A system and method for driving multi-mode steering of a vehicle

Abstract

This disclosure provides a system and method for driving multi-mode steering in a vehicle. The system includes a control subsystem, a front-wheel steering subsystem, and a rear-wheel steering subsystem. The control subsystem includes a vehicle controller, an intrinsically safe angle sensor, an intrinsically safe pressure sensor, and an onboard intrinsically safe display screen. The front-wheel steering subsystem includes a steering wheel, an explosion-proof steering motor column assembly, a steering drive shaft, a recirculating ball steering gear, a steering tie rod assembly, a front steering axle assembly, and a front wheel hydraulic circuit branch of a hydraulic pump station. The rear-wheel steering subsystem includes a rear wheel hydraulic circuit branch of a hydraulic pump station, an explosion-proof solenoid valve assembly, and a rear steering axle assembly. The technical solution of this disclosure achieves precise control of multi-mode vehicle steering, adapts to different driving scenarios, improves the flexibility and maneuverability of vehicle steering, and enhances the accuracy and reliability of steering control, ensuring a stable and controllable steering process, thereby improving driving safety and comfort.

Description

Technical Field

[0001] This disclosure relates to the field of automotive control technology, and more particularly to a system and method for driving multi-mode steering in vehicles. Background Technology

[0002] In response to the coal industry's development concept of building "safe mines, green mines, and smart mines," the application of explosion-proof wire-controlled trackless rubber-tired electric vehicles for mining is of paramount importance in the underground environment of coal mines.

[0003] Currently, existing mine-use explosion-proof wire-controlled trackless rubber-tired electric vehicles in coal mines basically adopt the front-wheel steering mode. When encountering complex underground environments such as narrow roadways, winding roadways, and rubber-tired vehicles turning around, there are problems such as long steering time, sluggish steering response, and low steering system accuracy. Summary of the Invention

[0004] This disclosure provides a system and method for driving a vehicle with multi-mode steering to adapt to different driving scenarios, improve the flexibility and maneuverability of vehicle steering, and enhance the accuracy and reliability of steering control, ensuring a stable and controllable steering process, thereby improving driving safety and comfort.

[0005] In a first aspect, embodiments of this disclosure provide a system for driving multi-mode steering in a vehicle, the system comprising: Control subsystem, front wheel steering subsystem, and rear wheel steering subsystem; The control subsystem includes a vehicle controller, an intrinsically safe angle sensor, an intrinsically safe pressure sensor, and an on-board intrinsically safe display screen; wherein, the control subsystem is used to receive target information output by the front wheel steering subsystem and the rear wheel steering subsystem, and output steering control commands, wherein the target information includes at least front steering angle information, rear steering angle information, front hydraulic pressure information, and rear hydraulic pressure information; The front wheel steering subsystem includes a steering wheel, an explosion-proof steering motor column assembly, a steering drive shaft, a recirculating ball steering gear, a steering tie rod assembly, a front steering axle assembly, and a front wheel oil circuit branch of a hydraulic pump station. The front wheel steering subsystem provides steering torque compensation and drives the front wheels to steer. The rear wheel steering subsystem includes the rear wheel oil circuit branch of the hydraulic pump station, the explosion-proof solenoid valve group, and the rear steering axle assembly, wherein the rear wheel steering subsystem provides steering force and drives the rear wheels to steer.

[0006] Secondly, embodiments of the present invention also provide a method for driving a vehicle with multi-mode steering, the method comprising: The motion state information of the target vehicle and the road surface recognition information of the road surface are obtained, and the target vehicle is determined to activate the first steering mode based on the motion state information and the road surface recognition information. If the target vehicle activates the first steering mode, the rear-wheel steering subsystem is controlled to drive the rear wheels to steer, and in coordination with the second steering mode executed by the front-wheel steering subsystem, the target vehicle is controlled to execute the third steering mode; wherein, the second steering mode is the steering mode that is activated when the target vehicle is started; If the target vehicle has not activated the first steering mode, control the target vehicle to execute the second steering mode.

[0007] Thirdly, embodiments of the present invention also provide an electronic device, the electronic device comprising: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method for driving a vehicle with multi-mode steering as described in any embodiment of the present invention.

[0008] Fourthly, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a method for driving a vehicle with multi-mode steering as described in any of the embodiments of the present invention.

[0009] Fifthly, embodiments of the present invention also provide a computer program product, including a computer program, characterized in that, when executed by a processor, the computer program implements the method for driving a vehicle with multi-mode steering as described in any embodiment of the present invention.

[0010] The technical solution of this disclosure provides a system for driving multi-mode steering in a vehicle. The system includes a control subsystem, a front-wheel steering subsystem, and a rear-wheel steering subsystem. The control subsystem includes a vehicle controller, an intrinsically safe angle sensor, an intrinsically safe pressure sensor, and an on-board intrinsically safe display screen. The control subsystem receives target information output from the front-wheel steering subsystem and the rear-wheel steering subsystem and outputs steering control commands. The target information includes at least front steering angle information, rear steering angle information, front hydraulic pressure information, and rear hydraulic pressure information. The front-wheel steering subsystem includes a steering wheel, an explosion-proof steering motor column assembly, a steering drive shaft, a recirculating ball steering gear, a steering tie rod assembly, a front steering axle assembly, and a front wheel hydraulic circuit branch of the hydraulic pump station. The front-wheel steering subsystem provides steering torque compensation and drives the front wheels to steer. The rear-wheel steering subsystem includes a rear wheel hydraulic circuit branch of the hydraulic pump station, an explosion-proof solenoid valve assembly, and a rear steering axle assembly. The rear-wheel steering subsystem provides steering force and drives the rear wheels to steer. This invention addresses the problems of excessive steering time, sluggish steering response, and low steering system precision in existing front-wheel steering systems, which are problematic in complex underground environments such as narrow tunnels, winding tunnels, and turning around rubber-tired vehicles. The present invention, based on a control subsystem, a front-wheel steering subsystem, and a rear-wheel steering subsystem, achieves precise control of multi-mode vehicle steering, adapting to different driving scenarios, improving vehicle steering flexibility and maneuverability, and enhancing the precision and reliability of steering control. This ensures a stable and controllable steering process, ultimately improving driving safety and comfort. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of exemplary embodiments of the present invention, the accompanying drawings used in describing the embodiments are briefly introduced below. Obviously, the accompanying drawings described are only a portion of the drawings of the embodiments to be described in this invention, and not all of the drawings. For those skilled in the art, other drawings can be obtained from these drawings without any creative effort.

