Three-wheeled vehicle and steering control method and apparatus therefor

Abstract

A three-wheeled vehicle and a steering control method and apparatus therefor. In the control method, a target steering angle of a steerable wheel (5) during differential steering and a steering vehicle speed of a three-wheeled vehicle are acquired; the target steering angle and the steering vehicle speed are input into a speed calculation model, so as to obtain a first steering speed of a first driving wheel (102), a second steering speed of a second driving wheel (104) and an angular velocity of a vehicle chassis; on the basis of the angular velocity, a steering curve of the steerable wheel (5) is determined; and since the steering curve is a curve of a deflection angle of the steerable wheel (5) changing over steering time, and on the basis of the first steering speed and the second steering speed, the first driving wheel (102) and the second driving wheel (104) can be controlled to implement differential steering, and on the basis of the steering curve, the steerable wheel (5) can be controlled to deflect along with the differential steering .

Description

Three-wheeled vehicle and steering control method and device thereof

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202410064845.0 filed on January 16, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to the technical field of steering control of three-wheeled vehicles, and in particular to a three-wheeled vehicle and a steering control method and device thereof. Background Art

[0004] In recent years, with the rapid development of industrial automation, informatization, digitalization, smart logistics, and intelligent warehousing, the efficiency of internal warehouse logistics has significantly increased. However, goods entering and leaving the warehouse still require transit through the platform, and the degree of automation and mechanization remains low. Over 95% of cargo loading and unloading operations on the platform are completed manually with forklifts. This significantly limits the overall efficiency of platform operations. Furthermore, in some chemical companies, the cargo waiting to be loaded and unloaded poses certain safety risks to workers. Therefore, there is a need for a device that can provide a more efficient, economical, and safe solution for transporting goods from the warehouse storage area to loading operations and pallet recovery. In this device, the chassis, as the running component of the warehouse platform loading and unloading equipment, must possess flexible and precise maneuverability to adapt to the confined internal space and platform loading and unloading facilities. The chassis in this device is often moved by a three-wheeled vehicle. Its small turning radius provides good maneuverability on the platform, but its directional control has been criticized.

[0005] Therefore, how to improve the accuracy of steering control of three-wheeled vehicles is a technical problem that needs to be solved urgently.

[0006] Summary of the Invention

[0007] The present disclosure provides a three-wheeled vehicle and a steering control method and device thereof, which can improve the accuracy of the steering control of the three-wheeled vehicle.

[0008] In a first aspect, an embodiment of the present disclosure provides a steering control method for a three-wheeled vehicle, wherein the three-wheeled vehicle includes a steering wheel, and a first drive wheel and a second drive wheel whose axes are located in the same straight line; the first drive wheel and the second drive wheel are both used to drive the three-wheeled vehicle to travel, and the steering wheel is used to follow the deflection when the three-wheeled vehicle implements differential steering; the control method includes: obtaining a target steering angle of the steering wheel, and a steering speed of the three-wheeled vehicle, wherein the target steering angle is the maximum steering angle of the steering wheel during differential steering; inputting the target steering angle and the steering speed into a preset speed calculation model to obtain a first steering speed of the first drive wheel, a second steering speed of the second drive wheel, and an angular velocity of the vehicle chassis; determining a steering curve of the steering wheel according to the angular velocity, wherein the steering curve is a curve of the deflection angle of the steering wheel changing with the steering time; and controlling the first drive wheel and the second drive wheel to implement differential steering according to the first steering speed and the second steering speed, and controlling the steering wheel to follow the deflection according to the steering curve.

[0009] In a second aspect, an embodiment of the present disclosure further provides a three-wheeled vehicle, which is steered by any of the methods in the first aspect.

