Steering control method and apparatus for vehicle, controller, storage medium, and vehicle

Abstract

A steering control method and apparatus for a vehicle, a controller, a storage medium, and a vehicle. The steering control method for a vehicle comprises: controlling a first wheel (11) of a vehicle to brake, controlling, by means of a first motor (21), a second wheel (12) to rotate in a first direction, the first wheel (11) and the second wheel (12) being connected to the first motor (21) by means of a differential mechanism, and controlling, by means of a second motor (22), a third wheel (13) of the vehicle to rotate in the first direction, the second wheel (12) and the third wheel (13) being wheels on a same side. A steering control apparatus (110) for a vehicle comprises a control unit (1101) used for controlling a first wheel (11) of a vehicle to brake, controlling, by means of a first motor (21), a second wheel (12) to rotate in a first direction, the first wheel (11) and the second wheel (12) being connected to the first motor (21) by means of a differential mechanism, and controlling, by means of a second motor (22), a third wheel (13) of the vehicle to rotate in the first direction, the second wheel (12) and the third wheel (13) being wheels on a same side.

Description

Vehicle steering control method, device, controller, storage medium and vehicle

[0001] This application claims priority to the Chinese patent disclosure with application number 202410350573.0 and disclosure name “Vehicle Steering Control Method and Related Device” filed with the Patent Office of China on March 25, 2024, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to, but is not limited to, the field of vehicle technology, and in particular to a vehicle steering control method, device, controller, storage medium, and vehicle. Background Art

[0003] In the relevant technology, when a vehicle realizes the on-the-spot steering function, there are multiple implementation methods, such as realizing the steering function through a four-wheel four-motor independent drive architecture, or realizing the active steering function through a non-independent drive architecture. For vehicles with a four-wheel three-motor independent and non-independent hybrid drive architecture, the relevant technology is not yet able to realize the autonomous steering function, and it is urgent to develop and realize this function to meet user needs. Technical Solutions

[0004] The embodiments of the present application provide a vehicle steering control method, device, controller, storage medium and vehicle, which realize a hybrid of an independent drive architecture and a non-independent drive architecture by jointly driving a first wheel and a second wheel with a first motor and independently driving a third wheel for steering, thereby meeting the user's demand for a vehicle with a four-wheel three-motor independent and non-independent hybrid drive architecture.

[0005] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0006] In a first aspect, a vehicle steering control method includes:

[0007] Controlling the braking of a first wheel of the vehicle, controlling the rotation of a second wheel in a first direction by a first motor, wherein the first wheel and the second wheel are connected to the first motor via a differential mechanism,

[0008] The third wheel of the vehicle is controlled by a second motor to rotate in the first direction, and the second wheel and the third wheel are wheels on the same side.

[0009] In a second aspect, a steering control device for a vehicle includes:

[0010] a control unit configured to control braking of a first wheel of the vehicle and to control rotation of a second wheel in a first direction via a first motor, wherein the first wheel and the second wheel are connected to the first motor via a differential mechanism;

[0011] The third wheel of the vehicle is controlled by a second motor to rotate in the first direction, and the second wheel and the third wheel are wheels on the same side.

[0012] In a third aspect, a controller comprises a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the programs include instructions for executing the steps in the method described in any one of the first aspects.

[0013] In a fourth aspect, a computer-readable storage medium stores a computer program / instruction thereon, wherein the computer program / instruction, when executed by a processor, implements the steps of the method as described in any one of the first aspects.

[0014] In a fifth aspect, a vehicle includes a controller, a first motor, a second motor, a third motor, a differential mechanism, and a brake, wherein the controller is connected to the first motor, the second motor, the third motor, and the brake, the differential mechanism is connected to the first motor, and the controller is used to execute the step instructions in the method described in any one of the first aspects.

[0015] It can be seen that in the embodiment of the present application, the controller controls the braking of the first wheel of the vehicle, controls the second wheel to rotate in the first direction through the first motor, and controls the third wheel of the vehicle to rotate in the first direction through the second motor, wherein the first wheel and the second wheel are connected to the first motor through a differential mechanism, and the second wheel and the third wheel are wheels on the same side. Since the scheme provided by the present application uses the first motor to jointly drive the first wheel and the second wheel, and the second motor independently drives the third wheel to steer, compared with the independent drive steering mode or the non-independent drive steering mode in the related art, the present application realizes a mixture of independent drive architecture and non-independent drive architecture, meeting the user's demand for the use of four-wheel three-motor independent and non-independent hybrid drive architecture vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] FIG1 is a schematic diagram of the single motor side structure of a vehicle provided in an embodiment of the present application;

[0018] FIG2 is a schematic diagram of the dual-motor structure of a vehicle provided in an embodiment of the present application;

[0019] FIG3 is a flow chart of a vehicle steering control method provided in an embodiment of the present application;

[0020] FIG4 is one of the schematic diagrams of vehicle rotation trajectories provided in an embodiment of the present application;

[0021] FIG5 is a second schematic diagram of a vehicle rotation trajectory provided in an embodiment of the present application;

[0022] FIG6 is a third schematic diagram of a vehicle rotation trajectory provided in an embodiment of the present application;

[0023] FIG7 is a fourth schematic diagram of a vehicle rotation trajectory provided in an embodiment of the present application;

[0024] FIG8 is an example diagram of the direction of travel provided by an embodiment of the present application;

[0025] FIG9 is a schematic diagram of a scene of a vehicle turning according to an embodiment of the present application;

[0026] FIG10 is a second schematic diagram of a scene when a vehicle turns according to an embodiment of the present application;

[0027] FIG11 is a block diagram of functional units of a vehicle steering control device provided in an embodiment of the present application;

[0028] FIG12 is a schematic diagram of the structure of a controller provided in an embodiment of the present application.