[0012] Figure 1 This is a schematic diagram of a system for driving multi-mode steering of a vehicle provided in an embodiment of the present invention; Figure 2 This is a diagram of a steering system provided in an embodiment of the present invention; Figure 3 This is a flowchart illustrating a method for driving a vehicle with multi-mode steering, provided in an embodiment of the present invention. Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0013] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0014] Before introducing the technical solutions provided by the embodiments of this disclosure, the application scenarios can be illustrated by example. The technical solutions provided by the embodiments of this disclosure can be applied to scenarios involving multi-mode steering of vehicles. For example, for explosion-proof trackless rubber-tired electric vehicles used in underground coal mines, the control subsystem, front wheel steering subsystem, and rear wheel steering subsystem are used to drive the explosion-proof trackless rubber-tired electric vehicles to achieve multi-mode steering. Based on the technical solutions of the embodiments of this disclosure, precise control of multi-mode vehicle steering is achieved, adapting to different driving scenario requirements, improving the flexibility and maneuverability of vehicle steering, and enhancing the accuracy and reliability of steering control, ensuring a stable and controllable steering process, and achieving the effect of improving driving safety and comfort.

[0015] Example 1 Figure 1 This is a schematic diagram of a system for driving a vehicle to perform multi-mode steering, provided by an embodiment of this disclosure. This embodiment of the disclosure is applicable to situations where a vehicle is driven to perform multi-mode steering, and the hardware can be the system provided by this embodiment of the disclosure.

[0016] like Figure 1 As shown, the system includes: a control subsystem 110, a front wheel steering subsystem 120, and a rear wheel steering subsystem 130.

[0017] The control subsystem 110 includes a vehicle controller, an intrinsically safe angle sensor, an intrinsically safe pressure sensor, and an on-board intrinsically safe display screen.

[0018] The control subsystem receives target information from the front and rear steering subsystems and outputs steering control commands. The target information includes at least the front steering angle, rear steering angle, front hydraulic pressure, and rear hydraulic pressure.

[0019] It should be noted that, see Figure 2 The component corresponding to number 1 is the vehicle controller; the components corresponding to number 2 and number 3 are intrinsically safe angle sensors, with component number 2 being the first intrinsically safe angle sensor and component number 3 being the second intrinsically safe angle sensor; the component corresponding to number 4 is the intrinsically safe pressure sensor; and the component corresponding to number 5 is the vehicle-mounted intrinsically safe display screen.

[0020] The vehicle controller regulates the operation of the entire steering system via a CAN bus, including receiving parameters from various sensors, identifying the vehicle's driving status, and sending steering commands to the explosion-proof steering motor column assembly, explosion-proof solenoid valve group, and hydraulic pump station. The vehicle controller can process fault information and report warnings, and can also communicate with the intelligent driving controller to achieve intelligent steering. Simultaneously, the vehicle controller also has an information interface, through which status parameters and faults can be uploaded to support mining requirements.

[0021] The intrinsically safe angle sensor can accurately detect steering angle information. In this embodiment of the invention, the detection accuracy of the intrinsically safe angle sensor is not less than 0.1 degrees, and the parameter upload period is not less than 20ms. The intrinsically safe angle sensor collects the deflection angles of the front and rear wheels in real time, feeds the detection parameters back to the vehicle controller, and displays them in real time on the vehicle's intrinsically safe display screen to remind the driver to straighten the wheels in time, ensuring steering accuracy and driving safety.

[0022] Intrinsically safe pressure sensors are primarily used to monitor the hydraulic pressure information of the steering hydraulic circuit in real time. These sensors can feed back pressure data from the hydraulic pump station to the vehicle controller. When excessively low or high pressure is detected, or when abnormal current is detected in the hydraulic pump station, a fault reporting and warning system is triggered to prevent overload of the explosion-proof steering motor column assembly and mitigate safety risks during underground driving.

[0023] The vehicle-mounted intrinsically safe display screen serves as a visual window for the control subsystem. It receives various parameters transmitted from the vehicle controller in real time, including steering angle information from the intrinsically safe angle sensor and hydraulic pressure information from the intrinsically safe pressure sensor. Simultaneously, it displays fault warning information, allowing the driver to monitor the steering system's operating status and address any abnormalities promptly.