[0010] In a third aspect, an embodiment of the present disclosure further provides a steering control device for a three-wheeled vehicle, wherein the three-wheeled vehicle includes a steering wheel, and a first driving wheel and a second driving wheel whose axes are located in the same straight line; the first driving wheel and the second driving wheel are both used to drive the three-wheeled vehicle to travel, and the steering wheel is used to follow the deflection when the three-wheeled vehicle implements differential steering; the control device includes: an acquisition module for acquiring a target steering angle of the steering wheel and a steering speed of the three-wheeled vehicle, wherein the target steering angle is the maximum steering angle of the steering wheel during differential steering; an input acquisition module for inputting the target steering angle and the steering speed into a preset speed calculation model to obtain a first steering speed of the first driving wheel, a second steering speed of the second driving wheel and an angular velocity of the vehicle chassis; a determination module for determining a steering curve of the steering wheel according to the angular velocity, wherein the steering curve is a curve of the deflection angle of the steering wheel changing with the steering time; and a control module for controlling the first driving wheel and the second driving wheel to implement differential steering according to the first steering speed and the second steering speed, and controlling the steering wheel to follow the deflection according to the steering curve.

[0011] In a fourth aspect, an embodiment of the present disclosure further provides an electronic device, comprising a processor and a memory, wherein the memory is coupled to the processor and stores instructions, which, when executed by the processor, enable the electronic device to perform the steps of any one of the methods in the first aspect.

[0012] In a fifth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of any one of the methods in the first aspect when the computer program is executed by a processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0014] FIG1 is a schematic top view of a three-wheeled vehicle according to some embodiments of the present disclosure;

[0015] FIG2 is a schematic diagram of the front structure of a three-wheeled vehicle according to some embodiments of the present disclosure;

[0016] FIG3 is a flow chart of a steering control method for a three-wheeled vehicle according to some embodiments of the present disclosure;

[0017] FIG4-1 is a diagram illustrating a steering motion analysis of a three-wheeled vehicle according to some embodiments of the present disclosure;

[0018] FIG4-2 is a diagram illustrating an analysis of a pivoting motion of a three-wheeled vehicle according to some embodiments of the present disclosure;

[0019] FIG5 is a logic diagram of steering control of a three-wheeled vehicle according to some embodiments of the present disclosure;

[0020] FIG6 is a schematic structural diagram of a steering control device for a three-wheeled vehicle according to some embodiments of the present disclosure.

[0021] Explanation of the reference numerals: 102, first driving wheel; 104, second driving wheel; 2, driving motor; 3, first drive; 4, second drive; 5, steering wheel; 6, steering motor. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of the embodiments of the present disclosure.

[0023] Three-wheeled vehicles implementing steering control according to some embodiments of the present disclosure may have a dual-wheel drive structure, i.e., differential steering is implemented using two drive wheels axially aligned in a straight line. Currently, universal wheels are used for steering three-wheeled vehicles with this dual-wheel drive structure. However, when the steering speed is too high or when excessive thrust is applied to the steering wheel, the steering wheel cannot steer according to the steering trajectory, resulting in insufficient steering control accuracy for the three-wheeled vehicle.

[0024] Please refer to Figures 1 and 2. Figure 1 is a schematic top view of a three-wheeled vehicle, and Figure 2 is a schematic front view of the three-wheeled vehicle. The three-wheeled vehicle includes a steering wheel 5 and two drive wheels 1. The two drive wheels include a first drive wheel 102 and a second drive wheel 104, which are axially aligned. The first drive wheel 102 and the second drive wheel 104 are both used to drive the three-wheeled vehicle, and the steering wheel is used to follow the vehicle's deflection when the three-wheeled vehicle implements differential steering. Differential steering, in which the two drive wheels steer at different speeds, can improve the vehicle's maneuverability and stability, especially ensuring that the three-wheeled vehicle remains stable during rapid turns at high speeds. The drive wheel 1 is driven by a drive motor 2 and a first actuator 3, while the steering wheel 5 is controlled by a steering motor 6 and a second actuator 4 to achieve steering angle control. The following details how to implement steering control for the three-wheeled vehicle to improve the accuracy of steering control.

[0025] In some embodiments, the two driving wheels include a first driving wheel 102 and a second driving wheel 104 axially located on the same straight line, which means that the rotation axes of the first driving wheel 102 and the second driving wheel 104 are located on the same straight line.