[0029] Implementation Methods of the Application

[0030] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0031] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a particular order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0032] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0033] In the embodiments of this application, "and / or" describes the relationship between associated objects and indicates that three relationships can exist. For example, "A and / or B" can represent the following three situations: A exists alone; A and B exist simultaneously; and B exists alone. A and B can be singular or plural.

[0034] The terms "left," "right," "front," and "rear" mentioned in this specification are defined relative to the structures shown in the drawings and should not be construed as restrictive terms.

[0035] The following describes a vehicle steering control method, device, controller, storage medium, and vehicle according to embodiments of the present application with reference to the accompanying drawings.

[0036] First, the vehicle according to the embodiment of the present application is described.

[0037] The vehicle provided herein includes a single-motor side and a dual-motor side. Please refer to FIG1 , which is a schematic diagram of the single-motor side structure of a vehicle provided in an embodiment of the present invention. As shown in FIG1 , the single-motor side structure includes a first wheel 11, a second wheel 12, a first motor 21, a differential 3, and a brake 4. The first motor 21 is connected to the differential 3, which is connected to the first wheel 11 and the second wheel 12. A first brake 41 is further provided between the first wheel 11 and the differential 3, and a second brake 42 is further provided between the second wheel 12 and the differential 3. In addition, the vehicle also includes a controller 5, which is electrically connected to the first motor 21, the first brake 41, and the second brake 42, respectively.

[0038] In this example, a single motor is used to drive the first wheel and the second wheel, which can reduce the driving error caused by manufacturing factors and other factors when using two motors. At the same time, the single motor is connected to the differential to ensure that the rotational speed of the wheels on both sides of the vehicle adapts to the problem during turning. In addition, the controller is connected to the brakes of the wheels on both sides, and the braking state of the wheels on both sides can be freely controlled. Therefore, when the controller sends a first drive signal to the first motor and a first brake signal to one of the two brakes (for example, the first brake), the first brake controls the braking of the first wheel. At the same time, under the drive of the first motor and the action of the differential, the second wheel can still rotate normally, so that vehicles controlled by non-independent motors can also achieve in-situ turning or turning with a smaller turning radius.

[0039] In this embodiment, two of the brakes can be various electrically controllable mechanical brakes on the market. For example, they can include rotating friction plates mounted on corresponding transmission shafts and brake teeth fixed relative to the frame. Braking can be achieved by controlling the engagement or disengagement of the brake teeth with the friction teeth on the outer periphery of the friction plates.

[0040] The differential in this example may be a common differential known in the art, or a differential with a braking function.

[0041] Please refer to FIG. 2 , which is a schematic diagram of the dual-motor structure of a vehicle according to an embodiment of the present application. As shown in FIG. 2 , the dual-motor structure includes a third wheel 13, a fourth wheel 14, a second motor 22, and a third motor 23. The third wheel 13 is electrically connected to the second motor 22, and the fourth wheel 14 is electrically connected to the third motor 23. The second motor 22 and the third motor 23 independently control the rotation of the third wheel 13 and the fourth wheel 14, respectively. Furthermore, the second motor 22 and the third motor 23 are each electrically connected to a controller 5.

[0042] The rotation directions of the third wheel and the fourth wheel are associated with the rotation direction of the second wheel. The rotation directions of the third wheel and the second wheel are the same.

[0043] In one possible example, the rotation direction of the fourth wheel is the same as the rotation direction of the second wheel.

[0044] In one possible example, the rotation direction of the fourth wheel is opposite to the rotation direction of the second wheel.

[0045] In one possible example, the fourth wheel is braked.

[0046] Among them, the first wheel and the second wheel, the third wheel and the fourth wheel are wheels on opposite sides, and the first wheel and the fourth wheel, the second wheel and the third wheel are wheels on the same side.

[0047] Specifically, the same side is used to characterize the relationship between the front and rear wheels. If the two wheels are in a front-to-back relationship and are located on the left or right side of the vehicle, the two wheels are wheels on the same side; the opposite side is used to characterize the relationship between the left and right wheels. If the two wheels are in a left-to-right relationship and are located on the front or rear side of the vehicle, the two wheels are wheels on the opposite side.

[0048] The single motor side structure may be arranged between the two front wheels of the vehicle or between the two rear wheels of the vehicle.

[0049] Specifically, based on the above hardware structure, the steering control method provided by this application, the controller is electrically connected to the first motor, the second motor, the third motor and the first brake, the second brake. When the controller receives a steering instruction from the user, the controller will output three drive signals (first drive signal, second drive signal, third drive signal) and a brake signal (for example, the first brake signal). The three drive signals are used to instruct the first motor, the second motor, and the third motor to drive to control the second wheel, the third wheel and the fourth wheel to rotate in a specific direction. When the first brake receives the first brake signal, the brake will brake the first wheel to rotate. Under the action of the differential, even if the rotational speeds of the first wheel and the second wheel are different, it can ensure that the rotational speeds of the wheels on both sides adapt to each other during the vehicle turning process.

[0050] In this example, a three-motor approach is employed, wherein a single motor simultaneously controls the rotation of both front wheels, and dual motors each control the rotation of both rear wheels. By braking only one wheel, the number of wheels subject to continuous excessive wear on the wheel fixing area during steering is reduced.

[0051] Based on the above structural relationship, a vehicle steering control method is described below with reference to the accompanying drawings. As shown in FIG3 , FIG3 is a flow chart of a vehicle steering control method provided by an embodiment of the present application, which is applied to a controller and includes:

[0052] Step S301: Control the braking of the first wheel of the vehicle.