[0024] It should also be noted that the front steering angle information is collected by the first intrinsically safe angle sensor mounted on the front steering axle assembly, indicating the specific angle of front wheel deflection. This front steering angle information can be fed back to the control subsystem for adjusting front wheel steering effort, etc. The rear steering angle information is collected by the second intrinsically safe angle sensor mounted on the rear steering axle assembly, indicating the specific angle of rear wheel deflection. This rear steering angle information can be fed back to the control subsystem for coordinating front and rear wheel steering to ensure steering synchronization. Front hydraulic pressure information refers to the pressure data of the hydraulic circuit in the front wheel steering subsystem, fed back to the control subsystem for monitoring the front wheel hydraulic pressure. Rear hydraulic pressure information refers to the pressure data of the hydraulic circuit in the rear wheel steering subsystem, fed back to the control subsystem for monitoring the rear wheel hydraulic pressure status. Steering control commands refer to the specific operational instructions issued by the control subsystem to the front and rear wheel steering subsystems based on the received target information, combined with vehicle speed, steering mode requirements, and the specific operating commands, ensuring precise steering of the target vehicle.

[0025] Optionally, the vehicle controller can communicate with the intrinsically safe angle sensor, the intrinsically safe pressure sensor, and the on-board intrinsically safe display screen.

[0026] The vehicle controller processes target information and outputs steering control commands.

[0027] The intrinsically safe angle sensor includes a first intrinsically safe angle sensor and a second intrinsically safe angle sensor.

[0028] Intrinsically safe pressure sensors are used to detect the front hydraulic pressure information of the front wheel steering subsystem and the rear hydraulic pressure information of the rear wheel steering subsystem.

[0029] Intrinsically safe vehicle display screens are used to display target information to the target object.

[0030] The first intrinsically safe angle sensor is connected to the front steering axle assembly and is used to detect the front steering angle information of the front steering axle assembly. The second intrinsically safe angle sensor is connected to the rear steering axle assembly and is used to detect the rear steering angle information of the rear steering axle assembly.

[0031] Specifically, the vehicle controller is communicatively connected to the intrinsically safe angle sensor, the intrinsically safe pressure sensor, and the onboard intrinsically safe display screen. The first intrinsically safe angle sensor is connected to the front steering axle assembly to detect the front steering angle information of the front steering axle assembly. The second intrinsically safe angle sensor is connected to the rear steering axle assembly to detect the rear steering angle information of the rear steering axle assembly. The intrinsically safe pressure sensor is used to detect the front hydraulic pressure information of the front wheel steering subsystem and the rear hydraulic pressure information of the rear wheel steering subsystem. The onboard intrinsically safe display screen is used to display this target information to the target object, while the vehicle controller is responsible for processing the target information and outputting corresponding steering control commands.

[0032] The front wheel steering subsystem 120 includes a steering wheel, an explosion-proof steering motor column assembly, a steering drive shaft, a recirculating ball steering gear, a steering tie rod assembly, a front steering axle assembly, and the front wheel oil circuit branch of the hydraulic pump station.

[0033] The front wheel steering subsystem provides steering torque compensation and drives the front wheels to steer.

[0034] It should be noted that, see Figure 2 The component numbered 6 corresponds to the steering wheel; the component numbered 7 corresponds to the explosion-proof steering motor column assembly; the component numbered 8 corresponds to the steering drive shaft; the component numbered 9 corresponds to the recirculating ball steering gear; the component numbered 10 corresponds to the steering tie rod assembly; the component numbered 11 corresponds to the front steering axle assembly; and the component numbered 12 corresponds to the hydraulic pump station.

[0035] Optionally, the steering wheel is connected to the explosion-proof steering motor column assembly, the explosion-proof steering motor column assembly is connected to the steering drive shaft and the vehicle controller respectively, the steering drive shaft is connected to the recirculating ball steering gear, the recirculating ball steering gear is connected to the front steering axle assembly through the steering tie rod assembly, and the front wheel oil circuit branch of the hydraulic pump station is connected to the recirculating ball steering gear and the vehicle controller respectively.

[0036] The steering wheel is used to receive steering operation commands from the target object and transmit the steering torque corresponding to the steering operation command to the explosion-proof steering motor column assembly.

[0037] The explosion-proof steering motor column assembly is used to provide steering torque compensation according to the received steering control commands and to transmit the steering torque and steering torque compensation to the steering drive shaft.

[0038] The steering drive shaft is used to transmit steering torque and steering torque compensation to the recirculating ball steering gear.

[0039] The recirculating ball steering system is used to drive the steering tie rod assembly based on steering torque, steering torque compensation, and front hydraulic pressure information.

[0040] The steering tie rod assembly is used to drive the front steering axle assembly to steer the front wheels.

[0041] The front steering axle assembly is used to steer the front wheels.

[0042] The front wheel oil circuit branch of the hydraulic pump station is used to provide steering hydraulic pressure for the recirculating ball steering system.

[0043] It should be noted that the various components in the front wheel steering subsystem are connected and cooperate in a specific manner. Specifically: the steering wheel, the driver's (target object's) operating component, receives steering commands from the target object and transmits the corresponding steering torque to the explosion-proof steering motor column assembly. The explosion-proof steering motor column assembly connects the steering wheel, steering drive shaft, and vehicle controller, receiving steering control commands from the vehicle controller, supplementing steering torque compensation, and then transmitting the original steering torque plus compensation torque to the steering drive shaft. The steering drive shaft, as the transmission component, is responsible for transmitting the torque from the explosion-proof steering motor column assembly to the recirculating ball steering gear. The recirculating ball steering gear, as the driving component, combines the transmitted torque and front hydraulic pressure information to drive the steering tie rod assembly. The steering tie rod assembly, as the linkage component, is driven by the recirculating ball steering gear, which in turn drives the front steering axle assembly, achieving front wheel steering. The front steering axle assembly, the component that directly drives the front wheel rotation, receives power from the steering tie rod assembly and drives the front wheels to complete left or right turns. The front wheel oil circuit branch of the hydraulic pump station is a hydraulic supply component, specifically designed to provide the hydraulic power required for steering the recirculating ball steering system, ensuring the normal operation of the recirculating ball steering system.