[0026] Please refer to Figure 3, which is a flow chart of a steering control method for a three-wheeled vehicle provided in an embodiment of the present disclosure. This method can be implemented in a vehicle controller or in an independent steering controller. Any terminal device capable of executing this control method is sufficient, and is not specifically limited herein. The control method includes the following steps S11 to S14.

[0027] In step S11, the target steering angle of the steering wheel and the steering speed of the three-wheeled vehicle are obtained. The target steering angle is the maximum steering angle of the steering wheel during differential steering.

[0028] In some embodiments, the steering angle represents the angle between the radial direction of the steering wheel and the longitudinal direction of the three-wheeled vehicle. When performing a steering task, the steering wheel must follow differential steering from a steering angle of 0° to a target steering angle. Please refer to Figure 4-1, which is a steering motion analysis diagram. The angle β shown in the figure is the steering angle, point P in the figure is the instantaneous center of velocity of the vehicle chassis, and PA is the turning radius during steering. Since three-wheeled vehicles use differential steering, the target steering angle and steering speed are determined based on the actual situation of the steering task. After obtaining the target steering angle and steering speed, the process proceeds to step S12.

[0029] In step S12 , the target steering angle and the steering vehicle speed are input into a preset speed calculation model to obtain a first steering speed of the first driving wheel 102 , a second steering speed of the second driving wheel 104 , and an angular velocity of the vehicle chassis.

[0030] In some embodiments, a speed calculation model can be constructed based on the calculation requirements for each speed. Trigonometric functions can be applied to the components of the steering speed at the target steering angle when the three-wheeled vehicle is turning, and the first steering speed, second steering speed, and angular velocity can be defined based on vehicle steering safety requirements. The first steering speed and the second steering speed represent the speeds of the first drive wheel 102 and the second drive wheel 104 during differential steering, respectively. The angular velocity represents the angular velocity of the vehicle chassis around the turning radius.

[0031] In some embodiments, obtaining a first steering speed of the first driving wheel 102 , a second steering speed of the second driving wheel 104 , and an angular velocity of the vehicle chassis according to the target steering angle and the steering vehicle speed includes:

[0032] The first step is to use the formula Get the first turning speed v B , where v is the steering speed, β is the target steering angle, B is the wheelbase between the first drive wheel 102 and the second drive wheel 104, and L is the vehicle wheelbase of the three-wheeled vehicle.

[0033] The second step is based on the formula Get the second turning speed v C .

[0034] The third step is to use the formula Obtain the angular velocity, where v is the steering speed, β is the target steering angle, and L is the vehicle wheelbase of the three-wheeled vehicle.

[0035] It can be understood that the above formula is derived based on trigonometric function analysis when the three-wheeled vehicle is turning. The above calculation formula can be derived through analysis, and the first turning speed, the second turning speed and the angular velocity can be accurately calculated.

[0036] The above formula can be used as a speed calculation model to calculate various speeds. However, since model construction requires multiple steps, including data collection, model construction, model evaluation, and model optimization, existing methods have redundant construction steps and may be inaccurate. Therefore, in one embodiment, before inputting the target steering angle and steering speed into the preset speed calculation model, the method further includes:

[0037] Based on the target steering angle and steering speed, the steering speed component in the longitudinal direction of the three-wheeled vehicle is decomposed. Please continue to refer to Figure 4-1. Point D in the figure is located at the center of the axis of the first driving wheel 102 and the second driving wheel 104. At the current position, there is a geometric relationship ∠APD=β. Component velocity v D , can be obtained by formula v D =vcosβ, where v is the steering speed and β is the target steering angle.

[0038] According to the component speed and the wheelbase of the three-wheeled vehicle, the first calculation model of the first turning speed (Formula (1)) and the second calculation model of the second turning speed (Formula (2)) are constructed. Based on the geometric relationship in Figure 4-1, it can be obtained that

[0039] According to the angular velocity and the turning radius of the driving wheel, the third calculation model of angular velocity is constructed. Based on the above geometric relationship,

[0040] The third calculation model is further derived: Where ω is the angular velocity. Thus, the first, second, and third calculation models can be derived. Inputting the target steering angle and steering speed into the models yields the first steering speed, the second steering speed, and the angular velocity of the vehicle chassis. After the calculations are complete, the process proceeds to step S13.