[0053] Specifically, the controller sends a braking instruction to the first brake, and the first brake brakes the first wheel.

[0054] In a possible example, before controlling the braking of the first wheel of the vehicle, the method further includes:

[0055] The traveling direction and the rotation direction of the vehicle are obtained, and the first direction and the first wheel are determined.

[0056] Among them, the vehicle's direction of travel refers to the direction of movement of the entire vehicle when the vehicle starts, including forward and backward. The direction of travel is different from the vehicle's driving direction. The driving direction is consistent with the actual geographical direction, and the direction of travel only refers to: after determining the front and rear directions of the vehicle, when rotating with the first wheel as the center, if the second wheel moves forward relative to the first wheel during the rotation, the direction of travel is forward; if the second wheel moves backward relative to the first wheel during the rotation, the direction of travel is backward.

[0057] For example, please refer to Figure 8, which is an example diagram of the direction of travel provided in an embodiment of the present application. As shown in Figure 8, when the first wheel 11 of car A is the left front wheel and car A rotates clockwise, the second wheel 12 moves backward relative to the first wheel 11 during the rotation process, so the direction of travel is backward; when car A rotates counterclockwise, the second wheel 12 moves forward relative to the first wheel 11 during the rotation process, so the direction of travel is forward.

[0058] The rotation direction includes clockwise and counterclockwise.

[0059] The first direction refers to the direction of wheel rotation, including forward and backward.

[0060] Among them, the first wheel is the wheel on the single motor side. When the single motor structure is set between the two front wheels, the first wheel is determined to be one of the two front wheels according to the traveling direction and the rotation direction.

[0061] Step 302: Control the second wheel to rotate in a first direction via the first motor.

[0062] The first wheel and the second wheel are connected to the first motor through a differential mechanism.

[0063] Step 303: Control the third wheel of the vehicle to rotate in the first direction via the second motor.

[0064] The second wheel and the third wheel are wheels on the same side.

[0065] In a possible example, the method further includes: controlling a fourth wheel of the vehicle to rotate in a second direction by a third motor.

[0066] The second direction is also the direction of wheel rotation, the first direction and the second direction are opposite rotation directions, and the first wheel and the fourth wheel are wheels on the same side.

[0067] In one possible example, the first motor is connected to the front wheels of the vehicle, and the method further includes: if the traveling direction is forward and the rotation direction is clockwise, determining that the first wheel is the right front wheel of the vehicle; if the traveling direction is forward and the rotation direction is counterclockwise, determining that the first wheel is the left front wheel of the vehicle; if the traveling direction is backward and the rotation direction is clockwise, determining that the first wheel is the left front wheel of the vehicle; if the traveling direction is backward and the rotation direction is counterclockwise, determining that the first wheel is the right front wheel of the vehicle.

[0068] When the first motor is installed at the front wheel of the vehicle, refer to Figures 4-7. When the vehicle is traveling forward and rotating clockwise, the first wheel can be determined to be the right front wheel, the second wheel to be the left front wheel, the third wheel to be the left rear wheel, and the fourth wheel to be the right rear wheel. The vehicle's rotation trajectory is shown in Figure 4. When the vehicle is traveling forward and rotating counterclockwise, the first wheel can be determined to be the left front wheel, the second wheel to be the right front wheel, the third wheel to be the right rear wheel, and the fourth wheel to be the left rear wheel. The vehicle's rotation trajectory is shown in Figure 5. When the vehicle is traveling backward and rotating clockwise, the first wheel can be determined to be the left front wheel, the second wheel to be the right front wheel, the third wheel to be the right rear wheel, and the fourth wheel to be the left rear wheel. The vehicle's rotation trajectory is shown in Figure 6. When the vehicle is traveling backward and rotating counterclockwise, the first wheel can be determined to be the right front wheel, the second wheel to be the left front wheel, the third wheel to be the left rear wheel, and the fourth wheel to be the right rear wheel. The vehicle's rotation trajectory is shown in Figure 7.

[0069] In one possible example, the first motor is connected to the rear wheels of the vehicle, and the method further includes: if the traveling direction is forward and the rotation direction is clockwise, determining that the first wheel is the right rear wheel of the vehicle; if the traveling direction is forward and the rotation direction is counterclockwise, determining that the first wheel is the left rear wheel of the vehicle; if the traveling direction is backward and the rotation direction is clockwise, determining that the first wheel is the left rear wheel of the vehicle; if the traveling direction is backward and the rotation direction is counterclockwise, determining that the first wheel is the right rear wheel of the vehicle.

[0070] When the first motor is installed at the rear wheel of the vehicle, when the direction of travel is forward and the direction of rotation is clockwise, the first wheel can be determined to be the right rear wheel, the second wheel to be the left rear wheel, the third wheel to be the left front wheel, and the fourth wheel to be the right front wheel. The vehicle's rotation trajectory is shown in Figure 6. When the direction of travel is forward and the direction of rotation is counterclockwise, the first wheel can be determined to be the left rear wheel, the second wheel to be the right rear wheel, the third wheel to be the right front wheel, and the fourth wheel to be the left front wheel. The vehicle's rotation trajectory is shown in Figure 7. When the direction of travel is backward and the direction of rotation is clockwise, the first wheel can be determined to be the left rear wheel, the second wheel to be the right rear wheel, the third wheel to be the right front wheel, and the fourth wheel to be the left front wheel. The vehicle's rotation trajectory is shown in Figure 4. When the direction of travel is backward and the direction of rotation is counterclockwise, the first wheel can be determined to be the right rear wheel, the second wheel to be the left rear wheel, the third wheel to be the left front wheel, and the fourth wheel to be the right front wheel. The vehicle's rotation trajectory is shown in Figure 5.