[0044] Specifically, the front wheel steering subsystem consists of components such as the steering wheel, explosion-proof steering motor column assembly, steering drive shaft, recirculating ball steering gear, steering tie rod assembly, front steering axle assembly, and front wheel hydraulic circuit branch of the hydraulic pump station. The front wheel steering subsystem provides steering torque compensation, reduces the steering effort of the target object, and enables the front wheels to complete the steering action.

[0045] The front wheel steering subsystem 130 includes the rear wheel oil circuit branch of the hydraulic pump station, the explosion-proof solenoid valve group, and the rear steering axle assembly.

[0046] The rear-wheel steering subsystem provides steering force and drives the rear wheels to steer.

[0047] It should be noted that, see Figure 2 The component corresponding to number 13 is the explosion-proof solenoid valve assembly; the component corresponding to number 14 is the rear steering axle assembly.

[0048] Optionally, the rear wheel oil circuit branch of the hydraulic pump station is connected to the explosion-proof solenoid valve group and the vehicle controller, respectively, and the explosion-proof solenoid valve group is connected to the rear steering axle assembly and the vehicle controller.

[0049] The rear wheel oil circuit branch of the hydraulic pump station is used to deliver the hydraulic oil supplied by the hydraulic pump station to the explosion-proof solenoid valve assembly.

[0050] The explosion-proof solenoid valve assembly is used to receive steering control commands and regulate the hydraulic oil.

[0051] The rear steering axle assembly is used to drive the rear wheels to turn and coordinate with the front wheels to steer.

[0052] It should be noted that the rear wheel oil circuit branch of the hydraulic pump station, as a hydraulic delivery component, connects to the hydraulic pump station at one end and to the explosion-proof solenoid valve assembly and the vehicle controller at the other. Its function is to deliver the hydraulic oil generated by the hydraulic pump station to the explosion-proof solenoid valve assembly, providing the hydraulic foundation for rear wheel steering. The explosion-proof solenoid valve assembly, as a control and regulation component, connects to the rear wheel oil circuit branch of the hydraulic pump station, the rear steering axle assembly, and the vehicle controller. It receives steering control commands from the vehicle controller and regulates the pressure and flow of the delivered hydraulic oil to generate a steering force capable of overcoming the steering resistance of the rear wheels. The rear steering axle assembly, as an actuator, receives the hydraulic power regulated by the explosion-proof solenoid valve assembly, drives the rear wheels to deflect, and simultaneously coordinates with the front wheel steering.

[0053] Specifically, the rear-wheel steering subsystem, as the core working unit of rear-wheel steering, consists of components such as the rear wheel oil circuit branch of the hydraulic pump station, the explosion-proof solenoid valve group, and the rear steering axle assembly. The core functions of the rear-wheel steering subsystem are to provide steering force, drive the rear wheels to complete steering, and cooperate with the front wheels to achieve different steering modes.

[0054] The technical solution of this disclosure provides a system for driving multi-mode steering in a vehicle. The system includes a control subsystem, a front-wheel steering subsystem, and a rear-wheel steering subsystem. The control subsystem includes a vehicle controller, an intrinsically safe angle sensor, an intrinsically safe pressure sensor, and an on-board intrinsically safe display screen. The control subsystem receives target information output from the front-wheel steering subsystem and the rear-wheel steering subsystem and outputs steering control commands. The target information includes at least front steering angle information, rear steering angle information, front hydraulic pressure information, and rear hydraulic pressure information. The front-wheel steering subsystem includes a steering wheel, an explosion-proof steering motor column assembly, a steering drive shaft, a recirculating ball steering gear, a steering tie rod assembly, a front steering axle assembly, and a front wheel hydraulic circuit branch of the hydraulic pump station. The front-wheel steering subsystem provides steering torque compensation and drives the front wheels to steer. The rear-wheel steering subsystem includes a rear wheel hydraulic circuit branch of the hydraulic pump station, an explosion-proof solenoid valve assembly, and a rear steering axle assembly. The rear-wheel steering subsystem provides steering force and drives the rear wheels to steer. This invention addresses the problems of excessive steering time, sluggish steering response, and low steering system precision in existing front-wheel steering systems, which are problematic in complex underground environments such as narrow tunnels, winding tunnels, and turning around rubber-tired vehicles. The present invention, based on a control subsystem, a front-wheel steering subsystem, and a rear-wheel steering subsystem, achieves precise control of multi-mode vehicle steering, adapting to different driving scenarios, improving vehicle steering flexibility and maneuverability, and enhancing the precision and reliability of steering control. This ensures a stable and controllable steering process, ultimately improving driving safety and comfort.

[0055] Example 2 Figure 3 This is a flowchart illustrating a method for driving multi-mode steering of a vehicle, provided by an embodiment of this disclosure. Based on the aforementioned test system, the following details how to drive multi-mode steering of a vehicle using the system. This disclosure is applicable to systems that drive multi-mode steering of vehicles, specifically in situations where a vehicle is driven to perform multi-mode steering. This method can be executed by a system used for driving multi-mode steering of vehicles. Technical terms that are the same as or corresponding to those in the above embodiments will not be repeated here.

[0056] like Figure 3 As shown, the method includes: S210. Obtain the motion status information of the target vehicle and the road surface recognition information of the road surface where it is located, and determine whether the target vehicle should activate the first steering mode based on the motion status information and the road surface recognition information.

[0057] The motion status information includes vehicle speed and vehicle position / pose information. The target vehicle can be an explosion-proof, wire-controlled, trackless rubber-tired electric vehicle used in coal mines. The first steering mode refers to the rear-wheel steering mode.