[0041] In step S13, a steering curve of the steering wheel is determined according to the angular velocity. The steering curve is a curve showing the change of the deflection angle of the steering wheel with the steering time.

[0042] In some embodiments, a steering curve represents the relationship between the deflection angle of the steering wheel and time during a steering task. In some embodiments, a curve calculation model can be developed, and the angular velocity can be input into the curve calculation model to analyze the deflection angle of the steering wheel. The steering curve can then be fitted based on the output of the curve calculation model. Of course, the steering trajectory of the steering wheel can also be analyzed based on the angular velocity and steering motion analysis diagram to derive the relationship between the deflection angle and steering time, and the steering curve can be generated by fitting.

[0043] In some embodiments, determining the steering curve of the steering wheel based on the angular velocity may include:

[0044] The first step is to perform an integral operation based on the angular velocity and the control period of the differential steering to determine the azimuth angle of the three-wheeled vehicle. The control period is the steering operation period of the three-wheeled vehicle and can be set to the millisecond level according to the actual situation. Please refer to Figure 4-1. The azimuth angle is denoted as α, which represents the angle between the length direction and the horizontal direction of the three-wheeled vehicle. The angular velocity of the vehicle chassis is denoted as ω, and the steering angular velocity of the steering wheel is ω. A , in real-time control t is the control period, α0 is the azimuth angle of the previous control period. Therefore, it can also be obtained

[0045] The second step is to calculate the perpendicular angle between the radial direction of the steering wheel and the rectangular coordinate system based on the sum of the target steering angle and the azimuth angle. This perpendicular angle can be the angle between the radial direction of the steering wheel and the horizontal direction, or the angle between the radial direction of the steering wheel and the vertical direction. Any angle that represents the angle between the radial direction and the perpendicular coordinate system is sufficient. This perpendicular angle is denoted as γ, where γ = α + β.

[0046] The third step is to obtain a first horizontal steering curve and a second vertical steering curve based on the orthogonal angle and steering speed. The orthogonal angle allows the steering speed to be decomposed into the horizontal and vertical speeds of the steering wheel. The first and second steering curves are then derived based on the corresponding relationship between the vertical speed and steering time.

[0047] Calculating the first steering curve and the second steering curve may include:

[0048] Sub-step 1: According to formula v x =|v|cosγ, to obtain the horizontal speed v of the steering wheel in the horizontal direction x , where v is the turning speed and γ is the orthogonal angle. This calculation is based on the horizontal speed derived from trigonometric function decomposition.

[0049] Sub-step 2, also based on trigonometric analysis, derives the formula v y =|v|sinγ, obtain the vertical speed v of the steering wheel in the vertical direction y .

[0050] Sub-step three, according to the formula Obtain the first steering curve, where t is the control period, x A (0) is the initial horizontal displacement of the steering wheel, which represents the horizontal displacement of the steering wheel in the previous control cycle. The relationship between the horizontal displacement of the steering wheel and time is obtained by integration operation to fit the first steering curve.

[0051] Sub-step 4, according to the formula Obtain the second turning curve, where y A (0) is the initial vertical displacement of the steering wheel in the vertical direction. The first steering curve and the second steering curve are determined as the steering curve of the steering wheel, and after obtaining the steering curve, the first steering speed and the second steering speed, step S14 is entered.

[0052] In step S14 , the first driving wheel 102 and the second driving wheel 104 are controlled to perform differential steering according to the first steering speed and the second steering speed, and the steering wheels are controlled to follow the yaw according to the steering curve.

[0053] In some embodiments, when performing a steering task, the first drive wheel 102 can be controlled to move based on a first steering speed, the second drive wheel 104 can be controlled to move based on a second steering speed, and the steering wheel can be controlled to deflect based on a steering curve to ensure that the three-wheeled vehicle performs accurate differential steering, so that the three-wheeled vehicle has higher precision, stability and flexibility when steering.