[0071] In a possible example, the first direction is determined according to the traveling direction.

[0072] In a possible example, the method further includes: if the traveling direction is forward, determining that the first direction is forward; if the traveling direction is backward, determining that the first direction is backward.

[0073] Among them, the first direction is consistent with the traveling direction. When the traveling direction is forward, the first direction is forward, and the second direction is determined to be backward based on the first direction; when the traveling direction is backward, the first direction is backward, and the second direction is determined to be forward based on the first direction.

[0074] In one possible example, the first direction is a preset direction, and the method further includes: when it is detected that the preset direction is inconsistent with the traveling direction, displaying a prompt message for switching directions on the central control screen of the vehicle.

[0075] A default direction may be set for the first direction, such as a default forward direction or a default backward direction. When the determined first direction is different from the default direction, a prompt message is sent to the user.

[0076] In one possible example, the preset direction is forward, and the method further includes: if the traveling direction is backward, displaying "Switch the first direction to backward" on the central control screen.

[0077] Among them, the prompt information can also be played in the form of voice prompts.

[0078] In one possible example, the preset direction is backward, and the method further includes: if the traveling direction is forward, displaying "Switch the first direction to forward" on the central control screen.

[0079] Among them, the prompt information can also be played in the form of voice prompts.

[0080] In a possible example, the method further includes: acquiring the first wheel and the rotation direction of the vehicle, and determining the first direction and the second direction according to the first wheel and the rotation direction.

[0081] This example is another method for rotating a vehicle provided by the present application, wherein the user directly inputs the first wheel and the rotation direction, thereby determining the rotation state and rotation direction of each wheel of the vehicle.

[0082] Specifically, the method also includes: if the first wheel is the right front wheel of the vehicle and the rotation direction of the vehicle is clockwise, then the second wheel is determined to be the left front wheel of the vehicle, the first direction is forward, the third wheel is the left rear wheel of the vehicle, the fourth wheel is the right rear wheel of the vehicle, and the second direction is backward.

[0083] In one possible example, if the first wheel is the left rear wheel of the vehicle and the rotation direction of the vehicle is clockwise, then the second wheel is determined to be the right rear wheel of the vehicle, the first direction is backward, the third wheel is the right front wheel of the vehicle, the fourth wheel is the left front wheel of the vehicle, and the second direction is forward.

[0084] In one possible example, if the first wheel is the right front wheel of the vehicle and the rotation direction of the vehicle is counterclockwise, then the second wheel is determined to be the left front wheel of the vehicle, the first direction is backward, the third wheel is the left rear wheel of the vehicle, the fourth wheel is the right rear wheel of the vehicle, and the second direction is forward.

[0085] In one possible example, if the first wheel is the left rear wheel of the vehicle and the rotation direction of the vehicle is counterclockwise, then the second wheel is determined to be the right rear wheel of the vehicle, the first direction is forward, the third wheel is the right front wheel of the vehicle, the fourth wheel is the left front wheel of the vehicle, and the second direction is backward.

[0086] In one possible example, if the first wheel is the left front wheel of the vehicle and the rotation direction of the vehicle is counterclockwise, then the second wheel is determined to be the right front wheel of the vehicle, the first direction is forward, the third wheel is the right rear wheel of the vehicle, the fourth wheel is the left rear wheel of the vehicle, and the second direction is backward.

[0087] In one possible example, if the first wheel is the right rear wheel of the vehicle and the rotation direction of the vehicle is counterclockwise, then the second wheel is determined to be the left rear wheel of the vehicle, the first direction is backward, the third wheel is the left front wheel of the vehicle, the fourth wheel is the right front wheel of the vehicle, and the second direction is forward.

[0088] In one possible example, if the first wheel is the left front wheel of the vehicle and the rotation direction of the vehicle is clockwise, then the second wheel is determined to be the right front wheel of the vehicle, the first direction is backward, the third wheel is the right rear wheel of the vehicle, the fourth wheel is the left rear wheel of the vehicle, and the second direction is forward.

[0089] In one possible example, if the first wheel is the right rear wheel of the vehicle and the rotation direction of the vehicle is clockwise, then the second wheel is determined to be the left rear wheel of the vehicle, the first direction is forward, the third wheel is the left front wheel of the vehicle, the fourth wheel is the right front wheel of the vehicle, and the second direction is backward.

[0090] In one possible example, the direction of travel and the direction of rotation of the vehicle are obtained by at least one of the following methods: the setting method of the first wheel and the direction of rotation of the vehicle includes at least one of the following: by operating the physical buttons in the cockpit of the vehicle; by operating the virtual function buttons in the central control screen of the vehicle; by voice command operation.

[0091] In one possible example, the setting method specifically includes: after receiving a first trigger operation on a first button in the cockpit, displaying a steering function control on the central control screen; receiving a second trigger operation on the steering function control; displaying a virtual view of the vehicle on the central control screen; receiving a third trigger operation and a fourth trigger operation on the virtual view, the third trigger operation being used to select the traveling direction, and the fourth trigger operation being used to select the turning direction; in response to the third trigger operation and the fourth trigger operation, obtaining a target traveling direction and a target turning direction; after obtaining the traveling direction and the turning direction of the vehicle, the method further includes: starting a steering operation according to the target traveling direction and the target turning direction.

[0092] Among them, the first button is a physical button in the cockpit, and the first trigger operation can be a click or a long press for a preset time.