[0058] It should be noted that vehicle speed information refers to the specific speed at which the target vehicle is traveling. Vehicle pose information includes information such as the target vehicle's heading deviation and rate of change of heading angle. Road surface recognition information refers to information obtained after identifying the conditions of the road surface on which the target vehicle is traveling. For example, road surface recognition information may include the smoothness of the underground road surface, the coefficient of adhesion of the underground road surface, and whether there are obstacles on the underground road surface.

[0059] Optionally, if at least two of the vehicle speed information condition, vehicle position and orientation information condition, and road surface recognition information condition are met simultaneously, the target vehicle is determined to activate the first steering mode; otherwise, the target vehicle is determined not to activate the first steering mode.

[0060] Specifically, the vehicle speed information condition is determined to be met when the target vehicle's speed is not greater than a first speed threshold or not less than a second speed threshold. The first speed threshold is less than the second speed threshold. The vehicle pose information condition is determined to be met when the target vehicle's heading deviation exceeds a safety threshold or the target vehicle's heading angle change rate is not less than a preset turning threshold. The road surface adhesion coefficient is determined to be lower than a preset adhesion threshold, or an obstacle is detected on the road surface.

[0061] It should be noted that the first speed threshold is a pre-set low-speed critical value. When the target vehicle's speed is at or below this value, the target vehicle is determined to meet the vehicle speed information conditions. The first speed threshold is also a pre-set high-speed critical value. When the target vehicle's speed is at or above this value, the target vehicle is determined to meet the vehicle speed information conditions. The vehicle speed information conditions refer to the collective term for the target vehicle's speed meeting either the low-speed or high-speed extreme states, and these conditions are used as part of the basis for determining whether the first steering mode needs to be activated.

[0062] It should be noted that heading deviation refers to the angle of deviation between the target vehicle's actual heading and the ideal route. For example, heading deviation can refer to the angle of deviation between the target vehicle's actual heading and the centerline of the lane. The safety threshold refers to the preset maximum tolerable heading deviation. If the heading deviation exceeds the safety threshold, the target vehicle is judged to have deviated from the safe route and needs to be steered. The heading angle change rate refers to the angle by which the target vehicle's direction of travel changes per second, reflecting the degree of vehicle steering. The preset turning threshold is a set emergency steering threshold. If the heading angle change rate exceeds this value, it indicates that the target vehicle is making a very sharp turn. Vehicle position and attitude information conditions refer to the collective state of the target vehicle being off-course or in an emergency turn, and this is used as part of the basis for determining whether the first steering mode needs to be activated.

[0063] It should also be noted that the coefficient of friction (COP) is a physical quantity that measures the amount of grip a road surface provides. A higher COP value indicates better grip; a lower COP value indicates a slippery surface. The preset grip threshold is the minimum set grip standard. If the COP is lower than the preset COP, it means the surface is too slippery. Road surface recognition information refers to the general condition where the target vehicle is located on a road surface with low grip or where obstacles are present; this is used as part of the basis for determining whether the first steering mode needs to be activated.

[0064] Specifically, the system acquires the target vehicle's speed information, vehicle position information, and road surface recognition information. Based on the motion state information and road surface recognition information, the system determines that the target vehicle is in the first steering mode only if at least two of the following conditions are met simultaneously: vehicle speed information, vehicle position information, and road surface recognition information.

[0065] S220. If the target vehicle activates the first steering mode, control the rear wheel steering subsystem to drive the rear wheels to steer, and coordinate with the second steering mode executed by the front wheel steering subsystem to control the target vehicle to execute the third steering mode.

[0066] The second steering mode is the steering mode that is activated when the target vehicle starts. The second steering mode is the front-wheel steering mode. The third steering mode includes a four-wheel in-phase steering mode and a four-wheel out-of-phase steering mode.

[0067] It should be noted that "coordination" refers to the front-wheel steering subsystem executing the second steering mode cooperating with the rear-wheel steering subsystem executing the first steering mode, working synchronously to avoid steering conflicts and ensure smooth steering.

[0068] Optionally, the steps for controlling the steering of the target vehicle based on the third steering mode include: adjusting the speed of the hydraulic pump station and controlling the explosion-proof solenoid valve group to obtain a hydraulic power source that meets preset conditions; transmitting the hydraulic power source to the rear steering axle assembly according to the explosion-proof solenoid valve group to drive the rear wheels to steer; controlling the steering action of the rear steering axle assembly according to the front steering angle information detected by the first intrinsically safe angle sensor and the rear steering angle information detected by the second intrinsically safe angle sensor, so that the rear wheels and the front wheels cooperate to achieve four-wheel in-phase steering or four-wheel counter-phase steering.

[0069] Among these, "hydraulic power source meeting preset conditions" means that the hydraulic pressure and flow rate of the hydraulic power source meet the standards to ensure that it can overcome the steering resistance of the rear wheels. "Four-wheel same-phase steering" means that the front and rear wheels steering in the same direction, improving stability. "Four-wheel opposite-phase steering" means that the front and rear wheels steering in opposite directions, reducing the turning radius.

[0070] It should be noted that, firstly, the vehicle controller controls the hydraulic pump station to adjust its speed, and simultaneously controls the explosion-proof solenoid valve assembly to ensure it receives the required hydraulic power source, preparing for rear-wheel steering. Then, the explosion-proof solenoid valve assembly transmits the qualified hydraulic power source to the rear steering axle assembly, which then drives the rear wheels to turn left or right. Finally, intrinsically safe angle sensors acquire real-time steering angle information from the front and rear wheels. Based on this information, the vehicle controller adjusts the steering angle and speed of the rear steering axle assembly, allowing the rear wheels to coordinate with the front wheels to achieve steering in the same or opposite direction, completing the third steering mode.

