: Based on the relative angle, adjust the wheel drive torque of the front compartment and / or the wheel drive torque of the rear compartment to change the ratio of the drive torque of the front compartment to the drive torque of the rear compartment.

17. The method as described in claim 16, characterized in that, The step of adjusting the wheel drive torque of the front cargo compartment and / or the wheel drive torque of the rear cargo compartment based on the relative angle, so as to change the ratio of the drive torque of the front cargo compartment to the rear cargo compartment, includes: When the relative angle is greater than or equal to a first preset angle, the wheel drive torque of the front compartment is increased and / or the wheel drive torque of the rear compartment is decreased, so as to increase the ratio of the drive torque of the front compartment to the drive torque of the rear compartment.

18. The method as described in claim 16, characterized in that, The step of adjusting the wheel drive torque of the front cargo compartment and / or the wheel drive torque of the rear cargo compartment based on the relative angle, so as to change the ratio of the drive torque of the front cargo compartment to the rear cargo compartment, includes: When the relative angle is less than or equal to a second preset angle, the wheel drive torque of the front compartment is reduced and / or the wheel drive torque of the rear compartment is increased, so as to reduce the ratio of the drive torque of the front compartment to that of the rear compartment.

19. The method according to any one of claims 1 to 18, characterized in that, The method further includes: When the front compartment of the vehicle is straightened and the relative angle between the front compartment and the rear compartment of the vehicle is within the bending limit range, the difference between the driving torque of the two wheels on both sides of the front compartment is controlled to be lower than a preset difference, and the driving torque of the inner wheel of the rear compartment is less than the driving torque of the outer wheel of the rear compartment.

20. The method as described in claim 19, characterized in that, The method further includes: When the front compartment of the vehicle is straightened and the relative angle is within the bending limit range, the wheel drive torque of the rear compartment is adjusted based on the relative angle between the front and rear compartments of the vehicle.

21. The method as described in claim 20, characterized in that, The adjustment of the wheel drive torque of the rear compartment based on the relative angle between the front and rear compartments of the vehicle includes: Based on the relative angle, adjust the wheel drive torque of the inner and / or outer wheels of the rear cargo compartment to change the ratio of the drive torque of the outer wheels to the inner wheels of the rear cargo compartment.

22. The method as described in claim 21, characterized in that, The step of adjusting the wheel drive torque of the inner and / or outer wheels of the rear cargo compartment based on the relative angle, so as to change the ratio of the drive torque of the outer wheels to the inner wheels of the rear cargo compartment, includes: When the relative angle is less than or equal to the first return angle threshold, the wheel drive torque of the outer wheel of the rear cargo compartment is reduced and / or the wheel drive torque of the inner wheel of the rear cargo compartment is increased, so as to reduce the ratio of the drive torque of the outer wheel of the rear cargo compartment to that of the inner wheel of the rear cargo compartment.

23. The method as described in claim 21, characterized in that, The step of adjusting the wheel drive torque of the inner and / or outer wheels of the rear cargo compartment based on the relative angle, so as to change the ratio of the drive torque of the outer wheels to the inner wheels of the rear cargo compartment, includes: When the relative angle is greater than or equal to the second return angle threshold, the wheel drive torque of the outer wheel of the rear cargo compartment is increased and / or the wheel drive torque of the inner wheel of the rear cargo compartment is decreased, so as to increase the ratio of the drive torque of the outer wheel of the rear cargo compartment to that of the inner wheel of the rear cargo compartment.

24. The method as described in claim 19, characterized in that, The method further includes: When the front compartment of the vehicle is straightened and the relative angle is not within the bending limit range, the difference between the driving torque of the wheels on both sides of the front compartment and the rear compartment is controlled to be lower than a preset difference.

25. The method according to any one of claims 9-24, characterized in that, The relative angle between the front compartment and the rear compartment is determined based on the angle of the hinge plate between the front compartment and the rear compartment.

26. The method according to any one of claims 1-25, characterized in that, The adjustment of the vehicle's wheel drive torque includes: Adjust the wheel drive torque of at least two target wheels of the vehicle.

27. The method as described in claim 26, characterized in that, At least two of the target wheels are located on different sides of the vehicle.

28. The method as described in claim 27, characterized in that, At least two of the target wheels are located on different axles of the vehicle.

29. The method as described in claim 28, characterized in that, When the vehicle is turning, the wheel drive torque of the target wheel is greater than the wheel drive torque of the wheel on the same axle as the target wheel.

30. The method as described in claim 26, characterized in that, At least two of the target wheels are located in different compartments of the vehicle.

31. The method as described in claim 30, characterized in that, The target wheels include the outer wheels of the front compartment and the inner wheels of the rear compartment of the vehicle.

32. The method according to any one of claims 1-31, characterized in that, The method further includes: If the vehicle's turning angle is greater than or equal to the first turning angle threshold corresponding to the cornering limit, the vehicle is determined to enter a turn, and the vehicle turning angle includes the steering wheel angle and / or the front axle angle.

33. The method as described in claim 32, characterized in that, After determining that the vehicle has entered the turning phase, the process further includes: If the vehicle's turning angle is less than or equal to the second turning angle threshold corresponding to the exit corner limit, the first carriage of the vehicle is determined to return to center after the turn.

34. The method as described in claim 33, characterized in that, The method further includes: If the front compartment of the vehicle is straightened and the relative angle between the front compartment and the rear compartment of the vehicle is not within the bending limit range, then the rear compartment is determined to be straightened.

35. The method according to any one of claims 1-34, characterized in that, The vehicle includes at least three wheel motors.

36. The method according to any one of claims 1-35, characterized in that, At least two of the carriages are interconnected, and the relative angle between the interconnected carriages can vary.

37. A controller, characterized in that, The controller is used to perform the vehicle steering method as described in any one of claims 1-36.

38. An electronic device, characterized in that, The device includes a processor connected to a memory storing a computer program, the processor being configured to run the computer program in the memory to perform the vehicle steering method according to any one of claims 1 to 36.

39. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the vehicle steering method according to any one of claims 1 to 36.

40. A computer program product, characterized in that, It includes a computer program, which is executed by a processor to implement the vehicle steering method according to any one of claims 1 to 36.

41. A vehicle, characterized in that, The vehicle includes at least two compartments, and the vehicle performs the vehicle steering method as described in any one of claims 1-36, or includes a controller as described in claim 37 or an electronic device as described in claim 38.

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