[0093] Among them, the steering function control is a virtual button on the central control screen, and the second trigger operation can be a click, a slide, or a stay time greater than or equal to a preset threshold. The preset threshold can be 1s, 3s, 5s, or longer or shorter, and is not limited here.

[0094] Among them, the virtual view user displays the current vehicle and a 360° panoramic view around the vehicle. While the central control screen displays the virtual view, it also displays virtual buttons for the direction of travel on the central control screen, including a forward virtual button and a backward virtual button. Among them, the third trigger operation can be a click, a slide, or a stay time greater than or equal to a preset threshold. The preset threshold can be 1s, 3s, 5s, or longer or shorter, and is not limited here.

[0095] The central control screen displays a virtual view and also prompts for setting the rotation direction. The fourth trigger operation can be a click, slide, or dwell time on the clockwise or counterclockwise rotation direction virtual button for a time greater than or equal to a preset threshold. The preset threshold can be 1s, 3s, 5s, or longer or shorter, and is not limited here. The fourth trigger operation can also be a finger sliding track clockwise or counterclockwise on the central control screen.

[0096] For example, please refer to Figure 9, which is one of the schematic diagrams of the scene when the vehicle is turning provided by the embodiment of the present application. As shown in Figure 9, a first button is set in the cockpit. When the user clicks the first button, the central control screen displays interface 1. Interface 1 includes a virtual button for "steering function" and a virtual view 100 of the current vehicle. When the user clicks the virtual button for "steering function", the control jumps from interface 1 to interface 2. Interface 2 includes a prompt message for "selecting the direction of travel and the direction of rotation", the above-mentioned virtual view 100, and two virtual buttons for the direction of travel. After the user selects the virtual button for backward, he slides his finger in a clockwise direction on the central control screen. The vehicle automatically recognizes that the direction of rotation is clockwise and displays the rotation trajectory of the current vehicle on the central control screen. Finally, click the confirmation button to start the steering operation.

[0097] In one possible example, after the virtual view of the vehicle is displayed on the central control screen, the method further includes: playing a first voice message, the first voice message being used to prompt the selection of the travel direction and the turning direction; receiving a second voice message, the second voice message including the selected target travel direction and target turning direction; and starting the steering operation according to the target travel direction and the target turning direction.

[0098] The user may receive voice information to select a target travel direction and a target rotation direction. For example, when prompted to select a travel direction, the user may speak the command "forward" or "backward," and when prompted to select a rotation direction, the user may speak the command "clockwise" or "counterclockwise."

[0099] In one possible example, the first wheel and rotation direction of the vehicle are obtained by at least one of the following methods: by obtaining the trigger operation of a physical button in the cockpit of the vehicle; by obtaining the trigger operation of a virtual function button in the central control screen of the vehicle; by obtaining the trigger operation of a voice command.

[0100] In one possible example, obtaining the first wheel and rotation direction of the vehicle specifically includes: after receiving a first trigger operation on a first button in the cockpit, displaying a steering function control on the central control screen; receiving a second trigger operation on the steering function control; displaying a virtual view of the vehicle on the central control screen; receiving a third trigger operation and a fourth trigger operation on the virtual view, the third trigger operation being used to select one of the wheels in the virtual view as the first wheel, and the fourth trigger operation being used to select a target rotation direction of the vehicle; in response to the third trigger operation and the fourth trigger operation, obtaining the selected target first wheel and the target rotation direction; after obtaining the first wheel and rotation direction of the vehicle, the method further includes: starting a steering operation according to the target first wheel and the target rotation direction.

[0101] Among them, the first button is a physical button in the cockpit, and the first trigger operation can be a click or a long press for a preset time.

[0102] Among them, the steering function control is a virtual button on the central control screen, and the second trigger operation can be a click, a slide, or a stay time greater than or equal to a preset threshold. The preset threshold can be 1s, 3s, 5s, or longer or shorter, and is not limited here.

[0103] Among them, the virtual view user displays the current vehicle and a 360° panoramic view around the vehicle. While the central control screen displays the virtual view, the wheels in the virtual view can be selected. Among them, the third trigger operation can be clicking, sliding or staying for a time greater than or equal to a preset threshold. The preset threshold can be 1s, 3s, 5s, or longer or shorter, and is not limited here.

[0104] The central control screen displays a virtual view and also prompts for setting the rotation direction. The fourth trigger operation can be a click, slide, or dwell time on the clockwise or counterclockwise rotation direction virtual button for a time greater than or equal to a preset threshold. The preset threshold can be 1s, 3s, 5s, or longer or shorter, and is not limited here. The fourth trigger operation can also be a finger sliding track clockwise or counterclockwise on the central control screen.

[0105] For example, please refer to Figure 10, which is a second schematic diagram of a vehicle steering scene provided by an embodiment of the present application. As shown in Figure 10, a first button is provided in the cockpit. When the user clicks the first button, the central control screen displays interface 1, which includes a virtual button for "steering function" and a virtual view 100 of the current vehicle. When the user clicks the virtual button for "steering function", the control jumps from interface 1 to interface 3, which includes a prompt message for "selecting the first wheel and the direction of rotation" and the aforementioned virtual view 100. After the user selects the left rear wheel in the virtual view 100, he slides his finger in a clockwise direction on the central control screen. The vehicle automatically recognizes that the direction of rotation is clockwise and displays the current vehicle rotation trajectory on the central control screen. Finally, click the confirmation button to start the steering operation.