[0071] Specifically, when the target vehicle engages the first steering mode, namely the rear-wheel steering mode, the vehicle controller will control the rear-wheel steering subsystem to operate and drive the rear wheels to steer. At the same time, the rear-wheel steering subsystem will cooperate with the second steering mode being executed by the front-wheel steering subsystem to ultimately control the target vehicle to execute the third steering mode, namely the front-rear wheel coordinated steering mode.

[0072] S230. If the target vehicle has not activated the first steering mode, control the target vehicle to execute the second steering mode.

[0073] Optionally, the steps for controlling the steering of the target vehicle based on the second steering mode include: adjusting the speed of the hydraulic pump station, outputting a hydraulic power source, and supplying the hydraulic power source to the recirculating ball steering gear; performing a target operation on the steering wheel based on the target object, so that the steering torque is transmitted to the explosion-proof steering motor column assembly; directing the steering torque to the drive shaft based on the explosion-proof steering motor column assembly, and driving the recirculating ball steering gear according to the steering drive shaft; driving the steering tie rod assembly based on the recirculating ball steering gear, and driving the front wheels to steer according to the steering tie rod assembly.

[0074] Specifically, when controlling the target vehicle's steering based on the second steering mode, firstly, the vehicle controller adjusts the speed of the hydraulic pump station to output the required hydraulic power, which is then delivered to the recirculating ball steering gear to provide power support for front wheel steering. Next, the driver turns the steering wheel, and the resulting steering torque is transmitted to the explosion-proof steering motor column assembly, providing power for subsequent steering actions. Further, the explosion-proof steering motor column assembly transmits the received steering torque to the steering drive shaft, which then transmits the torque to the recirculating ball steering gear, driving it to start operating. Finally, the driven recirculating ball steering gear actuates the steering tie rod assembly, which in turn links with the front steering axle assembly, ultimately causing the front wheels to turn left or right, achieving front wheel steering.

[0075] In this embodiment, the steps of controlling the steering of the target vehicle according to the first steering mode include: adjusting the rotation speed of the hydraulic pump station, outputting a hydraulic power source, and supplying the hydraulic power source to the explosion-proof solenoid valve group; and controlling the rear steering axle assembly to steer the target vehicle according to the steering force and motion state information provided by the explosion-proof solenoid valve group.

[0076] It should be noted that when critical components in the front wheel steering subsystem, such as the steering wheel, explosion-proof steering motor column assembly, steering drive shaft, or recirculating ball steering gear, malfunction, steering torque cannot be transmitted and the front wheels cannot be driven to steer. In this case, the vehicle controller will disable the front wheel steering function and only activate the first steering mode to ensure the vehicle can continue to steer. If the hydraulic circuit of the front wheel steering subsystem malfunctions, such as a leak in the front wheel oil circuit branch of the hydraulic pump station or abnormal hydraulic pressure, it will be unable to provide hydraulic power for front wheel steering, and the front wheels will not be able to steer normally. In this case, the first steering mode will be activated, relying on the rear wheel steering subsystem to drive the rear wheels to steer and ensure vehicle passage. When there are special downhole working conditions, such as the front wheels getting stuck in an obstacle or the front wheels being damaged and unable to turn normally, the front wheel steering will be disabled, and only the rear wheel steering will be used to adjust the vehicle's attitude, remove the obstacle, or move it to a safe area.

[0077] Specifically, firstly, the vehicle controller regulates the speed of the hydraulic pump station to output the required hydraulic power source, which is then delivered to the explosion-proof solenoid valve assembly to provide the power basis for rear-wheel steering. Finally, the explosion-proof solenoid valve assembly converts the regulated hydraulic power into steering force. The vehicle controller, combined with the vehicle's current motion status information, controls the rear steering axle assembly to deflect the rear wheels, enabling the vehicle to steer solely with the rear wheels.

[0078] Optionally, when the vehicle controller malfunctions or / and the front wheel mechanical connection fails, the rear wheels can be steered via the manual handle valve integrated into the explosion-proof solenoid valve assembly; when the front wheel steering subsystem fails, the front wheels can be steered via the steering wheel.

[0079] Among them, the manual handle valve integrated in the explosion-proof solenoid valve group is a manual operation component built into the explosion-proof solenoid valve group, which can be separated from the control of the whole vehicle controller and manually adjust the hydraulic oil.

[0080] It should be noted that when the vehicle controller malfunctions and cannot issue control commands, or when the front wheel mechanical connection fails and steering cannot be achieved through automatic control, the target vehicle can manually adjust the pressure and flow of hydraulic oil through the manual handle valve integrated on the explosion-proof solenoid valve assembly. This will control the rear steering axle assembly to steer the rear wheels, ensuring that the target vehicle can move normally and adjust its posture, thus preventing the target vehicle from stopping due to a malfunction.

[0081] It should also be noted that if the front wheel steering subsystem malfunctions, such as a fault in the front wheel oil circuit branch of the hydraulic pump station or a failure of the explosion-proof steering motor column assembly, but the mechanical connections of the front wheel steering subsystem, namely the steering wheel, steering drive shaft, recirculating ball steering gear, and steering tie rod assembly, are normal, the target vehicle can directly transmit steering torque by turning the steering wheel. Through mechanical transmission, the recirculating ball steering gear, steering tie rod assembly, and front steering axle assembly are driven, thereby driving the front wheels to steer and realizing the basic steering function of the target vehicle, ensuring passage.