[0054] It should be noted that the steering control method in the disclosed embodiments allows the three-wheeled vehicle to steer at any angle, i.e., in a figure-eight motion; it can also perform pivoting. Please refer to Figure 4-2, which illustrates a motion analysis diagram of a three-wheeled vehicle pivoting. During pivoting, steering wheel A is in a vertical position, and the first drive wheel 102B and the second drive wheel 104C have the same speed but opposite directions.

[0055] It should be noted that the steering control method described in the embodiment of the present disclosure can be applied to both forward steering and reverse steering of three-wheeled vehicles. The first steering speed and the second steering speed can be calculated based on the steering task, and the steering wheel can be controlled to deflect following the differential steering based on the steering curve.

[0056] Please refer to Figure 5 for a schematic diagram of the steering control logic. During steering control, the rear wheel servo system, consisting of the steering motor and secondary actuator, is initialized; CAN communication is configured; servo parameters are set; a zero return is performed; and position calculation is performed. During this calculation, the first and second steering velocities are derived from the target steering angle and the steering vehicle speed. These first and second steering velocities are then controlled by two corresponding first actuators to control the drive wheels. The second actuator controls the steering wheel deflection during differential steering based on the steering curve.

[0057] Based on the same technical concept as the control method, the embodiment of the present disclosure further provides a three-wheeled vehicle, which is subjected to steering control by any one of the control methods.

[0058] Based on the same technical concept as the control method, the embodiment of the present disclosure also provides a steering control device for a three-wheeled vehicle, wherein the three-wheeled vehicle includes a steering wheel, and a first drive wheel 102 and a second drive wheel 104 whose axial directions are located in the same straight line; the first drive wheel 102 and the second drive wheel 104 are both used to drive the three-wheeled vehicle to travel, and the steering wheel is used to follow the deflection when the three-wheeled vehicle implements differential steering. Please refer to Figure 6, which is a schematic structural diagram of the control device, which includes: an acquisition module 601, used to obtain a target steering angle of the steering wheel and a steering speed of the three-wheeled vehicle, wherein the target steering angle is the maximum steering angle of the steering wheel during differential steering; an input acquisition module 602, used to input the target steering angle and the steering speed into a preset speed calculation model to obtain a first steering speed of the first drive wheel 102, a second steering speed of the second drive wheel 104, and an angular velocity of the vehicle chassis; a determination module 603, used to determine a steering curve of the steering wheel based on the angular velocity, wherein the steering curve is a curve showing how the deflection angle of the steering wheel changes with steering time; and a control module 604, used to control the first drive wheel 102 and the second drive wheel 104 to implement differential steering based on the first steering speed and the second steering speed, and to control the steering wheel to follow the deflection based on the steering curve.

[0059] In some embodiments, the control device may further include:

[0060] A decomposition module is used to decompose the steering speed in the length direction of the three-wheeled vehicle according to the target steering angle and the steering speed;

[0061] a first building module for building a first calculation model for the first turning speed and a second calculation model for the second turning speed based on the component speeds and the vehicle wheelbase of the three-wheeled vehicle;

[0062] The second building module is used to build a third calculation model of the angular velocity according to the angular velocity and the turning radius of the driving wheel.

[0063] In some embodiments, the input acquisition module includes:

[0064] The first submodule is used to obtain the formula Get the first turning speed v B , where v is the steering speed, β is the target steering angle, B is the wheelbase between the first drive wheel 102 and the second drive wheel 104, and L is the vehicle wheelbase of the three-wheeled vehicle;

[0065] The second submodule is used to obtain the formula Get the second turning speed v C .

[0066] In some embodiments, the input acquisition module further includes:

[0067] The third submodule is used to obtain the formula Obtain the angular velocity, where v is the steering speed, β is the target steering angle, and L is the vehicle wheelbase of the three-wheeled vehicle.