[0106] In one possible example, after displaying the virtual view of the vehicle on the central control screen, the method further includes: playing a first voice message, the first voice message being used to prompt selection of the first wheel and the turning direction; receiving a second voice message, the second voice message including the selected wheel and the target turning direction; after obtaining the first wheel and turning direction of the vehicle, the method further includes: starting the steering operation according to the selected wheel and the target turning direction.

[0107] The system can receive voice messages from the user to select a target first wheel and a target rotation direction. For example, when prompted to select the first wheel, the user can speak the commands "left front wheel," "right front wheel," "left rear wheel," or "right rear wheel." When prompted to select the rotation direction, the user can speak the commands "clockwise" or "counterclockwise."

[0108] It can be seen that in the embodiment of the present application, the controller controls the braking of the first wheel of the vehicle, controls the second wheel to rotate in the first direction through the first motor, and controls the third wheel of the vehicle to rotate in the first direction through the second motor, wherein the first wheel and the second wheel are connected to the first motor through a differential mechanism, and the second wheel and the third wheel are wheels on the same side. Since the scheme provided by the present application uses the first motor to jointly drive the first wheel and the second wheel, and the second motor independently drives the third wheel to steer, compared with the independent drive steering mode or the non-independent drive steering mode in the related art, the present application realizes a mixture of independent drive architecture and non-independent drive architecture, meeting the user's demand for the use of four-wheel three-motor independent and non-independent hybrid drive architecture vehicles.

[0109] The above mainly introduces the solution of the embodiment of the present application from the perspective of the execution process of the method side. It is understandable that, in order to realize the above functions, the server includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiment provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in a hardware or computer software driven hardware manner depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0110] The embodiment of the present application can divide the server into functional units according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of a software program module. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical functional division. In actual implementation, other division methods can be used.

[0111] In the case of adopting an integrated unit, please refer to FIG11 , which is a block diagram of the functional unit composition of a vehicle steering control device provided in an embodiment of the present application. The steering control device 110 includes a control unit 1101 .

[0112] Optionally, the steering control device 110 further includes a sending unit, which may be a module unit for sending data.

[0113] Optionally, the steering control device 110 further includes a receiving unit, which may be a module unit for acquiring data and the like.

[0114] Optionally, the steering control device 110 further includes a storage unit for storing computer program codes or instructions executed by the steering control device 110. For example, the storage unit may be a memory.

[0115] It should be noted that the control unit 1101 can be a processor or controller, for example, a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It can implement or execute the various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The control unit 1101 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0116] Optionally, the steering control device 110 may be a chip or a chip module.

[0117] In a specific implementation, the steering control device 110 is used to execute the steps performed by the chip / chip module / server in the above method embodiment:

[0118] A control unit 1101 is used to control the braking of a first wheel of the vehicle, control the second wheel to rotate in a first direction through a first motor, the first wheel and the second wheel are connected to the first motor through a differential mechanism, and control the third wheel of the vehicle to rotate in the first direction through the second motor, and the second wheel and the third wheel are wheels on the same side.

[0119] It can be seen that in the embodiment of the present application, the controller controls the braking of the first wheel of the vehicle, controls the second wheel to rotate in the first direction through the first motor, and controls the third wheel of the vehicle to rotate in the first direction through the second motor, wherein the first wheel and the second wheel are connected to the first motor through a differential mechanism, and the second wheel and the third wheel are wheels on the same side. Since the scheme provided by the present application uses the first motor to jointly drive the first wheel and the second wheel, and the second motor independently drives the third wheel to steer, compared with the independent drive steering mode or the non-independent drive steering mode in the prior art, the present application realizes a mixture of independent drive architecture and non-independent drive architecture, meeting the user's demand for the use of four-wheel three-motor independent and non-independent hybrid drive architecture vehicles.

[0120] In a possible example, the control unit 1101 is also used to: control the fourth wheel of the vehicle to rotate in a second direction through a third motor, the first direction and the second direction are opposite rotation directions, and the first wheel and the fourth wheel are wheels on the same side.

[0121] In a possible example, the receiving unit is used to: obtain the traveling direction and the rotation direction of the vehicle, and determine the first direction and the first wheel.

[0122] In one possible example, the first motor is connected to the front wheels of the vehicle, and the control unit 1101 is further used to: if the traveling direction is forward and the rotation direction is clockwise, determine that the first wheel is the right front wheel of the vehicle; if the traveling direction is forward and the rotation direction is counterclockwise, determine that the first wheel is the left front wheel of the vehicle; if the traveling direction is backward and the rotation direction is clockwise, determine that the first wheel is the left front wheel of the vehicle; if the traveling direction is backward and the rotation direction is counterclockwise, determine that the first wheel is the right front wheel of the vehicle.

[0123] In one possible example, the first motor is connected to the rear wheels of the vehicle, and the control unit 1101 is further used to: if the traveling direction is forward and the rotation direction is clockwise, determine that the first wheel is the right rear wheel of the vehicle; if the traveling direction is forward and the rotation direction is counterclockwise, determine that the first wheel is the left rear wheel of the vehicle; if the traveling direction is backward and the rotation direction is clockwise, determine that the first wheel is the left rear wheel of the vehicle; if the traveling direction is backward and the rotation direction is counterclockwise, determine that the first wheel is the right rear wheel of the vehicle.

[0124] In a possible example, the first direction is determined according to the traveling direction.

[0125] In a possible example, the control unit 1101 is further configured to: if the moving direction is forward, determine that the first direction is forward; if the moving direction is backward, determine that the first direction is backward.

[0126] In a possible example, the first direction is a preset direction, and the control unit 1101 is further used to: when it is detected that the preset direction is inconsistent with the traveling direction, display a prompt message for switching directions on the central control screen of the vehicle.