[0082] The technical solution of this disclosure first acquires the motion state information of the target vehicle and the road surface identification information of the road surface where it is located, and determines whether the target vehicle has activated the first steering mode based on the motion state information and the road surface identification information. Then, if the target vehicle has activated the first steering mode, the rear wheel steering subsystem is controlled to drive the rear wheels to steer, and in coordination with the second steering mode executed by the front wheel steering subsystem, the target vehicle is controlled to execute the third steering mode. If the target vehicle has not activated the first steering mode, the target vehicle is controlled to execute the second steering mode. The third steering mode can realize four-wheel same-phase or opposite-phase steering, reduce the turning radius, improve vehicle passability, and adapt to narrow underground tunnels. The second steering mode ensures smooth steering under normal working conditions. The combination of the two modes further saves underground operating time, realizes the coordination and independent switching of steering modes, and achieves the effect of improving the continuity of rubber-tired vehicle operation and operational efficiency.

[0083] Example 3 Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Refer to the following... Figure 4 It illustrates an electronic device suitable for implementing embodiments of the present disclosure (e.g., Figure 4 The diagram below shows the structure of the terminal device or server 500. The terminal device in this embodiment may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), and vehicle terminals (e.g., vehicle navigation terminals). Figure 4 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0084] like Figure 4As shown, electronic device 500 may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 501, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 502 or a program loaded from storage device 508 into random access memory (RAM) 503. The RAM 503 also stores various programs and data required for the operation of electronic device 500. The processing unit 501, ROM 502, and RAM 503 are interconnected via bus 504. An edit / output (I / O) interface 505 is also connected to bus 504.

[0085] Typically, the following devices can be connected to I / O interface 505: input devices 506 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 507 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 508 including, for example, magnetic tapes, hard disks, etc.; and communication devices 509. Communication device 509 allows electronic device 500 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 4 An electronic device 500 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively.

[0086] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 509, or installed from a storage device 508, or installed from a ROM 502. When the computer program is executed by the processing device 501, it performs the functions defined in the methods of embodiments of this disclosure.

[0087] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

[0088] The electronic device provided in this embodiment and the method for driving a vehicle with multi-mode steering provided in the above embodiments belong to the same inventive concept. Technical details not described in detail in this embodiment can be found in the above embodiments, and this embodiment has the same beneficial effects as the above embodiments.

[0089] Example 4 This disclosure provides a computer storage medium storing a computer program that, when executed by a processor, implements the method for driving a vehicle with multi-mode steering provided in the above embodiments.

[0090] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0091] In some implementations, the server may communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and may interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0092] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0093] The aforementioned computer-readable medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: The motion state information of the target vehicle and the road surface recognition information of the road surface are obtained, and the target vehicle is determined to activate the first steering mode based on the motion state information and the road surface recognition information. If the target vehicle activates the first steering mode, the rear-wheel steering subsystem is controlled to drive the rear wheels to steer, and in coordination with the second steering mode executed by the front-wheel steering subsystem, the target vehicle is controlled to execute the third steering mode; wherein, the second steering mode is the steering mode that is activated when the target vehicle is started; If the target vehicle has not activated the first steering mode, control the target vehicle to execute the second steering mode.

[0094] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0095] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0096] The units described in the embodiments of this disclosure can be implemented in software or in hardware. The names of the units are not, in some cases, intended to limit the specific unit.

[0097] The functions described above in this document can be performed at least in part by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), and so on.

[0098] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0099] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

[0100] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

[0101] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. A system for driving multi-mode steering in a vehicle, characterized in that, include: The system comprises a control subsystem, a front-wheel steering subsystem, and a rear-wheel steering subsystem; among which, The control subsystem includes a vehicle controller, an intrinsically safe angle sensor, an intrinsically safe pressure sensor, and an on-board intrinsically safe display screen; wherein, the control subsystem is used to receive target information output by the front wheel steering subsystem and the rear wheel steering subsystem, and output steering control commands, wherein the target information includes at least front steering angle information, rear steering angle information, front hydraulic pressure information, and rear hydraulic pressure information; The front wheel steering subsystem includes a steering wheel, an explosion-proof steering motor column assembly, a steering drive shaft, a recirculating ball steering gear, a steering tie rod assembly, a front steering axle assembly, and a front wheel oil circuit branch of a hydraulic pump station. The front wheel steering subsystem provides steering torque compensation and drives the front wheels to steer. The rear wheel steering subsystem includes the rear wheel oil circuit branch of the hydraulic pump station, the explosion-proof solenoid valve group, and the rear steering axle assembly, wherein the rear wheel steering subsystem provides steering force and drives the rear wheels to steer.

2. The system according to claim 1, characterized in that, The vehicle controller is communicatively connected to the intrinsically safe angle sensor, the intrinsically safe pressure sensor, and the vehicle-mounted intrinsically safe display screen, respectively. The vehicle controller is used to process the target information and output the steering control command; The intrinsically safe angle sensor includes a first intrinsically safe angle sensor and a second intrinsically safe angle sensor; wherein, the first intrinsically safe angle sensor is connected to the front steering axle assembly and is used to detect the front steering angle information of the front steering axle assembly, and the second intrinsically safe angle sensor is connected to the rear steering axle assembly and is used to detect the rear steering angle information of the rear steering axle assembly; The intrinsically safe pressure sensor is used to detect the front hydraulic pressure information of the front wheel steering subsystem and the rear hydraulic pressure information of the rear wheel steering subsystem. The vehicle-mounted intrinsically safe display screen is used to display the target information to the target object.