[0068] In some embodiments, the determining module includes:

[0069] a determination submodule, for performing an integral operation based on the angular velocity and the control period of the differential steering to determine the azimuth angle of the three-wheeled vehicle;

[0070] A fourth obtaining submodule is used to obtain an orthogonal angle between the radial direction of the steering wheel and the rectangular coordinate system according to the sum of the target steering angle and the azimuth angle;

[0071] The fifth obtaining submodule is configured to obtain a first steering curve of the steering wheel in the horizontal direction and a second steering curve in the vertical direction according to the orthogonal angle and the steering speed.

[0072] In some embodiments, the fifth obtaining submodule includes:

[0073] The first obtaining unit is used to obtain the value of v according to the formula x =|v|cosγ, to obtain the horizontal speed v of the steering wheel in the horizontal direction x , where v is the steering speed and γ is the orthogonal angle;

[0074] The second obtaining unit is used to obtain the value of v according to the formula y =|v|sinγ, obtain the vertical speed v of the steering wheel in the vertical direction y ;

[0075] The third obtaining unit is used to obtain the formula Obtain the first steering curve, where t is the control period, x A (0) is the initial horizontal displacement of the steering wheel in the horizontal direction;

[0076] The fourth obtaining unit is used to obtain Obtain the second turning curve, where y A (0) is the initial vertical displacement of the steering wheel in the vertical direction.

[0077] Based on the same technical concept as the control method, an embodiment of the present disclosure also provides an electronic device, including a processor and a memory, wherein the memory is coupled to the processor and stores instructions, which, when executed by the processor, enable the electronic device to perform the steps of any one of the control methods.

[0078] Based on the same technical concept as the control method, an embodiment of the present disclosure further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of any one of the control methods are implemented.

[0079] The technical solutions provided in the embodiments of the present disclosure have at least the following technical effects or advantages:

[0080] By obtaining the target steering angle of the steering wheels during differential steering and the steering speed of the three-wheeled vehicle, the target steering angle and steering speed are input into a preset speed calculation model to obtain a first steering speed of the first drive wheel 102, a second steering speed of the second drive wheel 104, and the angular velocity of the vehicle chassis. A steering curve for the steering wheels is determined based on the angular velocity. Since the steering curve represents the change in the steering wheel's deflection angle over steering time, the first and second drive wheels 102, 104 can be controlled to implement differential steering based on the first and second steering speeds, and the steering wheels can be controlled to follow the deflection based on the steering curve. This control method processes data associated with the three-wheeled vehicle during steering, accurately calculating the wheel speeds for differential steering and the steering curve for the steering wheel's following deflection. This allows for accurate control of each wheel during steering control, thereby improving the accuracy of steering control for the three-wheeled vehicle.

[0081] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0082] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (modules, systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the function specified in one process or multiple processes in the flowchart and / or one box or multiple boxes in the block diagram.

[0083] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0084] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0085] Although the preferred embodiments of the present disclosure have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present disclosure.

[0086] Obviously, those skilled in the art may make various changes and modifications to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is intended to include these modifications and variations.

Claims

1. A steering control method for a three-wheeled vehicle, the three-wheeled vehicle including a steering wheel, and a first driving wheel and a second driving wheel axially located on the same straight line; both the first driving wheel and the second driving wheel are used to drive the three-wheeled vehicle to travel, and the steering wheel is used to deflect following when the three-wheeled vehicle performs differential steering; wherein, The control method includes: Obtaining a target steering angle of the steering wheel and a steering speed of the three-wheel vehicle, where the target steering angle is the maximum steering angle of the steering wheel during the differential steering; Inputting the target steering angle and the steering speed into a preset speed calculation model to obtain a first steering speed of the first driving wheel, a second steering speed of the second driving wheel, and an angular velocity of the vehicle chassis; Determining a steering curve of the steering wheel according to the angular velocity, where the steering curve is a curve of the deflection angle of the steering wheel changing with the steering time; and Controlling the first driving wheel and the second driving wheel to perform differential steering according to the first steering speed and the second steering speed, and controlling the steering wheel to follow the deflection according to the steering curve.