[0127] In a possible example, the preset direction is forward, and the control unit 1101 is further used to: if the traveling direction is backward, display "Switch the first direction to backward" on the central control screen.

[0128] In a possible example, the preset direction is backward, and the control unit 1101 is further used to: if the traveling direction is forward, display "Switch the first direction to forward" on the central control screen.

[0129] In a possible example, the receiving unit is further used to: obtain the first wheel and the rotation direction of the vehicle, and determine the first direction and the second direction according to the first wheel and the rotation direction.

[0130] In one possible example, the control unit 1101 is also used to: if the first wheel is the right front wheel of the vehicle and the rotation direction of the vehicle is clockwise, then determine that the second wheel is the left front wheel of the vehicle, the first direction is forward, the third wheel is the left rear wheel of the vehicle, the fourth wheel is the right rear wheel of the vehicle, and the second direction is backward.

[0131] In one possible example, the setting method of the rotation direction of the first wheel and the vehicle includes at least one of the following: by operating a physical button in the cockpit of the vehicle; by operating a virtual function button in the central control screen of the vehicle; or by voice command operation.

[0132] In one possible example, the setting method specifically includes: after receiving a first trigger operation on a first button in the cockpit, displaying a steering function control on the central control screen; receiving a second trigger operation on the steering function control; displaying a virtual view of the vehicle on the central control screen; receiving a third trigger operation and a fourth trigger operation on the virtual view, the third trigger operation being used to select the traveling direction, and the fourth trigger operation being used to select the turning direction; in response to the third trigger operation and the fourth trigger operation, obtaining a target traveling direction and a target turning direction; and starting a steering operation according to the target traveling direction and the target turning direction.

[0133] In one possible example, after the virtual view of the vehicle is displayed on the central control screen, the control unit 1101 is also used to: play a first voice message, the first voice message is used to prompt the selection of the travel direction and the turning direction; receive a second voice message, the second voice message includes the selected target travel direction and target turning direction; and start the steering operation according to the target travel direction and the target turning direction.

[0134] It can be understood that since the method embodiment and the device embodiment are different presentation forms of the same technical concept, the content of the method embodiment part in this application should be synchronously adapted to the device embodiment part and will not be repeated here.

[0135] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via wired or wireless means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state drive.

[0136] Please refer to Figure 12, which is a schematic diagram of the structure of a controller provided in an embodiment of the present application, wherein the controller 5 includes a processor 501, a memory 502, and a communication bus 503 for connecting the processor 501 and the memory 502. The memory 502 includes but is not limited to RAM, ROM, EPROM or CD-ROM, and the memory 502 is used to store relevant instructions and data. The controller 5 also includes a communication interface, which is used to receive and send data. The processor 501 can be one or more central processing units (CPUs). When the processor 501 is a central processing unit (CPU), the central processing unit (CPU) can be a single-core central processing unit (CPU) or a multi-core central processing unit (CPU). The processor 501 can be a baseband chip, a chip, a central processing unit (CPU), a general-purpose processor, a DSP, an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. The processor 501 in the controller 5 is used to execute a computer program or instruction 5021 stored in the memory 502.

[0137] It should be noted that the specific implementation of each operation can adopt the corresponding description of the method embodiment shown above, and the controller 5 can be used to execute the method on the terminal device side of the above method embodiment of this application, which will not be described in detail here.

[0138] An embodiment of the present application provides a computer-readable storage medium having a computer program / instruction stored thereon. When the computer program / instruction is executed by a processor, the steps of the method described in any possible embodiment are implemented.

[0139] An embodiment of the present application provides a vehicle, including a controller, a first motor, a second motor, a third motor, a differential mechanism, and a brake. The controller is connected to the first motor, the second motor, the third motor, and the brake, the differential mechanism is connected to the first motor, and the controller is used to execute the step instructions in the method described in any possible embodiment.

[0140] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0141] In the several embodiments provided in this application, it should be understood that the disclosed methods, devices, and systems can be implemented in other ways. For example, the device embodiments described above are merely schematic; for example, the division of the unit is merely a logical function division, and there may be other division methods in actual implementation; for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0142] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to actual needs.

[0143] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing module, or each unit may be physically included separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0144] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform some steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a volatile memory or a non-volatile memory. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM), among other media that can store program code.

[0145] Although the present application discloses the above, the present application is not limited thereto. Any person skilled in the art may readily conceive of variations or substitutions, and may make various changes and modifications, including combinations of the above-mentioned functions and implementation steps, including software and hardware implementations, without departing from the spirit and scope of the present application, and all are within the scope of protection of the present application.

Claims

1. A vehicle steering control method, wherein: include: Controlling the braking of a first wheel of the vehicle, controlling the rotation of a second wheel in a first direction by a first motor, wherein the first wheel and the second wheel are connected to the first motor via a differential mechanism, The third wheel of the vehicle is controlled by a second motor to rotate in the first direction, and the second wheel and the third wheel are wheels on the same side.

2. The method according to claim 1, wherein The method further comprises: The fourth wheel of the vehicle is controlled to rotate in a second direction by a third motor, the first direction and the second direction are opposite rotation directions, and the first wheel and the fourth wheel are wheels on the same side.

3. The method according to claim 2, wherein: The method further comprises: The traveling direction and the rotation direction of the vehicle are obtained, and the first direction and the first wheel are determined.