3. The system according to claim 1, characterized in that, The steering wheel is connected to the explosion-proof steering motor column assembly, the explosion-proof steering motor column assembly is connected to the steering drive shaft and the vehicle controller respectively, the steering drive shaft is connected to the recirculating ball steering gear, the recirculating ball steering gear is connected to the front steering axle assembly through the steering tie rod assembly, and the front wheel oil circuit branch of the hydraulic pump station is connected to the recirculating ball steering gear and the vehicle controller respectively; The steering wheel is used to receive steering operation commands from the target object and transmit the steering torque corresponding to the steering operation commands to the explosion-proof steering motor column assembly. The explosion-proof steering motor column assembly is used to provide steering torque compensation according to the received steering control command, and to transmit the steering torque and the steering torque compensation to the steering drive shaft; The steering drive shaft is used to transmit the steering torque and the steering torque compensation to the recirculating ball steering gear; The recirculating ball steering gear is used to drive the steering tie rod assembly based on the steering torque, the steering torque compensation, and the front hydraulic pressure information; The steering tie rod assembly is used to drive the front steering axle assembly to steer the front wheels; The front steering axle assembly is used to steer the front wheels; The front wheel oil circuit branch of the hydraulic pump station is used to provide steering hydraulic pressure for the recirculating ball steering gear.

4. The system according to claim 1, characterized in that, The rear wheel oil circuit branch of the hydraulic pump station is connected to the explosion-proof solenoid valve group and the vehicle controller respectively. The explosion-proof solenoid valve group is connected to the rear steering axle assembly and the vehicle controller. The rear wheel oil circuit branch of the hydraulic pump station is used to deliver the hydraulic oil provided by the hydraulic pump station to the explosion-proof solenoid valve group. The explosion-proof solenoid valve assembly is used to receive the steering control command and regulate the hydraulic oil. The rear steering axle assembly is used to drive the rear wheels to turn and coordinate with the front wheels to steer.

5. A method for driving multi-mode steering of a vehicle, comprising the system described in claims 1-4, characterized in that, The method includes: The motion state information of the target vehicle and the road surface recognition information of the road surface are obtained, and the target vehicle is determined to activate the first steering mode based on the motion state information and the road surface recognition information. If the target vehicle activates the first steering mode, the rear-wheel steering subsystem is controlled to drive the rear wheels to steer, and in coordination with the second steering mode executed by the front-wheel steering subsystem, the target vehicle is controlled to execute the third steering mode; wherein, the second steering mode is the steering mode that is activated when the target vehicle is started; If the target vehicle has not activated the first steering mode, control the target vehicle to execute the second steering mode.

6. The method according to claim 5, characterized in that, The motion state information includes vehicle speed information and vehicle position information. Determining whether the target vehicle activates the first steering mode based on the motion state information and the road surface recognition information includes: When at least two of the following conditions are met simultaneously: vehicle speed information, vehicle position information, and road surface recognition information, the target vehicle is determined to activate the first steering mode. Otherwise, determine that the target vehicle does not enable the first steering mode; Specifically, when the speed of the target vehicle is not greater than a first speed threshold, or the speed of the target vehicle is not less than a second speed threshold, it is determined that the target vehicle meets the vehicle speed information condition; the first speed threshold is less than the second speed threshold. When the heading deviation of the target vehicle exceeds the safety threshold, or the heading angle change rate of the target vehicle is not less than the preset turning threshold, it is determined that the target vehicle meets the vehicle pose information conditions. When the road surface adhesion coefficient is detected to be lower than the preset adhesion threshold, or when an obstacle is detected on the road surface, the target vehicle is determined to meet the road surface recognition information conditions.

7. The method according to claim 5, characterized in that, The third steering mode includes a four-wheel in-phase steering mode and a four-wheel out-of-phase steering mode. The steps for controlling the steering of the target vehicle based on the third steering mode include: Adjust the speed of the hydraulic pump station and control the explosion-proof solenoid valve group so that the explosion-proof solenoid valve group obtains a hydraulic power source that meets the preset conditions. The explosion-proof solenoid valve group delivers the hydraulic power source to the rear steering axle assembly, driving the rear wheels to steer. Based on the front steering angle information detected by the first intrinsically safe angle sensor and the rear steering angle information detected by the second intrinsically safe angle sensor, the steering action of the rear steering axle assembly is controlled so that the rear wheels and the front wheels work together to achieve four-wheel in-phase steering or four-wheel counter-phase steering.

8. The method according to claim 5, characterized in that, The steps for controlling the steering of the target vehicle based on the second steering mode include: The speed of the hydraulic pump station is adjusted to output hydraulic power and supply the hydraulic power to the recirculating ball steering gear; Based on the target object, the steering wheel is operated to perform the target operation, so that the steering torque is transmitted to the explosion-proof steering motor column assembly; The explosion-proof steering motor column assembly directs the steering torque to the drive shaft, and drives the recirculating ball steering gear according to the steering drive shaft; The steering tie rod assembly is driven by the recirculating ball steering gear, and the front wheels are steered according to the steering tie rod assembly.

9. The method according to claim 5, characterized in that, The method further includes: The target vehicle is steered according to the first steering mode; The step of controlling the steering of the target vehicle according to the first steering mode includes: The speed of the hydraulic pump station is adjusted to output hydraulic power and supply the hydraulic power to the explosion-proof solenoid valve group; Based on the steering force provided by the explosion-proof solenoid valve group and the motion state information, the rear steering axle assembly is controlled to steer the target vehicle.

10. The method according to claim 5, characterized in that, The method further includes: When the vehicle controller malfunctions or / and the front wheel mechanical connection fails, the rear wheels can be steered by the manual handle valve integrated in the explosion-proof solenoid valve group. When the front wheel steering subsystem malfunctions, the front wheels are steered via the steering wheel.

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