2. The steering control method for a three-wheeled vehicle according to claim 1, wherein, Before inputting the target steering angle and the steering speed into the preset speed calculation model, the method further includes: Decomposing the steering speed into a component speed in the length direction of the three-wheel vehicle according to the target steering angle and the steering speed; Constructing a first calculation model of the first steering speed and a second calculation model of the second steering speed according to the component speed and the vehicle wheelbase of the three-wheel vehicle; and Constructing a third calculation model of the angular velocity according to the angular velocity and the turning radius of the driving wheel.

3. The steering control method for a three-wheeled vehicle according to claim 1, wherein, Obtaining the first steering speed of the first driving wheel and the second steering speed of the second driving wheel according to the target steering angle and the steering speed, including: According to the formula Obtain the first steering speed v B , where v is the steering vehicle speed, β is the target steering angle, B is the wheelbase between the first driving wheel and the second driving wheel, and L is the vehicle wheelbase of the three-wheel vehicle; and According to the formula Obtain the second steering speed v C .

4. The steering control method of the three-wheeled vehicle according to claim 1, wherein, Obtaining the angular velocity of the vehicle chassis according to the target steering angle and the steering speed, including: According to the formula Obtaining the angular velocity, where v is the steering speed, β is the target steering angle, and L is the vehicle wheelbase of the three-wheel vehicle.

5. The steering control method of the three-wheeled vehicle according to claim 1, wherein, The determining the steering curve of the steering wheel according to the angular velocity includes: Performing an integral operation according to the angular velocity and the control period of the differential steering to determine the azimuth angle of the three-wheel vehicle; Obtaining an orthogonal included angle between the radial direction of the steering wheel and the rectangular coordinate system according to the sum of the target steering angle and the azimuth angle; and Obtaining a first steering curve of the steering wheel in the horizontal direction and a second steering curve in the vertical direction according to the orthogonal included angle and the steering speed.

6. The steering control method for a three-wheeled vehicle according to claim 5, wherein, The obtaining the first steering curve of the steering wheel in the horizontal direction and the second steering curve in the vertical direction according to the orthogonal included angle and the steering speed includes: According to the formula v x = |v|cosγ, the horizontal vehicle speed v of the steering wheel in the horizontal direction is obtained x , where v is the steering vehicle speed and γ is the orthogonal angle; According to the formula v y = |v|sinγ, the vertical vehicle speed v of the steering wheel in the vertical direction is obtained y ; According to the formula Obtain the first steering curve, where t is the control period and x A (0) is the initial horizontal displacement of the steering wheel in the horizontal direction; and According to the formula Obtain the second steering curve, where y A (0) is the initial vertical displacement of the steering wheel in the vertical direction.

7. A steering control device for a three-wheel vehicle, the three-wheel vehicle including a steering wheel, and a first driving wheel and a second driving wheel axially located on the same straight line; both the first driving wheel and the second driving wheel are used to drive the three-wheel vehicle to travel, and the steering wheel is used to follow the deflection when the three-wheel vehicle performs differential steering; wherein the control device includes: An obtaining module, configured to obtain a target steering angle of the steering wheel and a steering speed of the three-wheel vehicle, where the target steering angle is the maximum steering angle of the steering wheel during the differential steering; An input acquisition module, configured to input the target steering angle and the steering vehicle speed into a preset speed calculation model, so as to obtain a first steering speed of the first driving wheel, a second steering speed of the second driving wheel, and an angular velocity of the vehicle chassis; A determination module, configured to determine a steering curve of the steering wheel according to the angular velocity, wherein the steering curve is a curve of the deflection angle of the steering wheel changing with the steering time; and A control module, configured to control the first driving wheel and the second driving wheel to perform differential steering according to the first steering speed and the second steering speed, and control the steering wheel to follow the deflection according to the steering curve.

8. An electronic device, comprising a processor and a memory, the memory being coupled to the processor, the memory storing instructions that, when executed by the processor, cause the electronic device to perform the steps of the method according to any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, wherein, It is the steps of the method according to any one of claims 1-6 when the computer program is executed by the processor.

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