4. The method according to claim 3, wherein: The first motor is connected to the front wheels of the vehicle, and the method further includes: If the traveling direction is forward and the rotating direction is clockwise, then the first wheel is determined to be the right front wheel of the vehicle; If the traveling direction is forward and the rotating direction is counterclockwise, then the first wheel is determined to be the left front wheel of the vehicle; If the traveling direction is backward and the rotating direction is clockwise, then the first wheel is determined to be the left front wheel of the vehicle; and If the traveling direction is backward and the rotating direction is counterclockwise, it is determined that the first wheel is the right front wheel of the vehicle.

5. The method according to claim 3, wherein The first motor is connected to the rear wheels of the vehicle, and the method further includes: If the traveling direction is forward and the rotating direction is clockwise, then the first wheel is determined to be the right rear wheel of the vehicle; If the traveling direction is forward and the rotating direction is counterclockwise, then the first wheel is determined to be the left rear wheel of the vehicle; If the traveling direction is backward and the rotating direction is clockwise, then the first wheel is determined to be the left rear wheel of the vehicle; and If the traveling direction is backward and the rotating direction is counterclockwise, it is determined that the first wheel is the right rear wheel of the vehicle.

6. The method according to any one of claims 3 to 5, wherein: The first direction is determined according to the traveling direction.

7. The method according to claim 6, wherein: The method further comprises: If the traveling direction is forward, determining that the first direction is forward; and If the traveling direction is backward, it is determined that the first direction is backward.

8. The method according to any one of claims 3 to 5, wherein: The first direction is a preset direction, and the method further includes: When it is detected that the preset direction is inconsistent with the traveling direction, a prompt message for switching the direction is displayed on the central control screen of the vehicle.

9. The method according to claim 8, wherein The preset direction is forward, and the method further includes: If the traveling direction is backward, "Switch the first direction to backward" is displayed on the central control screen.

10. The method according to claim 9, wherein: The preset direction is backward, and the method further includes: If the traveling direction is forward, "Switch the first direction to forward" is displayed on the central control screen.

11. The method according to claim 2, wherein: The method further comprises: The first wheel and the rotation direction of the vehicle are acquired, and the first direction and the second direction are determined according to the first wheel and the rotation direction.

12. The method according to claim 11, wherein The method further comprises: If the first wheel is the right front wheel of the vehicle and the rotation direction of the vehicle is clockwise, then the second wheel is determined to be the left front wheel of the vehicle, the first direction is forward, the third wheel is the left rear wheel of the vehicle, the fourth wheel is the right rear wheel of the vehicle, and the second direction is backward.

13. The method according to claim 3, wherein: The obtaining of the traveling direction and the turning direction of the vehicle is performed by at least one of the following methods: By obtaining a triggering operation of a physical button in the cockpit of the vehicle; By obtaining a triggering operation of a virtual function button in the central control screen of the vehicle; Trigger actions by receiving voice commands.

14. The method according to claim 13, wherein The obtaining of the traveling direction and the rotation direction of the vehicle specifically includes: After receiving a first trigger operation on a first button in the cockpit, displaying a steering function control on the central control screen; receiving a second triggering operation on the steering function control; displaying a virtual view of the vehicle on the central control screen; receiving a third trigger operation and a fourth trigger operation on the virtual view, wherein the third trigger operation is used to select the traveling direction, and the fourth trigger operation is used to select the rotating direction; In response to the third trigger operation and the fourth trigger operation, acquiring a target traveling direction and a target rotation direction; After obtaining the traveling direction and the turning direction of the vehicle, the method further includes: A steering operation is initiated based on the target traveling direction and the target turning direction.

15. The method according to claim 14, wherein After displaying the virtual view of the vehicle on the central control screen, the method further includes: Playing a first voice message, where the first voice message is used to prompt the user to select the traveling direction and the turning direction; receiving a second voice message, the second voice message including a selected target traveling direction and a target turning direction; After obtaining the traveling direction and the turning direction of the vehicle, the method further includes: The steering operation is initiated based on the target traveling direction and the target turning direction.

16. A vehicle steering control device, wherein: include: a control unit configured to control braking of a first wheel of the vehicle and to control rotation of a second wheel in a first direction via a first motor, wherein the first wheel and the second wheel are connected to the first motor via a differential mechanism; The third wheel of the vehicle is controlled by a second motor to rotate in the first direction, and the second wheel and the third wheel are wheels on the same side.

17. A controller, wherein: The system comprises a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, the programs including instructions for performing the following steps: Controlling the braking of a first wheel of the vehicle, controlling the rotation of a second wheel in a first direction by a first motor, wherein the first wheel and the second wheel are connected to the first motor via a differential mechanism, The third wheel of the vehicle is controlled by a second motor to rotate in the first direction, and the second wheel and the third wheel are wheels on the same side.

18. A computer-readable storage medium having a computer program / instruction stored thereon, wherein: When the computer program / instructions are executed by a processor, the following steps are implemented: Controlling the braking of a first wheel of the vehicle, controlling the rotation of a second wheel in a first direction by a first motor, wherein the first wheel and the second wheel are connected to the first motor via a differential mechanism, The third wheel of the vehicle is controlled by a second motor to rotate in the first direction, and the second wheel and the third wheel are wheels on the same side.

19. A vehicle, wherein The invention comprises a controller, a first motor, a second motor, a third motor, a differential mechanism, and a brake. The controller is connected to the first motor, the second motor, the third motor, and the brake. The differential mechanism is connected to the first motor. The controller is configured to perform the following steps: Controlling the braking of a first wheel of the vehicle, controlling the rotation of a second wheel in a first direction by a first motor, wherein the first wheel and the second wheel are connected to the first motor via a differential mechanism, The third wheel of the vehicle is controlled by a second motor to rotate in the first direction, and the second wheel and the third wheel are wheels on the same side.

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